INFO:root:Logger initialized at 2025-10-01 11:45:48.447284
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/montys_brain/observations',
                                    'vive_url': 'http://192.168.1.237:3001/pose'},
                  'env_init_func': <class 'custom_classes.probe_triggered_environment.ProbeTriggeredUltrasoundEnvironment'>,
                  'rng': RandomState(MT19937) at 0x7FB800B08440,
                  '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/montys_brain',
                    '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': 'k8pxeucy'},
 '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([[ 0.99825363,  0.02431342, -0.05383825],
       [-0.02434873,  0.99970353,  0.        ],
       [ 0.05382229,  0.00131089,  0.99854967]]), 'pose_fully_defined': False}}, None]
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.0
INFO:root:current most likely hypothesis: numenta_mug with evidence 0.0
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'harissa_oil', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 1 ---
INFO:uvicorn.access:192.168.1.217:65391 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.8232197 ,  0.04567644,  0.56588249],
       [-0.0553999 ,  0.99846425,  0.        ],
       [-0.56501343, -0.03134983,  0.82448591]]), 'pose_fully_defined': False}}, {'patch': array([-0.00769593, -0.00356867,  0.01357942])}]
INFO:root:Testing 14424 out of 14424 hypotheses for numenta_mug (evidence > 0.0)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 10992 out of 10992 hypotheses for montys_brain (evidence > 0.0)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.02 seconds. New max evidence: 0.5
INFO:root:Testing 14880 out of 14880 hypotheses for montys_heart (evidence > 0.0)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 23200 out of 23200 hypotheses for ramen_pack (evidence > 0.0)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.05 seconds. New max evidence: 0.5
INFO:root:Testing 14864 out of 14864 hypotheses for hot_sauce (evidence > 0.0)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 12560 out of 12560 hypotheses for harissa_oil (evidence > 0.0)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 21832 out of 21832 hypotheses for tomato_soup_can (evidence > 0.0)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.05 seconds. New max evidence: 0.5
INFO:root:Testing 16976 out of 16976 hypotheses for mustard_bottle (evidence > 0.0)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.04 seconds. New max evidence: 0.5
INFO:root:Testing 17728 out of 17728 hypotheses for tuna_fish_can (evidence > 0.0)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.04 seconds. New max evidence: 0.5
INFO:root:Testing 19024 out of 19024 hypotheses for potted_meat_can (evidence > 0.0)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.04 seconds. New max evidence: 0.5
INFO:root:current most likely hypothesis: numenta_mug with evidence 0.5
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'harissa_oil', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 2 ---
INFO:uvicorn.access:192.168.1.217:65391 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.95977797,  0.0326741 , -0.27885238],
       [-0.03402368,  0.99942103,  0.        ],
       [ 0.27869094,  0.00948758,  0.96033398]]), 'pose_fully_defined': False}}, {'patch': array([-0.00077806, -0.00955302, -0.01155309])}]
INFO:root:Testing 12208 out of 14424 hypotheses for numenta_mug (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.03 seconds. New max evidence: 0.962
INFO:root:Testing 10505 out of 10992 hypotheses for montys_brain (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.02 seconds. New max evidence: 0.953
INFO:root:Testing 12877 out of 14880 hypotheses for montys_heart (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.03 seconds. New max evidence: 0.971
INFO:root:Testing 18480 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 0.04 seconds. New max evidence: 0.978
INFO:root:Testing 13660 out of 14864 hypotheses for hot_sauce (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.03 seconds. New max evidence: 0.962
INFO:root:Testing 10733 out of 12560 hypotheses for harissa_oil (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.02 seconds. New max evidence: 0.962
INFO:root:Testing 14482 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 0.03 seconds. New max evidence: 0.953
INFO:root:Testing 14716 out of 16976 hypotheses for mustard_bottle (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.03 seconds. New max evidence: 0.961
INFO:root:Testing 8783 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 0.02 seconds. New max evidence: 0.894
INFO:root:Testing 11205 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 0.03 seconds. New max evidence: 0.965
INFO:root:current most likely hypothesis: ramen_pack with evidence 0.98
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'harissa_oil', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 3 ---
INFO:uvicorn.access:192.168.1.217:65391 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.68908797, -0.02156938, -0.72435663],
       [ 0.03128603,  0.99951047, -0.        ],
       [ 0.72400204, -0.02266224,  0.68942546]]), 'pose_fully_defined': False}}, {'patch': array([-0.01149303, -0.00353275, -0.00581068])}]
INFO:root:Testing 10031 out of 14424 hypotheses for numenta_mug (evidence > 0.19560168187030402)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.03 seconds. New max evidence: 1.322
INFO:root:Testing 9910 out of 10992 hypotheses for montys_brain (evidence > 0.19560168187030402)
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: 1.287
INFO:root:Testing 11310 out of 14880 hypotheses for montys_heart (evidence > 0.19560168187030402)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.03 seconds. New max evidence: 1.329
INFO:root:Testing 13166 out of 23200 hypotheses for ramen_pack (evidence > 0.19560168187030402)
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 0.03 seconds. New max evidence: 1.335
INFO:root:Testing 11623 out of 14864 hypotheses for hot_sauce (evidence > 0.19560168187030402)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.03 seconds. New max evidence: 1.241
INFO:root:Testing 9009 out of 12560 hypotheses for harissa_oil (evidence > 0.19560168187030402)
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: 1.114
INFO:root:Testing 11704 out of 21832 hypotheses for tomato_soup_can (evidence > 0.19560168187030402)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.04 seconds. New max evidence: 1.323
INFO:root:Testing 11355 out of 16976 hypotheses for mustard_bottle (evidence > 0.19560168187030402)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.03 seconds. New max evidence: 1.395
INFO:root:Testing 5984 out of 17728 hypotheses for tuna_fish_can (evidence > 0.19560168187030402)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.02 seconds. New max evidence: 1.264
INFO:root:Testing 7102 out of 19024 hypotheses for potted_meat_can (evidence > 0.19560168187030402)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 1.239
INFO:root:current most likely hypothesis: mustard_bottle with evidence 1.39
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'harissa_oil', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 4 ---
INFO:uvicorn.access:192.168.1.217:65393 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.96723764,  0.22013719, -0.12645539],
       [-0.22191869,  0.97506518,  0.        ],
       [ 0.12330224,  0.02806281,  0.9919723 ]]), 'pose_fully_defined': False}}, {'patch': array([0.01571408, 0.04461125, 0.00247079])}]
INFO:root:Testing 1489 out of 14424 hypotheses for numenta_mug (evidence > 0.27898795606844273)
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: 1.525
INFO:root:Testing 4037 out of 10992 hypotheses for montys_brain (evidence > 0.27898795606844273)
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 0.01 seconds. New max evidence: 1.65
INFO:root:Testing 3178 out of 14880 hypotheses for montys_heart (evidence > 0.27898795606844273)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 1.716
INFO:root:Testing 5523 out of 23200 hypotheses for ramen_pack (evidence > 0.27898795606844273)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 1.717
INFO:root:Testing 4715 out of 14864 hypotheses for hot_sauce (evidence > 0.27898795606844273)
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: 1.715
INFO:root:Testing 2438 out of 12560 hypotheses for harissa_oil (evidence > 0.27898795606844273)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.01 seconds. New max evidence: 1.413
INFO:root:Testing 2910 out of 21832 hypotheses for tomato_soup_can (evidence > 0.27898795606844273)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 1.666
INFO:root:Testing 3210 out of 16976 hypotheses for mustard_bottle (evidence > 0.27898795606844273)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 1.699
INFO:root:Testing 2819 out of 17728 hypotheses for tuna_fish_can (evidence > 0.27898795606844273)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 1.564
INFO:root:Testing 2450 out of 19024 hypotheses for potted_meat_can (evidence > 0.27898795606844273)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 1.499
DEBUG:root:evidences for each object: [1.52473429 1.65032902 1.7161184  1.71727774 1.71515814 1.41310358
 1.66645545 1.69855753 1.56441612 1.49929987]
DEBUG:root:mean evidence: 1.617, std: 0.103 -> th=1.3738221948963947
INFO:root:current most likely hypothesis: ramen_pack with evidence 1.72
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'harissa_oil', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 5 ---
INFO:uvicorn.access:192.168.1.217:65393 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.88894323,  0.23203058,  0.39489459],
       [-0.25255677,  0.96758208,  0.        ],
       [-0.38209293, -0.0997333 ,  0.91872643]]), 'pose_fully_defined': False}}, {'patch': array([-0.00152186, -0.00373649,  0.0138994 ])}]
INFO:root:Testing 1078 out of 14424 hypotheses for numenta_mug (evidence > 0.34345554872409867)
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: 1.971
INFO:root:Testing 3012 out of 10992 hypotheses for montys_brain (evidence > 0.34345554872409867)
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 0.01 seconds. New max evidence: 1.983
INFO:root:Testing 2570 out of 14880 hypotheses for montys_heart (evidence > 0.34345554872409867)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 2.196
INFO:root:Testing 3168 out of 23200 hypotheses for ramen_pack (evidence > 0.34345554872409867)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 2.16
INFO:root:Testing 2806 out of 14864 hypotheses for hot_sauce (evidence > 0.34345554872409867)
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: 2.149
INFO:root:Testing 1674 out of 12560 hypotheses for harissa_oil (evidence > 0.34345554872409867)
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: 1.8
INFO:root:Testing 2185 out of 21832 hypotheses for tomato_soup_can (evidence > 0.34345554872409867)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 1.99
INFO:root:Testing 2276 out of 16976 hypotheses for mustard_bottle (evidence > 0.34345554872409867)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 2.14
INFO:root:Testing 1605 out of 17728 hypotheses for tuna_fish_can (evidence > 0.34345554872409867)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 1.959
INFO:root:Testing 1633 out of 19024 hypotheses for potted_meat_can (evidence > 0.34345554872409867)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.974
DEBUG:root:evidences for each object: [1.97139974 1.98297139 2.1957473  2.16049885 2.14947431 1.80043105
 1.98990542 2.14042032 1.95922469 1.97385044]
DEBUG:root:mean evidence: 2.032, std: 0.118 -> th=1.7565978388308114
INFO:root:current most likely hypothesis: montys_heart with evidence 2.2
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'harissa_oil', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 6 ---
INFO:uvicorn.access:192.168.1.217:65393 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.88256634,  0.1617724 , -0.44148199],
       [-0.18029398,  0.98361277,  0.        ],
       [ 0.43424733,  0.07959654,  0.89727011]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00023482, -0.00190202, -0.02230997])}]
INFO:root:Testing 1023 out of 14424 hypotheses for numenta_mug (evidence > 0.4391494597077028)
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: 2.386
INFO:root:Testing 2943 out of 10992 hypotheses for montys_brain (evidence > 0.4391494597077028)
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 0.01 seconds. New max evidence: 2.438
INFO:root:Testing 2420 out of 14880 hypotheses for montys_heart (evidence > 0.4391494597077028)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 2.604
INFO:root:Testing 2635 out of 23200 hypotheses for ramen_pack (evidence > 0.4391494597077028)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 2.586
INFO:root:Testing 2332 out of 14864 hypotheses for hot_sauce (evidence > 0.4391494597077028)
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: 2.637
INFO:root:Testing 1605 out of 12560 hypotheses for harissa_oil (evidence > 0.4391494597077028)
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: 2.249
INFO:root:Testing 2087 out of 21832 hypotheses for tomato_soup_can (evidence > 0.4391494597077028)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 2.413
INFO:root:Testing 2086 out of 16976 hypotheses for mustard_bottle (evidence > 0.4391494597077028)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 2.51
INFO:root:Testing 1400 out of 17728 hypotheses for tuna_fish_can (evidence > 0.4391494597077028)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 2.345
INFO:root:Testing 1568 out of 19024 hypotheses for potted_meat_can (evidence > 0.4391494597077028)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 2.281
DEBUG:root:evidences for each object: [2.38606162 2.43842728 2.60424268 2.58573649 2.63743106 2.24856829
 2.41260554 2.50990941 2.34504965 2.28090453]
DEBUG:root:mean evidence: 2.445, std: 0.129 -> th=2.1099448487290333
INFO:root:current most likely hypothesis: hot_sauce with evidence 2.64
DEBUG:root:evidences for each object: [2.38606162 2.43842728 2.60424268 2.58573649 2.63743106 2.24856829
 2.41260554 2.50990941 2.34504965 2.28090453]
DEBUG:root:mean evidence: 2.445, std: 0.129 -> th=2.1099448487290333
DEBUG:root:evidences for each object: [2.38606162 2.43842728 2.60424268 2.58573649 2.63743106 2.24856829
 2.41260554 2.50990941 2.34504965 2.28090453]
DEBUG:root:mean evidence: 2.445, std: 0.129 -> th=2.2418164017745976
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'harissa_oil', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 7 ---
INFO:uvicorn.access:192.168.1.217:65393 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.86624044,  0.13387564, -0.48135727],
       [-0.15273463,  0.98826724,  0.        ],
       [ 0.47570962,  0.07351992,  0.87652449]]), 'pose_fully_defined': False}}, {'patch': array([-0.00343302, -0.0134173 ,  0.00288049])}]
INFO:root:Testing 984 out of 14424 hypotheses for numenta_mug (evidence > 0.5274862121822581)
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: 2.737
INFO:root:Testing 2912 out of 10992 hypotheses for montys_brain (evidence > 0.5274862121822581)
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 0.01 seconds. New max evidence: 2.907
INFO:root:Testing 2360 out of 14880 hypotheses for montys_heart (evidence > 0.5274862121822581)
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: 3.044
INFO:root:Testing 2483 out of 23200 hypotheses for ramen_pack (evidence > 0.5274862121822581)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 3.01
INFO:root:Testing 2273 out of 14864 hypotheses for hot_sauce (evidence > 0.5274862121822581)
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: 3.132
INFO:root:Testing 1526 out of 12560 hypotheses for harissa_oil (evidence > 0.5274862121822581)
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: 2.575
INFO:root:Testing 1956 out of 21832 hypotheses for tomato_soup_can (evidence > 0.5274862121822581)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 2.882
INFO:root:Testing 1999 out of 16976 hypotheses for mustard_bottle (evidence > 0.5274862121822581)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 2.932
INFO:root:Testing 1287 out of 17728 hypotheses for tuna_fish_can (evidence > 0.5274862121822581)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 2.812
INFO:root:Testing 1458 out of 19024 hypotheses for potted_meat_can (evidence > 0.5274862121822581)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 2.683
DEBUG:root:evidences for each object: [2.73683563 2.90665764 3.04419668 3.01015339 3.13192518 2.57509537
 2.88222563 2.93165939 2.81226825 2.68345166]
DEBUG:root:mean evidence: 2.871, std: 0.163 -> th=2.505540143508255
INFO:root:current most likely hypothesis: hot_sauce with evidence 3.13
DEBUG:root:evidences for each object: [2.73683563 2.90665764 3.04419668 3.01015339 3.13192518 2.57509537
 2.88222563 2.93165939 2.81226825 2.68345166]
DEBUG:root:mean evidence: 2.871, std: 0.163 -> th=2.505540143508255
DEBUG:root:evidences for each object: [2.73683563 2.90665764 3.04419668 3.01015339 3.13192518 2.57509537
 2.88222563 2.93165939 2.81226825 2.68345166]
DEBUG:root:mean evidence: 2.871, std: 0.163 -> th=2.662136402477521
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'harissa_oil', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 8 ---
INFO:uvicorn.access:192.168.1.217:65393 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.91412842,  0.17388703, -0.36624109],
       [-0.18687082,  0.9823845 ,  0.        ],
       [ 0.35978957,  0.06843977,  0.93052   ]]), 'pose_fully_defined': False}}, {'patch': array([ 4.05601128e-03, -7.01103132e-05,  8.89042394e-03])}]
INFO:root:Testing 944 out of 14424 hypotheses for numenta_mug (evidence > 0.6263850358770635)
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: 3.13
INFO:root:Testing 2779 out of 10992 hypotheses for montys_brain (evidence > 0.6263850358770635)
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 0.01 seconds. New max evidence: 3.337
INFO:root:Testing 2208 out of 14880 hypotheses for montys_heart (evidence > 0.6263850358770635)
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: 3.486
INFO:root:Testing 2341 out of 23200 hypotheses for ramen_pack (evidence > 0.6263850358770635)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 3.362
INFO:root:Testing 2210 out of 14864 hypotheses for hot_sauce (evidence > 0.6263850358770635)
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: 3.456
INFO:root:Testing 1471 out of 12560 hypotheses for harissa_oil (evidence > 0.6263850358770635)
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: 2.939
INFO:root:Testing 1889 out of 21832 hypotheses for tomato_soup_can (evidence > 0.6263850358770635)
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: 3.309
INFO:root:Testing 1859 out of 16976 hypotheses for mustard_bottle (evidence > 0.6263850358770635)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 3.363
INFO:root:Testing 1238 out of 17728 hypotheses for tuna_fish_can (evidence > 0.6263850358770635)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 3.221
INFO:root:Testing 1410 out of 19024 hypotheses for potted_meat_can (evidence > 0.6263850358770635)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.007
DEBUG:root:evidences for each object: [3.12980222 3.33723425 3.48555611 3.36243774 3.45639625 2.93881746
 3.30928315 3.36314673 3.22081019 3.00700519]
DEBUG:root:mean evidence: 3.261, std: 0.175 -> th=2.7884448854667805
INFO:root:current most likely hypothesis: montys_heart with evidence 3.49
DEBUG:root:evidences for each object: [3.12980222 3.33723425 3.48555611 3.36243774 3.45639625 2.93881746
 3.30928315 3.36314673 3.22081019 3.00700519]
DEBUG:root:mean evidence: 3.261, std: 0.175 -> th=2.7884448854667805
DEBUG:root:evidences for each object: [3.12980222 3.33723425 3.48555611 3.36243774 3.45639625 2.93881746
 3.30928315 3.36314673 3.22081019 3.00700519]
DEBUG:root:mean evidence: 3.261, std: 0.175 -> th=2.9627226908084543
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'harissa_oil', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 9 ---
INFO:uvicorn.access:192.168.1.217:65393 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.97149839,  0.20361619,  0.12137266],
       [-0.20513273,  0.97873416,  0.        ],
       [-0.11879157, -0.02489751,  0.99260701]]), 'pose_fully_defined': False}}, {'patch': array([0.00493536, 0.00597386, 0.00701141])}]
INFO:root:Testing 946 out of 14424 hypotheses for numenta_mug (evidence > 0.6971112213666948)
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: 3.62
INFO:root:Testing 2796 out of 10992 hypotheses for montys_brain (evidence > 0.6971112213666948)
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 0.01 seconds. New max evidence: 3.775
INFO:root:Testing 2208 out of 14880 hypotheses for montys_heart (evidence > 0.6971112213666948)
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: 3.952
INFO:root:Testing 2341 out of 23200 hypotheses for ramen_pack (evidence > 0.6971112213666948)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 3.775
INFO:root:Testing 2210 out of 14864 hypotheses for hot_sauce (evidence > 0.6971112213666948)
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: 3.93
INFO:root:Testing 1479 out of 12560 hypotheses for harissa_oil (evidence > 0.6971112213666948)
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: 3.347
INFO:root:Testing 1889 out of 21832 hypotheses for tomato_soup_can (evidence > 0.6971112213666948)
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: 3.704
INFO:root:Testing 1858 out of 16976 hypotheses for mustard_bottle (evidence > 0.6971112213666948)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 3.815
INFO:root:Testing 1238 out of 17728 hypotheses for tuna_fish_can (evidence > 0.6971112213666948)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 3.63
INFO:root:Testing 1409 out of 19024 hypotheses for potted_meat_can (evidence > 0.6971112213666948)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.416
DEBUG:root:evidences for each object: [3.62041115 3.7746607  3.9524621  3.77519582 3.92959417 3.34694627
 3.70392411 3.8150143  3.62974457 3.41638697]
DEBUG:root:mean evidence: 3.696, std: 0.189 -> th=3.16196968168471
INFO:root:current most likely hypothesis: montys_heart with evidence 3.95
DEBUG:root:evidences for each object: [3.62041115 3.7746607  3.9524621  3.77519582 3.92959417 3.34694627
 3.70392411 3.8150143  3.62974457 3.41638697]
DEBUG:root:mean evidence: 3.696, std: 0.189 -> th=3.16196968168471
DEBUG:root:evidences for each object: [3.62041115 3.7746607  3.9524621  3.77519582 3.92959417 3.34694627
 3.70392411 3.8150143  3.62974457 3.41638697]
DEBUG:root:mean evidence: 3.696, std: 0.189 -> th=3.3595927867900044
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'harissa_oil', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 10 ---
INFO:uvicorn.access:192.168.1.217:65393 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98259296,  0.16262381,  0.08980294],
       [-0.16328355,  0.98657918,  0.        ],
       [-0.08859771, -0.01466334,  0.99595955]]), 'pose_fully_defined': False}}, {'patch': array([-0.00116648, -0.01262858, -0.00292894])}]
INFO:root:Testing 946 out of 14424 hypotheses for numenta_mug (evidence > 0.7904924204211774)
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: 4.02
INFO:root:Testing 2804 out of 10992 hypotheses for montys_brain (evidence > 0.7904924204211774)
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 0.01 seconds. New max evidence: 4.203
INFO:root:Testing 2204 out of 14880 hypotheses for montys_heart (evidence > 0.7904924204211774)
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: 4.391
INFO:root:Testing 2337 out of 23200 hypotheses for ramen_pack (evidence > 0.7904924204211774)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 4.192
INFO:root:Testing 2216 out of 14864 hypotheses for hot_sauce (evidence > 0.7904924204211774)
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: 4.396
INFO:root:Testing 1479 out of 12560 hypotheses for harissa_oil (evidence > 0.7904924204211774)
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: 3.77
INFO:root:Testing 1889 out of 21832 hypotheses for tomato_soup_can (evidence > 0.7904924204211774)
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: 4.142
INFO:root:Testing 1858 out of 16976 hypotheses for mustard_bottle (evidence > 0.7904924204211774)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 4.276
INFO:root:Testing 1238 out of 17728 hypotheses for tuna_fish_can (evidence > 0.7904924204211774)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 4.055
INFO:root:Testing 1406 out of 19024 hypotheses for potted_meat_can (evidence > 0.7904924204211774)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.843
DEBUG:root:evidences for each object: [4.02040145 4.20328835 4.39147585 4.19180314 4.39620529 3.76982127
 4.14166047 4.27602378 4.05477732 3.84270609]
DEBUG:root:mean evidence: 4.129, std: 0.2 -> th=3.5169642293855228
INFO:root:current most likely hypothesis: hot_sauce with evidence 4.4
DEBUG:root:evidences for each object: [4.02040145 4.20328835 4.39147585 4.19180314 4.39620529 3.76982127
 4.14166047 4.27602378 4.05477732 3.84270609]
DEBUG:root:mean evidence: 4.129, std: 0.2 -> th=3.5169642293855228
DEBUG:root:evidences for each object: [4.02040145 4.20328835 4.39147585 4.19180314 4.39620529 3.76982127
 4.14166047 4.27602378 4.05477732 3.84270609]
DEBUG:root:mean evidence: 4.129, std: 0.2 -> th=3.736774493722118
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: {'numenta_mug', 'harissa_oil', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 11 ---
INFO:uvicorn.access:192.168.1.217:65393 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.91949141,  0.07329874, -0.38621606],
       [-0.07946453,  0.99683769,  0.        ],
       [ 0.38499472,  0.03069048,  0.92240835]]), 'pose_fully_defined': False}}, {'patch': array([-0.00304354,  0.00020498, -0.00536367])}]
INFO:root:Testing 946 out of 14424 hypotheses for numenta_mug (evidence > 0.8792410573463805)
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: 4.375
INFO:root:Testing 2829 out of 10992 hypotheses for montys_brain (evidence > 0.8792410573463805)
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 0.01 seconds. New max evidence: 4.647
INFO:root:Testing 2204 out of 14880 hypotheses for montys_heart (evidence > 0.8792410573463805)
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: 4.848
INFO:root:Testing 2338 out of 23200 hypotheses for ramen_pack (evidence > 0.8792410573463805)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 4.644
INFO:root:Testing 2240 out of 14864 hypotheses for hot_sauce (evidence > 0.8792410573463805)
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: 4.849
INFO:root:Testing 1480 out of 12560 hypotheses for harissa_oil (evidence > 0.8792410573463805)
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: 4.234
INFO:root:Testing 1889 out of 21832 hypotheses for tomato_soup_can (evidence > 0.8792410573463805)
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: 4.574
INFO:root:Testing 1864 out of 16976 hypotheses for mustard_bottle (evidence > 0.8792410573463805)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 4.749
INFO:root:Testing 1238 out of 17728 hypotheses for tuna_fish_can (evidence > 0.8792410573463805)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 4.444
INFO:root:Testing 1406 out of 19024 hypotheses for potted_meat_can (evidence > 0.8792410573463805)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.17
DEBUG:root:evidences for each object: [4.37514643 4.64713553 4.84765537 4.64445983 4.84868201 4.23426204
 4.57385649 4.74923715 4.44397572 4.17026039]
DEBUG:root:mean evidence: 4.553, std: 0.228 -> th=3.878945604998843
INFO:root:current most likely hypothesis: hot_sauce with evidence 4.85
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'harissa_oil', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 12 ---
INFO:uvicorn.access:192.168.1.217:65393 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.82077825,  0.02457087, -0.57071827],
       [-0.02992266,  0.99955222,  0.        ],
       [ 0.57046271,  0.01707741,  0.82114594]]), 'pose_fully_defined': False}}, {'patch': array([-0.00496415, -0.00296748, -0.00604116])}]
INFO:root:Testing 951 out of 14424 hypotheses for numenta_mug (evidence > 0.9697364012497105)
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: 4.75
INFO:root:Testing 2838 out of 10992 hypotheses for montys_brain (evidence > 0.9697364012497105)
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 0.01 seconds. New max evidence: 5.116
INFO:root:Testing 2204 out of 14880 hypotheses for montys_heart (evidence > 0.9697364012497105)
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: 5.309
INFO:root:Testing 2340 out of 23200 hypotheses for ramen_pack (evidence > 0.9697364012497105)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 5.066
INFO:root:Testing 3302 out of 14864 hypotheses for hot_sauce (evidence > 0.9697364012497105)
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: 5.332
INFO:root:Testing 1491 out of 12560 hypotheses for harissa_oil (evidence > 0.9697364012497105)
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: 4.647
INFO:root:Testing 1889 out of 21832 hypotheses for tomato_soup_can (evidence > 0.9697364012497105)
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: 5.001
INFO:root:Testing 1943 out of 16976 hypotheses for mustard_bottle (evidence > 0.9697364012497105)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 5.173
INFO:root:Testing 1238 out of 17728 hypotheses for tuna_fish_can (evidence > 0.9697364012497105)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 4.938
INFO:root:Testing 1406 out of 19024 hypotheses for potted_meat_can (evidence > 0.9697364012497105)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.605
DEBUG:root:evidences for each object: [4.7496657  5.1164785  5.30853337 5.06605168 5.33165556 4.64655498
 5.001467   5.1733944  4.93787869 4.60530094]
DEBUG:root:mean evidence: 4.994, std: 0.245 -> th=4.265324447342648
INFO:root:current most likely hypothesis: hot_sauce with evidence 5.33
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'harissa_oil', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 13 ---
INFO:uvicorn.access:192.168.1.217:65393 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.6941648 , -0.00313512, -0.71980928],
       [ 0.00451635,  0.9999898 , -0.        ],
       [ 0.71980194, -0.00325091,  0.69417188]]), 'pose_fully_defined': False}}, {'patch': array([-0.0092051 , -0.01288314,  0.00157609])}]
INFO:root:Testing 947 out of 14424 hypotheses for numenta_mug (evidence > 1.0663311118356615)
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: 5.111
INFO:root:Testing 2827 out of 10992 hypotheses for montys_brain (evidence > 1.0663311118356615)
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 0.01 seconds. New max evidence: 5.544
INFO:root:Testing 2204 out of 14880 hypotheses for montys_heart (evidence > 1.0663311118356615)
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: 5.541
INFO:root:Testing 2339 out of 23200 hypotheses for ramen_pack (evidence > 1.0663311118356615)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 5.384
INFO:root:Testing 3172 out of 14864 hypotheses for hot_sauce (evidence > 1.0663311118356615)
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: 5.39
INFO:root:Testing 1484 out of 12560 hypotheses for harissa_oil (evidence > 1.0663311118356615)
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: 4.871
INFO:root:Testing 1889 out of 21832 hypotheses for tomato_soup_can (evidence > 1.0663311118356615)
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: 5.231
INFO:root:Testing 1916 out of 16976 hypotheses for mustard_bottle (evidence > 1.0663311118356615)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 5.58
INFO:root:Testing 1238 out of 17728 hypotheses for tuna_fish_can (evidence > 1.0663311118356615)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 5.357
INFO:root:Testing 1406 out of 19024 hypotheses for potted_meat_can (evidence > 1.0663311118356615)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.812
DEBUG:root:evidences for each object: [5.11124846 5.54358386 5.54143128 5.38408094 5.39012176 4.87125031
 5.23067921 5.58007615 5.35688022 4.81249017]
DEBUG:root:mean evidence: 5.282, std: 0.259 -> th=4.464060921282413
INFO:root:current most likely hypothesis: mustard_bottle with evidence 5.58
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'harissa_oil', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 14 ---
INFO:uvicorn.access:192.168.1.217:65393 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.94829317,  0.09390094, -0.30318752],
       [-0.09853908,  0.99513318,  0.        ],
       [ 0.30171196,  0.02987582,  0.95293091]]), 'pose_fully_defined': False}}, {'patch': array([0.01236649, 0.00536203, 0.0067969 ])}]
INFO:root:Testing 943 out of 14424 hypotheses for numenta_mug (evidence > 1.1160152303206035)
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: 5.322
INFO:root:Testing 2809 out of 10992 hypotheses for montys_brain (evidence > 1.1160152303206035)
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 0.01 seconds. New max evidence: 5.799
INFO:root:Testing 2185 out of 14880 hypotheses for montys_heart (evidence > 1.1160152303206035)
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: 6.027
INFO:root:Testing 2319 out of 23200 hypotheses for ramen_pack (evidence > 1.1160152303206035)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 5.724
INFO:root:Testing 2720 out of 14864 hypotheses for hot_sauce (evidence > 1.1160152303206035)
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: 5.817
INFO:root:Testing 1473 out of 12560 hypotheses for harissa_oil (evidence > 1.1160152303206035)
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: 5.177
INFO:root:Testing 1861 out of 21832 hypotheses for tomato_soup_can (evidence > 1.1160152303206035)
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: 5.611
INFO:root:Testing 1896 out of 16976 hypotheses for mustard_bottle (evidence > 1.1160152303206035)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 6.03
INFO:root:Testing 1236 out of 17728 hypotheses for tuna_fish_can (evidence > 1.1160152303206035)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 5.716
INFO:root:Testing 1393 out of 19024 hypotheses for potted_meat_can (evidence > 1.1160152303206035)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.253
DEBUG:root:evidences for each object: [5.32167561 5.79867527 6.0269816  5.72375898 5.81716631 5.17725815
 5.61134425 6.02979307 5.71624057 5.25301403]
DEBUG:root:mean evidence: 5.648, std: 0.289 -> th=4.8238344563255975
INFO:root:current most likely hypothesis: mustard_bottle with evidence 6.03
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'harissa_oil', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 15 ---
INFO:uvicorn.access:192.168.1.217:65393 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.89411357,  0.13230428,  0.42785102],
       [-0.14637869,  0.98922863,  0.        ],
       [-0.42324248, -0.06262827,  0.90384927]]), 'pose_fully_defined': False}}, {'patch': array([-0.00126557,  0.00438259,  0.01022066])}]
INFO:root:Testing 943 out of 14424 hypotheses for numenta_mug (evidence > 1.205958614081399)
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: 5.729
INFO:root:Testing 2809 out of 10992 hypotheses for montys_brain (evidence > 1.205958614081399)
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 0.01 seconds. New max evidence: 6.201
INFO:root:Testing 2185 out of 14880 hypotheses for montys_heart (evidence > 1.205958614081399)
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: 6.499
INFO:root:Testing 2319 out of 23200 hypotheses for ramen_pack (evidence > 1.205958614081399)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 6.18
INFO:root:Testing 2697 out of 14864 hypotheses for hot_sauce (evidence > 1.205958614081399)
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: 6.305
INFO:root:Testing 1473 out of 12560 hypotheses for harissa_oil (evidence > 1.205958614081399)
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: 5.519
INFO:root:Testing 1861 out of 21832 hypotheses for tomato_soup_can (evidence > 1.205958614081399)
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: 6.055
INFO:root:Testing 1895 out of 16976 hypotheses for mustard_bottle (evidence > 1.205958614081399)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 6.316
INFO:root:Testing 1236 out of 17728 hypotheses for tuna_fish_can (evidence > 1.205958614081399)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 6.155
INFO:root:Testing 1393 out of 19024 hypotheses for potted_meat_can (evidence > 1.205958614081399)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.689
DEBUG:root:evidences for each object: [5.72853159 6.20055713 6.49850959 6.18014893 6.30483858 5.51939589
 6.05458066 6.31562551 6.15538797 5.68904675]
DEBUG:root:mean evidence: 6.065, std: 0.3 -> th=5.198807670420608
INFO:root:current most likely hypothesis: montys_heart with evidence 6.5
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'harissa_oil', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 16 ---
INFO:uvicorn.access:192.168.1.217:65393 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.52967556,  0.11279607,  0.8406669 ],
       [-0.20828279,  0.97806865,  0.        ],
       [-0.82222994, -0.17509645,  0.54155254]]), 'pose_fully_defined': False}}, {'patch': array([-0.00453421,  0.00289394,  0.0053808 ])}]
INFO:root:Testing 943 out of 14424 hypotheses for numenta_mug (evidence > 1.2997019176051516)
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: 6.025
INFO:root:Testing 2809 out of 10992 hypotheses for montys_brain (evidence > 1.2997019176051516)
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 0.01 seconds. New max evidence: 6.619
INFO:root:Testing 2185 out of 14880 hypotheses for montys_heart (evidence > 1.2997019176051516)
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: 6.947
INFO:root:Testing 2319 out of 23200 hypotheses for ramen_pack (evidence > 1.2997019176051516)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 6.639
INFO:root:Testing 2697 out of 14864 hypotheses for hot_sauce (evidence > 1.2997019176051516)
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: 6.728
INFO:root:Testing 1473 out of 12560 hypotheses for harissa_oil (evidence > 1.2997019176051516)
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: 5.89
INFO:root:Testing 1861 out of 21832 hypotheses for tomato_soup_can (evidence > 1.2997019176051516)
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: 6.449
INFO:root:Testing 1895 out of 16976 hypotheses for mustard_bottle (evidence > 1.2997019176051516)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 6.471
INFO:root:Testing 1236 out of 17728 hypotheses for tuna_fish_can (evidence > 1.2997019176051516)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 6.44
INFO:root:Testing 1393 out of 19024 hypotheses for potted_meat_can (evidence > 1.2997019176051516)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.897
DEBUG:root:evidences for each object: [6.02459967 6.61936321 6.94664546 6.63857398 6.72799711 5.88983539
 6.44873729 6.47056051 6.439557   5.89727487]
DEBUG:root:mean evidence: 6.41, std: 0.343 -> th=5.557316364302585
INFO:root:current most likely hypothesis: montys_heart with evidence 6.95
DEBUG:root:evidences for each object: [6.02459967 6.61936321 6.94664546 6.63857398 6.72799711 5.88983539
 6.44873729 6.47056051 6.439557   5.89727487]
DEBUG:root:mean evidence: 6.41, std: 0.343 -> th=5.557316364302585
DEBUG:root:evidences for each object: [6.02459967 6.61936321 6.94664546 6.63857398 6.72799711 5.88983539
 6.44873729 6.47056051 6.439557   5.89727487]
DEBUG:root:mean evidence: 6.41, std: 0.343 -> th=5.904648637071497
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: {'numenta_mug', 'harissa_oil', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 17 ---
INFO:uvicorn.access:192.168.1.217:65395 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.72635938,  0.09742299,  0.68037549],
       [-0.13293466,  0.9911248 ,  0.        ],
       [-0.67433702, -0.09044549,  0.73286369]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00093427, -0.0082302 , -0.0056254 ])}]
INFO:root:Testing 933 out of 14424 hypotheses for numenta_mug (evidence > 1.3893290910756457)
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: 6.471
INFO:root:Testing 2805 out of 10992 hypotheses for montys_brain (evidence > 1.3893290910756457)
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 0.01 seconds. New max evidence: 6.949
INFO:root:Testing 2173 out of 14880 hypotheses for montys_heart (evidence > 1.3893290910756457)
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: 7.038
INFO:root:Testing 2309 out of 23200 hypotheses for ramen_pack (evidence > 1.3893290910756457)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 6.972
INFO:root:Testing 2540 out of 14864 hypotheses for hot_sauce (evidence > 1.3893290910756457)
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: 7.198
INFO:root:Testing 1462 out of 12560 hypotheses for harissa_oil (evidence > 1.3893290910756457)
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: 6.338
INFO:root:Testing 1846 out of 21832 hypotheses for tomato_soup_can (evidence > 1.3893290910756457)
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: 6.873
INFO:root:Testing 1839 out of 16976 hypotheses for mustard_bottle (evidence > 1.3893290910756457)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 6.851
INFO:root:Testing 1233 out of 17728 hypotheses for tuna_fish_can (evidence > 1.3893290910756457)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 6.806
INFO:root:Testing 1375 out of 19024 hypotheses for potted_meat_can (evidence > 1.3893290910756457)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.152
DEBUG:root:evidences for each object: [6.47127386 6.94902989 7.03849363 6.97180394 7.19791533 6.33766935
 6.87306221 6.85134354 6.80623127 6.1523466 ]
DEBUG:root:mean evidence: 6.765, std: 0.317 -> th=5.758332265582703
INFO:root:current most likely hypothesis: hot_sauce with evidence 7.2
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'harissa_oil', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 18 ---
INFO:uvicorn.access:192.168.1.217:65395 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.90516214,  0.08950456,  0.41553632],
       [-0.09840244,  0.9951467 ,  0.        ],
       [-0.4135196 , -0.04088979,  0.90957659]]), 'pose_fully_defined': False}}, {'patch': array([-0.00444297, -0.00147121,  0.01170288])}]
INFO:root:Testing 902 out of 14424 hypotheses for numenta_mug (evidence > 1.4395830663956755)
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: 6.847
INFO:root:Testing 2795 out of 10992 hypotheses for montys_brain (evidence > 1.4395830663956755)
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 0.01 seconds. New max evidence: 7.366
INFO:root:Testing 2151 out of 14880 hypotheses for montys_heart (evidence > 1.4395830663956755)
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: 7.508
INFO:root:Testing 2234 out of 23200 hypotheses for ramen_pack (evidence > 1.4395830663956755)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 7.339
INFO:root:Testing 2406 out of 14864 hypotheses for hot_sauce (evidence > 1.4395830663956755)
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: 7.336
INFO:root:Testing 1386 out of 12560 hypotheses for harissa_oil (evidence > 1.4395830663956755)
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: 6.628
INFO:root:Testing 1746 out of 21832 hypotheses for tomato_soup_can (evidence > 1.4395830663956755)
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: 7.214
INFO:root:Testing 1712 out of 16976 hypotheses for mustard_bottle (evidence > 1.4395830663956755)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 7.117
INFO:root:Testing 1191 out of 17728 hypotheses for tuna_fish_can (evidence > 1.4395830663956755)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 7.172
INFO:root:Testing 1233 out of 19024 hypotheses for potted_meat_can (evidence > 1.4395830663956755)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.498
DEBUG:root:evidences for each object: [6.84676315 7.36598896 7.50839943 7.33939297 7.33565527 6.62821667
 7.21402626 7.11719053 7.17194769 6.49766581]
DEBUG:root:mean evidence: 7.103, std: 0.319 -> th=6.0067195408975556
INFO:root:current most likely hypothesis: montys_heart with evidence 7.51
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'harissa_oil', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 19 ---
INFO:uvicorn.access:192.168.1.217:65395 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99839278, -0.04919475, -0.02813778],
       [ 0.04921423,  0.99878825, -0.        ],
       [ 0.02810368, -0.00138478,  0.99960405]]), 'pose_fully_defined': False}}, {'patch': array([-9.93243971e-05, -4.28105513e-03, -1.47928759e-02])}]
INFO:root:Testing 796 out of 14424 hypotheses for numenta_mug (evidence > 1.5016798852243882)
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: 7.118
INFO:root:Testing 2763 out of 10992 hypotheses for montys_brain (evidence > 1.5016798852243882)
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 0.01 seconds. New max evidence: 7.444
INFO:root:Testing 2059 out of 14880 hypotheses for montys_heart (evidence > 1.5016798852243882)
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: 7.32
INFO:root:Testing 1916 out of 23200 hypotheses for ramen_pack (evidence > 1.5016798852243882)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 7.447
INFO:root:Testing 1981 out of 14864 hypotheses for hot_sauce (evidence > 1.5016798852243882)
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: 7.003
INFO:root:Testing 1271 out of 12560 hypotheses for harissa_oil (evidence > 1.5016798852243882)
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: 6.821
INFO:root:Testing 1381 out of 21832 hypotheses for tomato_soup_can (evidence > 1.5016798852243882)
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: 7.387
INFO:root:Testing 1529 out of 16976 hypotheses for mustard_bottle (evidence > 1.5016798852243882)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 7.272
INFO:root:Testing 1105 out of 17728 hypotheses for tuna_fish_can (evidence > 1.5016798852243882)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 7.329
INFO:root:Testing 958 out of 19024 hypotheses for potted_meat_can (evidence > 1.5016798852243882)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.354
DEBUG:root:evidences for each object: [7.11805207 7.44414373 7.32004021 7.44655089 7.00310798 6.8206819
 7.3866974  7.27151383 7.32881588 6.353566  ]
DEBUG:root:mean evidence: 7.149, std: 0.327 -> th=5.957240714700716
INFO:root:current most likely hypothesis: ramen_pack with evidence 7.45
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'harissa_oil', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 20 ---
INFO:uvicorn.access:192.168.1.217:65395 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98844257, -0.1145133 , -0.09933773],
       [ 0.11508253,  0.99335593, -0.        ],
       [ 0.09867772, -0.01143204,  0.99505378]]), 'pose_fully_defined': False}}, {'patch': array([-0.00624142, -0.0088264 ,  0.00063887])}]
INFO:root:Testing 748 out of 14424 hypotheses for numenta_mug (evidence > 1.4893101786751783)
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: 7.123
INFO:root:Testing 2698 out of 10992 hypotheses for montys_brain (evidence > 1.4893101786751783)
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 0.01 seconds. New max evidence: 7.646
INFO:root:Testing 1935 out of 14880 hypotheses for montys_heart (evidence > 1.4893101786751783)
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: 7.438
INFO:root:Testing 1729 out of 23200 hypotheses for ramen_pack (evidence > 1.4893101786751783)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 7.137
INFO:root:Testing 1664 out of 14864 hypotheses for hot_sauce (evidence > 1.4893101786751783)
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: 6.252
INFO:root:Testing 1221 out of 12560 hypotheses for harissa_oil (evidence > 1.4893101786751783)
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: 6.811
INFO:root:Testing 1264 out of 21832 hypotheses for tomato_soup_can (evidence > 1.4893101786751783)
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: 7.428
INFO:root:Testing 1239 out of 16976 hypotheses for mustard_bottle (evidence > 1.4893101786751783)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 7.563
INFO:root:Testing 1068 out of 17728 hypotheses for tuna_fish_can (evidence > 1.4893101786751783)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 7.439
INFO:root:Testing 820 out of 19024 hypotheses for potted_meat_can (evidence > 1.4893101786751783)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.265
DEBUG:root:evidences for each object: [7.1226744  7.64636257 7.43843137 7.13737331 6.25240246 6.81083001
 7.42783316 7.56257307 7.43925754 6.26521604]
DEBUG:root:mean evidence: 7.11, std: 0.485 -> th=6.11709005698837
INFO:root:current most likely hypothesis: montys_brain with evidence 7.65
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'harissa_oil', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 21 ---
INFO:uvicorn.access:192.168.1.217:65395 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.94911753, -0.14940831, -0.27722387],
       [ 0.1555032 ,  0.98783539, -0.        ],
       [ 0.27385155, -0.0431092 ,  0.96080535]]), 'pose_fully_defined': False}}, {'patch': array([-0.00235933, -0.00090628, -0.00662976])}]
INFO:root:Testing 731 out of 14424 hypotheses for numenta_mug (evidence > 1.5292725142470918)
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: 7.208
INFO:root:Testing 2685 out of 10992 hypotheses for montys_brain (evidence > 1.5292725142470918)
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 0.01 seconds. New max evidence: 7.88
INFO:root:Testing 1891 out of 14880 hypotheses for montys_heart (evidence > 1.5292725142470918)
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: 7.556
INFO:root:Testing 1616 out of 23200 hypotheses for ramen_pack (evidence > 1.5292725142470918)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 7.116
INFO:root:Testing 1456 out of 14864 hypotheses for hot_sauce (evidence > 1.5292725142470918)
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: 6.14
INFO:root:Testing 1211 out of 12560 hypotheses for harissa_oil (evidence > 1.5292725142470918)
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: 6.856
INFO:root:Testing 1246 out of 21832 hypotheses for tomato_soup_can (evidence > 1.5292725142470918)
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: 7.5
INFO:root:Testing 1140 out of 16976 hypotheses for mustard_bottle (evidence > 1.5292725142470918)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 7.896
INFO:root:Testing 1016 out of 17728 hypotheses for tuna_fish_can (evidence > 1.5292725142470918)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 7.464
INFO:root:Testing 735 out of 19024 hypotheses for potted_meat_can (evidence > 1.5292725142470918)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.528
DEBUG:root:evidences for each object: [7.20812939 7.88029622 7.55589642 7.11640068 6.13954121 6.85588217
 7.50016589 7.89639263 7.46419691 6.52806023]
DEBUG:root:mean evidence: 7.214, std: 0.542 -> th=6.317114106559224
INFO:root:current most likely hypothesis: mustard_bottle with evidence 7.9
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 22 ---
INFO:uvicorn.access:192.168.1.217:65398 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.503021  ,  0.11362443, -0.85677264],
       [-0.22033291,  0.97542473,  0.        ],
       [ 0.83571723,  0.18877521,  0.51569433]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00508355,  0.06390701, -0.02225608])}]
INFO:root:Testing 707 out of 14424 hypotheses for numenta_mug (evidence > 1.579278526639806)
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: 6.712
INFO:root:Testing 2669 out of 10992 hypotheses for montys_brain (evidence > 1.579278526639806)
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 0.01 seconds. New max evidence: 7.497
INFO:root:Testing 1867 out of 14880 hypotheses for montys_heart (evidence > 1.579278526639806)
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: 8.038
INFO:root:Testing 1499 out of 23200 hypotheses for ramen_pack (evidence > 1.579278526639806)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 7.616
INFO:root:Testing 1357 out of 14864 hypotheses for hot_sauce (evidence > 1.579278526639806)
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: 6.63
INFO:root:Testing 1190 out of 12560 hypotheses for harissa_oil (evidence > 1.579278526639806)
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: 6.33
INFO:root:Testing 1230 out of 21832 hypotheses for tomato_soup_can (evidence > 1.579278526639806)
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: 7.902
INFO:root:Testing 1076 out of 16976 hypotheses for mustard_bottle (evidence > 1.579278526639806)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 7.473
INFO:root:Testing 967 out of 17728 hypotheses for tuna_fish_can (evidence > 1.579278526639806)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 7.921
INFO:root:Testing 706 out of 19024 hypotheses for potted_meat_can (evidence > 1.579278526639806)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.508
DEBUG:root:evidences for each object: [6.71215258 7.49663413 8.0383226  7.61576462 6.62953488 6.32997247
 7.90174879 7.47288334 7.92114591 6.50788378]
DEBUG:root:mean evidence: 7.263, std: 0.617 -> th=6.430658077574156
INFO:root:current most likely hypothesis: montys_heart with evidence 8.04
DEBUG:root:evidences for each object: [6.71215258 7.49663413 8.0383226  7.61576462 6.62953488 6.32997247
 7.90174879 7.47288334 7.92114591 6.50788378]
DEBUG:root:mean evidence: 7.263, std: 0.617 -> th=6.430658077574156
DEBUG:root:evidences for each object: [6.71215258 7.49663413 8.0383226  7.61576462 6.62953488 6.32997247
 7.90174879 7.47288334 7.92114591 6.50788378]
DEBUG:root:mean evidence: 7.263, std: 0.617 -> th=6.8325742074225415
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: {'numenta_mug', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 23 ---
INFO:uvicorn.access:192.168.1.217:65398 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.36668762,  0.05362673, -0.92879727],
       [-0.14470705,  0.98947454,  0.        ],
       [ 0.91902125,  0.13440352,  0.37058823]]), 'pose_fully_defined': False}}, {'patch': array([-0.00535355, -0.00633574, -0.00386216])}]
INFO:root:Testing 653 out of 14424 hypotheses for numenta_mug (evidence > 1.6076645193935386)
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: 7.067
INFO:root:Testing 2584 out of 10992 hypotheses for montys_brain (evidence > 1.6076645193935386)
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 0.01 seconds. New max evidence: 7.793
INFO:root:Testing 1805 out of 14880 hypotheses for montys_heart (evidence > 1.6076645193935386)
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: 8.509
INFO:root:Testing 1298 out of 23200 hypotheses for ramen_pack (evidence > 1.6076645193935386)
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: 7.985
INFO:root:Testing 1163 out of 14864 hypotheses for hot_sauce (evidence > 1.6076645193935386)
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: 7.059
INFO:root:Testing 1064 out of 12560 hypotheses for harissa_oil (evidence > 1.6076645193935386)
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: 6.776
INFO:root:Testing 1087 out of 21832 hypotheses for tomato_soup_can (evidence > 1.6076645193935386)
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: 8.344
INFO:root:Testing 936 out of 16976 hypotheses for mustard_bottle (evidence > 1.6076645193935386)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 7.878
INFO:root:Testing 798 out of 17728 hypotheses for tuna_fish_can (evidence > 1.6076645193935386)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 8.303
INFO:root:Testing 608 out of 19024 hypotheses for potted_meat_can (evidence > 1.6076645193935386)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.987
DEBUG:root:evidences for each object: [7.06694615 7.79261179 8.50901152 7.98500993 7.05922716 6.7762547
 8.34435434 7.8780766  8.30343429 6.98748103]
DEBUG:root:mean evidence: 7.67, std: 0.61 -> th=6.807209213295657
INFO:root:current most likely hypothesis: montys_heart with evidence 8.51
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 24 ---
INFO:uvicorn.access:192.168.1.217:65398 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.73151211,  0.04512061, -0.68033387],
       [-0.06156428,  0.99810312,  0.        ],
       [ 0.67904335,  0.04188427,  0.73290233]]), 'pose_fully_defined': False}}, {'patch': array([0.01075523, 0.00092578, 0.01067503])}]
INFO:root:Testing 574 out of 14424 hypotheses for numenta_mug (evidence > 1.7018023033239142)
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: 7.445
INFO:root:Testing 2434 out of 10992 hypotheses for montys_brain (evidence > 1.7018023033239142)
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 0.01 seconds. New max evidence: 8.09
INFO:root:Testing 1698 out of 14880 hypotheses for montys_heart (evidence > 1.7018023033239142)
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: 8.997
INFO:root:Testing 1016 out of 23200 hypotheses for ramen_pack (evidence > 1.7018023033239142)
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: 8.42
INFO:root:Testing 919 out of 14864 hypotheses for hot_sauce (evidence > 1.7018023033239142)
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: 7.547
INFO:root:Testing 878 out of 12560 hypotheses for harissa_oil (evidence > 1.7018023033239142)
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: 7.208
INFO:root:Testing 938 out of 21832 hypotheses for tomato_soup_can (evidence > 1.7018023033239142)
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: 8.818
INFO:root:Testing 782 out of 16976 hypotheses for mustard_bottle (evidence > 1.7018023033239142)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 8.347
INFO:root:Testing 589 out of 17728 hypotheses for tuna_fish_can (evidence > 1.7018023033239142)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 8.709
INFO:root:Testing 479 out of 19024 hypotheses for potted_meat_can (evidence > 1.7018023033239142)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.341
DEBUG:root:evidences for each object: [7.44485194 8.0896112  8.99658    8.42028473 7.54685327 7.20775399
 8.81770823 8.34689797 8.70902939 7.34091137]
DEBUG:root:mean evidence: 8.092, std: 0.629 -> th=7.1972640013667215
INFO:root:current most likely hypothesis: montys_heart with evidence 9.0
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'harissa_oil', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 25 ---
INFO:uvicorn.access:192.168.1.217:65398 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.80974929,  0.06648886, -0.58299685],
       [-0.08183502,  0.99664589,  0.        ],
       [ 0.58104141,  0.04770956,  0.81247442]]), 'pose_fully_defined': False}}, {'patch': array([-0.00332361, -0.01170713, -0.00161416])}]
INFO:root:Testing 521 out of 14424 hypotheses for numenta_mug (evidence > 1.7993160003416797)
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: 7.783
INFO:root:Testing 2283 out of 10992 hypotheses for montys_brain (evidence > 1.7993160003416797)
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 0.01 seconds. New max evidence: 8.456
INFO:root:Testing 1599 out of 14880 hypotheses for montys_heart (evidence > 1.7993160003416797)
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: 8.942
INFO:root:Testing 879 out of 23200 hypotheses for ramen_pack (evidence > 1.7993160003416797)
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: 8.825
INFO:root:Testing 747 out of 14864 hypotheses for hot_sauce (evidence > 1.7993160003416797)
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: 7.886
INFO:root:Testing 794 out of 12560 hypotheses for harissa_oil (evidence > 1.7993160003416797)
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: 7.545
INFO:root:Testing 835 out of 21832 hypotheses for tomato_soup_can (evidence > 1.7993160003416797)
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: 9.208
INFO:root:Testing 708 out of 16976 hypotheses for mustard_bottle (evidence > 1.7993160003416797)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 8.694
INFO:root:Testing 543 out of 17728 hypotheses for tuna_fish_can (evidence > 1.7993160003416797)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 9.092
INFO:root:Testing 399 out of 19024 hypotheses for potted_meat_can (evidence > 1.7993160003416797)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.705
DEBUG:root:evidences for each object: [7.78331258 8.45626992 8.94201199 8.82487335 7.88580143 7.54485912
 9.20836066 8.69392671 9.09188552 7.70515667]
DEBUG:root:mean evidence: 8.414, std: 0.596 -> th=7.3666885291312045
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 9.21
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'harissa_oil', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 26 ---
INFO:uvicorn.access:192.168.1.217:65398 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.56811545,  0.02063174, -0.8226902 ],
       [-0.03629218,  0.99934122,  0.        ],
       [ 0.82214823,  0.02985722,  0.56848996]]), 'pose_fully_defined': False}}, {'patch': array([-0.00589737,  0.00297401, -0.00719583])}]
INFO:root:Testing 483 out of 14424 hypotheses for numenta_mug (evidence > 1.8416721322828007)
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: 8.24
INFO:root:Testing 2272 out of 10992 hypotheses for montys_brain (evidence > 1.8416721322828007)
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 0.01 seconds. New max evidence: 8.861
INFO:root:Testing 1516 out of 14880 hypotheses for montys_heart (evidence > 1.8416721322828007)
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: 9.41
INFO:root:Testing 762 out of 23200 hypotheses for ramen_pack (evidence > 1.8416721322828007)
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: 9.27
INFO:root:Testing 652 out of 14864 hypotheses for hot_sauce (evidence > 1.8416721322828007)
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: 8.241
INFO:root:Testing 761 out of 12560 hypotheses for harissa_oil (evidence > 1.8416721322828007)
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: 7.99
INFO:root:Testing 776 out of 21832 hypotheses for tomato_soup_can (evidence > 1.8416721322828007)
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: 9.669
INFO:root:Testing 621 out of 16976 hypotheses for mustard_bottle (evidence > 1.8416721322828007)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 9.086
INFO:root:Testing 534 out of 17728 hypotheses for tuna_fish_can (evidence > 1.8416721322828007)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 9.578
INFO:root:Testing 313 out of 19024 hypotheses for potted_meat_can (evidence > 1.8416721322828007)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.193
DEBUG:root:evidences for each object: [8.23978943 8.86101523 9.40997002 9.270071   8.24119494 7.99033979
 9.66927614 9.08643443 9.57802409 8.19268931]
DEBUG:root:mean evidence: 8.854, std: 0.605 -> th=7.735420908676083
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 9.67
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'harissa_oil', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 27 ---
INFO:uvicorn.access:192.168.1.217:65398 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.35146089, -0.02298127, -0.93592046],
       [ 0.06524851,  0.99786905, -0.        ],
       [ 0.93392606, -0.06106742,  0.35221143]]), 'pose_fully_defined': False}}, {'patch': array([-0.00485731, -0.00130588, -0.00403123])}]
INFO:root:Testing 457 out of 14424 hypotheses for numenta_mug (evidence > 1.9338552271690208)
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: 8.679
INFO:root:Testing 2209 out of 10992 hypotheses for montys_brain (evidence > 1.9338552271690208)
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 0.01 seconds. New max evidence: 9.328
INFO:root:Testing 1401 out of 14880 hypotheses for montys_heart (evidence > 1.9338552271690208)
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: 9.897
INFO:root:Testing 649 out of 23200 hypotheses for ramen_pack (evidence > 1.9338552271690208)
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: 9.553
INFO:root:Testing 526 out of 14864 hypotheses for hot_sauce (evidence > 1.9338552271690208)
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: 8.667
INFO:root:Testing 719 out of 12560 hypotheses for harissa_oil (evidence > 1.9338552271690208)
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: 8.438
INFO:root:Testing 741 out of 21832 hypotheses for tomato_soup_can (evidence > 1.9338552271690208)
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: 10.124
INFO:root:Testing 544 out of 16976 hypotheses for mustard_bottle (evidence > 1.9338552271690208)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 9.521
INFO:root:Testing 505 out of 17728 hypotheses for tuna_fish_can (evidence > 1.9338552271690208)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 9.987
INFO:root:Testing 268 out of 19024 hypotheses for potted_meat_can (evidence > 1.9338552271690208)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.684
DEBUG:root:evidences for each object: [ 8.67911672  9.32782784  9.89703946  9.55253324  8.66718566  8.43825499
 10.12418392  9.5207199   9.98742644  8.68409621]
DEBUG:root:mean evidence: 9.288, std: 0.594 -> th=8.099347134056666
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 10.12
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'harissa_oil', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 28 ---
INFO:uvicorn.access:192.168.1.217:65400 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.8192726 ,  0.05565761, -0.57069663],
       [-0.06777917,  0.99770035,  0.        ],
       [ 0.56938422,  0.03868135,  0.82116098]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01468544, -0.0112995 ,  0.02188512])}]
INFO:root:Testing 429 out of 14424 hypotheses for numenta_mug (evidence > 2.024836783514166)
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: 8.988
INFO:root:Testing 2127 out of 10992 hypotheses for montys_brain (evidence > 2.024836783514166)
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 0.01 seconds. New max evidence: 9.376
INFO:root:Testing 1292 out of 14880 hypotheses for montys_heart (evidence > 2.024836783514166)
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: 10.014
INFO:root:Testing 564 out of 23200 hypotheses for ramen_pack (evidence > 2.024836783514166)
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: 9.955
INFO:root:Testing 420 out of 14864 hypotheses for hot_sauce (evidence > 2.024836783514166)
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: 8.149
INFO:root:Testing 672 out of 12560 hypotheses for harissa_oil (evidence > 2.024836783514166)
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: 7.999
INFO:root:Testing 704 out of 21832 hypotheses for tomato_soup_can (evidence > 2.024836783514166)
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: 9.124
INFO:root:Testing 477 out of 16976 hypotheses for mustard_bottle (evidence > 2.024836783514166)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 9.663
INFO:root:Testing 466 out of 17728 hypotheses for tuna_fish_can (evidence > 2.024836783514166)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 10.451
INFO:root:Testing 246 out of 19024 hypotheses for potted_meat_can (evidence > 2.024836783514166)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.619
DEBUG:root:evidences for each object: [ 8.98775331  9.37641059 10.01414178  9.95511697  8.14879651  7.99868574
  9.12418392  9.66261348 10.45105565  8.61938763]
DEBUG:root:mean evidence: 9.234, std: 0.773 -> th=8.360844520717059
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 10.45
DEBUG:root:evidences for each object: [ 8.98775331  9.37641059 10.01414178  9.95511697  8.14879651  7.99868574
  9.12418392  9.66261348 10.45105565  8.61938763]
DEBUG:root:mean evidence: 9.234, std: 0.773 -> th=8.360844520717059
DEBUG:root:evidences for each object: [ 8.98775331  9.37641059 10.01414178  9.95511697  8.14879651  7.99868574
  9.12418392  9.66261348 10.45105565  8.61938763]
DEBUG:root:mean evidence: 9.234, std: 0.773 -> th=8.883397303261875
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: {'numenta_mug', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 29 ---
INFO:uvicorn.access:192.168.1.217:65400 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.78469148,  0.04124506, -0.61851283],
       [-0.05248968,  0.99862147,  0.        ],
       [ 0.61766019,  0.03246554,  0.7857747 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00813179, -0.01654508, -0.01213119])}]
INFO:root:Testing 401 out of 14424 hypotheses for numenta_mug (evidence > 2.0902111301792647)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.282
INFO:root:Testing 2001 out of 10992 hypotheses for montys_brain (evidence > 2.0902111301792647)
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 0.01 seconds. New max evidence: 9.839
INFO:root:Testing 1134 out of 14880 hypotheses for montys_heart (evidence > 2.0902111301792647)
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: 10.366
INFO:root:Testing 494 out of 23200 hypotheses for ramen_pack (evidence > 2.0902111301792647)
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: 10.377
INFO:root:Testing 345 out of 14864 hypotheses for hot_sauce (evidence > 2.0902111301792647)
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: 8.444
INFO:root:Testing 644 out of 12560 hypotheses for harissa_oil (evidence > 2.0902111301792647)
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: 8.324
INFO:root:Testing 655 out of 21832 hypotheses for tomato_soup_can (evidence > 2.0902111301792647)
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: 9.461
INFO:root:Testing 424 out of 16976 hypotheses for mustard_bottle (evidence > 2.0902111301792647)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 10.042
INFO:root:Testing 446 out of 17728 hypotheses for tuna_fish_can (evidence > 2.0902111301792647)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 10.783
INFO:root:Testing 213 out of 19024 hypotheses for potted_meat_can (evidence > 2.0902111301792647)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.954
DEBUG:root:evidences for each object: [ 9.28229949  9.83933878 10.36588475 10.37731959  8.44351567  8.3242865
  9.46125825 10.04155514 10.7825141   8.95426136]
DEBUG:root:mean evidence: 9.587, std: 0.796 -> th=8.626011277252775
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 10.78
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 30 ---
INFO:uvicorn.access:192.168.1.217:65400 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.65625992, -0.01246903, -0.75443187],
       [ 0.01899671,  0.99981955, -0.        ],
       [ 0.75429573, -0.01433172,  0.65637836]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00301226, -0.00061309,  0.01568909])}]
INFO:root:Testing 379 out of 14424 hypotheses for numenta_mug (evidence > 2.156502819313193)
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: 8.282
INFO:root:Testing 1783 out of 10992 hypotheses for montys_brain (evidence > 2.156502819313193)
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 0.01 seconds. New max evidence: 8.839
INFO:root:Testing 937 out of 14880 hypotheses for montys_heart (evidence > 2.156502819313193)
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: 9.366
INFO:root:Testing 476 out of 23200 hypotheses for ramen_pack (evidence > 2.156502819313193)
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: 9.528
INFO:root:Testing 315 out of 14864 hypotheses for hot_sauce (evidence > 2.156502819313193)
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: 7.921
INFO:root:Testing 622 out of 12560 hypotheses for harissa_oil (evidence > 2.156502819313193)
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: 7.324
INFO:root:Testing 618 out of 21832 hypotheses for tomato_soup_can (evidence > 2.156502819313193)
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: 9.297
INFO:root:Testing 394 out of 16976 hypotheses for mustard_bottle (evidence > 2.156502819313193)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 9.042
INFO:root:Testing 441 out of 17728 hypotheses for tuna_fish_can (evidence > 2.156502819313193)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 10.684
INFO:root:Testing 193 out of 19024 hypotheses for potted_meat_can (evidence > 2.156502819313193)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.955
DEBUG:root:evidences for each object: [ 8.28229949  8.83933878  9.36588475  9.52770857  7.92121252  7.3242865
  9.29700244  9.04155514 10.68440871  7.9554458 ]
DEBUG:root:mean evidence: 8.824, std: 0.929 -> th=8.547526971409496
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 10.68
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'tomato_soup_can', 'montys_brain', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 31 ---
INFO:uvicorn.access:192.168.1.217:65400 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.3022568 , -0.04782969, -0.95202581],
       [ 0.15629711,  0.98771009, -0.        ],
       [ 0.9403255 , -0.14879888,  0.30601773]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00360169, -0.00203811,  0.00174511])}]
INFO:root:Testing 334 out of 14424 hypotheses for numenta_mug (evidence > 2.136881742852374)
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: 7.919
INFO:root:Testing 1373 out of 10992 hypotheses for montys_brain (evidence > 2.136881742852374)
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 0.01 seconds. New max evidence: 7.839
INFO:root:Testing 698 out of 14880 hypotheses for montys_heart (evidence > 2.136881742852374)
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: 8.862
INFO:root:Testing 413 out of 23200 hypotheses for ramen_pack (evidence > 2.136881742852374)
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: 9.564
INFO:root:Testing 269 out of 14864 hypotheses for hot_sauce (evidence > 2.136881742852374)
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: 7.829
INFO:root:Testing 555 out of 12560 hypotheses for harissa_oil (evidence > 2.136881742852374)
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: 7.646
INFO:root:Testing 552 out of 21832 hypotheses for tomato_soup_can (evidence > 2.136881742852374)
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: 9.743
INFO:root:Testing 325 out of 16976 hypotheses for mustard_bottle (evidence > 2.136881742852374)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 8.961
INFO:root:Testing 376 out of 17728 hypotheses for tuna_fish_can (evidence > 2.136881742852374)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 11.16
INFO:root:Testing 169 out of 19024 hypotheses for potted_meat_can (evidence > 2.136881742852374)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.273
DEBUG:root:evidences for each object: [ 7.91897962  7.83933878  8.86172055  9.56444801  7.82896735  7.64552776
  9.74329003  8.96125469 11.15970753  8.27265204]
DEBUG:root:mean evidence: 8.78, std: 1.064 -> th=8.927766026846182
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 11.16
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'mustard_bottle', 'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 32 ---
INFO:uvicorn.access:192.168.1.217:65400 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.41776004, -0.04364723, -0.90750838],
       [ 0.10391357,  0.99458633, -0.        ],
       [ 0.90259543, -0.09430244,  0.42003397]]), 'pose_fully_defined': False}}, {'patch': array([-0.0125344 ,  0.00314676, -0.02421605])}]
INFO:root:Testing 289 out of 14424 hypotheses for numenta_mug (evidence > 2.2319415067115447)
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: 8.191
INFO:root:Testing 945 out of 10992 hypotheses for montys_brain (evidence > 2.2319415067115447)
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: 8.282
INFO:root:Testing 478 out of 14880 hypotheses for montys_heart (evidence > 2.2319415067115447)
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: 9.336
INFO:root:Testing 353 out of 23200 hypotheses for ramen_pack (evidence > 2.2319415067115447)
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: 9.812
INFO:root:Testing 221 out of 14864 hypotheses for hot_sauce (evidence > 2.2319415067115447)
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: 8.171
INFO:root:Testing 468 out of 12560 hypotheses for harissa_oil (evidence > 2.2319415067115447)
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: 7.865
INFO:root:Testing 441 out of 21832 hypotheses for tomato_soup_can (evidence > 2.2319415067115447)
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: 10.13
INFO:root:Testing 266 out of 16976 hypotheses for mustard_bottle (evidence > 2.2319415067115447)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 8.821
INFO:root:Testing 279 out of 17728 hypotheses for tuna_fish_can (evidence > 2.2319415067115447)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 11.622
INFO:root:Testing 141 out of 19024 hypotheses for potted_meat_can (evidence > 2.2319415067115447)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.614
DEBUG:root:evidences for each object: [ 8.1911888   8.28174961  9.33582454  9.81179398  8.17139118  7.8652392
 10.13042288  8.82108645 11.62174462  8.61432547]
DEBUG:root:mean evidence: 9.084, std: 1.103 -> th=9.297395692935009
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 11.62
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'tuna_fish_can', 'montys_heart', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 33 ---
INFO:uvicorn.access:192.168.1.217:65401 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.66140359, -0.20782012, -0.72066365],
       [ 0.29976151,  0.95401417, -0.        ],
       [ 0.68752333, -0.21602722,  0.69328487]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00589086, -0.00032891,  0.00027394])}]
INFO:root:Testing 262 out of 14424 hypotheses for numenta_mug (evidence > 2.3243489232337513)
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: 8.636
INFO:root:Testing 880 out of 10992 hypotheses for montys_brain (evidence > 2.3243489232337513)
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: 8.747
INFO:root:Testing 419 out of 14880 hypotheses for montys_heart (evidence > 2.3243489232337513)
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: 9.673
INFO:root:Testing 311 out of 23200 hypotheses for ramen_pack (evidence > 2.3243489232337513)
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: 10.094
INFO:root:Testing 202 out of 14864 hypotheses for hot_sauce (evidence > 2.3243489232337513)
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: 8.486
INFO:root:Testing 406 out of 12560 hypotheses for harissa_oil (evidence > 2.3243489232337513)
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: 7.879
INFO:root:Testing 397 out of 21832 hypotheses for tomato_soup_can (evidence > 2.3243489232337513)
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: 10.51
INFO:root:Testing 240 out of 16976 hypotheses for mustard_bottle (evidence > 2.3243489232337513)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 9.212
INFO:root:Testing 247 out of 17728 hypotheses for tuna_fish_can (evidence > 2.3243489232337513)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 10.842
INFO:root:Testing 127 out of 19024 hypotheses for potted_meat_can (evidence > 2.3243489232337513)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.038
DEBUG:root:evidences for each object: [ 8.63571661  8.74663907  9.67329622 10.09401514  8.48619044  7.87857351
 10.50983025  9.21208307 10.84164609  9.03829916]
DEBUG:root:mean evidence: 9.312, std: 0.901 -> th=8.673316870706559
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 10.84
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'potted_meat_can', 'mustard_bottle', 'tomato_soup_can', 'montys_brain', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 34 ---
INFO:uvicorn.access:192.168.1.217:65401 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.60560324, -0.27952954, -0.74505567],
       [ 0.41908333,  0.90794778, -0.        ],
       [ 0.67647164, -0.31224041,  0.66700229]]), 'pose_fully_defined': False}}, {'patch': array([-0.00624147, -0.00785288,  0.00753557])}]
INFO:root:Testing 261 out of 14424 hypotheses for numenta_mug (evidence > 2.1683292176766393)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.082
INFO:root:Testing 893 out of 10992 hypotheses for montys_brain (evidence > 2.1683292176766393)
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: 9.218
INFO:root:Testing 429 out of 14880 hypotheses for montys_heart (evidence > 2.1683292176766393)
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: 9.842
INFO:root:Testing 307 out of 23200 hypotheses for ramen_pack (evidence > 2.1683292176766393)
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: 10.177
INFO:root:Testing 198 out of 14864 hypotheses for hot_sauce (evidence > 2.1683292176766393)
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: 8.566
INFO:root:Testing 378 out of 12560 hypotheses for harissa_oil (evidence > 2.1683292176766393)
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: 8.261
INFO:root:Testing 382 out of 21832 hypotheses for tomato_soup_can (evidence > 2.1683292176766393)
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: 10.862
INFO:root:Testing 240 out of 16976 hypotheses for mustard_bottle (evidence > 2.1683292176766393)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 9.609
INFO:root:Testing 230 out of 17728 hypotheses for tuna_fish_can (evidence > 2.1683292176766393)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 11.234
INFO:root:Testing 125 out of 19024 hypotheses for potted_meat_can (evidence > 2.1683292176766393)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.465
DEBUG:root:evidences for each object: [ 9.08211571  9.2184703   9.8415089  10.17746133  8.56596465  8.26122905
 10.86194124  9.60876494 11.23400999  9.46490269]
DEBUG:root:mean evidence: 9.632, std: 0.891 -> th=8.987207993203672
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 11.23
DEBUG:root:evidences for each object: [ 9.08211571  9.2184703   9.8415089  10.17746133  8.56596465  8.26122905
 10.86194124  9.60876494 11.23400999  9.46490269]
DEBUG:root:mean evidence: 9.632, std: 0.891 -> th=8.987207993203672
DEBUG:root:evidences for each object: [ 9.08211571  9.2184703   9.8415089  10.17746133  8.56596465  8.26122905
 10.86194124  9.60876494 11.23400999  9.46490269]
DEBUG:root:mean evidence: 9.632, std: 0.891 -> th=9.548908492778903
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: {'numenta_mug', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 35 ---
INFO:uvicorn.access:192.168.1.217:65401 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.60299331, -0.31760346, -0.73179718],
       [ 0.46602052,  0.88477391, -0.        ],
       [ 0.64747505, -0.3410325 ,  0.68152248]]), 'pose_fully_defined': False}}, {'patch': array([-0.00109323, -0.0054997 ,  0.00212738])}]
INFO:root:Testing 252 out of 14424 hypotheses for numenta_mug (evidence > 2.246801998300917)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.536
INFO:root:Testing 871 out of 10992 hypotheses for montys_brain (evidence > 2.246801998300917)
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: 8.606
INFO:root:Testing 407 out of 14880 hypotheses for montys_heart (evidence > 2.246801998300917)
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: 9.937
INFO:root:Testing 285 out of 23200 hypotheses for ramen_pack (evidence > 2.246801998300917)
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: 10.325
INFO:root:Testing 189 out of 14864 hypotheses for hot_sauce (evidence > 2.246801998300917)
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: 8.66
INFO:root:Testing 342 out of 12560 hypotheses for harissa_oil (evidence > 2.246801998300917)
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: 8.628
INFO:root:Testing 350 out of 21832 hypotheses for tomato_soup_can (evidence > 2.246801998300917)
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: 11.27
INFO:root:Testing 228 out of 16976 hypotheses for mustard_bottle (evidence > 2.246801998300917)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 9.61
INFO:root:Testing 201 out of 17728 hypotheses for tuna_fish_can (evidence > 2.246801998300917)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 11.607
INFO:root:Testing 119 out of 19024 hypotheses for potted_meat_can (evidence > 2.246801998300917)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.871
DEBUG:root:evidences for each object: [ 9.53575072  8.60578565  9.93653165 10.32455286  8.66003152  8.62836359
 11.26969567  9.61009653 11.60680813  9.87081518]
DEBUG:root:mean evidence: 9.805, std: 0.996 -> th=9.285446503853555
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 11.61
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 36 ---
INFO:uvicorn.access:192.168.1.217:65401 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.41621381, -0.06061864, -0.90724387],
       [ 0.14412249,  0.98955986, -0.        ],
       [ 0.89777212, -0.13075425,  0.42060498]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00342953,  0.01038827, -0.00692624])}]
INFO:root:Testing 246 out of 14424 hypotheses for numenta_mug (evidence > 2.321361625963389)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.911
INFO:root:Testing 862 out of 10992 hypotheses for montys_brain (evidence > 2.321361625963389)
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: 8.957
INFO:root:Testing 397 out of 14880 hypotheses for montys_heart (evidence > 2.321361625963389)
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: 10.237
INFO:root:Testing 276 out of 23200 hypotheses for ramen_pack (evidence > 2.321361625963389)
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: 10.801
INFO:root:Testing 186 out of 14864 hypotheses for hot_sauce (evidence > 2.321361625963389)
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: 9.006
INFO:root:Testing 320 out of 12560 hypotheses for harissa_oil (evidence > 2.321361625963389)
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: 9.078
INFO:root:Testing 338 out of 21832 hypotheses for tomato_soup_can (evidence > 2.321361625963389)
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: 11.654
INFO:root:Testing 223 out of 16976 hypotheses for mustard_bottle (evidence > 2.321361625963389)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 10.02
INFO:root:Testing 171 out of 17728 hypotheses for tuna_fish_can (evidence > 2.321361625963389)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 12.056
INFO:root:Testing 113 out of 19024 hypotheses for potted_meat_can (evidence > 2.321361625963389)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.233
DEBUG:root:evidences for each object: [ 9.91079206  8.95666089 10.23667235 10.80074155  9.0055645   9.07845727
 11.65426252 10.0198239  12.05603158 10.23277678]
DEBUG:root:mean evidence: 10.195, std: 1.013 -> th=9.644825267581695
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 12.06
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 37 ---
INFO:uvicorn.access:192.168.1.217:65401 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.47255506,  0.00782235, -0.88126643],
       [-0.01655104,  0.99986302,  0.        ],
       [ 0.88114572,  0.01458587,  0.4726198 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0012531 ,  0.00698508, -0.00396237])}]
INFO:root:Testing 244 out of 14424 hypotheses for numenta_mug (evidence > 2.4112063168954236)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.285
INFO:root:Testing 853 out of 10992 hypotheses for montys_brain (evidence > 2.4112063168954236)
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: 9.33
INFO:root:Testing 384 out of 14880 hypotheses for montys_heart (evidence > 2.4112063168954236)
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: 10.687
INFO:root:Testing 267 out of 23200 hypotheses for ramen_pack (evidence > 2.4112063168954236)
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: 11.278
INFO:root:Testing 184 out of 14864 hypotheses for hot_sauce (evidence > 2.4112063168954236)
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: 9.34
INFO:root:Testing 301 out of 12560 hypotheses for harissa_oil (evidence > 2.4112063168954236)
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: 9.543
INFO:root:Testing 318 out of 21832 hypotheses for tomato_soup_can (evidence > 2.4112063168954236)
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: 12.073
INFO:root:Testing 220 out of 16976 hypotheses for mustard_bottle (evidence > 2.4112063168954236)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 10.442
INFO:root:Testing 159 out of 17728 hypotheses for tuna_fish_can (evidence > 2.4112063168954236)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 12.508
INFO:root:Testing 111 out of 19024 hypotheses for potted_meat_can (evidence > 2.4112063168954236)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.577
DEBUG:root:evidences for each object: [10.28469868  9.32975059 10.68716794 11.27793888  9.33956968  9.54288565
 12.07281251 10.44171444 12.50760083 10.57741375]
DEBUG:root:mean evidence: 10.606, std: 1.035 -> th=10.0060806613134
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 12.51
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 38 ---
INFO:uvicorn.access:192.168.1.217:65401 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.26938268,  0.03601556, -0.96235952],
       [-0.13251754,  0.99118066,  0.        ],
       [ 0.95387215,  0.12752952,  0.27177959]]), 'pose_fully_defined': False}}, {'patch': array([-0.00272242,  0.01334296, -0.00190735])}]
INFO:root:Testing 240 out of 14424 hypotheses for numenta_mug (evidence > 2.5015201653283494)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.568
INFO:root:Testing 846 out of 10992 hypotheses for montys_brain (evidence > 2.5015201653283494)
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: 9.753
INFO:root:Testing 381 out of 14880 hypotheses for montys_heart (evidence > 2.5015201653283494)
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: 11.167
INFO:root:Testing 255 out of 23200 hypotheses for ramen_pack (evidence > 2.5015201653283494)
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: 11.705
INFO:root:Testing 183 out of 14864 hypotheses for hot_sauce (evidence > 2.5015201653283494)
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: 9.749
INFO:root:Testing 289 out of 12560 hypotheses for harissa_oil (evidence > 2.5015201653283494)
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: 9.904
INFO:root:Testing 314 out of 21832 hypotheses for tomato_soup_can (evidence > 2.5015201653283494)
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: 12.433
INFO:root:Testing 215 out of 16976 hypotheses for mustard_bottle (evidence > 2.5015201653283494)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 10.815
INFO:root:Testing 157 out of 17728 hypotheses for tuna_fish_can (evidence > 2.5015201653283494)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 12.855
INFO:root:Testing 110 out of 19024 hypotheses for potted_meat_can (evidence > 2.5015201653283494)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.837
DEBUG:root:evidences for each object: [10.56841566  9.75342409 11.16703533 11.70546753  9.74889986  9.90353137
 12.43346393 10.81544297 12.85543212 10.83727263]
DEBUG:root:mean evidence: 10.979, std: 1.029 -> th=10.2843456933823
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 12.86
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 39 ---
INFO:uvicorn.access:192.168.1.217:65401 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.19106942,  0.05489622, -0.98004024],
       [-0.27613907, -0.96111769,  0.        ],
       [-0.94193402,  0.2706274 ,  0.19879919]]), 'pose_fully_defined': False}}, {'patch': array([-0.00867091,  0.00304882, -0.00070652])}]
INFO:root:Testing 238 out of 14424 hypotheses for numenta_mug (evidence > 2.571086423345575)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.653
INFO:root:Testing 838 out of 10992 hypotheses for montys_brain (evidence > 2.571086423345575)
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: 10.185
INFO:root:Testing 380 out of 14880 hypotheses for montys_heart (evidence > 2.571086423345575)
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: 11.419
INFO:root:Testing 247 out of 23200 hypotheses for ramen_pack (evidence > 2.571086423345575)
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: 11.907
INFO:root:Testing 183 out of 14864 hypotheses for hot_sauce (evidence > 2.571086423345575)
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: 10.23
INFO:root:Testing 285 out of 12560 hypotheses for harissa_oil (evidence > 2.571086423345575)
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: 10.057
INFO:root:Testing 311 out of 21832 hypotheses for tomato_soup_can (evidence > 2.571086423345575)
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: 12.601
INFO:root:Testing 209 out of 16976 hypotheses for mustard_bottle (evidence > 2.571086423345575)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 11.025
INFO:root:Testing 155 out of 17728 hypotheses for tuna_fish_can (evidence > 2.571086423345575)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 12.998
INFO:root:Testing 105 out of 19024 hypotheses for potted_meat_can (evidence > 2.571086423345575)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.882
DEBUG:root:evidences for each object: [10.65295691 10.18467662 11.41937616 11.90702308 10.23006906 10.05668787
 12.60091574 11.02503633 12.99752992 10.88202631]
DEBUG:root:mean evidence: 11.196, std: 0.972 -> th=10.398023934056651
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 13.0
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 40 ---
INFO:uvicorn.access:192.168.1.217:65401 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.17622781,  0.05120692, -0.98301659],
       [-0.27903132,  0.960282  ,  0.        ],
       [ 0.94397314,  0.27429241,  0.18351673]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00843443, -0.00031646,  0.00238491])}]
INFO:root:Testing 235 out of 14424 hypotheses for numenta_mug (evidence > 2.5995059835141614)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.895
INFO:root:Testing 824 out of 10992 hypotheses for montys_brain (evidence > 2.5995059835141614)
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: 10.621
INFO:root:Testing 373 out of 14880 hypotheses for montys_heart (evidence > 2.5995059835141614)
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: 11.78
INFO:root:Testing 229 out of 23200 hypotheses for ramen_pack (evidence > 2.5995059835141614)
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: 12.288
INFO:root:Testing 182 out of 14864 hypotheses for hot_sauce (evidence > 2.5995059835141614)
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: 10.661
INFO:root:Testing 285 out of 12560 hypotheses for harissa_oil (evidence > 2.5995059835141614)
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: 10.373
INFO:root:Testing 307 out of 21832 hypotheses for tomato_soup_can (evidence > 2.5995059835141614)
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: 12.885
INFO:root:Testing 205 out of 16976 hypotheses for mustard_bottle (evidence > 2.5995059835141614)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 11.373
INFO:root:Testing 148 out of 17728 hypotheses for tuna_fish_can (evidence > 2.5995059835141614)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 13.296
INFO:root:Testing 100 out of 19024 hypotheses for potted_meat_can (evidence > 2.5995059835141614)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.101
DEBUG:root:evidences for each object: [10.89494447 10.62076877 11.78045615 12.28849186 10.66138423 10.37310189
 12.8845098  11.37312463 13.29634206 11.10114715]
DEBUG:root:mean evidence: 11.527, std: 0.955 -> th=10.637073650000376
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 13.3
DEBUG:root:evidences for each object: [10.89494447 10.62076877 11.78045615 12.28849186 10.66138423 10.37310189
 12.8845098  11.37312463 13.29634206 11.10114715]
DEBUG:root:mean evidence: 11.527, std: 0.955 -> th=10.637073650000376
DEBUG:root:evidences for each object: [10.89494447 10.62076877 11.78045615 12.28849186 10.66138423 10.37310189
 12.8845098  11.37312463 13.29634206 11.10114715]
DEBUG:root:mean evidence: 11.527, std: 0.955 -> th=11.301890753125399
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 41 ---
INFO:uvicorn.access:192.168.1.217:65404 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.70275317, -0.07582698, -0.70738126],
       [ 0.10727721,  0.99422915, -0.        ],
       [ 0.70329907, -0.07588588,  0.7068322 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01149658, -0.02054491,  0.0128133 ])}]
INFO:root:Testing 232 out of 14424 hypotheses for numenta_mug (evidence > 2.6592684125000936)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.328
INFO:root:Testing 815 out of 10992 hypotheses for montys_brain (evidence > 2.6592684125000936)
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: 10.946
INFO:root:Testing 368 out of 14880 hypotheses for montys_heart (evidence > 2.6592684125000936)
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: 12.237
INFO:root:Testing 225 out of 23200 hypotheses for ramen_pack (evidence > 2.6592684125000936)
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: 12.622
INFO:root:Testing 181 out of 14864 hypotheses for hot_sauce (evidence > 2.6592684125000936)
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: 10.685
INFO:root:Testing 281 out of 12560 hypotheses for harissa_oil (evidence > 2.6592684125000936)
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: 10.758
INFO:root:Testing 307 out of 21832 hypotheses for tomato_soup_can (evidence > 2.6592684125000936)
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: 13.311
INFO:root:Testing 199 out of 16976 hypotheses for mustard_bottle (evidence > 2.6592684125000936)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 11.726
INFO:root:Testing 145 out of 17728 hypotheses for tuna_fish_can (evidence > 2.6592684125000936)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 13.744
INFO:root:Testing 98 out of 19024 hypotheses for potted_meat_can (evidence > 2.6592684125000936)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.489
DEBUG:root:evidences for each object: [11.32804426 10.94593226 12.23681192 12.6217755  10.68549927 10.75799291
 13.3108749  11.72634024 13.744435   11.48856335]
DEBUG:root:mean evidence: 11.885, std: 1.012 -> th=10.995548001389025
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 13.74
DEBUG:root:evidences for each object: [11.32804426 10.94593226 12.23681192 12.6217755  10.68549927 10.75799291
 13.3108749  11.72634024 13.744435   11.48856335]
DEBUG:root:mean evidence: 11.885, std: 1.012 -> th=10.995548001389025
DEBUG:root:evidences for each object: [11.32804426 10.94593226 12.23681192 12.6217755  10.68549927 10.75799291
 13.3108749  11.72634024 13.744435   11.48856335]
DEBUG:root:mean evidence: 11.885, std: 1.012 -> th=11.682769751475838
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 42 ---
INFO:uvicorn.access:192.168.1.217:65404 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.85348268, -0.10526828, -0.5103782 ],
       [ 0.12241208,  0.99247936, -0.        ],
       [ 0.50653983, -0.06247646,  0.85995005]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00295948,  0.01016279, -0.00203605])}]
INFO:root:Testing 230 out of 14424 hypotheses for numenta_mug (evidence > 2.7488870003472563)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.674
INFO:root:Testing 807 out of 10992 hypotheses for montys_brain (evidence > 2.7488870003472563)
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: 11.401
INFO:root:Testing 362 out of 14880 hypotheses for montys_heart (evidence > 2.7488870003472563)
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: 12.675
INFO:root:Testing 225 out of 23200 hypotheses for ramen_pack (evidence > 2.7488870003472563)
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: 12.833
INFO:root:Testing 180 out of 14864 hypotheses for hot_sauce (evidence > 2.7488870003472563)
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: 11.006
INFO:root:Testing 277 out of 12560 hypotheses for harissa_oil (evidence > 2.7488870003472563)
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: 11.024
INFO:root:Testing 302 out of 21832 hypotheses for tomato_soup_can (evidence > 2.7488870003472563)
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: 13.693
INFO:root:Testing 198 out of 16976 hypotheses for mustard_bottle (evidence > 2.7488870003472563)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 11.936
INFO:root:Testing 145 out of 17728 hypotheses for tuna_fish_can (evidence > 2.7488870003472563)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.03
INFO:root:Testing 94 out of 19024 hypotheses for potted_meat_can (evidence > 2.7488870003472563)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.743
DEBUG:root:evidences for each object: [11.67414985 11.40111686 12.67463276 12.83335085 11.00577715 11.02444444
 13.69307406 11.93560936 14.02964214 11.74257054]
DEBUG:root:mean evidence: 12.201, std: 1.01 -> th=11.223713711757743
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 14.03
DEBUG:root:evidences for each object: [11.67414985 11.40111686 12.67463276 12.83335085 11.00577715 11.02444444
 13.69307406 11.93560936 14.02964214 11.74257054]
DEBUG:root:mean evidence: 12.201, std: 1.01 -> th=11.223713711757743
DEBUG:root:evidences for each object: [11.67414985 11.40111686 12.67463276 12.83335085 11.00577715 11.02444444
 13.69307406 11.93560936 14.02964214 11.74257054]
DEBUG:root:mean evidence: 12.201, std: 1.01 -> th=11.925195818742601
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 43 ---
INFO:uvicorn.access:192.168.1.217:65404 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.8649936 , -0.12444205, -0.48610724],
       [ 0.14239863,  0.98980939, -0.        ],
       [ 0.48115351, -0.06922101,  0.87389917]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00095953,  0.01024701, -0.00130542])}]
INFO:root:Testing 227 out of 14424 hypotheses for numenta_mug (evidence > 2.8059284279394348)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.99
INFO:root:Testing 796 out of 10992 hypotheses for montys_brain (evidence > 2.8059284279394348)
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: 11.841
INFO:root:Testing 356 out of 14880 hypotheses for montys_heart (evidence > 2.8059284279394348)
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: 13.0
INFO:root:Testing 224 out of 23200 hypotheses for ramen_pack (evidence > 2.8059284279394348)
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: 13.049
INFO:root:Testing 180 out of 14864 hypotheses for hot_sauce (evidence > 2.8059284279394348)
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: 11.251
INFO:root:Testing 276 out of 12560 hypotheses for harissa_oil (evidence > 2.8059284279394348)
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: 11.308
INFO:root:Testing 300 out of 21832 hypotheses for tomato_soup_can (evidence > 2.8059284279394348)
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: 14.017
INFO:root:Testing 198 out of 16976 hypotheses for mustard_bottle (evidence > 2.8059284279394348)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 12.246
INFO:root:Testing 145 out of 17728 hypotheses for tuna_fish_can (evidence > 2.8059284279394348)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.346
INFO:root:Testing 91 out of 19024 hypotheses for potted_meat_can (evidence > 2.8059284279394348)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.008
DEBUG:root:evidences for each object: [11.9900283  11.84069448 12.99951048 13.04911708 11.25086933 11.30812447
 14.01747244 12.24597492 14.34642951 12.00793768]
DEBUG:root:mean evidence: 12.506, std: 1.012 -> th=11.477143606585587
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 14.35
DEBUG:root:evidences for each object: [11.9900283  11.84069448 12.99951048 13.04911708 11.25086933 11.30812447
 14.01747244 12.24597492 14.34642951 12.00793768]
DEBUG:root:mean evidence: 12.506, std: 1.012 -> th=11.477143606585587
DEBUG:root:evidences for each object: [11.9900283  11.84069448 12.99951048 13.04911708 11.25086933 11.30812447
 14.01747244 12.24597492 14.34642951 12.00793768]
DEBUG:root:mean evidence: 12.506, std: 1.012 -> th=12.194465081997185
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 44 ---
INFO:uvicorn.access:192.168.1.217:65406 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.61365227, -0.07880374, -0.78563405],
       [ 0.12737163,  0.99185506, -0.        ],
       [ 0.77923511, -0.10006749,  0.61869147]]), 'pose_fully_defined': False}}, {'patch': array([-0.00310544, -0.0174716 ,  0.00446207])}]
INFO:root:Testing 227 out of 14424 hypotheses for numenta_mug (evidence > 2.8692859016463963)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.441
INFO:root:Testing 793 out of 10992 hypotheses for montys_brain (evidence > 2.8692859016463963)
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: 12.286
INFO:root:Testing 356 out of 14880 hypotheses for montys_heart (evidence > 2.8692859016463963)
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: 13.447
INFO:root:Testing 224 out of 23200 hypotheses for ramen_pack (evidence > 2.8692859016463963)
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: 13.453
INFO:root:Testing 180 out of 14864 hypotheses for hot_sauce (evidence > 2.8692859016463963)
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: 11.631
INFO:root:Testing 276 out of 12560 hypotheses for harissa_oil (evidence > 2.8692859016463963)
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: 11.746
INFO:root:Testing 300 out of 21832 hypotheses for tomato_soup_can (evidence > 2.8692859016463963)
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: 14.465
INFO:root:Testing 197 out of 16976 hypotheses for mustard_bottle (evidence > 2.8692859016463963)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 12.624
INFO:root:Testing 144 out of 17728 hypotheses for tuna_fish_can (evidence > 2.8692859016463963)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.788
INFO:root:Testing 90 out of 19024 hypotheses for potted_meat_can (evidence > 2.8692859016463963)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.42
DEBUG:root:evidences for each object: [12.44095766 12.28609036 13.44743597 13.45345418 11.63087905 11.74622141
 14.4648299  12.62372441 14.78757125 12.4196674 ]
DEBUG:root:mean evidence: 12.93, std: 1.022 -> th=11.8300570030769
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 14.79
DEBUG:root:evidences for each object: [12.44095766 12.28609036 13.44743597 13.45345418 11.63087905 11.74622141
 14.4648299  12.62372441 14.78757125 12.4196674 ]
DEBUG:root:mean evidence: 12.93, std: 1.022 -> th=11.8300570030769
DEBUG:root:evidences for each object: [12.44095766 12.28609036 13.44743597 13.45345418 11.63087905 11.74622141
 14.4648299  12.62372441 14.78757125 12.4196674 ]
DEBUG:root:mean evidence: 12.93, std: 1.022 -> th=12.569435565769208
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: {'numenta_mug', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 45 ---
INFO:uvicorn.access:192.168.1.217:65407 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.28833954, -0.00507372, -0.95751479],
       [ 0.01759363, -0.99984522,  0.        ],
       [-0.95736658, -0.01684616,  0.28838418]]), 'pose_fully_defined': False}}, {'patch': array([-0.01568277, -0.00821394, -0.00379379])}]
INFO:root:Testing 223 out of 14424 hypotheses for numenta_mug (evidence > 2.957514250769224)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.484
INFO:root:Testing 772 out of 10992 hypotheses for montys_brain (evidence > 2.957514250769224)
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: 12.316
INFO:root:Testing 351 out of 14880 hypotheses for montys_heart (evidence > 2.957514250769224)
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: 13.721
INFO:root:Testing 222 out of 23200 hypotheses for ramen_pack (evidence > 2.957514250769224)
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: 13.611
INFO:root:Testing 177 out of 14864 hypotheses for hot_sauce (evidence > 2.957514250769224)
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: 12.022
INFO:root:Testing 265 out of 12560 hypotheses for harissa_oil (evidence > 2.957514250769224)
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: 11.857
INFO:root:Testing 290 out of 21832 hypotheses for tomato_soup_can (evidence > 2.957514250769224)
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: 14.513
INFO:root:Testing 196 out of 16976 hypotheses for mustard_bottle (evidence > 2.957514250769224)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 12.738
INFO:root:Testing 144 out of 17728 hypotheses for tuna_fish_can (evidence > 2.957514250769224)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.919
INFO:root:Testing 88 out of 19024 hypotheses for potted_meat_can (evidence > 2.957514250769224)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.462
DEBUG:root:evidences for each object: [12.48373527 12.31579285 13.7206986  13.61064742 12.02174169 11.85660729
 14.51272782 12.73849725 14.91945341 12.46227947]
DEBUG:root:mean evidence: 13.064, std: 1.009 -> th=11.935562729050595
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 14.92
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 46 ---
INFO:uvicorn.access:192.168.1.217:65407 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.10219272,  0.04469989, -0.99375981],
       [-0.40074794, -0.91618835,  0.        ],
       [-0.91047116,  0.3982472 ,  0.11154117]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00441338,  0.00565808, -0.00475503])}]
INFO:root:Testing 221 out of 14424 hypotheses for numenta_mug (evidence > 2.9838906822626488)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.604
INFO:root:Testing 758 out of 10992 hypotheses for montys_brain (evidence > 2.9838906822626488)
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: 12.457
INFO:root:Testing 342 out of 14880 hypotheses for montys_heart (evidence > 2.9838906822626488)
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: 14.07
INFO:root:Testing 221 out of 23200 hypotheses for ramen_pack (evidence > 2.9838906822626488)
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: 13.857
INFO:root:Testing 173 out of 14864 hypotheses for hot_sauce (evidence > 2.9838906822626488)
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: 12.416
INFO:root:Testing 257 out of 12560 hypotheses for harissa_oil (evidence > 2.9838906822626488)
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: 12.048
INFO:root:Testing 281 out of 21832 hypotheses for tomato_soup_can (evidence > 2.9838906822626488)
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: 14.647
INFO:root:Testing 191 out of 16976 hypotheses for mustard_bottle (evidence > 2.9838906822626488)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 12.903
INFO:root:Testing 144 out of 17728 hypotheses for tuna_fish_can (evidence > 2.9838906822626488)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 15.184
INFO:root:Testing 87 out of 19024 hypotheses for potted_meat_can (evidence > 2.9838906822626488)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.579
DEBUG:root:evidences for each object: [12.60391686 12.4574337  14.06959228 13.85656139 12.41597073 12.04816319
 14.64682165 12.90310048 15.18369484 12.57906215]
DEBUG:root:mean evidence: 13.276, std: 1.024 -> th=12.146955869209878
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 15.18
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 47 ---
INFO:uvicorn.access:192.168.1.217:65407 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.31123144,  0.07260628, -0.9475565 ],
       [-0.22718691, -0.97385117,  0.        ],
       [-0.92277901,  0.21527243,  0.3195883 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00302037, -0.00076395,  0.00083247])}]
INFO:root:Testing 217 out of 14424 hypotheses for numenta_mug (evidence > 3.036738967302469)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.628
INFO:root:Testing 732 out of 10992 hypotheses for montys_brain (evidence > 3.036738967302469)
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: 12.508
INFO:root:Testing 334 out of 14880 hypotheses for montys_heart (evidence > 3.036738967302469)
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
INFO:root:Testing 221 out of 23200 hypotheses for ramen_pack (evidence > 3.036738967302469)
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: 14.0
INFO:root:Testing 171 out of 14864 hypotheses for hot_sauce (evidence > 3.036738967302469)
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: 12.774
INFO:root:Testing 245 out of 12560 hypotheses for harissa_oil (evidence > 3.036738967302469)
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: 12.14
INFO:root:Testing 272 out of 21832 hypotheses for tomato_soup_can (evidence > 3.036738967302469)
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: 14.683
INFO:root:Testing 189 out of 16976 hypotheses for mustard_bottle (evidence > 3.036738967302469)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 12.949
INFO:root:Testing 144 out of 17728 hypotheses for tuna_fish_can (evidence > 3.036738967302469)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 15.346
INFO:root:Testing 85 out of 19024 hypotheses for potted_meat_can (evidence > 3.036738967302469)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.601
DEBUG:root:evidences for each object: [12.62785461 12.50831638 14.35909118 13.99956055 12.77380527 12.13986644
 14.68326567 12.9489147  15.34598141 12.60120391]
DEBUG:root:mean evidence: 13.399, std: 1.045 -> th=12.276785125991307
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 15.35
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 48 ---
INFO:uvicorn.access:192.168.1.217:65407 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.12822858,  0.02321857, -0.99147281],
       [-0.17817441, -0.98399892,  0.        ],
       [-0.97560817,  0.17665508,  0.13031374]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00024685, -0.00065495, -0.00032475])}]
INFO:root:Testing 213 out of 14424 hypotheses for numenta_mug (evidence > 3.0691962814978258)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.739
INFO:root:Testing 700 out of 10992 hypotheses for montys_brain (evidence > 3.0691962814978258)
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: 12.696
INFO:root:Testing 315 out of 14880 hypotheses for montys_heart (evidence > 3.0691962814978258)
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: 14.715
INFO:root:Testing 220 out of 23200 hypotheses for ramen_pack (evidence > 3.0691962814978258)
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: 14.234
INFO:root:Testing 166 out of 14864 hypotheses for hot_sauce (evidence > 3.0691962814978258)
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: 13.171
INFO:root:Testing 225 out of 12560 hypotheses for harissa_oil (evidence > 3.0691962814978258)
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: 12.322
INFO:root:Testing 262 out of 21832 hypotheses for tomato_soup_can (evidence > 3.0691962814978258)
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: 14.806
INFO:root:Testing 185 out of 16976 hypotheses for mustard_bottle (evidence > 3.0691962814978258)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 13.086
INFO:root:Testing 144 out of 17728 hypotheses for tuna_fish_can (evidence > 3.0691962814978258)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 15.562
INFO:root:Testing 85 out of 19024 hypotheses for potted_meat_can (evidence > 3.0691962814978258)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.71
DEBUG:root:evidences for each object: [12.73934867 12.69554743 14.71513641 14.23397768 13.17066351 12.32223864
 14.80561913 13.08615125 15.56168899 12.70976966]
DEBUG:root:mean evidence: 13.604, std: 1.067 -> th=12.449351188138147
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 15.56
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 49 ---
INFO:uvicorn.access:192.168.1.217:65407 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.19786592,  0.07981744, -0.97697403],
       [-0.37410053, -0.92738816,  0.        ],
       [-0.90603414,  0.3654865 ,  0.21335826]]), 'pose_fully_defined': False}}, {'patch': array([-1.22312117e-05,  9.60041388e-03, -4.93721138e-03])}]
INFO:root:Testing 209 out of 14424 hypotheses for numenta_mug (evidence > 3.1123377970345363)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.812
INFO:root:Testing 684 out of 10992 hypotheses for montys_brain (evidence > 3.1123377970345363)
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: 13.094
INFO:root:Testing 310 out of 14880 hypotheses for montys_heart (evidence > 3.1123377970345363)
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: 15.071
INFO:root:Testing 218 out of 23200 hypotheses for ramen_pack (evidence > 3.1123377970345363)
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: 14.434
INFO:root:Testing 166 out of 14864 hypotheses for hot_sauce (evidence > 3.1123377970345363)
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: 13.548
INFO:root:Testing 214 out of 12560 hypotheses for harissa_oil (evidence > 3.1123377970345363)
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: 12.465
INFO:root:Testing 252 out of 21832 hypotheses for tomato_soup_can (evidence > 3.1123377970345363)
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: 14.898
INFO:root:Testing 181 out of 16976 hypotheses for mustard_bottle (evidence > 3.1123377970345363)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 13.235
INFO:root:Testing 144 out of 17728 hypotheses for tuna_fish_can (evidence > 3.1123377970345363)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 15.682
INFO:root:Testing 84 out of 19024 hypotheses for potted_meat_can (evidence > 3.1123377970345363)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.769
DEBUG:root:evidences for each object: [12.81228495 13.09368713 15.07108713 14.43356591 13.54768823 12.46523911
 14.89778227 13.23525897 15.68188245 12.76889864]
DEBUG:root:mean evidence: 13.801, std: 1.071 -> th=12.545505956385007
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 15.68
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 50 ---
INFO:uvicorn.access:192.168.1.217:65407 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.42045683,  0.05157398, -0.90584556],
       [-0.12174928, -0.99256089,  0.        ],
       [-0.89910687,  0.11028604,  0.42360809]]), 'pose_fully_defined': False}}, {'patch': array([-0.00560749,  0.00085702,  0.00234325])}]
INFO:root:Testing 205 out of 14424 hypotheses for numenta_mug (evidence > 3.1363764890962518)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.994
INFO:root:Testing 668 out of 10992 hypotheses for montys_brain (evidence > 3.1363764890962518)
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: 13.476
INFO:root:Testing 308 out of 14880 hypotheses for montys_heart (evidence > 3.1363764890962518)
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: 15.412
INFO:root:Testing 214 out of 23200 hypotheses for ramen_pack (evidence > 3.1363764890962518)
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: 14.526
INFO:root:Testing 166 out of 14864 hypotheses for hot_sauce (evidence > 3.1363764890962518)
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: 13.902
INFO:root:Testing 212 out of 12560 hypotheses for harissa_oil (evidence > 3.1363764890962518)
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: 12.508
INFO:root:Testing 244 out of 21832 hypotheses for tomato_soup_can (evidence > 3.1363764890962518)
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: 14.887
INFO:root:Testing 181 out of 16976 hypotheses for mustard_bottle (evidence > 3.1363764890962518)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 13.493
INFO:root:Testing 144 out of 17728 hypotheses for tuna_fish_can (evidence > 3.1363764890962518)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 15.697
INFO:root:Testing 82 out of 19024 hypotheses for potted_meat_can (evidence > 3.1363764890962518)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.736
DEBUG:root:evidences for each object: [12.99375003 13.476394   15.41192335 14.52589085 13.9023997  12.50767204
 14.88684721 13.49292846 15.6969918  12.73632578]
DEBUG:root:mean evidence: 13.963, std: 1.063 -> th=12.557593439937518
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 15.7
DEBUG:root:evidences for each object: [12.99375003 13.476394   15.41192335 14.52589085 13.9023997  12.50767204
 14.88684721 13.49292846 15.6969918  12.73632578]
DEBUG:root:mean evidence: 13.963, std: 1.063 -> th=12.557593439937518
DEBUG:root:evidences for each object: [12.99375003 13.476394   15.41192335 14.52589085 13.9023997  12.50767204
 14.88684721 13.49292846 15.6969918  12.73632578]
DEBUG:root:mean evidence: 13.963, std: 1.063 -> th=13.342443029933614
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: {'numenta_mug', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 51 ---
INFO:uvicorn.access:192.168.1.217:65407 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.15597836,  0.02125803, -0.98753169],
       [-0.13503995,  0.99084015,  0.        ],
       [ 0.97848606,  0.13335623,  0.1574203 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01252303, -0.0018689 , -0.00309912])}]
INFO:root:Testing 201 out of 14424 hypotheses for numenta_mug (evidence > 3.139398359984378)
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: 13.445
INFO:root:Testing 659 out of 10992 hypotheses for montys_brain (evidence > 3.139398359984378)
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: 13.895
INFO:root:Testing 306 out of 14880 hypotheses for montys_heart (evidence > 3.139398359984378)
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: 15.828
INFO:root:Testing 212 out of 23200 hypotheses for ramen_pack (evidence > 3.139398359984378)
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: 14.901
INFO:root:Testing 166 out of 14864 hypotheses for hot_sauce (evidence > 3.139398359984378)
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: 14.369
INFO:root:Testing 200 out of 12560 hypotheses for harissa_oil (evidence > 3.139398359984378)
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: 12.821
INFO:root:Testing 231 out of 21832 hypotheses for tomato_soup_can (evidence > 3.139398359984378)
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: 15.144
INFO:root:Testing 179 out of 16976 hypotheses for mustard_bottle (evidence > 3.139398359984378)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 13.94
INFO:root:Testing 144 out of 17728 hypotheses for tuna_fish_can (evidence > 3.139398359984378)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.697
INFO:root:Testing 81 out of 19024 hypotheses for potted_meat_can (evidence > 3.139398359984378)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.956
DEBUG:root:evidences for each object: [13.44453857 13.89517229 15.82840039 14.90054122 14.36928361 12.82055392
 15.14373195 13.93970634 14.6969918  12.95593571]
DEBUG:root:mean evidence: 14.199, std: 0.921 -> th=12.662720315904075
INFO:root:current most likely hypothesis: montys_heart with evidence 15.83
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'harissa_oil', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 52 ---
INFO:uvicorn.access:192.168.1.217:65407 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.37007794,  0.14201568, -0.91808162],
       [-0.35827135, -0.9336175 ,  0.        ],
       [-0.85713707,  0.32892234,  0.3963914 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.0072026 , -0.00309384,  0.0044886 ])}]
INFO:root:Testing 201 out of 14424 hypotheses for numenta_mug (evidence > 3.1656800789760187)
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: 13.572
INFO:root:Testing 659 out of 10992 hypotheses for montys_brain (evidence > 3.1656800789760187)
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: 14.223
INFO:root:Testing 306 out of 14880 hypotheses for montys_heart (evidence > 3.1656800789760187)
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: 16.075
INFO:root:Testing 212 out of 23200 hypotheses for ramen_pack (evidence > 3.1656800789760187)
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: 15.01
INFO:root:Testing 169 out of 14864 hypotheses for hot_sauce (evidence > 3.1656800789760187)
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: 14.685
INFO:root:Testing 200 out of 12560 hypotheses for harissa_oil (evidence > 3.1656800789760187)
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: 12.875
INFO:root:Testing 229 out of 21832 hypotheses for tomato_soup_can (evidence > 3.1656800789760187)
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: 15.15
INFO:root:Testing 179 out of 16976 hypotheses for mustard_bottle (evidence > 3.1656800789760187)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 14.315
INFO:root:Testing 143 out of 17728 hypotheses for tuna_fish_can (evidence > 3.1656800789760187)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.729
INFO:root:Testing 81 out of 19024 hypotheses for potted_meat_can (evidence > 3.1656800789760187)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.933
DEBUG:root:evidences for each object: [13.5718491  14.22260116 16.07535954 15.01016616 14.6852693  12.8751101
 15.14985639 14.31502921 14.72929323 12.93349363]
DEBUG:root:mean evidence: 14.357, std: 0.955 -> th=12.860287631016899
INFO:root:current most likely hypothesis: montys_heart with evidence 16.08
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'harissa_oil', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 53 ---
INFO:uvicorn.access:192.168.1.217:65407 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.43224251,  0.17055158, -0.88548211],
       [-0.36703533, -0.930207  ,  0.        ],
       [-0.82368166,  0.32500322,  0.46467346]]), 'pose_fully_defined': False}}, {'patch': array([-0.0006847 ,  0.00768347, -0.0025267 ])}]
INFO:root:Testing 193 out of 14424 hypotheses for numenta_mug (evidence > 3.215071907754224)
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: 13.764
INFO:root:Testing 642 out of 10992 hypotheses for montys_brain (evidence > 3.215071907754224)
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: 14.521
INFO:root:Testing 301 out of 14880 hypotheses for montys_heart (evidence > 3.215071907754224)
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: 16.337
INFO:root:Testing 208 out of 23200 hypotheses for ramen_pack (evidence > 3.215071907754224)
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: 15.305
INFO:root:Testing 168 out of 14864 hypotheses for hot_sauce (evidence > 3.215071907754224)
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: 14.98
INFO:root:Testing 196 out of 12560 hypotheses for harissa_oil (evidence > 3.215071907754224)
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: 12.897
INFO:root:Testing 224 out of 21832 hypotheses for tomato_soup_can (evidence > 3.215071907754224)
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: 15.128
INFO:root:Testing 178 out of 16976 hypotheses for mustard_bottle (evidence > 3.215071907754224)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 14.721
INFO:root:Testing 143 out of 17728 hypotheses for tuna_fish_can (evidence > 3.215071907754224)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.753
INFO:root:Testing 79 out of 19024 hypotheses for potted_meat_can (evidence > 3.215071907754224)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.088
DEBUG:root:evidences for each object: [13.76416066 14.52103033 16.33698105 15.30472059 14.98046545 12.8973304
 15.12811701 14.72124847 14.75335988 13.08759582]
DEBUG:root:mean evidence: 14.55, std: 0.992 -> th=13.069584843105895
INFO:root:current most likely hypothesis: montys_heart with evidence 16.34
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 54 ---
INFO:uvicorn.access:192.168.1.217:65407 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.45486105,  0.12127631, -0.88226611],
       [-0.25762306, -0.9662455 ,  0.        ],
       [-0.85248565,  0.22729209,  0.47075101]]), 'pose_fully_defined': False}}, {'patch': array([-0.00197618,  0.00501796, -0.00143728])}]
INFO:root:Testing 183 out of 14424 hypotheses for numenta_mug (evidence > 3.2673962107764734)
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: 13.945
INFO:root:Testing 629 out of 10992 hypotheses for montys_brain (evidence > 3.2673962107764734)
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: 14.92
INFO:root:Testing 297 out of 14880 hypotheses for montys_heart (evidence > 3.2673962107764734)
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: 16.616
INFO:root:Testing 206 out of 23200 hypotheses for ramen_pack (evidence > 3.2673962107764734)
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: 15.738
INFO:root:Testing 167 out of 14864 hypotheses for hot_sauce (evidence > 3.2673962107764734)
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: 15.312
INFO:root:Testing 194 out of 12560 hypotheses for harissa_oil (evidence > 3.2673962107764734)
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: 12.916
INFO:root:Testing 216 out of 21832 hypotheses for tomato_soup_can (evidence > 3.2673962107764734)
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: 15.178
INFO:root:Testing 177 out of 16976 hypotheses for mustard_bottle (evidence > 3.2673962107764734)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 15.154
INFO:root:Testing 143 out of 17728 hypotheses for tuna_fish_can (evidence > 3.2673962107764734)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.778
INFO:root:Testing 79 out of 19024 hypotheses for potted_meat_can (evidence > 3.2673962107764734)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.535
DEBUG:root:evidences for each object: [13.9450016  14.9197721  16.61589425 15.73798815 15.31246499 12.91577359
 15.17824173 15.1539087  14.77825632 13.53476966]
DEBUG:root:mean evidence: 14.809, std: 1.03 -> th=13.292715398776954
INFO:root:current most likely hypothesis: montys_heart with evidence 16.62
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 55 ---
INFO:uvicorn.access:192.168.1.217:65407 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.25706389,  0.08780502, -0.96239723],
       [-0.32323321, -0.94631934,  0.        ],
       [-0.91073511,  0.31107875,  0.27164603]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00161489, -0.00238344, -0.00286275])}]
INFO:root:Testing 178 out of 14424 hypotheses for numenta_mug (evidence > 3.323178849694237)
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: 14.223
INFO:root:Testing 623 out of 10992 hypotheses for montys_brain (evidence > 3.323178849694237)
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: 15.398
INFO:root:Testing 294 out of 14880 hypotheses for montys_heart (evidence > 3.323178849694237)
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: 16.956
INFO:root:Testing 203 out of 23200 hypotheses for ramen_pack (evidence > 3.323178849694237)
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: 16.167
INFO:root:Testing 167 out of 14864 hypotheses for hot_sauce (evidence > 3.323178849694237)
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: 15.773
INFO:root:Testing 194 out of 12560 hypotheses for harissa_oil (evidence > 3.323178849694237)
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: 13.191
INFO:root:Testing 212 out of 21832 hypotheses for tomato_soup_can (evidence > 3.323178849694237)
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: 15.3
INFO:root:Testing 173 out of 16976 hypotheses for mustard_bottle (evidence > 3.323178849694237)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 15.584
INFO:root:Testing 143 out of 17728 hypotheses for tuna_fish_can (evidence > 3.323178849694237)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.896
INFO:root:Testing 78 out of 19024 hypotheses for potted_meat_can (evidence > 3.323178849694237)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.993
DEBUG:root:evidences for each object: [14.22330006 15.39815847 16.95554459 16.16719447 15.77272983 13.19054122
 15.29966357 15.58371487 14.8962852  13.99257751]
DEBUG:root:mean evidence: 15.148, std: 1.052 -> th=13.56443567409751
INFO:root:current most likely hypothesis: montys_heart with evidence 16.96
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 56 ---
INFO:uvicorn.access:192.168.1.217:65407 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.39986089,  0.06149174, -0.91451082],
       [-0.15199605,  0.9883811 ,  0.        ],
       [ 0.90388521,  0.13900203,  0.40456145]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01397864, -0.00545961,  0.00185737])}]
INFO:root:Testing 177 out of 14424 hypotheses for numenta_mug (evidence > 3.3911089185243775)
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: 14.632
INFO:root:Testing 623 out of 10992 hypotheses for montys_brain (evidence > 3.3911089185243775)
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: 15.856
INFO:root:Testing 294 out of 14880 hypotheses for montys_heart (evidence > 3.3911089185243775)
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: 17.427
INFO:root:Testing 202 out of 23200 hypotheses for ramen_pack (evidence > 3.3911089185243775)
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: 16.5
INFO:root:Testing 167 out of 14864 hypotheses for hot_sauce (evidence > 3.3911089185243775)
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: 16.22
INFO:root:Testing 194 out of 12560 hypotheses for harissa_oil (evidence > 3.3911089185243775)
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: 13.568
INFO:root:Testing 212 out of 21832 hypotheses for tomato_soup_can (evidence > 3.3911089185243775)
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: 14.863
INFO:root:Testing 172 out of 16976 hypotheses for mustard_bottle (evidence > 3.3911089185243775)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 16.046
INFO:root:Testing 140 out of 17728 hypotheses for tuna_fish_can (evidence > 3.3911089185243775)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 13.896
INFO:root:Testing 78 out of 19024 hypotheses for potted_meat_can (evidence > 3.3911089185243775)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.452
DEBUG:root:evidences for each object: [14.6319064  15.85560249 17.4269839  16.50003827 16.21990214 13.5679717
 14.8627662  16.04594466 13.8962852  14.45241942]
DEBUG:root:mean evidence: 15.346, std: 1.182 -> th=13.941587116796061
INFO:root:current most likely hypothesis: montys_heart with evidence 17.43
DEBUG:root:evidences for each object: [14.6319064  15.85560249 17.4269839  16.50003827 16.21990214 13.5679717
 14.8627662  16.04594466 13.8962852  14.45241942]
DEBUG:root:mean evidence: 15.346, std: 1.182 -> th=13.941587116796061
DEBUG:root:evidences for each object: [14.6319064  15.85560249 17.4269839  16.50003827 16.21990214 13.5679717
 14.8627662  16.04594466 13.8962852  14.45241942]
DEBUG:root:mean evidence: 15.346, std: 1.182 -> th=14.812936311595815
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: {'numenta_mug', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 57 ---
INFO:uvicorn.access:192.168.1.217:65407 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.61173511,  0.1291478 , -0.78044923],
       [-0.20656405, -0.97843308,  0.        ],
       [-0.76361735,  0.16121275,  0.62521916]]), 'pose_fully_defined': False}}, {'patch': array([-0.01998818, -0.00316436,  0.00713492])}]
INFO:root:Testing 176 out of 14424 hypotheses for numenta_mug (evidence > 3.4853967791990144)
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: 14.686
INFO:root:Testing 623 out of 10992 hypotheses for montys_brain (evidence > 3.4853967791990144)
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: 16.165
INFO:root:Testing 294 out of 14880 hypotheses for montys_heart (evidence > 3.4853967791990144)
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: 17.698
INFO:root:Testing 201 out of 23200 hypotheses for ramen_pack (evidence > 3.4853967791990144)
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: 16.814
INFO:root:Testing 169 out of 14864 hypotheses for hot_sauce (evidence > 3.4853967791990144)
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: 16.584
INFO:root:Testing 191 out of 12560 hypotheses for harissa_oil (evidence > 3.4853967791990144)
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: 13.607
INFO:root:Testing 210 out of 21832 hypotheses for tomato_soup_can (evidence > 3.4853967791990144)
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: 14.977
INFO:root:Testing 171 out of 16976 hypotheses for mustard_bottle (evidence > 3.4853967791990144)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 16.492
INFO:root:Testing 140 out of 17728 hypotheses for tuna_fish_can (evidence > 3.4853967791990144)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 13.81
INFO:root:Testing 78 out of 19024 hypotheses for potted_meat_can (evidence > 3.4853967791990144)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.898
DEBUG:root:evidences for each object: [14.68600392 16.16456612 17.69772387 16.81386662 16.58391135 13.60732175
 14.97693425 16.49220597 13.8095286  14.89799115]
DEBUG:root:mean evidence: 15.573, std: 1.298 -> th=14.158179095143765
INFO:root:current most likely hypothesis: montys_heart with evidence 17.7
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 58 ---
INFO:uvicorn.access:192.168.1.217:65407 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.22627986,  0.14172231, -0.96369716],
       [-0.53079967, -0.84749732,  0.        ],
       [-0.81673076,  0.51153014,  0.26699773]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00909157,  0.01004735, -0.00787973])}]
INFO:root:Testing 173 out of 14424 hypotheses for numenta_mug (evidence > 3.5395447737859413)
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: 14.983
INFO:root:Testing 620 out of 10992 hypotheses for montys_brain (evidence > 3.5395447737859413)
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: 16.634
INFO:root:Testing 291 out of 14880 hypotheses for montys_heart (evidence > 3.5395447737859413)
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: 18.02
INFO:root:Testing 199 out of 23200 hypotheses for ramen_pack (evidence > 3.5395447737859413)
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: 17.22
INFO:root:Testing 169 out of 14864 hypotheses for hot_sauce (evidence > 3.5395447737859413)
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: 17.043
INFO:root:Testing 189 out of 12560 hypotheses for harissa_oil (evidence > 3.5395447737859413)
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: 13.902
INFO:root:Testing 209 out of 21832 hypotheses for tomato_soup_can (evidence > 3.5395447737859413)
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: 15.45
INFO:root:Testing 169 out of 16976 hypotheses for mustard_bottle (evidence > 3.5395447737859413)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 16.927
INFO:root:Testing 140 out of 17728 hypotheses for tuna_fish_can (evidence > 3.5395447737859413)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 13.927
INFO:root:Testing 78 out of 19024 hypotheses for potted_meat_can (evidence > 3.5395447737859413)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.308
DEBUG:root:evidences for each object: [14.98334582 16.63392646 18.01969366 17.22042275 17.04266292 13.90202805
 15.44986136 16.92691974 13.92677557 15.30782112]
DEBUG:root:mean evidence: 15.941, std: 1.356 -> th=14.415754929295904
INFO:root:current most likely hypothesis: montys_heart with evidence 18.02
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 59 ---
INFO:uvicorn.access:192.168.1.217:65407 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.06864222,  0.11442309, -0.99105782],
       [-0.85753139, -0.51443164,  0.        ],
       [-0.5098315 ,  0.84986319,  0.13343312]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00331694,  0.00038715, -0.00261715])}]
INFO:root:Testing 171 out of 14424 hypotheses for numenta_mug (evidence > 3.603938732323975)
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: 15.314
INFO:root:Testing 620 out of 10992 hypotheses for montys_brain (evidence > 3.603938732323975)
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: 17.087
INFO:root:Testing 291 out of 14880 hypotheses for montys_heart (evidence > 3.603938732323975)
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: 18.402
INFO:root:Testing 197 out of 23200 hypotheses for ramen_pack (evidence > 3.603938732323975)
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: 17.692
INFO:root:Testing 169 out of 14864 hypotheses for hot_sauce (evidence > 3.603938732323975)
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: 17.512
INFO:root:Testing 188 out of 12560 hypotheses for harissa_oil (evidence > 3.603938732323975)
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: 14.278
INFO:root:Testing 208 out of 21832 hypotheses for tomato_soup_can (evidence > 3.603938732323975)
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: 15.95
INFO:root:Testing 169 out of 16976 hypotheses for mustard_bottle (evidence > 3.603938732323975)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 17.392
INFO:root:Testing 137 out of 17728 hypotheses for tuna_fish_can (evidence > 3.603938732323975)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 13.007
INFO:root:Testing 78 out of 19024 hypotheses for potted_meat_can (evidence > 3.603938732323975)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.723
DEBUG:root:evidences for each object: [15.31371209 17.08714414 18.40228507 17.69215539 17.51185533 14.27797211
 15.94986136 17.3923073  13.00686809 15.72271094]
DEBUG:root:mean evidence: 16.236, std: 1.611 -> th=14.721828058430976
INFO:root:current most likely hypothesis: montys_heart with evidence 18.4
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 60 ---
INFO:uvicorn.access:192.168.1.217:65407 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.27214543,  0.0883612 , -0.95819057],
       [-0.308814  ,  0.95112245,  0.        ],
       [ 0.91135656,  0.29590266,  0.2861308 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00653427, -0.003111  ,  0.00164463])}]
INFO:root:Testing 171 out of 14424 hypotheses for numenta_mug (evidence > 3.680457014607743)
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: 15.765
INFO:root:Testing 620 out of 10992 hypotheses for montys_brain (evidence > 3.680457014607743)
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: 17.563
INFO:root:Testing 291 out of 14880 hypotheses for montys_heart (evidence > 3.680457014607743)
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: 18.829
INFO:root:Testing 196 out of 23200 hypotheses for ramen_pack (evidence > 3.680457014607743)
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: 18.068
INFO:root:Testing 169 out of 14864 hypotheses for hot_sauce (evidence > 3.680457014607743)
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: 17.99
INFO:root:Testing 188 out of 12560 hypotheses for harissa_oil (evidence > 3.680457014607743)
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: 14.778
INFO:root:Testing 208 out of 21832 hypotheses for tomato_soup_can (evidence > 3.680457014607743)
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: 16.45
INFO:root:Testing 169 out of 16976 hypotheses for mustard_bottle (evidence > 3.680457014607743)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 17.875
INFO:root:Testing 136 out of 17728 hypotheses for tuna_fish_can (evidence > 3.680457014607743)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 13.296
INFO:root:Testing 78 out of 19024 hypotheses for potted_meat_can (evidence > 3.680457014607743)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.169
DEBUG:root:evidences for each object: [15.76504324 17.56261003 18.82870399 18.06834347 17.99009847 14.77797211
 16.44986136 17.8749441  13.2955782  16.16932632]
DEBUG:root:mean evidence: 16.678, std: 1.634 -> th=15.06296319432343
INFO:root:current most likely hypothesis: montys_heart with evidence 18.83
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 61 ---
INFO:uvicorn.access:192.168.1.217:65407 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.50366342,  0.1142955 , -0.85630584],
       [-0.22130174, -0.97520538,  0.        ],
       [-0.83507407,  0.18950197,  0.51646907]]), 'pose_fully_defined': False}}, {'patch': array([-0.01890916,  0.00335411,  0.00214424])}]
INFO:root:Testing 169 out of 14424 hypotheses for numenta_mug (evidence > 3.7657407985808575)
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: 15.934
INFO:root:Testing 620 out of 10992 hypotheses for montys_brain (evidence > 3.7657407985808575)
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: 18.021
INFO:root:Testing 291 out of 14880 hypotheses for montys_heart (evidence > 3.7657407985808575)
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: 19.112
INFO:root:Testing 194 out of 23200 hypotheses for ramen_pack (evidence > 3.7657407985808575)
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: 18.483
INFO:root:Testing 169 out of 14864 hypotheses for hot_sauce (evidence > 3.7657407985808575)
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: 18.435
INFO:root:Testing 187 out of 12560 hypotheses for harissa_oil (evidence > 3.7657407985808575)
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: 14.937
INFO:root:Testing 208 out of 21832 hypotheses for tomato_soup_can (evidence > 3.7657407985808575)
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: 16.693
INFO:root:Testing 168 out of 16976 hypotheses for mustard_bottle (evidence > 3.7657407985808575)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 18.358
INFO:root:Testing 131 out of 17728 hypotheses for tuna_fish_can (evidence > 3.7657407985808575)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 13.739
INFO:root:Testing 78 out of 19024 hypotheses for potted_meat_can (evidence > 3.7657407985808575)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.627
DEBUG:root:evidences for each object: [15.93419894 18.0207307  19.11198684 18.48251252 18.43522737 14.93658585
 16.69287367 18.35847006 13.73918905 16.62689624]
DEBUG:root:mean evidence: 17.034, std: 1.669 -> th=15.289589469140513
INFO:root:current most likely hypothesis: montys_heart with evidence 19.11
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 62 ---
INFO:uvicorn.access:192.168.1.217:65407 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.4563182 ,  0.11869874, -0.88186411],
       [-0.25174511, -0.96779357,  0.        ],
       [-0.85346242,  0.22200497,  0.47150365]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00061033,  0.00689112, -0.00217369])}]
INFO:root:Testing 169 out of 14424 hypotheses for numenta_mug (evidence > 3.8223973672851272)
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: 16.13
INFO:root:Testing 617 out of 10992 hypotheses for montys_brain (evidence > 3.8223973672851272)
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: 18.488
INFO:root:Testing 290 out of 14880 hypotheses for montys_heart (evidence > 3.8223973672851272)
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: 19.472
INFO:root:Testing 194 out of 23200 hypotheses for ramen_pack (evidence > 3.8223973672851272)
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: 18.886
INFO:root:Testing 169 out of 14864 hypotheses for hot_sauce (evidence > 3.8223973672851272)
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: 18.91
INFO:root:Testing 187 out of 12560 hypotheses for harissa_oil (evidence > 3.8223973672851272)
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: 15.137
INFO:root:Testing 208 out of 21832 hypotheses for tomato_soup_can (evidence > 3.8223973672851272)
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: 17.045
INFO:root:Testing 165 out of 16976 hypotheses for mustard_bottle (evidence > 3.8223973672851272)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 18.81
INFO:root:Testing 131 out of 17728 hypotheses for tuna_fish_can (evidence > 3.8223973672851272)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.225
INFO:root:Testing 76 out of 19024 hypotheses for potted_meat_can (evidence > 3.8223973672851272)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.075
DEBUG:root:evidences for each object: [16.12962631 18.48836669 19.47174479 18.88585083 18.91002416 15.13746305
 17.04488792 18.81014088 14.22493049 17.07543815]
DEBUG:root:mean evidence: 17.418, std: 1.703 -> th=15.5773958284815
INFO:root:current most likely hypothesis: montys_heart with evidence 19.47
DEBUG:root:evidences for each object: [16.12962631 18.48836669 19.47174479 18.88585083 18.91002416 15.13746305
 17.04488792 18.81014088 14.22493049 17.07543815]
DEBUG:root:mean evidence: 17.418, std: 1.703 -> th=15.5773958284815
DEBUG:root:evidences for each object: [16.12962631 18.48836669 19.47174479 18.88585083 18.91002416 15.13746305
 17.04488792 18.81014088 14.22493049 17.07543815]
DEBUG:root:mean evidence: 17.418, std: 1.703 -> th=16.550983067761592
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: {'numenta_mug', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 63 ---
INFO:uvicorn.access:192.168.1.217:65407 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.24278383,  0.11471854, -0.96327341],
       [-0.42722132, -0.90414708,  0.        ],
       [-0.87094085,  0.41153094,  0.2685225 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00674394, -0.00159211, -0.00218489])}]
INFO:root:Testing 169 out of 14424 hypotheses for numenta_mug (evidence > 3.894348957120375)
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: 16.417
INFO:root:Testing 617 out of 10992 hypotheses for montys_brain (evidence > 3.894348957120375)
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: 18.967
INFO:root:Testing 286 out of 14880 hypotheses for montys_heart (evidence > 3.894348957120375)
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: 19.844
INFO:root:Testing 185 out of 23200 hypotheses for ramen_pack (evidence > 3.894348957120375)
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: 19.362
INFO:root:Testing 169 out of 14864 hypotheses for hot_sauce (evidence > 3.894348957120375)
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: 19.384
INFO:root:Testing 187 out of 12560 hypotheses for harissa_oil (evidence > 3.894348957120375)
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: 15.441
INFO:root:Testing 208 out of 21832 hypotheses for tomato_soup_can (evidence > 3.894348957120375)
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: 16.045
INFO:root:Testing 164 out of 16976 hypotheses for mustard_bottle (evidence > 3.894348957120375)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 19.251
INFO:root:Testing 129 out of 17728 hypotheses for tuna_fish_can (evidence > 3.894348957120375)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.542
INFO:root:Testing 75 out of 19024 hypotheses for potted_meat_can (evidence > 3.894348957120375)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.515
DEBUG:root:evidences for each object: [16.41724942 18.96742981 19.84438067 19.36229521 19.38389941 15.44099313
 16.04488792 19.25083478 14.54208221 17.51483366]
DEBUG:root:mean evidence: 17.677, std: 1.836 -> th=15.875504539411375
INFO:root:current most likely hypothesis: montys_heart with evidence 19.84
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 64 ---
INFO:uvicorn.access:192.168.1.217:65407 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.05805253,  0.12011833, -0.99106079],
       [-0.90036263, -0.43514036,  0.        ],
       [-0.43125055,  0.8923141 ,  0.13341105]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00470061, -0.00356506, -0.00070067])}]
INFO:root:Testing 168 out of 14424 hypotheses for numenta_mug (evidence > 3.9688761348528434)
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: 16.751
INFO:root:Testing 617 out of 10992 hypotheses for montys_brain (evidence > 3.9688761348528434)
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: 19.406
INFO:root:Testing 286 out of 14880 hypotheses for montys_heart (evidence > 3.9688761348528434)
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: 20.23
INFO:root:Testing 179 out of 23200 hypotheses for ramen_pack (evidence > 3.9688761348528434)
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: 19.834
INFO:root:Testing 169 out of 14864 hypotheses for hot_sauce (evidence > 3.9688761348528434)
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: 19.852
INFO:root:Testing 187 out of 12560 hypotheses for harissa_oil (evidence > 3.9688761348528434)
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: 15.822
INFO:root:Testing 207 out of 21832 hypotheses for tomato_soup_can (evidence > 3.9688761348528434)
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: 15.878
INFO:root:Testing 162 out of 16976 hypotheses for mustard_bottle (evidence > 3.9688761348528434)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 19.71
INFO:root:Testing 128 out of 17728 hypotheses for tuna_fish_can (evidence > 3.9688761348528434)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 13.542
INFO:root:Testing 74 out of 19024 hypotheses for potted_meat_can (evidence > 3.9688761348528434)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.965
DEBUG:root:evidences for each object: [16.7514569  19.40623685 20.2295374  19.83394928 19.85164942 15.82241613
 15.8783069  19.71033217 13.54208221 17.96535288]
DEBUG:root:mean evidence: 17.899, std: 2.173 -> th=16.18362991783581
INFO:root:current most likely hypothesis: montys_heart with evidence 20.23
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 65 ---
INFO:uvicorn.access:192.168.1.217:65407 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.47217648,  0.05360946, -0.87987238],
       [-0.11281213,  0.99361634,  0.        ],
       [ 0.87425557,  0.09926028,  0.47521006]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00946964, -0.00497415,  0.0027855 ])}]
INFO:root:Testing 167 out of 14424 hypotheses for numenta_mug (evidence > 4.0459074794589505)
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: 17.128
INFO:root:Testing 617 out of 10992 hypotheses for montys_brain (evidence > 4.0459074794589505)
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: 19.851
INFO:root:Testing 286 out of 14880 hypotheses for montys_heart (evidence > 4.0459074794589505)
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: 20.697
INFO:root:Testing 176 out of 23200 hypotheses for ramen_pack (evidence > 4.0459074794589505)
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: 20.182
INFO:root:Testing 169 out of 14864 hypotheses for hot_sauce (evidence > 4.0459074794589505)
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: 20.35
INFO:root:Testing 185 out of 12560 hypotheses for harissa_oil (evidence > 4.0459074794589505)
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: 16.23
INFO:root:Testing 204 out of 21832 hypotheses for tomato_soup_can (evidence > 4.0459074794589505)
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: 16.219
INFO:root:Testing 161 out of 16976 hypotheses for mustard_bottle (evidence > 4.0459074794589505)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 20.185
INFO:root:Testing 127 out of 17728 hypotheses for tuna_fish_can (evidence > 4.0459074794589505)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 12.795
INFO:root:Testing 74 out of 19024 hypotheses for potted_meat_can (evidence > 4.0459074794589505)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.436
DEBUG:root:evidences for each object: [17.1275674  19.85136102 20.69681197 20.18152462 20.3501015  16.23027306
 16.21946494 20.18519098 12.79545375 18.43563947]
DEBUG:root:mean evidence: 18.207, std: 2.443 -> th=16.557449573356884
INFO:root:current most likely hypothesis: montys_heart with evidence 20.7
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_heart', 'ramen_pack', 'potted_meat_can', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 66 ---
INFO:uvicorn.access:192.168.1.217:65407 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.48341528,  0.18216107, -0.85622836],
       [-0.35261702, -0.93576773,  0.        ],
       [-0.80123087,  0.30192069,  0.51659751]]), 'pose_fully_defined': False}}, {'patch': array([-0.00042909, -0.00386846, -0.00548246])}]
INFO:root:Testing 166 out of 14424 hypotheses for numenta_mug (evidence > 4.139362393339219)
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: 16.128
INFO:root:Testing 616 out of 10992 hypotheses for montys_brain (evidence > 4.139362393339219)
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: 19.781
INFO:root:Testing 286 out of 14880 hypotheses for montys_heart (evidence > 4.139362393339219)
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: 20.784
INFO:root:Testing 170 out of 23200 hypotheses for ramen_pack (evidence > 4.139362393339219)
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: 20.453
INFO:root:Testing 169 out of 14864 hypotheses for hot_sauce (evidence > 4.139362393339219)
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: 19.367
INFO:root:Testing 182 out of 12560 hypotheses for harissa_oil (evidence > 4.139362393339219)
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: 15.23
INFO:root:Testing 203 out of 21832 hypotheses for tomato_soup_can (evidence > 4.139362393339219)
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: 15.648
INFO:root:Testing 160 out of 16976 hypotheses for mustard_bottle (evidence > 4.139362393339219)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 19.185
INFO:root:Testing 124 out of 17728 hypotheses for tuna_fish_can (evidence > 4.139362393339219)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 12.868
INFO:root:Testing 73 out of 19024 hypotheses for potted_meat_can (evidence > 4.139362393339219)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.436
DEBUG:root:evidences for each object: [16.1275674  19.7805385  20.78425849 20.453067   19.36710292 15.23027306
 15.64777295 19.18519098 12.86806242 17.43563947]
DEBUG:root:mean evidence: 17.688, std: 2.502 -> th=16.62740679464162
INFO:root:current most likely hypothesis: montys_heart with evidence 20.78
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'potted_meat_can', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 67 ---
INFO:uvicorn.access:192.168.1.217:65411 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.23290959,  0.3936631 , -0.88925952],
       [-0.86064825, -0.50919996,  0.        ],
       [-0.45281091,  0.76533965,  0.45740301]]), 'pose_fully_defined': False}}, {'patch': array([-0.00914257,  0.02522304,  0.0066653 ])}]
INFO:root:Testing 166 out of 14424 hypotheses for numenta_mug (evidence > 4.156851698660404)
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: 16.416
INFO:root:Testing 615 out of 10992 hypotheses for montys_brain (evidence > 4.156851698660404)
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: 20.212
INFO:root:Testing 285 out of 14880 hypotheses for montys_heart (evidence > 4.156851698660404)
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: 21.054
INFO:root:Testing 160 out of 23200 hypotheses for ramen_pack (evidence > 4.156851698660404)
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: 20.805
INFO:root:Testing 169 out of 14864 hypotheses for hot_sauce (evidence > 4.156851698660404)
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: 19.682
INFO:root:Testing 180 out of 12560 hypotheses for harissa_oil (evidence > 4.156851698660404)
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: 15.615
INFO:root:Testing 202 out of 21832 hypotheses for tomato_soup_can (evidence > 4.156851698660404)
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: 15.988
INFO:root:Testing 159 out of 16976 hypotheses for mustard_bottle (evidence > 4.156851698660404)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 19.534
INFO:root:Testing 120 out of 17728 hypotheses for tuna_fish_can (evidence > 4.156851698660404)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 13.211
INFO:root:Testing 71 out of 19024 hypotheses for potted_meat_can (evidence > 4.156851698660404)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.62
DEBUG:root:evidences for each object: [16.41648107 20.21179466 21.05367422 20.80484771 19.6819968  15.61547758
 15.98794749 19.53374717 13.21108801 17.61966078]
DEBUG:root:mean evidence: 18.014, std: 2.502 -> th=16.842939375877826
INFO:root:current most likely hypothesis: montys_heart with evidence 21.05
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'potted_meat_can', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 68 ---
INFO:uvicorn.access:192.168.1.217:65411 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.38164464,  0.28261949, -0.88004181],
       [-0.59511844, -0.803638  ,  0.        ],
       [-0.70723504,  0.52372911,  0.47489621]]), 'pose_fully_defined': False}}, {'patch': array([-0.00557275,  0.00330323, -0.00022824])}]
INFO:root:Testing 164 out of 14424 hypotheses for numenta_mug (evidence > 4.210734843969455)
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: 15.416
INFO:root:Testing 615 out of 10992 hypotheses for montys_brain (evidence > 4.210734843969455)
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: 20.614
INFO:root:Testing 283 out of 14880 hypotheses for montys_heart (evidence > 4.210734843969455)
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: 21.31
INFO:root:Testing 158 out of 23200 hypotheses for ramen_pack (evidence > 4.210734843969455)
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: 21.128
INFO:root:Testing 168 out of 14864 hypotheses for hot_sauce (evidence > 4.210734843969455)
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: 20.044
INFO:root:Testing 175 out of 12560 hypotheses for harissa_oil (evidence > 4.210734843969455)
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: 14.827
INFO:root:Testing 200 out of 21832 hypotheses for tomato_soup_can (evidence > 4.210734843969455)
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: 16.362
INFO:root:Testing 156 out of 16976 hypotheses for mustard_bottle (evidence > 4.210734843969455)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 19.866
INFO:root:Testing 118 out of 17728 hypotheses for tuna_fish_can (evidence > 4.210734843969455)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 13.514
INFO:root:Testing 71 out of 19024 hypotheses for potted_meat_can (evidence > 4.210734843969455)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.945
DEBUG:root:evidences for each object: [15.41648107 20.61398799 21.31018225 21.12848335 20.04353313 14.82671744
 16.3620858  19.86614593 13.51367321 17.9452943 ]
DEBUG:root:mean evidence: 18.103, std: 2.733 -> th=17.048145796234806
INFO:root:current most likely hypothesis: montys_heart with evidence 21.31
DEBUG:root:evidences for each object: [15.41648107 20.61398799 21.31018225 21.12848335 20.04353313 14.82671744
 16.3620858  19.86614593 13.51367321 17.9452943 ]
DEBUG:root:mean evidence: 18.103, std: 2.733 -> th=17.048145796234806
DEBUG:root:evidences for each object: [15.41648107 20.61398799 21.31018225 21.12848335 20.04353313 14.82671744
 16.3620858  19.86614593 13.51367321 17.9452943 ]
DEBUG:root:mean evidence: 18.103, std: 2.733 -> th=18.11365490849948
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: {'montys_heart', 'ramen_pack', 'potted_meat_can', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 69 ---
INFO:uvicorn.access:192.168.1.217:65411 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.48407226,  0.26825808, -0.83289354],
       [-0.48471624, -0.87467146,  0.        ],
       [-0.72850821,  0.40371703,  0.55343324]]), 'pose_fully_defined': False}}, {'patch': array([-0.0042425 , -0.00155781, -0.00010161])}]
INFO:root:Testing 163 out of 14424 hypotheses for numenta_mug (evidence > 4.2620364490587015)
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: 15.649
INFO:root:Testing 615 out of 10992 hypotheses for montys_brain (evidence > 4.2620364490587015)
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: 20.974
INFO:root:Testing 283 out of 14880 hypotheses for montys_heart (evidence > 4.2620364490587015)
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: 21.518
INFO:root:Testing 157 out of 23200 hypotheses for ramen_pack (evidence > 4.2620364490587015)
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: 21.524
INFO:root:Testing 167 out of 14864 hypotheses for hot_sauce (evidence > 4.2620364490587015)
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: 20.425
INFO:root:Testing 172 out of 12560 hypotheses for harissa_oil (evidence > 4.2620364490587015)
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: 15.027
INFO:root:Testing 199 out of 21832 hypotheses for tomato_soup_can (evidence > 4.2620364490587015)
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: 16.82
INFO:root:Testing 153 out of 16976 hypotheses for mustard_bottle (evidence > 4.2620364490587015)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 20.225
INFO:root:Testing 113 out of 17728 hypotheses for tuna_fish_can (evidence > 4.2620364490587015)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 13.761
INFO:root:Testing 71 out of 19024 hypotheses for potted_meat_can (evidence > 4.2620364490587015)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.311
DEBUG:root:evidences for each object: [15.64856634 20.97380253 21.51769361 21.5241735  20.42506313 15.02719643
 16.8200583  20.22485592 13.7607338  18.31054985]
DEBUG:root:mean evidence: 18.423, std: 2.766 -> th=17.219338803369652
INFO:root:current most likely hypothesis: ramen_pack with evidence 21.52
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'potted_meat_can', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 70 ---
INFO:uvicorn.access:192.168.1.217:65411 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.37360794,  0.2034495 , -0.90500023],
       [-0.47824213,  0.87822803,  0.        ],
       [ 0.79479656,  0.43280923,  0.42541109]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0208482 , -0.01342792, -0.00230681])}]
INFO:root:Testing 162 out of 14424 hypotheses for numenta_mug (evidence > 4.304834700842413)
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: 15.66
INFO:root:Testing 614 out of 10992 hypotheses for montys_brain (evidence > 4.304834700842413)
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: 21.411
INFO:root:Testing 281 out of 14880 hypotheses for montys_heart (evidence > 4.304834700842413)
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: 21.999
INFO:root:Testing 155 out of 23200 hypotheses for ramen_pack (evidence > 4.304834700842413)
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: 20.524
INFO:root:Testing 164 out of 14864 hypotheses for hot_sauce (evidence > 4.304834700842413)
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: 20.865
INFO:root:Testing 169 out of 12560 hypotheses for harissa_oil (evidence > 4.304834700842413)
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: 14.601
INFO:root:Testing 197 out of 21832 hypotheses for tomato_soup_can (evidence > 4.304834700842413)
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: 17.262
INFO:root:Testing 148 out of 16976 hypotheses for mustard_bottle (evidence > 4.304834700842413)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 19.225
INFO:root:Testing 109 out of 17728 hypotheses for tuna_fish_can (evidence > 4.304834700842413)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.185
INFO:root:Testing 71 out of 19024 hypotheses for potted_meat_can (evidence > 4.304834700842413)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.66
DEBUG:root:evidences for each object: [15.66009912 21.41099555 21.99909634 20.5241735  20.86483983 14.60083482
 17.26191157 19.22485592 14.18534453 18.66012408]
DEBUG:root:mean evidence: 18.439, std: 2.727 -> th=17.59927707074261
INFO:root:current most likely hypothesis: montys_heart with evidence 22.0
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'potted_meat_can', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 71 ---
INFO:uvicorn.access:192.168.1.217:65411 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.23324438,  0.29392364, -0.92693363],
       [-0.78332569, -0.6216115 ,  0.        ],
       [-0.5761926 ,  0.72609093,  0.37522533]]), 'pose_fully_defined': False}}, {'patch': array([-0.01257912, -0.0091366 ,  0.00137129])}]
INFO:root:Testing 154 out of 14424 hypotheses for numenta_mug (evidence > 4.3998192676856505)
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: 15.9
INFO:root:Testing 612 out of 10992 hypotheses for montys_brain (evidence > 4.3998192676856505)
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: 21.777
INFO:root:Testing 280 out of 14880 hypotheses for montys_heart (evidence > 4.3998192676856505)
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: 22.26
INFO:root:Testing 145 out of 23200 hypotheses for ramen_pack (evidence > 4.3998192676856505)
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: 20.959
INFO:root:Testing 163 out of 14864 hypotheses for hot_sauce (evidence > 4.3998192676856505)
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: 21.248
INFO:root:Testing 167 out of 12560 hypotheses for harissa_oil (evidence > 4.3998192676856505)
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: 14.956
INFO:root:Testing 193 out of 21832 hypotheses for tomato_soup_can (evidence > 4.3998192676856505)
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: 17.643
INFO:root:Testing 141 out of 16976 hypotheses for mustard_bottle (evidence > 4.3998192676856505)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 19.595
INFO:root:Testing 107 out of 17728 hypotheses for tuna_fish_can (evidence > 4.3998192676856505)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.407
INFO:root:Testing 67 out of 19024 hypotheses for potted_meat_can (evidence > 4.3998192676856505)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.977
DEBUG:root:evidences for each object: [15.90031219 21.77667693 22.25951276 20.95949915 21.24849306 14.95556728
 17.64282066 19.59531171 14.40734623 18.9768938 ]
DEBUG:root:mean evidence: 18.772, std: 2.756 -> th=17.807610209933195
INFO:root:current most likely hypothesis: montys_heart with evidence 22.26
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'potted_meat_can', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 72 ---
INFO:uvicorn.access:192.168.1.217:65411 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.56913757,  0.20365692, -0.7966218 ],
       [-0.33691368, -0.94153554,  0.        ],
       [-0.75004773,  0.26839278,  0.60447805]]), 'pose_fully_defined': False}}, {'patch': array([-0.01036958,  0.00510766,  0.00459637])}]
INFO:root:Testing 154 out of 14424 hypotheses for numenta_mug (evidence > 4.451902552483297)
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: 16.038
INFO:root:Testing 612 out of 10992 hypotheses for montys_brain (evidence > 4.451902552483297)
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: 22.179
INFO:root:Testing 280 out of 14880 hypotheses for montys_heart (evidence > 4.451902552483297)
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: 22.568
INFO:root:Testing 143 out of 23200 hypotheses for ramen_pack (evidence > 4.451902552483297)
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: 21.325
INFO:root:Testing 163 out of 14864 hypotheses for hot_sauce (evidence > 4.451902552483297)
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: 21.657
INFO:root:Testing 167 out of 12560 hypotheses for harissa_oil (evidence > 4.451902552483297)
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: 15.341
INFO:root:Testing 193 out of 21832 hypotheses for tomato_soup_can (evidence > 4.451902552483297)
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: 18.021
INFO:root:Testing 140 out of 16976 hypotheses for mustard_bottle (evidence > 4.451902552483297)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 20.017
INFO:root:Testing 104 out of 17728 hypotheses for tuna_fish_can (evidence > 4.451902552483297)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.556
INFO:root:Testing 67 out of 19024 hypotheses for potted_meat_can (evidence > 4.451902552483297)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 19.393
DEBUG:root:evidences for each object: [16.03750649 22.17851197 22.56801429 21.32507801 21.65671726 15.34081873
 18.02068377 20.0167043  14.55605941 19.39330471]
DEBUG:root:mean evidence: 19.109, std: 2.815 -> th=18.054411430974262
INFO:root:current most likely hypothesis: montys_heart with evidence 22.57
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'potted_meat_can', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 73 ---
INFO:uvicorn.access:192.168.1.217:65411 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.11683137,  0.24343985, -0.96285382],
       [-0.9015516 , -0.4326716 ,  0.        ],
       [-0.4165995 ,  0.8680624 ,  0.2700232 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01527695, -0.00537208, -0.00456361])}]
INFO:root:Testing 153 out of 14424 hypotheses for numenta_mug (evidence > 4.513602857743564)
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: 16.349
INFO:root:Testing 612 out of 10992 hypotheses for montys_brain (evidence > 4.513602857743564)
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: 22.499
INFO:root:Testing 278 out of 14880 hypotheses for montys_heart (evidence > 4.513602857743564)
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: 22.833
INFO:root:Testing 139 out of 23200 hypotheses for ramen_pack (evidence > 4.513602857743564)
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: 21.789
INFO:root:Testing 162 out of 14864 hypotheses for hot_sauce (evidence > 4.513602857743564)
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: 22.063
INFO:root:Testing 167 out of 12560 hypotheses for harissa_oil (evidence > 4.513602857743564)
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: 15.715
INFO:root:Testing 192 out of 21832 hypotheses for tomato_soup_can (evidence > 4.513602857743564)
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: 18.375
INFO:root:Testing 138 out of 16976 hypotheses for mustard_bottle (evidence > 4.513602857743564)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 20.428
INFO:root:Testing 102 out of 17728 hypotheses for tuna_fish_can (evidence > 4.513602857743564)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.847
INFO:root:Testing 64 out of 19024 hypotheses for potted_meat_can (evidence > 4.513602857743564)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 19.639
DEBUG:root:evidences for each object: [16.34942422 22.49901312 22.83275522 21.78919158 22.0631899  15.7151072
 18.37484196 20.4284639  14.8468078  19.63850185]
DEBUG:root:mean evidence: 19.454, std: 2.827 -> th=18.26620417259638
INFO:root:current most likely hypothesis: montys_heart with evidence 22.83
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 74 ---
INFO:uvicorn.access:192.168.1.217:65411 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.48418996,  0.11392499, -0.86751437],
       [-0.22903541, -0.97341809,  0.        ],
       [-0.84445418,  0.19869151,  0.49741213]]), 'pose_fully_defined': False}}, {'patch': array([-0.01081688,  0.00012064,  0.00499626])}]
INFO:root:Testing 152 out of 14424 hypotheses for numenta_mug (evidence > 4.566551043149094)
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: 16.539
INFO:root:Testing 611 out of 10992 hypotheses for montys_brain (evidence > 4.566551043149094)
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: 22.933
INFO:root:Testing 278 out of 14880 hypotheses for montys_heart (evidence > 4.566551043149094)
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: 23.107
INFO:root:Testing 138 out of 23200 hypotheses for ramen_pack (evidence > 4.566551043149094)
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: 22.188
INFO:root:Testing 162 out of 14864 hypotheses for hot_sauce (evidence > 4.566551043149094)
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: 22.507
INFO:root:Testing 164 out of 12560 hypotheses for harissa_oil (evidence > 4.566551043149094)
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: 16.025
INFO:root:Testing 191 out of 21832 hypotheses for tomato_soup_can (evidence > 4.566551043149094)
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: 18.631
INFO:root:Testing 138 out of 16976 hypotheses for mustard_bottle (evidence > 4.566551043149094)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 20.914
INFO:root:Testing 101 out of 17728 hypotheses for tuna_fish_can (evidence > 4.566551043149094)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.997
INFO:root:Testing 64 out of 19024 hypotheses for potted_meat_can (evidence > 4.566551043149094)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 20.089
DEBUG:root:evidences for each object: [16.539112   22.93286842 23.10677966 22.18789924 22.50747801 16.02466021
 18.63070463 20.91377835 14.9967101  20.0885544 ]
DEBUG:root:mean evidence: 19.793, std: 2.906 -> th=18.485423727773494
INFO:root:current most likely hypothesis: montys_heart with evidence 23.11
DEBUG:root:evidences for each object: [16.539112   22.93286842 23.10677966 22.18789924 22.50747801 16.02466021
 18.63070463 20.91377835 14.9967101  20.0885544 ]
DEBUG:root:mean evidence: 19.793, std: 2.906 -> th=18.485423727773494
DEBUG:root:evidences for each object: [16.539112   22.93286842 23.10677966 22.18789924 22.50747801 16.02466021
 18.63070463 20.91377835 14.9967101  20.0885544 ]
DEBUG:root:mean evidence: 19.793, std: 2.906 -> th=19.640762710759336
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: {'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 75 ---
INFO:uvicorn.access:192.168.1.217:65411 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.65285309,  0.12463766, -0.74716015],
       [-0.18752542, -0.98225975,  0.        ],
       [-0.73390535,  0.14011153,  0.66464404]]), 'pose_fully_defined': False}}, {'patch': array([-0.00573291,  0.00112659,  0.00173927])}]
INFO:root:Testing 152 out of 14424 hypotheses for numenta_mug (evidence > 4.6213559319433735)
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: 16.638
INFO:root:Testing 610 out of 10992 hypotheses for montys_brain (evidence > 4.6213559319433735)
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: 23.315
INFO:root:Testing 276 out of 14880 hypotheses for montys_heart (evidence > 4.6213559319433735)
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: 23.371
INFO:root:Testing 138 out of 23200 hypotheses for ramen_pack (evidence > 4.6213559319433735)
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: 22.573
INFO:root:Testing 162 out of 14864 hypotheses for hot_sauce (evidence > 4.6213559319433735)
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: 22.961
INFO:root:Testing 164 out of 12560 hypotheses for harissa_oil (evidence > 4.6213559319433735)
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: 16.439
INFO:root:Testing 191 out of 21832 hypotheses for tomato_soup_can (evidence > 4.6213559319433735)
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: 18.95
INFO:root:Testing 137 out of 16976 hypotheses for mustard_bottle (evidence > 4.6213559319433735)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 21.328
INFO:root:Testing 99 out of 17728 hypotheses for tuna_fish_can (evidence > 4.6213559319433735)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 15.22
INFO:root:Testing 64 out of 19024 hypotheses for potted_meat_can (evidence > 4.6213559319433735)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 20.541
DEBUG:root:evidences for each object: [16.63788106 23.3148784  23.37138482 22.57317046 22.96120713 16.43857299
 18.94968752 21.32823917 15.21972061 20.54063213]
DEBUG:root:mean evidence: 20.134, std: 2.959 -> th=18.697107854284102
INFO:root:current most likely hypothesis: montys_heart with evidence 23.37
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 76 ---
INFO:uvicorn.access:192.168.1.217:65411 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.06336054,  0.14324689, -0.98765671],
       [-0.91453217,  0.40451319,  0.        ],
       [ 0.39952016,  0.90324383,  0.15663406]]), 'pose_fully_defined': False}}, {'patch': array([ 0.02149225, -0.01340026, -0.00358692])}]
INFO:root:Testing 148 out of 14424 hypotheses for numenta_mug (evidence > 4.674276963571025)
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: 16.821
INFO:root:Testing 606 out of 10992 hypotheses for montys_brain (evidence > 4.674276963571025)
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: 23.555
INFO:root:Testing 274 out of 14880 hypotheses for montys_heart (evidence > 4.674276963571025)
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: 23.71
INFO:root:Testing 133 out of 23200 hypotheses for ramen_pack (evidence > 4.674276963571025)
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: 23.023
INFO:root:Testing 161 out of 14864 hypotheses for hot_sauce (evidence > 4.674276963571025)
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: 23.343
INFO:root:Testing 164 out of 12560 hypotheses for harissa_oil (evidence > 4.674276963571025)
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: 16.744
INFO:root:Testing 188 out of 21832 hypotheses for tomato_soup_can (evidence > 4.674276963571025)
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: 19.232
INFO:root:Testing 128 out of 16976 hypotheses for mustard_bottle (evidence > 4.674276963571025)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 21.721
INFO:root:Testing 97 out of 17728 hypotheses for tuna_fish_can (evidence > 4.674276963571025)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 15.464
INFO:root:Testing 61 out of 19024 hypotheses for potted_meat_can (evidence > 4.674276963571025)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 20.857
DEBUG:root:evidences for each object: [16.82129779 23.55500262 23.71025752 23.02304025 23.34300169 16.74404923
 19.23175877 21.72050286 15.4638312  20.85670164]
DEBUG:root:mean evidence: 20.447, std: 3.005 -> th=18.968206016460737
INFO:root:current most likely hypothesis: montys_heart with evidence 23.71
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 77 ---
INFO:uvicorn.access:192.168.1.217:65415 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.4078769 ,  0.20312074, -0.89015639],
       [-0.44577735,  0.89514387,  0.        ],
       [ 0.79681804,  0.39681156,  0.45565513]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00251163, -0.00687337,  0.00607983])}]
INFO:root:Testing 147 out of 14424 hypotheses for numenta_mug (evidence > 4.742051504115185)
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: 16.943
INFO:root:Testing 606 out of 10992 hypotheses for montys_brain (evidence > 4.742051504115185)
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: 23.781
INFO:root:Testing 274 out of 14880 hypotheses for montys_heart (evidence > 4.742051504115185)
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: 23.984
INFO:root:Testing 129 out of 23200 hypotheses for ramen_pack (evidence > 4.742051504115185)
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: 23.042
INFO:root:Testing 161 out of 14864 hypotheses for hot_sauce (evidence > 4.742051504115185)
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: 23.731
INFO:root:Testing 162 out of 12560 hypotheses for harissa_oil (evidence > 4.742051504115185)
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: 16.739
INFO:root:Testing 185 out of 21832 hypotheses for tomato_soup_can (evidence > 4.742051504115185)
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: 19.43
INFO:root:Testing 123 out of 16976 hypotheses for mustard_bottle (evidence > 4.742051504115185)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 22.05
INFO:root:Testing 90 out of 17728 hypotheses for tuna_fish_can (evidence > 4.742051504115185)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 15.649
INFO:root:Testing 59 out of 19024 hypotheses for potted_meat_can (evidence > 4.742051504115185)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 21.239
DEBUG:root:evidences for each object: [16.94263393 23.78121997 23.98390695 23.04184535 23.73075284 16.73924194
 19.429709   22.05045205 15.64942818 21.23907846]
DEBUG:root:mean evidence: 20.659, std: 3.065 -> th=19.187125562095524
INFO:root:current most likely hypothesis: montys_heart with evidence 23.98
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 78 ---
INFO:uvicorn.access:192.168.1.217:65415 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.44329086,  0.03146496, -0.89582541],
       [-0.07080226, -0.99749037,  0.        ],
       [-0.89357722,  0.06342647,  0.44440616]]), 'pose_fully_defined': False}}, {'patch': array([-0.0111486 ,  0.00956678, -0.00308763])}]
INFO:root:Testing 147 out of 14424 hypotheses for numenta_mug (evidence > 4.796781390523879)
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: 17.088
INFO:root:Testing 606 out of 10992 hypotheses for montys_brain (evidence > 4.796781390523879)
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: 24.031
INFO:root:Testing 274 out of 14880 hypotheses for montys_heart (evidence > 4.796781390523879)
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: 24.213
INFO:root:Testing 128 out of 23200 hypotheses for ramen_pack (evidence > 4.796781390523879)
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: 23.509
INFO:root:Testing 161 out of 14864 hypotheses for hot_sauce (evidence > 4.796781390523879)
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: 24.155
INFO:root:Testing 158 out of 12560 hypotheses for harissa_oil (evidence > 4.796781390523879)
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: 16.767
INFO:root:Testing 184 out of 21832 hypotheses for tomato_soup_can (evidence > 4.796781390523879)
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: 19.368
INFO:root:Testing 122 out of 16976 hypotheses for mustard_bottle (evidence > 4.796781390523879)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 22.51
INFO:root:Testing 87 out of 17728 hypotheses for tuna_fish_can (evidence > 4.796781390523879)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 15.794
INFO:root:Testing 59 out of 19024 hypotheses for potted_meat_can (evidence > 4.796781390523879)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 21.425
DEBUG:root:evidences for each object: [17.08818744 24.03109326 24.21314768 23.50866329 24.15536443 16.76728533
 19.367733   22.50969065 15.79403017 21.42548991]
DEBUG:root:mean evidence: 20.886, std: 3.179 -> th=19.370518144200343
INFO:root:current most likely hypothesis: montys_heart with evidence 24.21
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'potted_meat_can', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 79 ---
INFO:uvicorn.access:192.168.1.217:65415 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.56716333,  0.03697605, -0.8227749 ],
       [-0.06505661, -0.99788158,  0.        ],
       [-0.82103191,  0.05352694,  0.56836737]]), 'pose_fully_defined': False}}, {'patch': array([-0.00541511,  0.01005811, -0.00241838])}]
INFO:root:Testing 145 out of 14424 hypotheses for numenta_mug (evidence > 4.842629536050083)
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: 17.216
INFO:root:Testing 606 out of 10992 hypotheses for montys_brain (evidence > 4.842629536050083)
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: 24.312
INFO:root:Testing 274 out of 14880 hypotheses for montys_heart (evidence > 4.842629536050083)
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: 24.487
INFO:root:Testing 128 out of 23200 hypotheses for ramen_pack (evidence > 4.842629536050083)
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: 23.966
INFO:root:Testing 161 out of 14864 hypotheses for hot_sauce (evidence > 4.842629536050083)
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: 24.59
INFO:root:Testing 158 out of 12560 hypotheses for harissa_oil (evidence > 4.842629536050083)
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: 17.039
INFO:root:Testing 184 out of 21832 hypotheses for tomato_soup_can (evidence > 4.842629536050083)
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: 19.565
INFO:root:Testing 122 out of 16976 hypotheses for mustard_bottle (evidence > 4.842629536050083)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 22.96
INFO:root:Testing 86 out of 17728 hypotheses for tuna_fish_can (evidence > 4.842629536050083)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 16.001
INFO:root:Testing 59 out of 19024 hypotheses for potted_meat_can (evidence > 4.842629536050083)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 21.71
DEBUG:root:evidences for each object: [17.21621694 24.31230069 24.48702939 23.96610907 24.59029182 17.03939464
 19.56539227 22.95969648 16.00086272 21.71028026]
DEBUG:root:mean evidence: 21.185, std: 3.254 -> th=19.672233453459206
INFO:root:current most likely hypothesis: hot_sauce with evidence 24.59
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'potted_meat_can', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 80 ---
INFO:uvicorn.access:192.168.1.217:65415 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.5711222 ,  0.05037075, -0.81931814],
       [-0.08785507, -0.99613327,  0.        ],
       [-0.81615006,  0.07198125,  0.57333915]]), 'pose_fully_defined': False}}, {'patch': array([5.29489625e-04, 8.53548038e-03, 8.31798026e-05])}]
INFO:root:Testing 144 out of 14424 hypotheses for numenta_mug (evidence > 4.9180583633648)
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: 17.349
INFO:root:Testing 605 out of 10992 hypotheses for montys_brain (evidence > 4.9180583633648)
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: 24.64
INFO:root:Testing 274 out of 14880 hypotheses for montys_heart (evidence > 4.9180583633648)
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: 24.682
INFO:root:Testing 128 out of 23200 hypotheses for ramen_pack (evidence > 4.9180583633648)
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: 24.401
INFO:root:Testing 161 out of 14864 hypotheses for hot_sauce (evidence > 4.9180583633648)
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: 25.008
INFO:root:Testing 157 out of 12560 hypotheses for harissa_oil (evidence > 4.9180583633648)
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: 17.261
INFO:root:Testing 181 out of 21832 hypotheses for tomato_soup_can (evidence > 4.9180583633648)
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: 19.78
INFO:root:Testing 121 out of 16976 hypotheses for mustard_bottle (evidence > 4.9180583633648)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 23.434
INFO:root:Testing 85 out of 17728 hypotheses for tuna_fish_can (evidence > 4.9180583633648)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 16.168
INFO:root:Testing 59 out of 19024 hypotheses for potted_meat_can (evidence > 4.9180583633648)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 21.992
DEBUG:root:evidences for each object: [17.34948841 24.63968581 24.68203117 24.40105199 25.00847167 17.26110672
 19.77968482 23.4343994  16.16758941 21.99223726]
DEBUG:root:mean evidence: 21.472, std: 3.336 -> th=20.0067773392512
INFO:root:current most likely hypothesis: hot_sauce with evidence 25.01
DEBUG:root:evidences for each object: [17.34948841 24.63968581 24.68203117 24.40105199 25.00847167 17.26110672
 19.77968482 23.4343994  16.16758941 21.99223726]
DEBUG:root:mean evidence: 21.472, std: 3.336 -> th=20.0067773392512
DEBUG:root:evidences for each object: [17.34948841 24.63968581 24.68203117 24.40105199 25.00847167 17.26110672
 19.77968482 23.4343994  16.16758941 21.99223726]
DEBUG:root:mean evidence: 21.472, std: 3.336 -> th=21.2572009229544
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: {'montys_heart', 'ramen_pack', 'potted_meat_can', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 81 ---
INFO:uvicorn.access:192.168.1.217:65415 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.62659468,  0.15501334, -0.76377351],
       [-0.24015042, -0.97073569,  0.        ],
       [-0.74142221,  0.18342053,  0.64548433]]), 'pose_fully_defined': False}}, {'patch': array([-0.00467248,  0.00727781,  0.00334637])}]
INFO:root:Testing 143 out of 14424 hypotheses for numenta_mug (evidence > 5.0016943348128)
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: 17.5
INFO:root:Testing 604 out of 10992 hypotheses for montys_brain (evidence > 5.0016943348128)
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: 24.983
INFO:root:Testing 274 out of 14880 hypotheses for montys_heart (evidence > 5.0016943348128)
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: 24.992
INFO:root:Testing 128 out of 23200 hypotheses for ramen_pack (evidence > 5.0016943348128)
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: 24.82
INFO:root:Testing 161 out of 14864 hypotheses for hot_sauce (evidence > 5.0016943348128)
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: 25.469
INFO:root:Testing 157 out of 12560 hypotheses for harissa_oil (evidence > 5.0016943348128)
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: 17.507
INFO:root:Testing 181 out of 21832 hypotheses for tomato_soup_can (evidence > 5.0016943348128)
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: 20.114
INFO:root:Testing 119 out of 16976 hypotheses for mustard_bottle (evidence > 5.0016943348128)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 23.84
INFO:root:Testing 84 out of 17728 hypotheses for tuna_fish_can (evidence > 5.0016943348128)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 16.405
INFO:root:Testing 58 out of 19024 hypotheses for potted_meat_can (evidence > 5.0016943348128)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 22.41
DEBUG:root:evidences for each object: [17.49978529 24.9831811  24.99185116 24.81954034 25.46929482 17.5068765
 20.11402411 23.84012385 16.40467745 22.40998661]
DEBUG:root:mean evidence: 21.804, std: 3.41 -> th=20.37543585449346
INFO:root:current most likely hypothesis: hot_sauce with evidence 25.47
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'potted_meat_can', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 82 ---
INFO:uvicorn.access:192.168.1.217:65415 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.60362454,  0.22851685, -0.76381769],
       [-0.35405253, -0.93522554,  0.        ],
       [-0.71434181,  0.27043159,  0.64543206]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00467068,  0.00982808, -0.00072455])}]
INFO:root:Testing 141 out of 14424 hypotheses for numenta_mug (evidence > 5.093858963623365)
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: 17.675
INFO:root:Testing 603 out of 10992 hypotheses for montys_brain (evidence > 5.093858963623365)
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: 25.267
INFO:root:Testing 270 out of 14880 hypotheses for montys_heart (evidence > 5.093858963623365)
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: 25.387
INFO:root:Testing 128 out of 23200 hypotheses for ramen_pack (evidence > 5.093858963623365)
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: 25.195
INFO:root:Testing 161 out of 14864 hypotheses for hot_sauce (evidence > 5.093858963623365)
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: 25.891
INFO:root:Testing 157 out of 12560 hypotheses for harissa_oil (evidence > 5.093858963623365)
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: 17.716
INFO:root:Testing 175 out of 21832 hypotheses for tomato_soup_can (evidence > 5.093858963623365)
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: 20.363
INFO:root:Testing 118 out of 16976 hypotheses for mustard_bottle (evidence > 5.093858963623365)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 24.214
INFO:root:Testing 84 out of 17728 hypotheses for tuna_fish_can (evidence > 5.093858963623365)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 16.582
INFO:root:Testing 56 out of 19024 hypotheses for potted_meat_can (evidence > 5.093858963623365)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 22.648
DEBUG:root:evidences for each object: [17.67458932 25.26712404 25.38704523 25.19535616 25.8912621  17.71587073
 20.36332185 24.21369908 16.58183858 22.64780683]
DEBUG:root:mean evidence: 22.094, std: 3.49 -> th=20.713009678036258
INFO:root:current most likely hypothesis: hot_sauce with evidence 25.89
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'potted_meat_can', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 83 ---
INFO:uvicorn.access:192.168.1.217:65415 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.57923646,  0.31637445, -0.7512605 ],
       [-0.479351  , -0.87762328,  0.        ],
       [-0.6593237 ,  0.36011747,  0.66000581]]), 'pose_fully_defined': False}}, {'patch': array([-0.00307378, -0.00066418, -0.00037447])}]
INFO:root:Testing 139 out of 14424 hypotheses for numenta_mug (evidence > 5.1782524195090645)
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: 17.877
INFO:root:Testing 602 out of 10992 hypotheses for montys_brain (evidence > 5.1782524195090645)
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: 25.574
INFO:root:Testing 269 out of 14880 hypotheses for montys_heart (evidence > 5.1782524195090645)
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: 25.785
INFO:root:Testing 122 out of 23200 hypotheses for ramen_pack (evidence > 5.1782524195090645)
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: 25.554
INFO:root:Testing 161 out of 14864 hypotheses for hot_sauce (evidence > 5.1782524195090645)
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: 26.267
INFO:root:Testing 156 out of 12560 hypotheses for harissa_oil (evidence > 5.1782524195090645)
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: 18.041
INFO:root:Testing 173 out of 21832 hypotheses for tomato_soup_can (evidence > 5.1782524195090645)
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: 20.787
INFO:root:Testing 113 out of 16976 hypotheses for mustard_bottle (evidence > 5.1782524195090645)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 24.54
INFO:root:Testing 84 out of 17728 hypotheses for tuna_fish_can (evidence > 5.1782524195090645)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 16.778
INFO:root:Testing 54 out of 19024 hypotheses for potted_meat_can (evidence > 5.1782524195090645)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 22.991
DEBUG:root:evidences for each object: [17.8765229  25.57422647 25.78467556 25.55439004 26.267438   18.04142532
 20.78695514 24.5401678  16.77782515 22.99088484]
DEBUG:root:mean evidence: 22.419, std: 3.536 -> th=21.013950402397434
INFO:root:current most likely hypothesis: hot_sauce with evidence 26.27
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'potted_meat_can', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 84 ---
INFO:uvicorn.access:192.168.1.217:65415 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.57502659,  0.39486928, -0.71653518],
       [-0.56607948, -0.82435067,  0.        ],
       [-0.59067625,  0.40561586,  0.69755096]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00138195, -0.00020419,  0.00178061])}]
INFO:root:Testing 138 out of 14424 hypotheses for numenta_mug (evidence > 5.253487600599357)
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: 18.094
INFO:root:Testing 602 out of 10992 hypotheses for montys_brain (evidence > 5.253487600599357)
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: 25.909
INFO:root:Testing 269 out of 14880 hypotheses for montys_heart (evidence > 5.253487600599357)
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: 26.199
INFO:root:Testing 116 out of 23200 hypotheses for ramen_pack (evidence > 5.253487600599357)
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: 25.876
INFO:root:Testing 161 out of 14864 hypotheses for hot_sauce (evidence > 5.253487600599357)
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: 26.603
INFO:root:Testing 150 out of 12560 hypotheses for harissa_oil (evidence > 5.253487600599357)
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: 18.282
INFO:root:Testing 171 out of 21832 hypotheses for tomato_soup_can (evidence > 5.253487600599357)
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: 21.132
INFO:root:Testing 112 out of 16976 hypotheses for mustard_bottle (evidence > 5.253487600599357)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 24.825
INFO:root:Testing 83 out of 17728 hypotheses for tuna_fish_can (evidence > 5.253487600599357)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 16.981
INFO:root:Testing 54 out of 19024 hypotheses for potted_meat_can (evidence > 5.253487600599357)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 23.186
DEBUG:root:evidences for each object: [18.09375937 25.90853468 26.19929673 25.87617033 26.60275636 18.28195294
 21.13219512 24.82467025 16.98109354 23.18638353]
DEBUG:root:mean evidence: 22.709, std: 3.585 -> th=21.28220508879983
INFO:root:current most likely hypothesis: hot_sauce with evidence 26.6
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'potted_meat_can', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 85 ---
INFO:uvicorn.access:192.168.1.217:65417 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.6685192 ,  0.42286027, -0.61177714],
       [-0.53456908, -0.84512478,  0.        ],
       [-0.51702802,  0.32703714,  0.79103017]]), 'pose_fully_defined': False}}, {'patch': array([-0.01257929,  0.00042296, -0.00779546])}]
INFO:root:Testing 138 out of 14424 hypotheses for numenta_mug (evidence > 5.320551272199957)
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: 18.229
INFO:root:Testing 602 out of 10992 hypotheses for montys_brain (evidence > 5.320551272199957)
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: 24.909
INFO:root:Testing 269 out of 14880 hypotheses for montys_heart (evidence > 5.320551272199957)
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: 25.615
INFO:root:Testing 114 out of 23200 hypotheses for ramen_pack (evidence > 5.320551272199957)
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: 24.876
INFO:root:Testing 159 out of 14864 hypotheses for hot_sauce (evidence > 5.320551272199957)
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: 26.224
INFO:root:Testing 149 out of 12560 hypotheses for harissa_oil (evidence > 5.320551272199957)
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: 18.589
INFO:root:Testing 170 out of 21832 hypotheses for tomato_soup_can (evidence > 5.320551272199957)
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: 21.474
INFO:root:Testing 108 out of 16976 hypotheses for mustard_bottle (evidence > 5.320551272199957)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 24.513
INFO:root:Testing 82 out of 17728 hypotheses for tuna_fish_can (evidence > 5.320551272199957)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 17.098
INFO:root:Testing 52 out of 19024 hypotheses for potted_meat_can (evidence > 5.320551272199957)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 23.475
DEBUG:root:evidences for each object: [18.22909228 24.90853468 25.61539931 24.87617033 26.22422798 18.58912421
 21.47384201 24.51286051 17.09827898 23.47480557]
DEBUG:root:mean evidence: 22.5, std: 3.222 -> th=20.979382382098784
INFO:root:current most likely hypothesis: hot_sauce with evidence 26.22
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'potted_meat_can', 'tomato_soup_can', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 86 ---
INFO:uvicorn.access:192.168.1.217:65417 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.71058381,  0.31384794, -0.62973814],
       [-0.4040228 , -0.91474891,  0.        ],
       [-0.57605228,  0.25442857,  0.77680749]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00717434, -0.01475001,  0.0126055 ])}]
INFO:root:Testing 138 out of 14424 hypotheses for numenta_mug (evidence > 5.244845595524694)
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: 18.239
INFO:root:Testing 597 out of 10992 hypotheses for montys_brain (evidence > 5.244845595524694)
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: 25.316
INFO:root:Testing 267 out of 14880 hypotheses for montys_heart (evidence > 5.244845595524694)
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: 25.504
INFO:root:Testing 110 out of 23200 hypotheses for ramen_pack (evidence > 5.244845595524694)
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: 25.186
INFO:root:Testing 157 out of 14864 hypotheses for hot_sauce (evidence > 5.244845595524694)
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: 26.548
INFO:root:Testing 142 out of 12560 hypotheses for harissa_oil (evidence > 5.244845595524694)
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: 17.589
INFO:root:Testing 168 out of 21832 hypotheses for tomato_soup_can (evidence > 5.244845595524694)
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: 20.474
INFO:root:Testing 107 out of 16976 hypotheses for mustard_bottle (evidence > 5.244845595524694)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 24.747
INFO:root:Testing 83 out of 17728 hypotheses for tuna_fish_can (evidence > 5.244845595524694)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 17.225
INFO:root:Testing 51 out of 19024 hypotheses for potted_meat_can (evidence > 5.244845595524694)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 22.475
DEBUG:root:evidences for each object: [18.23851148 25.31624164 25.50385021 25.18561218 26.54767434 17.58912421
 20.47384201 24.74726575 17.22504063 22.47480557]
DEBUG:root:mean evidence: 22.33, std: 3.457 -> th=21.23813947559713
INFO:root:current most likely hypothesis: hot_sauce with evidence 26.55
DEBUG:root:evidences for each object: [18.23851148 25.31624164 25.50385021 25.18561218 26.54767434 17.58912421
 20.47384201 24.74726575 17.22504063 22.47480557]
DEBUG:root:mean evidence: 22.33, std: 3.457 -> th=21.23813947559713
DEBUG:root:evidences for each object: [18.23851148 25.31624164 25.50385021 25.18561218 26.54767434 17.58912421
 20.47384201 24.74726575 17.22504063 22.47480557]
DEBUG:root:mean evidence: 22.33, std: 3.457 -> th=22.56552319282195
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: {'montys_heart', 'ramen_pack', 'potted_meat_can', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 87 ---
INFO:uvicorn.access:192.168.1.217:65418 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.76605402,  0.2666394 , -0.58486295],
       [-0.32872499, -0.94442569,  0.        ],
       [-0.5523596 ,  0.19225907,  0.81113213]]), 'pose_fully_defined': False}}, {'patch': array([ 1.38681336e-03, -1.48105430e-02,  4.19588776e-05])}]
INFO:root:Testing 135 out of 14424 hypotheses for numenta_mug (evidence > 5.309534868899281)
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: 18.149
INFO:root:Testing 594 out of 10992 hypotheses for montys_brain (evidence > 5.309534868899281)
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: 24.316
INFO:root:Testing 263 out of 14880 hypotheses for montys_heart (evidence > 5.309534868899281)
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: 25.836
INFO:root:Testing 105 out of 23200 hypotheses for ramen_pack (evidence > 5.309534868899281)
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: 25.479
INFO:root:Testing 157 out of 14864 hypotheses for hot_sauce (evidence > 5.309534868899281)
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: 26.879
INFO:root:Testing 142 out of 12560 hypotheses for harissa_oil (evidence > 5.309534868899281)
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: 16.589
INFO:root:Testing 164 out of 21832 hypotheses for tomato_soup_can (evidence > 5.309534868899281)
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: 19.474
INFO:root:Testing 101 out of 16976 hypotheses for mustard_bottle (evidence > 5.309534868899281)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 24.98
INFO:root:Testing 82 out of 17728 hypotheses for tuna_fish_can (evidence > 5.309534868899281)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 17.418
INFO:root:Testing 48 out of 19024 hypotheses for potted_meat_can (evidence > 5.309534868899281)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 21.475
DEBUG:root:evidences for each object: [18.14865101 24.31624164 25.83584728 25.47937819 26.87949667 16.58912421
 19.47384201 24.98027272 17.41831078 21.47480557]
DEBUG:root:mean evidence: 22.06, std: 3.696 -> th=21.50359733230406
INFO:root:current most likely hypothesis: hot_sauce with evidence 26.88
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 88 ---
INFO:uvicorn.access:192.168.1.217:65418 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.79462422,  0.16109338, -0.5853386 ],
       [-0.19868719, -0.98006296,  0.        ],
       [-0.57366868,  0.11629928,  0.81078895]]), 'pose_fully_defined': False}}, {'patch': array([-0.000517  , -0.003179  ,  0.00056024])}]
INFO:root:Testing 119 out of 14424 hypotheses for numenta_mug (evidence > 5.375899333076013)
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: 18.037
INFO:root:Testing 586 out of 10992 hypotheses for montys_brain (evidence > 5.375899333076013)
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: 23.812
INFO:root:Testing 255 out of 14880 hypotheses for montys_heart (evidence > 5.375899333076013)
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: 26.183
INFO:root:Testing 100 out of 23200 hypotheses for ramen_pack (evidence > 5.375899333076013)
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: 25.826
INFO:root:Testing 156 out of 14864 hypotheses for hot_sauce (evidence > 5.375899333076013)
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: 27.256
INFO:root:Testing 137 out of 12560 hypotheses for harissa_oil (evidence > 5.375899333076013)
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: 15.589
INFO:root:Testing 153 out of 21832 hypotheses for tomato_soup_can (evidence > 5.375899333076013)
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: 18.966
INFO:root:Testing 96 out of 16976 hypotheses for mustard_bottle (evidence > 5.375899333076013)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 25.213
INFO:root:Testing 74 out of 17728 hypotheses for tuna_fish_can (evidence > 5.375899333076013)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 17.663
INFO:root:Testing 45 out of 19024 hypotheses for potted_meat_can (evidence > 5.375899333076013)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 21.484
DEBUG:root:evidences for each object: [18.03669716 23.81222295 26.18333055 25.82631376 27.25581128 15.58912421
 18.96636857 25.21267058 17.66301524 21.48386286]
DEBUG:root:mean evidence: 22.003, std: 3.981 -> th=21.804649025870383
INFO:root:current most likely hypothesis: hot_sauce with evidence 27.26
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 89 ---
INFO:uvicorn.access:192.168.1.217:65418 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.51592356,  0.05605108, -0.8547989 ],
       [-0.10800667, -0.99415017,  0.        ],
       [-0.84979847,  0.09232399,  0.51895939]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01143612, -0.01305786, -0.00332437])}]
INFO:root:Testing 112 out of 14424 hypotheses for numenta_mug (evidence > 5.451162256467594)
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: 18.042
INFO:root:Testing 571 out of 10992 hypotheses for montys_brain (evidence > 5.451162256467594)
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: 23.985
INFO:root:Testing 245 out of 14880 hypotheses for montys_heart (evidence > 5.451162256467594)
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: 26.445
INFO:root:Testing 94 out of 23200 hypotheses for ramen_pack (evidence > 5.451162256467594)
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: 26.006
INFO:root:Testing 154 out of 14864 hypotheses for hot_sauce (evidence > 5.451162256467594)
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: 27.523
INFO:root:Testing 124 out of 12560 hypotheses for harissa_oil (evidence > 5.451162256467594)
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: 15.452
INFO:root:Testing 149 out of 21832 hypotheses for tomato_soup_can (evidence > 5.451162256467594)
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: 19.078
INFO:root:Testing 88 out of 16976 hypotheses for mustard_bottle (evidence > 5.451162256467594)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 25.574
INFO:root:Testing 70 out of 17728 hypotheses for tuna_fish_can (evidence > 5.451162256467594)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 17.77
INFO:root:Testing 44 out of 19024 hypotheses for potted_meat_can (evidence > 5.451162256467594)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 21.605
DEBUG:root:evidences for each object: [18.04230755 23.98497414 26.44541062 26.00618865 27.52336981 15.45211127
 19.07751064 25.57386136 17.77030152 21.60504605]
DEBUG:root:mean evidence: 22.148, std: 4.098 -> th=22.018695846106976
INFO:root:current most likely hypothesis: hot_sauce with evidence 27.52
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 90 ---
INFO:uvicorn.access:192.168.1.217:65418 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.76087341,  0.00531268, -0.64887859],
       [-0.00698217, -0.99997562,  0.        ],
       [-0.64886278,  0.00453058,  0.76089196]]), 'pose_fully_defined': False}}, {'patch': array([-0.00080895, -0.00313689,  0.00329564])}]
INFO:root:Testing 109 out of 14424 hypotheses for numenta_mug (evidence > 5.504673961526741)
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: 17.946
INFO:root:Testing 571 out of 10992 hypotheses for montys_brain (evidence > 5.504673961526741)
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: 24.032
INFO:root:Testing 245 out of 14880 hypotheses for montys_heart (evidence > 5.504673961526741)
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: 26.56
INFO:root:Testing 93 out of 23200 hypotheses for ramen_pack (evidence > 5.504673961526741)
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: 26.138
INFO:root:Testing 154 out of 14864 hypotheses for hot_sauce (evidence > 5.504673961526741)
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: 27.592
INFO:root:Testing 121 out of 12560 hypotheses for harissa_oil (evidence > 5.504673961526741)
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: 15.312
INFO:root:Testing 149 out of 21832 hypotheses for tomato_soup_can (evidence > 5.504673961526741)
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: 18.956
INFO:root:Testing 87 out of 16976 hypotheses for mustard_bottle (evidence > 5.504673961526741)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 25.805
INFO:root:Testing 70 out of 17728 hypotheses for tuna_fish_can (evidence > 5.504673961526741)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 18.013
INFO:root:Testing 44 out of 19024 hypotheses for potted_meat_can (evidence > 5.504673961526741)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 21.585
DEBUG:root:evidences for each object: [17.94608449 24.03153493 26.56030566 26.13809298 27.59230881 15.31197072
 18.95561404 25.80498611 18.01321736 21.58470297]
DEBUG:root:mean evidence: 22.194, std: 4.17 -> th=22.073847047190263
INFO:root:current most likely hypothesis: hot_sauce with evidence 27.59
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 91 ---
INFO:uvicorn.access:192.168.1.217:65418 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.72221249,  0.03872455, -0.69058636],
       [-0.05354242, -0.99856558,  0.        ],
       [-0.68959577,  0.03697566,  0.72324994]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00286614,  0.00056972, -0.0009514 ])}]
INFO:root:Testing 109 out of 14424 hypotheses for numenta_mug (evidence > 5.518461761797564)
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: 17.818
INFO:root:Testing 568 out of 10992 hypotheses for montys_brain (evidence > 5.518461761797564)
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: 24.076
INFO:root:Testing 245 out of 14880 hypotheses for montys_heart (evidence > 5.518461761797564)
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: 26.539
INFO:root:Testing 93 out of 23200 hypotheses for ramen_pack (evidence > 5.518461761797564)
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: 26.167
INFO:root:Testing 154 out of 14864 hypotheses for hot_sauce (evidence > 5.518461761797564)
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: 27.661
INFO:root:Testing 120 out of 12560 hypotheses for harissa_oil (evidence > 5.518461761797564)
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: 15.164
INFO:root:Testing 149 out of 21832 hypotheses for tomato_soup_can (evidence > 5.518461761797564)
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: 18.934
INFO:root:Testing 87 out of 16976 hypotheses for mustard_bottle (evidence > 5.518461761797564)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 26.12
INFO:root:Testing 68 out of 17728 hypotheses for tuna_fish_can (evidence > 5.518461761797564)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 18.225
INFO:root:Testing 43 out of 19024 hypotheses for potted_meat_can (evidence > 5.518461761797564)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 21.601
DEBUG:root:evidences for each object: [17.8175885  24.0762337  26.53869544 26.16705971 27.66114732 15.16385914
 18.93354225 26.11976561 18.22516314 21.6013387 ]
DEBUG:root:mean evidence: 22.23, std: 4.228 -> th=22.128917857398083
INFO:root:current most likely hypothesis: hot_sauce with evidence 27.66
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 92 ---
INFO:uvicorn.access:192.168.1.217:65418 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.76141311,  0.0989164 , -0.64067592],
       [-0.12882902, -0.99166682,  0.        ],
       [-0.63533705,  0.08253765,  0.76781142]]), 'pose_fully_defined': False}}, {'patch': array([-0.0070175 ,  0.0038297 ,  0.00085464])}]
INFO:root:Testing 109 out of 14424 hypotheses for numenta_mug (evidence > 5.53222946434952)
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: 17.702
INFO:root:Testing 567 out of 10992 hypotheses for montys_brain (evidence > 5.53222946434952)
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: 24.206
INFO:root:Testing 245 out of 14880 hypotheses for montys_heart (evidence > 5.53222946434952)
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: 26.692
INFO:root:Testing 93 out of 23200 hypotheses for ramen_pack (evidence > 5.53222946434952)
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: 26.515
INFO:root:Testing 154 out of 14864 hypotheses for hot_sauce (evidence > 5.53222946434952)
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: 26.846
INFO:root:Testing 117 out of 12560 hypotheses for harissa_oil (evidence > 5.53222946434952)
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: 14.989
INFO:root:Testing 148 out of 21832 hypotheses for tomato_soup_can (evidence > 5.53222946434952)
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: 19.085
INFO:root:Testing 87 out of 16976 hypotheses for mustard_bottle (evidence > 5.53222946434952)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 26.392
INFO:root:Testing 65 out of 17728 hypotheses for tuna_fish_can (evidence > 5.53222946434952)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 18.437
INFO:root:Testing 41 out of 19024 hypotheses for potted_meat_can (evidence > 5.53222946434952)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 21.576
DEBUG:root:evidences for each object: [17.70173019 24.20629988 26.69229242 26.51484639 26.84583201 14.98869276
 19.08548883 26.39245003 18.43715983 21.57572037]
DEBUG:root:mean evidence: 22.244, std: 4.224 -> th=21.476665607997678
INFO:root:current most likely hypothesis: hot_sauce with evidence 26.85
DEBUG:root:evidences for each object: [17.70173019 24.20629988 26.69229242 26.51484639 26.84583201 14.98869276
 19.08548883 26.39245003 18.43715983 21.57572037]
DEBUG:root:mean evidence: 22.244, std: 4.224 -> th=21.476665607997678
DEBUG:root:evidences for each object: [17.70173019 24.20629988 26.69229242 26.51484639 26.84583201 14.98869276
 19.08548883 26.39245003 18.43715983 21.57572037]
DEBUG:root:mean evidence: 22.244, std: 4.224 -> th=22.818957208497533
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: {'montys_heart', 'ramen_pack', 'potted_meat_can', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 93 ---
INFO:uvicorn.access:192.168.1.217:65418 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.80170069,  0.17863151, -0.57040932],
       [-0.21748244, -0.97606423,  0.        ],
       [-0.55675614,  0.12405401,  0.82136058]]), 'pose_fully_defined': False}}, {'patch': array([-0.0024603 ,  0.00974788, -0.00217146])}]
INFO:root:Testing 111 out of 14424 hypotheses for numenta_mug (evidence > 5.3691664019994185)
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: 17.611
INFO:root:Testing 569 out of 10992 hypotheses for montys_brain (evidence > 5.3691664019994185)
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: 24.375
INFO:root:Testing 242 out of 14880 hypotheses for montys_heart (evidence > 5.3691664019994185)
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: 26.882
INFO:root:Testing 94 out of 23200 hypotheses for ramen_pack (evidence > 5.3691664019994185)
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: 26.846
INFO:root:Testing 154 out of 14864 hypotheses for hot_sauce (evidence > 5.3691664019994185)
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: 27.208
INFO:root:Testing 121 out of 12560 hypotheses for harissa_oil (evidence > 5.3691664019994185)
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: 14.157
INFO:root:Testing 151 out of 21832 hypotheses for tomato_soup_can (evidence > 5.3691664019994185)
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: 19.143
INFO:root:Testing 86 out of 16976 hypotheses for mustard_bottle (evidence > 5.3691664019994185)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 26.649
INFO:root:Testing 69 out of 17728 hypotheses for tuna_fish_can (evidence > 5.3691664019994185)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 18.664
INFO:root:Testing 42 out of 19024 hypotheses for potted_meat_can (evidence > 5.3691664019994185)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 21.742
DEBUG:root:evidences for each object: [17.61101791 24.37466623 26.88171477 26.8461891  27.20849252 14.15716561
 19.14335185 26.64882695 18.66424289 21.74217795]
DEBUG:root:mean evidence: 22.328, std: 4.48 -> th=21.76679401291967
INFO:root:current most likely hypothesis: hot_sauce with evidence 27.21
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 94 ---
INFO:uvicorn.access:192.168.1.217:65418 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.78291069,  0.25280556, -0.56845422],
       [-0.30728209, -0.95161847,  0.        ],
       [-0.54095154,  0.1746758 ,  0.82271489]]), 'pose_fully_defined': False}}, {'patch': array([-0.00365458,  0.01551908, -0.00112842])}]
INFO:root:Testing 98 out of 14424 hypotheses for numenta_mug (evidence > 5.441698503229915)
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: 17.602
INFO:root:Testing 553 out of 10992 hypotheses for montys_brain (evidence > 5.441698503229915)
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: 24.686
INFO:root:Testing 231 out of 14880 hypotheses for montys_heart (evidence > 5.441698503229915)
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: 27.126
INFO:root:Testing 93 out of 23200 hypotheses for ramen_pack (evidence > 5.441698503229915)
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: 27.157
INFO:root:Testing 153 out of 14864 hypotheses for hot_sauce (evidence > 5.441698503229915)
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: 27.568
INFO:root:Testing 112 out of 12560 hypotheses for harissa_oil (evidence > 5.441698503229915)
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: 14.41
INFO:root:Testing 142 out of 21832 hypotheses for tomato_soup_can (evidence > 5.441698503229915)
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: 18.852
INFO:root:Testing 84 out of 16976 hypotheses for mustard_bottle (evidence > 5.441698503229915)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 26.917
INFO:root:Testing 63 out of 17728 hypotheses for tuna_fish_can (evidence > 5.441698503229915)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 18.901
INFO:root:Testing 38 out of 19024 hypotheses for potted_meat_can (evidence > 5.441698503229915)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 22.031
DEBUG:root:evidences for each object: [17.60236715 24.68637713 27.12642176 27.15707659 27.5675546  14.41033667
 18.85237098 26.91730048 18.90058652 22.03098105]
DEBUG:root:mean evidence: 22.525, std: 4.571 -> th=22.054043677976125
INFO:root:current most likely hypothesis: hot_sauce with evidence 27.57
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 95 ---
INFO:uvicorn.access:192.168.1.217:65418 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.86180738,  0.3050868 , -0.40522842],
       [-0.33371433, -0.94267425,  0.        ],
       [-0.3819984 ,  0.13523053,  0.91421547]]), 'pose_fully_defined': False}}, {'patch': array([-0.00166597,  0.01338544,  0.00338068])}]
INFO:root:Testing 83 out of 14424 hypotheses for numenta_mug (evidence > 5.513510919494031)
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: 17.634
INFO:root:Testing 547 out of 10992 hypotheses for montys_brain (evidence > 5.513510919494031)
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: 24.906
INFO:root:Testing 227 out of 14880 hypotheses for montys_heart (evidence > 5.513510919494031)
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: 27.303
INFO:root:Testing 87 out of 23200 hypotheses for ramen_pack (evidence > 5.513510919494031)
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: 27.41
INFO:root:Testing 151 out of 14864 hypotheses for hot_sauce (evidence > 5.513510919494031)
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: 27.846
INFO:root:Testing 106 out of 12560 hypotheses for harissa_oil (evidence > 5.513510919494031)
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: 14.585
INFO:root:Testing 126 out of 21832 hypotheses for tomato_soup_can (evidence > 5.513510919494031)
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: 18.915
INFO:root:Testing 80 out of 16976 hypotheses for mustard_bottle (evidence > 5.513510919494031)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 27.121
INFO:root:Testing 61 out of 17728 hypotheses for tuna_fish_can (evidence > 5.513510919494031)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 19.156
INFO:root:Testing 37 out of 19024 hypotheses for potted_meat_can (evidence > 5.513510919494031)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 22.258
DEBUG:root:evidences for each object: [17.63412255 24.90615313 27.30311719 27.40968281 27.84647298 14.58463205
 18.91509847 27.12056638 19.15597489 22.25841843]
DEBUG:root:mean evidence: 22.713, std: 4.614 -> th=22.27717838452252
INFO:root:current most likely hypothesis: hot_sauce with evidence 27.85
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 96 ---
INFO:uvicorn.access:192.168.1.217:65418 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.79032958,  0.43929657, -0.42708041],
       [-0.48583271, -0.87405182,  0.        ],
       [-0.37329041,  0.20748963,  0.90421365]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00232997,  0.00392438, -0.00018109])}]
INFO:root:Testing 81 out of 14424 hypotheses for numenta_mug (evidence > 5.569294596130629)
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: 17.722
INFO:root:Testing 544 out of 10992 hypotheses for montys_brain (evidence > 5.569294596130629)
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: 25.139
INFO:root:Testing 225 out of 14880 hypotheses for montys_heart (evidence > 5.569294596130629)
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: 27.498
INFO:root:Testing 84 out of 23200 hypotheses for ramen_pack (evidence > 5.569294596130629)
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: 27.616
INFO:root:Testing 147 out of 14864 hypotheses for hot_sauce (evidence > 5.569294596130629)
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: 28.099
INFO:root:Testing 106 out of 12560 hypotheses for harissa_oil (evidence > 5.569294596130629)
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: 14.69
INFO:root:Testing 120 out of 21832 hypotheses for tomato_soup_can (evidence > 5.569294596130629)
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: 19.055
INFO:root:Testing 80 out of 16976 hypotheses for mustard_bottle (evidence > 5.569294596130629)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 27.296
INFO:root:Testing 61 out of 17728 hypotheses for tuna_fish_can (evidence > 5.569294596130629)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 19.335
INFO:root:Testing 36 out of 19024 hypotheses for potted_meat_can (evidence > 5.569294596130629)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 22.225
DEBUG:root:evidences for each object: [17.72189753 25.13863932 27.49754229 27.61578568 28.09904314 14.69043975
 19.05537326 27.29611639 19.33494113 22.22476184]
DEBUG:root:mean evidence: 22.867, std: 4.657 -> th=22.479234512655673
INFO:root:current most likely hypothesis: hot_sauce with evidence 28.1
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 97 ---
INFO:uvicorn.access:192.168.1.217:65421 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.55813645, -0.15512619, -0.81511936],
       [ 0.26778535, -0.9634786 ,  0.        ],
       [-0.78535005, -0.21827702,  0.57929305]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01644646, -0.03892775, -0.0069802 ])}]
INFO:root:Testing 80 out of 14424 hypotheses for numenta_mug (evidence > 5.619808628163916)
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: 17.775
INFO:root:Testing 542 out of 10992 hypotheses for montys_brain (evidence > 5.619808628163916)
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: 25.292
INFO:root:Testing 218 out of 14880 hypotheses for montys_heart (evidence > 5.619808628163916)
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: 27.623
INFO:root:Testing 79 out of 23200 hypotheses for ramen_pack (evidence > 5.619808628163916)
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: 27.776
INFO:root:Testing 146 out of 14864 hypotheses for hot_sauce (evidence > 5.619808628163916)
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: 28.293
INFO:root:Testing 103 out of 12560 hypotheses for harissa_oil (evidence > 5.619808628163916)
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: 14.699
INFO:root:Testing 117 out of 21832 hypotheses for tomato_soup_can (evidence > 5.619808628163916)
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: 19.228
INFO:root:Testing 78 out of 16976 hypotheses for mustard_bottle (evidence > 5.619808628163916)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 27.573
INFO:root:Testing 61 out of 17728 hypotheses for tuna_fish_can (evidence > 5.619808628163916)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 19.387
INFO:root:Testing 35 out of 19024 hypotheses for potted_meat_can (evidence > 5.619808628163916)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 22.299
DEBUG:root:evidences for each object: [17.77488527 25.29200614 27.62345317 27.7757649  28.29306885 14.69908322
 19.22848767 27.57304018 19.38675736 22.29896298]
DEBUG:root:mean evidence: 22.995, std: 4.715 -> th=22.634455080141418
INFO:root:current most likely hypothesis: hot_sauce with evidence 28.29
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 98 ---
INFO:uvicorn.access:192.168.1.217:65421 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.65309274, -0.15267394, -0.74172808],
       [ 0.22763348, -0.97374689,  0.        ],
       [-0.72225541, -0.16884214,  0.67070072]]), 'pose_fully_defined': False}}, {'patch': array([-0.00777279,  0.00417339,  0.00201968])}]
INFO:root:Testing 80 out of 14424 hypotheses for numenta_mug (evidence > 5.658613770035352)
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: 17.815
INFO:root:Testing 542 out of 10992 hypotheses for montys_brain (evidence > 5.658613770035352)
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: 25.622
INFO:root:Testing 218 out of 14880 hypotheses for montys_heart (evidence > 5.658613770035352)
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: 27.89
INFO:root:Testing 79 out of 23200 hypotheses for ramen_pack (evidence > 5.658613770035352)
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: 28.237
INFO:root:Testing 146 out of 14864 hypotheses for hot_sauce (evidence > 5.658613770035352)
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: 28.631
INFO:root:Testing 101 out of 12560 hypotheses for harissa_oil (evidence > 5.658613770035352)
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: 14.765
INFO:root:Testing 116 out of 21832 hypotheses for tomato_soup_can (evidence > 5.658613770035352)
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: 19.365
INFO:root:Testing 78 out of 16976 hypotheses for mustard_bottle (evidence > 5.658613770035352)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 27.913
INFO:root:Testing 61 out of 17728 hypotheses for tuna_fish_can (evidence > 5.658613770035352)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 19.685
INFO:root:Testing 35 out of 19024 hypotheses for potted_meat_can (evidence > 5.658613770035352)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 22.425
DEBUG:root:evidences for each object: [17.81497437 25.62231446 27.88997899 28.23653732 28.631296   14.76459902
 19.36463322 27.9129973  19.68541841 22.42519474]
DEBUG:root:mean evidence: 23.235, std: 4.824 -> th=22.905036797645334
INFO:root:current most likely hypothesis: hot_sauce with evidence 28.63
DEBUG:root:evidences for each object: [17.81497437 25.62231446 27.88997899 28.23653732 28.631296   14.76459902
 19.36463322 27.9129973  19.68541841 22.42519474]
DEBUG:root:mean evidence: 23.235, std: 4.824 -> th=22.905036797645334
DEBUG:root:evidences for each object: [17.81497437 25.62231446 27.88997899 28.23653732 28.631296   14.76459902
 19.36463322 27.9129973  19.68541841 22.42519474]
DEBUG:root:mean evidence: 23.235, std: 4.824 -> th=24.336601597498166
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: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 99 ---
INFO:uvicorn.access:192.168.1.217:65421 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.82011114, -0.02702918, -0.57156552],
       [ 0.03294006, -0.99945733,  0.        ],
       [-0.57125535, -0.0188274 ,  0.82055643]]), 'pose_fully_defined': False}}, {'patch': array([-0.00387318,  0.000296  ,  0.00456639])}]
INFO:root:Testing 77 out of 14424 hypotheses for numenta_mug (evidence > 5.726259199411331)
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: 17.726
INFO:root:Testing 540 out of 10992 hypotheses for montys_brain (evidence > 5.726259199411331)
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: 25.828
INFO:root:Testing 217 out of 14880 hypotheses for montys_heart (evidence > 5.726259199411331)
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: 28.011
INFO:root:Testing 78 out of 23200 hypotheses for ramen_pack (evidence > 5.726259199411331)
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: 28.669
INFO:root:Testing 146 out of 14864 hypotheses for hot_sauce (evidence > 5.726259199411331)
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: 28.672
INFO:root:Testing 98 out of 12560 hypotheses for harissa_oil (evidence > 5.726259199411331)
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: 14.611
INFO:root:Testing 115 out of 21832 hypotheses for tomato_soup_can (evidence > 5.726259199411331)
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: 19.383
INFO:root:Testing 78 out of 16976 hypotheses for mustard_bottle (evidence > 5.726259199411331)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 28.256
INFO:root:Testing 61 out of 17728 hypotheses for tuna_fish_can (evidence > 5.726259199411331)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 20.011
INFO:root:Testing 35 out of 19024 hypotheses for potted_meat_can (evidence > 5.726259199411331)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 22.448
DEBUG:root:evidences for each object: [17.72563098 25.82757417 28.0113381  28.66883411 28.67184023 14.61055914
 19.38303255 28.25609461 20.01090661 22.44800293]
DEBUG:root:mean evidence: 23.361, std: 4.942 -> th=22.93747218784922
INFO:root:current most likely hypothesis: hot_sauce with evidence 28.67
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 100 ---
INFO:uvicorn.access:192.168.1.217:65421 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.88270048,  0.1298084 , -0.45165213],
       [-0.14549345, -0.98935921,  0.        ],
       [-0.4468462 ,  0.06571243,  0.89219412]]), 'pose_fully_defined': False}}, {'patch': array([-0.00428975,  0.00456157,  0.00240641])}]
INFO:root:Testing 77 out of 14424 hypotheses for numenta_mug (evidence > 5.734368046962302)
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: 16.726
INFO:root:Testing 523 out of 10992 hypotheses for montys_brain (evidence > 5.734368046962302)
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: 26.082
INFO:root:Testing 216 out of 14880 hypotheses for montys_heart (evidence > 5.734368046962302)
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: 27.076
INFO:root:Testing 75 out of 23200 hypotheses for ramen_pack (evidence > 5.734368046962302)
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: 29.006
INFO:root:Testing 145 out of 14864 hypotheses for hot_sauce (evidence > 5.734368046962302)
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: 28.862
INFO:root:Testing 94 out of 12560 hypotheses for harissa_oil (evidence > 5.734368046962302)
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: 13.834
INFO:root:Testing 112 out of 21832 hypotheses for tomato_soup_can (evidence > 5.734368046962302)
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: 19.297
INFO:root:Testing 78 out of 16976 hypotheses for mustard_bottle (evidence > 5.734368046962302)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 28.491
INFO:root:Testing 61 out of 17728 hypotheses for tuna_fish_can (evidence > 5.734368046962302)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 20.289
INFO:root:Testing 34 out of 19024 hypotheses for potted_meat_can (evidence > 5.734368046962302)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 21.448
DEBUG:root:evidences for each object: [16.72563098 26.08158155 27.0763396  29.00640521 28.86183459 13.83442743
 19.29748934 28.49148765 20.2890016  21.44800293]
DEBUG:root:mean evidence: 23.111, std: 5.229 -> th=23.205124168516924
INFO:root:current most likely hypothesis: ramen_pack with evidence 29.01
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 101 ---
INFO:uvicorn.access:192.168.1.217:65421 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.90831766,  0.17008095, -0.38214069],
       [-0.18404954, -0.98291697,  0.        ],
       [-0.37561257,  0.07033282,  0.92410416]]), 'pose_fully_defined': False}}, {'patch': array([-0.00166629,  0.00572777,  0.00250971])}]
INFO:root:Testing 69 out of 14424 hypotheses for numenta_mug (evidence > 5.801281042129229)
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: 15.726
INFO:root:Testing 501 out of 10992 hypotheses for montys_brain (evidence > 5.801281042129229)
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: 25.705
INFO:root:Testing 204 out of 14880 hypotheses for montys_heart (evidence > 5.801281042129229)
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: 27.139
INFO:root:Testing 72 out of 23200 hypotheses for ramen_pack (evidence > 5.801281042129229)
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: 29.307
INFO:root:Testing 145 out of 14864 hypotheses for hot_sauce (evidence > 5.801281042129229)
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: 27.862
INFO:root:Testing 84 out of 12560 hypotheses for harissa_oil (evidence > 5.801281042129229)
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: 12.834
INFO:root:Testing 106 out of 21832 hypotheses for tomato_soup_can (evidence > 5.801281042129229)
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: 18.297
INFO:root:Testing 74 out of 16976 hypotheses for mustard_bottle (evidence > 5.801281042129229)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 28.725
INFO:root:Testing 61 out of 17728 hypotheses for tuna_fish_can (evidence > 5.801281042129229)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 20.546
INFO:root:Testing 33 out of 19024 hypotheses for potted_meat_can (evidence > 5.801281042129229)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 20.448
DEBUG:root:evidences for each object: [15.72563098 25.70525001 27.13854849 29.30744701 27.86183459 12.83442743
 18.29748934 28.72497963 20.54635228 20.44800293]
DEBUG:root:mean evidence: 22.659, std: 5.571 -> th=23.44595760588117
INFO:root:current most likely hypothesis: ramen_pack with evidence 29.31
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 102 ---
INFO:uvicorn.access:192.168.1.217:65421 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.94671487,  0.22664052, -0.22883408],
       [-0.23281825, -0.97252026,  0.        ],
       [-0.22254578,  0.05327675,  0.97346544]]), 'pose_fully_defined': False}}, {'patch': array([-0.00255464,  0.00554306,  0.00362074])}]
INFO:root:Testing 55 out of 14424 hypotheses for numenta_mug (evidence > 5.8614894014702905)
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: 14.726
INFO:root:Testing 477 out of 10992 hypotheses for montys_brain (evidence > 5.8614894014702905)
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: 25.925
INFO:root:Testing 188 out of 14880 hypotheses for montys_heart (evidence > 5.8614894014702905)
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: 26.139
INFO:root:Testing 67 out of 23200 hypotheses for ramen_pack (evidence > 5.8614894014702905)
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: 29.54
INFO:root:Testing 144 out of 14864 hypotheses for hot_sauce (evidence > 5.8614894014702905)
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: 27.167
INFO:root:Testing 69 out of 12560 hypotheses for harissa_oil (evidence > 5.8614894014702905)
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: 11.834
INFO:root:Testing 92 out of 21832 hypotheses for tomato_soup_can (evidence > 5.8614894014702905)
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: 17.297
INFO:root:Testing 69 out of 16976 hypotheses for mustard_bottle (evidence > 5.8614894014702905)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 28.869
INFO:root:Testing 58 out of 17728 hypotheses for tuna_fish_can (evidence > 5.8614894014702905)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 20.787
INFO:root:Testing 28 out of 19024 hypotheses for potted_meat_can (evidence > 5.8614894014702905)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 19.448
DEBUG:root:evidences for each object: [14.72563098 25.92465565 26.13854849 29.54011973 27.16748172 11.83442743
 17.29748934 28.8689757  20.78660493 19.44800293]
DEBUG:root:mean evidence: 22.173, std: 5.91 -> th=23.632095785393368
INFO:root:current most likely hypothesis: ramen_pack with evidence 29.54
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 103 ---
INFO:uvicorn.access:192.168.1.217:65421 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.92758852,  0.31987481, -0.19302759],
       [-0.32600589, -0.94536774,  0.        ],
       [-0.18248206,  0.06292813,  0.98119333]]), 'pose_fully_defined': False}}, {'patch': array([-0.00166262,  0.0055884 , -0.00092669])}]
INFO:root:Testing 40 out of 14424 hypotheses for numenta_mug (evidence > 5.90802394634834)
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: 13.726
INFO:root:Testing 456 out of 10992 hypotheses for montys_brain (evidence > 5.90802394634834)
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: 26.052
INFO:root:Testing 175 out of 14880 hypotheses for montys_heart (evidence > 5.90802394634834)
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: 25.139
INFO:root:Testing 65 out of 23200 hypotheses for ramen_pack (evidence > 5.90802394634834)
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: 29.726
INFO:root:Testing 139 out of 14864 hypotheses for hot_sauce (evidence > 5.90802394634834)
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: 27.434
INFO:root:Testing 49 out of 12560 hypotheses for harissa_oil (evidence > 5.90802394634834)
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: 10.834
INFO:root:Testing 80 out of 21832 hypotheses for tomato_soup_can (evidence > 5.90802394634834)
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: 16.297
INFO:root:Testing 61 out of 16976 hypotheses for mustard_bottle (evidence > 5.90802394634834)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 29.002
INFO:root:Testing 56 out of 17728 hypotheses for tuna_fish_can (evidence > 5.90802394634834)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 20.98
INFO:root:Testing 24 out of 19024 hypotheses for potted_meat_can (evidence > 5.90802394634834)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.448
DEBUG:root:evidences for each object: [13.72563098 26.05194329 25.13854849 29.72595695 27.4337471  10.83442743
 16.29748934 29.00179288 20.97950729 18.44800293]
DEBUG:root:mean evidence: 21.764, std: 6.35 -> th=23.78076556136036
INFO:root:current most likely hypothesis: ramen_pack with evidence 29.73
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 104 ---
INFO:uvicorn.access:192.168.1.217:65421 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.87937664,  0.34630072, -0.32676067],
       [-0.36641426, -0.93045182,  0.        ],
       [-0.30403506,  0.11972977,  0.94510712]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00449769,  0.01046792, -0.00304529])}]
INFO:root:Testing 26 out of 14424 hypotheses for numenta_mug (evidence > 5.945191390340089)
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: 13.74
INFO:root:Testing 436 out of 10992 hypotheses for montys_brain (evidence > 5.945191390340089)
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: 26.343
INFO:root:Testing 161 out of 14880 hypotheses for montys_heart (evidence > 5.945191390340089)
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: 24.177
INFO:root:Testing 63 out of 23200 hypotheses for ramen_pack (evidence > 5.945191390340089)
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: 29.942
INFO:root:Testing 134 out of 14864 hypotheses for hot_sauce (evidence > 5.945191390340089)
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: 27.669
INFO:root:Testing 34 out of 12560 hypotheses for harissa_oil (evidence > 5.945191390340089)
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: 10.824
INFO:root:Testing 65 out of 21832 hypotheses for tomato_soup_can (evidence > 5.945191390340089)
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: 16.365
INFO:root:Testing 59 out of 16976 hypotheses for mustard_bottle (evidence > 5.945191390340089)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 29.189
INFO:root:Testing 54 out of 17728 hypotheses for tuna_fish_can (evidence > 5.945191390340089)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 21.21
INFO:root:Testing 23 out of 19024 hypotheses for potted_meat_can (evidence > 5.945191390340089)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.448
DEBUG:root:evidences for each object: [13.73987922 26.34335713 24.17680832 29.94168977 27.66911849 10.82430522
 16.36464819 29.18893739 21.21032863 17.44800293]
DEBUG:root:mean evidence: 21.691, std: 6.448 -> th=23.953351813680605
INFO:root:current most likely hypothesis: ramen_pack with evidence 29.94
DEBUG:root:evidences for each object: [13.73987922 26.34335713 24.17680832 29.94168977 27.66911849 10.82430522
 16.36464819 29.18893739 21.21032863 17.44800293]
DEBUG:root:mean evidence: 21.691, std: 6.448 -> th=23.953351813680605
DEBUG:root:evidences for each object: [13.73987922 26.34335713 24.17680832 29.94168977 27.66911849 10.82430522
 16.36464819 29.18893739 21.21032863 17.44800293]
DEBUG:root:mean evidence: 21.691, std: 6.448 -> th=25.45043630203564
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: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 105 ---
INFO:uvicorn.access:192.168.1.217:65421 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.85681242,  0.41027166, -0.31232938],
       [-0.43187678, -0.90193262,  0.        ],
       [-0.28170005,  0.13488781,  0.94997387]]), 'pose_fully_defined': False}}, {'patch': array([-0.00076514,  0.00077975,  0.00064686])}]
INFO:root:Testing 24 out of 14424 hypotheses for numenta_mug (evidence > 5.9883379534201495)
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: 13.769
INFO:root:Testing 431 out of 10992 hypotheses for montys_brain (evidence > 5.9883379534201495)
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: 26.63
INFO:root:Testing 150 out of 14880 hypotheses for montys_heart (evidence > 5.9883379534201495)
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: 24.304
INFO:root:Testing 61 out of 23200 hypotheses for ramen_pack (evidence > 5.9883379534201495)
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: 30.127
INFO:root:Testing 133 out of 14864 hypotheses for hot_sauce (evidence > 5.9883379534201495)
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: 27.886
INFO:root:Testing 30 out of 12560 hypotheses for harissa_oil (evidence > 5.9883379534201495)
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: 10.812
INFO:root:Testing 61 out of 21832 hypotheses for tomato_soup_can (evidence > 5.9883379534201495)
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: 16.451
INFO:root:Testing 54 out of 16976 hypotheses for mustard_bottle (evidence > 5.9883379534201495)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 29.355
INFO:root:Testing 53 out of 17728 hypotheses for tuna_fish_can (evidence > 5.9883379534201495)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 21.412
INFO:root:Testing 22 out of 19024 hypotheses for potted_meat_can (evidence > 5.9883379534201495)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.448
DEBUG:root:evidences for each object: [13.76867064 26.63014833 24.30393442 30.12707015 27.88608465 10.81200675
 16.451007   29.35485112 21.41174899 16.44800293]
DEBUG:root:mean evidence: 21.719, std: 6.6 -> th=24.101656123898223
INFO:root:current most likely hypothesis: ramen_pack with evidence 30.13
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 106 ---
INFO:uvicorn.access:192.168.1.217:65423 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.7902425 , -0.53552505,  0.29787533],
       [ 0.56099138, -0.82782164,  0.        ],
       [ 0.24658765,  0.16710549,  0.95460478]]), 'pose_fully_defined': False}}, {'patch': array([ 0.02456107, -0.05021555,  0.01276111])}]
INFO:root:Testing 24 out of 14424 hypotheses for numenta_mug (evidence > 6.025414030974556)
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: 13.624
INFO:root:Testing 422 out of 10992 hypotheses for montys_brain (evidence > 6.025414030974556)
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: 26.512
INFO:root:Testing 143 out of 14880 hypotheses for montys_heart (evidence > 6.025414030974556)
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: 24.219
INFO:root:Testing 61 out of 23200 hypotheses for ramen_pack (evidence > 6.025414030974556)
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: 30.033
INFO:root:Testing 131 out of 14864 hypotheses for hot_sauce (evidence > 6.025414030974556)
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: 27.866
INFO:root:Testing 29 out of 12560 hypotheses for harissa_oil (evidence > 6.025414030974556)
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: 10.707
INFO:root:Testing 58 out of 21832 hypotheses for tomato_soup_can (evidence > 6.025414030974556)
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: 16.352
INFO:root:Testing 52 out of 16976 hypotheses for mustard_bottle (evidence > 6.025414030974556)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 29.449
INFO:root:Testing 52 out of 17728 hypotheses for tuna_fish_can (evidence > 6.025414030974556)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 21.268
INFO:root:Testing 18 out of 19024 hypotheses for potted_meat_can (evidence > 6.025414030974556)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.591
DEBUG:root:evidences for each object: [13.62423106 26.5124422  24.21906325 30.03333347 27.86643103 10.70650222
 16.35196842 29.44858715 21.26798006 16.59095516]
DEBUG:root:mean evidence: 21.662, std: 6.618 -> th=24.026666774825024
INFO:root:current most likely hypothesis: ramen_pack with evidence 30.03
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 107 ---
INFO:uvicorn.access:192.168.1.217:65423 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.85079101, -0.3969917 ,  0.34431417],
       [ 0.42284689, -0.90620114,  0.        ],
       [ 0.31201789,  0.14559217,  0.93885449]]), 'pose_fully_defined': False}}, {'patch': array([-0.00771244,  0.0040977 ,  0.00362342])}]
INFO:root:Testing 22 out of 14424 hypotheses for numenta_mug (evidence > 6.006666693706254)
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: 13.464
INFO:root:Testing 423 out of 10992 hypotheses for montys_brain (evidence > 6.006666693706254)
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: 26.445
INFO:root:Testing 142 out of 14880 hypotheses for montys_heart (evidence > 6.006666693706254)
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: 24.074
INFO:root:Testing 61 out of 23200 hypotheses for ramen_pack (evidence > 6.006666693706254)
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: 29.89
INFO:root:Testing 130 out of 14864 hypotheses for hot_sauce (evidence > 6.006666693706254)
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: 27.783
INFO:root:Testing 30 out of 12560 hypotheses for harissa_oil (evidence > 6.006666693706254)
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: 10.541
INFO:root:Testing 58 out of 21832 hypotheses for tomato_soup_can (evidence > 6.006666693706254)
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: 16.201
INFO:root:Testing 48 out of 16976 hypotheses for mustard_bottle (evidence > 6.006666693706254)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 29.485
INFO:root:Testing 52 out of 17728 hypotheses for tuna_fish_can (evidence > 6.006666693706254)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 21.47
INFO:root:Testing 18 out of 19024 hypotheses for potted_meat_can (evidence > 6.006666693706254)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.562
DEBUG:root:evidences for each object: [13.46420237 26.44466864 24.07368216 29.8902893  27.78318263 10.54136068
 16.20070073 29.48504309 21.46951595 16.56190052]
DEBUG:root:mean evidence: 21.591, std: 6.647 -> th=23.912231439308215
INFO:root:current most likely hypothesis: ramen_pack with evidence 29.89
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 108 ---
INFO:uvicorn.access:192.168.1.217:65423 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.95024424, -0.18827977,  0.24816649],
       [ 0.19435985, -0.9809303 ,  0.        ],
       [ 0.24343403,  0.0482336 ,  0.9687174 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00165116,  0.00281118, -0.00481598])}]
INFO:root:Testing 23 out of 14424 hypotheses for numenta_mug (evidence > 5.978057859827054)
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: 13.208
INFO:root:Testing 416 out of 10992 hypotheses for montys_brain (evidence > 5.978057859827054)
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: 26.264
INFO:root:Testing 138 out of 14880 hypotheses for montys_heart (evidence > 5.978057859827054)
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: 23.074
INFO:root:Testing 61 out of 23200 hypotheses for ramen_pack (evidence > 5.978057859827054)
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: 29.657
INFO:root:Testing 129 out of 14864 hypotheses for hot_sauce (evidence > 5.978057859827054)
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: 26.783
INFO:root:Testing 28 out of 12560 hypotheses for harissa_oil (evidence > 5.978057859827054)
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: 10.319
INFO:root:Testing 59 out of 21832 hypotheses for tomato_soup_can (evidence > 5.978057859827054)
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: 15.938
INFO:root:Testing 46 out of 16976 hypotheses for mustard_bottle (evidence > 5.978057859827054)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 29.445
INFO:root:Testing 51 out of 17728 hypotheses for tuna_fish_can (evidence > 5.978057859827054)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 21.785
INFO:root:Testing 18 out of 19024 hypotheses for potted_meat_can (evidence > 5.978057859827054)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.415
DEBUG:root:evidences for each object: [13.20823091 26.26375579 23.07368216 29.65662218 26.78318263 10.31862747
 15.93770852 29.4452056  21.78521842 16.414893  ]
DEBUG:root:mean evidence: 21.289, std: 6.58 -> th=23.725297745243132
INFO:root:current most likely hypothesis: ramen_pack with evidence 29.66
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 109 ---
INFO:uvicorn.access:192.168.1.217:65423 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.92642266, -0.14255971,  0.34845056],
       [ 0.15209173, -0.98836638,  0.        ],
       [ 0.34439682,  0.05299645,  0.93732716]]), 'pose_fully_defined': False}}, {'patch': array([-0.00441409,  0.00842268,  0.00694526])}]
INFO:root:Testing 23 out of 14424 hypotheses for numenta_mug (evidence > 5.931324436310781)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.208
INFO:root:Testing 406 out of 10992 hypotheses for montys_brain (evidence > 5.931324436310781)
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: 25.264
INFO:root:Testing 124 out of 14880 hypotheses for montys_heart (evidence > 5.931324436310781)
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: 22.074
INFO:root:Testing 60 out of 23200 hypotheses for ramen_pack (evidence > 5.931324436310781)
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: 28.657
INFO:root:Testing 128 out of 14864 hypotheses for hot_sauce (evidence > 5.931324436310781)
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: 26.213
INFO:root:Testing 27 out of 12560 hypotheses for harissa_oil (evidence > 5.931324436310781)
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: 9.319
INFO:root:Testing 56 out of 21832 hypotheses for tomato_soup_can (evidence > 5.931324436310781)
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: 14.938
INFO:root:Testing 47 out of 16976 hypotheses for mustard_bottle (evidence > 5.931324436310781)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 28.445
INFO:root:Testing 50 out of 17728 hypotheses for tuna_fish_can (evidence > 5.931324436310781)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 21.992
INFO:root:Testing 18 out of 19024 hypotheses for potted_meat_can (evidence > 5.931324436310781)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.415
DEBUG:root:evidences for each object: [12.20823091 25.26375579 22.07368216 28.65662218 26.21308848  9.31862747
 14.93770852 28.4452056  21.99155699 15.414893  ]
DEBUG:root:mean evidence: 20.452, std: 6.635 -> th=22.925297745243135
INFO:root:current most likely hypothesis: ramen_pack with evidence 28.66
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'mustard_bottle', 'montys_brain', 'hot_sauce'}
INFO:root:--- Global Matching Step 110 ---
INFO:uvicorn.access:192.168.1.217:65423 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.97066605,  0.08356999,  0.22544061],
       [-0.08577819, -0.99631426,  0.        ],
       [ 0.22460969, -0.01933789,  0.97425691]]), 'pose_fully_defined': False}}, {'patch': array([-0.00326825,  0.00227657,  0.00092314])}]
INFO:root:Testing 29 out of 14424 hypotheses for numenta_mug (evidence > 5.731324436310782)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.208
INFO:root:Testing 400 out of 10992 hypotheses for montys_brain (evidence > 5.731324436310782)
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: 24.264
INFO:root:Testing 139 out of 14880 hypotheses for montys_heart (evidence > 5.731324436310782)
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: 21.074
INFO:root:Testing 60 out of 23200 hypotheses for ramen_pack (evidence > 5.731324436310782)
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: 27.657
INFO:root:Testing 128 out of 14864 hypotheses for hot_sauce (evidence > 5.731324436310782)
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: 26.372
INFO:root:Testing 32 out of 12560 hypotheses for harissa_oil (evidence > 5.731324436310782)
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: 8.319
INFO:root:Testing 55 out of 21832 hypotheses for tomato_soup_can (evidence > 5.731324436310782)
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: 13.938
INFO:root:Testing 48 out of 16976 hypotheses for mustard_bottle (evidence > 5.731324436310782)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 27.445
INFO:root:Testing 51 out of 17728 hypotheses for tuna_fish_can (evidence > 5.731324436310782)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 22.201
INFO:root:Testing 19 out of 19024 hypotheses for potted_meat_can (evidence > 5.731324436310782)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.415
DEBUG:root:evidences for each object: [11.20823091 24.26375579 21.07368216 27.65662218 26.37164672  8.31862747
 13.93770852 27.4452056  22.20059096 14.414893  ]
DEBUG:root:mean evidence: 19.689, std: 6.779 -> th=22.125297745243135
INFO:root:current most likely hypothesis: ramen_pack with evidence 27.66
DEBUG:root:evidences for each object: [11.20823091 24.26375579 21.07368216 27.65662218 26.37164672  8.31862747
 13.93770852 27.4452056  22.20059096 14.414893  ]
DEBUG:root:mean evidence: 19.689, std: 6.779 -> th=22.125297745243135
DEBUG:root:evidences for each object: [11.20823091 24.26375579 21.07368216 27.65662218 26.37164672  8.31862747
 13.93770852 27.4452056  22.20059096 14.414893  ]
DEBUG:root:mean evidence: 19.689, std: 6.779 -> th=23.50812885432083
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 111 ---
INFO:uvicorn.access:192.168.1.217:65423 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.9118955 ,  0.19515172,  0.36105734],
       [-0.2092682 , -0.97785828,  0.        ],
       [ 0.35306291, -0.07555782,  0.93254362]]), 'pose_fully_defined': False}}, {'patch': array([-0.00064412,  0.01829037,  0.00073509])}]
INFO:root:Testing 27 out of 14424 hypotheses for numenta_mug (evidence > 5.531324436310783)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.208
INFO:root:Testing 384 out of 10992 hypotheses for montys_brain (evidence > 5.531324436310783)
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: 23.264
INFO:root:Testing 136 out of 14880 hypotheses for montys_heart (evidence > 5.531324436310783)
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: 20.074
INFO:root:Testing 67 out of 23200 hypotheses for ramen_pack (evidence > 5.531324436310783)
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: 26.657
INFO:root:Testing 128 out of 14864 hypotheses for hot_sauce (evidence > 5.531324436310783)
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: 25.372
INFO:root:Testing 43 out of 12560 hypotheses for harissa_oil (evidence > 5.531324436310783)
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: 7.319
INFO:root:Testing 57 out of 21832 hypotheses for tomato_soup_can (evidence > 5.531324436310783)
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: 12.938
INFO:root:Testing 45 out of 16976 hypotheses for mustard_bottle (evidence > 5.531324436310783)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 26.445
INFO:root:Testing 55 out of 17728 hypotheses for tuna_fish_can (evidence > 5.531324436310783)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 22.314
INFO:root:Testing 20 out of 19024 hypotheses for potted_meat_can (evidence > 5.531324436310783)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.415
DEBUG:root:evidences for each object: [10.20823091 23.26375579 20.07368216 26.65662218 25.37164672  7.31862747
 12.93770852 26.4452056  22.31447967 13.414893  ]
DEBUG:root:mean evidence: 18.8, std: 6.828 -> th=21.325297745243134
INFO:root:current most likely hypothesis: ramen_pack with evidence 26.66
DEBUG:root:evidences for each object: [10.20823091 23.26375579 20.07368216 26.65662218 25.37164672  7.31862747
 12.93770852 26.4452056  22.31447967 13.414893  ]
DEBUG:root:mean evidence: 18.8, std: 6.828 -> th=21.325297745243134
DEBUG:root:evidences for each object: [10.20823091 23.26375579 20.07368216 26.65662218 25.37164672  7.31862747
 12.93770852 26.4452056  22.31447967 13.414893  ]
DEBUG:root:mean evidence: 18.8, std: 6.828 -> th=22.65812885432083
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 112 ---
INFO:uvicorn.access:192.168.1.217:65423 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.79091638,  0.34133118,  0.50788218],
       [-0.39623945, -0.91814721,  0.        ],
       [ 0.46631061, -0.20124296,  0.86142654]]), 'pose_fully_defined': False}}, {'patch': array([0.00419302, 0.00151678, 0.00760259])}]
INFO:root:Testing 24 out of 14424 hypotheses for numenta_mug (evidence > 5.3313244363107835)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.208
INFO:root:Testing 368 out of 10992 hypotheses for montys_brain (evidence > 5.3313244363107835)
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: 22.264
INFO:root:Testing 121 out of 14880 hypotheses for montys_heart (evidence > 5.3313244363107835)
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: 19.074
INFO:root:Testing 76 out of 23200 hypotheses for ramen_pack (evidence > 5.3313244363107835)
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: 26.366
INFO:root:Testing 131 out of 14864 hypotheses for hot_sauce (evidence > 5.3313244363107835)
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: 25.484
INFO:root:Testing 35 out of 12560 hypotheses for harissa_oil (evidence > 5.3313244363107835)
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: 6.319
INFO:root:Testing 54 out of 21832 hypotheses for tomato_soup_can (evidence > 5.3313244363107835)
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: 11.938
INFO:root:Testing 41 out of 16976 hypotheses for mustard_bottle (evidence > 5.3313244363107835)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 25.445
INFO:root:Testing 58 out of 17728 hypotheses for tuna_fish_can (evidence > 5.3313244363107835)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 21.314
INFO:root:Testing 16 out of 19024 hypotheses for potted_meat_can (evidence > 5.3313244363107835)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.415
DEBUG:root:evidences for each object: [ 9.20823091 22.26375579 19.07368216 26.36623514 25.48376379  6.31862747
 11.93770852 25.4452056  21.31447967 12.414893  ]
DEBUG:root:mean evidence: 17.983, std: 7.025 -> th=21.09298811191117
INFO:root:current most likely hypothesis: ramen_pack with evidence 26.37
DEBUG:root:evidences for each object: [ 9.20823091 22.26375579 19.07368216 26.36623514 25.48376379  6.31862747
 11.93770852 25.4452056  21.31447967 12.414893  ]
DEBUG:root:mean evidence: 17.983, std: 7.025 -> th=21.09298811191117
DEBUG:root:evidences for each object: [ 9.20823091 22.26375579 19.07368216 26.36623514 25.48376379  6.31862747
 11.93770852 25.4452056  21.31447967 12.414893  ]
DEBUG:root:mean evidence: 17.983, std: 7.025 -> th=22.411299868905616
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 113 ---
INFO:uvicorn.access:192.168.1.217:65425 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.94924103,  0.21227543,  0.23212198],
       [-0.21823619, -0.97589598,  0.        ],
       [ 0.2265269 , -0.05065741,  0.97268669]]), 'pose_fully_defined': False}}, {'patch': array([-0.00741188,  0.0061285 , -0.01225176])}]
INFO:root:Testing 11 out of 14424 hypotheses for numenta_mug (evidence > 5.273247027977792)
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: 8.208
INFO:root:Testing 377 out of 10992 hypotheses for montys_brain (evidence > 5.273247027977792)
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: 21.264
INFO:root:Testing 110 out of 14880 hypotheses for montys_heart (evidence > 5.273247027977792)
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: 18.074
INFO:root:Testing 74 out of 23200 hypotheses for ramen_pack (evidence > 5.273247027977792)
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: 25.366
INFO:root:Testing 133 out of 14864 hypotheses for hot_sauce (evidence > 5.273247027977792)
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: 24.484
INFO:root:Testing 21 out of 12560 hypotheses for harissa_oil (evidence > 5.273247027977792)
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: 5.319
INFO:root:Testing 34 out of 21832 hypotheses for tomato_soup_can (evidence > 5.273247027977792)
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: 10.938
INFO:root:Testing 40 out of 16976 hypotheses for mustard_bottle (evidence > 5.273247027977792)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 24.445
INFO:root:Testing 44 out of 17728 hypotheses for tuna_fish_can (evidence > 5.273247027977792)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 21.469
INFO:root:Testing 13 out of 19024 hypotheses for potted_meat_can (evidence > 5.273247027977792)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.415
DEBUG:root:evidences for each object: [ 8.20823091 21.26375579 18.07368216 25.36623514 24.48376379  5.31862747
 10.93770852 24.4452056  21.4691201  11.414893  ]
DEBUG:root:mean evidence: 17.098, std: 7.088 -> th=20.292988111911168
INFO:root:current most likely hypothesis: ramen_pack with evidence 25.37
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 114 ---
INFO:uvicorn.access:192.168.1.217:65425 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.78133269,  0.35869262,  0.51074342],
       [-0.41721388, -0.90880833,  0.        ],
       [ 0.46416787, -0.21308924,  0.85973319]]), 'pose_fully_defined': False}}, {'patch': array([0.00647136, 0.00683016, 0.00782022])}]
INFO:root:Testing 37 out of 14424 hypotheses for numenta_mug (evidence > 5.073247027977789)
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: 7.208
INFO:root:Testing 388 out of 10992 hypotheses for montys_brain (evidence > 5.073247027977789)
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: 20.264
INFO:root:Testing 131 out of 14880 hypotheses for montys_heart (evidence > 5.073247027977789)
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: 17.074
INFO:root:Testing 92 out of 23200 hypotheses for ramen_pack (evidence > 5.073247027977789)
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: 25.079
INFO:root:Testing 134 out of 14864 hypotheses for hot_sauce (evidence > 5.073247027977789)
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: 23.484
INFO:root:Testing 29 out of 12560 hypotheses for harissa_oil (evidence > 5.073247027977789)
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: 5.11
INFO:root:Testing 50 out of 21832 hypotheses for tomato_soup_can (evidence > 5.073247027977789)
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: 9.938
INFO:root:Testing 53 out of 16976 hypotheses for mustard_bottle (evidence > 5.073247027977789)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 23.445
INFO:root:Testing 60 out of 17728 hypotheses for tuna_fish_can (evidence > 5.073247027977789)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 21.101
INFO:root:Testing 16 out of 19024 hypotheses for potted_meat_can (evidence > 5.073247027977789)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.415
DEBUG:root:evidences for each object: [ 7.20823091 20.26375579 17.07368216 25.07949499 23.48376379  5.10960877
  9.93770852 23.4452056  21.10060649 10.414893  ]
DEBUG:root:mean evidence: 16.312, std: 7.086 -> th=20.063595995790585
INFO:root:current most likely hypothesis: ramen_pack with evidence 25.08
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'mustard_bottle', 'montys_brain', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 115 ---
INFO:uvicorn.access:192.168.1.217:65425 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.95268402,  0.26392769,  0.1507824 ],
       [-0.26698008, -0.96370205,  0.        ],
       [ 0.1453093 , -0.0402559 ,  0.98856698]]), 'pose_fully_defined': False}}, {'patch': array([-0.04034403,  0.01518916,  0.00695934])}]
INFO:root:Testing 11 out of 14424 hypotheses for numenta_mug (evidence > 5.015898998947645)
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: 7.239
INFO:root:Testing 401 out of 10992 hypotheses for montys_brain (evidence > 5.015898998947645)
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: 19.264
INFO:root:Testing 118 out of 14880 hypotheses for montys_heart (evidence > 5.015898998947645)
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: 17.446
INFO:root:Testing 84 out of 23200 hypotheses for ramen_pack (evidence > 5.015898998947645)
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: 25.155
INFO:root:Testing 130 out of 14864 hypotheses for hot_sauce (evidence > 5.015898998947645)
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: 22.484
INFO:root:Testing 8 out of 12560 hypotheses for harissa_oil (evidence > 5.015898998947645)
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: 5.467
INFO:root:Testing 25 out of 21832 hypotheses for tomato_soup_can (evidence > 5.015898998947645)
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: 8.938
INFO:root:Testing 39 out of 16976 hypotheses for mustard_bottle (evidence > 5.015898998947645)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 23.569
INFO:root:Testing 44 out of 17728 hypotheses for tuna_fish_can (evidence > 5.015898998947645)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 20.101
INFO:root:Testing 9 out of 19024 hypotheses for potted_meat_can (evidence > 5.015898998947645)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.647
DEBUG:root:evidences for each object: [ 7.23909078 19.26375579 17.44621508 25.15531342 22.48376379  5.4672232
  8.93770852 23.56942716 20.10060649 10.64747384]
DEBUG:root:mean evidence: 16.031, std: 6.92 -> th=20.12425073820271
INFO:root:current most likely hypothesis: ramen_pack with evidence 25.16
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'mustard_bottle', 'hot_sauce'}
INFO:root:--- Global Matching Step 116 ---
INFO:uvicorn.access:192.168.1.217:65425 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.73759929, -0.23144386,  0.63433511],
       [ 0.29938737, -0.95413165,  0.        ],
       [ 0.6052392 ,  0.18991192,  0.77305819]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0475405 , -0.0505552 , -0.00854667])}]
INFO:root:Testing 5 out of 14424 hypotheses for numenta_mug (evidence > 5.031062684550676)
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: 6.239
INFO:root:Testing 259 out of 10992 hypotheses for montys_brain (evidence > 5.031062684550676)
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: 19.269
INFO:root:Testing 92 out of 14880 hypotheses for montys_heart (evidence > 5.031062684550676)
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: 16.89
INFO:root:Testing 57 out of 23200 hypotheses for ramen_pack (evidence > 5.031062684550676)
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: 24.922
INFO:root:Testing 115 out of 14864 hypotheses for hot_sauce (evidence > 5.031062684550676)
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: 22.727
INFO:root:Testing 5 out of 12560 hypotheses for harissa_oil (evidence > 5.031062684550676)
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: 5.015
INFO:root:Testing 19 out of 21832 hypotheses for tomato_soup_can (evidence > 5.031062684550676)
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: 7.938
INFO:root:Testing 25 out of 16976 hypotheses for mustard_bottle (evidence > 5.031062684550676)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 22.569
INFO:root:Testing 33 out of 17728 hypotheses for tuna_fish_can (evidence > 5.031062684550676)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 19.101
INFO:root:Testing 4 out of 19024 hypotheses for potted_meat_can (evidence > 5.031062684550676)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.647
DEBUG:root:evidences for each object: [ 6.23909078 19.26920192 16.89005101 24.92191598 22.7266353   5.01525348
  7.93770852 22.56942716 19.10060649  9.64747384]
DEBUG:root:mean evidence: 15.432, std: 7.122 -> th=19.93753278671626
INFO:root:current most likely hypothesis: ramen_pack with evidence 24.92
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'mustard_bottle', 'hot_sauce'}
INFO:root:--- Global Matching Step 117 ---
INFO:uvicorn.access:192.168.1.217:65425 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.84113412, -0.27667488,  0.46469818],
       [ 0.31246135, -0.94993047,  0.        ],
       [ 0.44143096,  0.14520022,  0.88546914]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00590342, -0.01148683, -0.0059406 ])}]
INFO:root:Testing 4 out of 14424 hypotheses for numenta_mug (evidence > 4.984383196679065)
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: 6.037
INFO:root:Testing 250 out of 10992 hypotheses for montys_brain (evidence > 4.984383196679065)
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: 19.119
INFO:root:Testing 84 out of 14880 hypotheses for montys_heart (evidence > 4.984383196679065)
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: 16.727
INFO:root:Testing 56 out of 23200 hypotheses for ramen_pack (evidence > 4.984383196679065)
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: 24.758
INFO:root:Testing 116 out of 14864 hypotheses for hot_sauce (evidence > 4.984383196679065)
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: 22.681
INFO:root:Testing 7 out of 12560 hypotheses for harissa_oil (evidence > 4.984383196679065)
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: 4.969
INFO:root:Testing 16 out of 21832 hypotheses for tomato_soup_can (evidence > 4.984383196679065)
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: 7.758
INFO:root:Testing 31 out of 16976 hypotheses for mustard_bottle (evidence > 4.984383196679065)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 22.537
INFO:root:Testing 35 out of 17728 hypotheses for tuna_fish_can (evidence > 4.984383196679065)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 18.871
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 4.984383196679065)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.65
DEBUG:root:evidences for each object: [ 6.03702318 19.11895239 16.72686912 24.75824667 22.68080205  4.96921702
  7.75761242 22.53675926 18.87137868  9.65006517]
DEBUG:root:mean evidence: 15.311, std: 7.121 -> th=19.80659733312003
INFO:root:current most likely hypothesis: ramen_pack with evidence 24.76
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'mustard_bottle', 'hot_sauce'}
INFO:root:--- Global Matching Step 118 ---
INFO:uvicorn.access:192.168.1.217:65427 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.7095367 , -0.35371259,  0.60946294],
       [ 0.44614795, -0.89495922,  0.        ],
       [ 0.54544448,  0.27191064,  0.79281456]]), 'pose_fully_defined': False}}, {'patch': array([-0.00763239,  0.00166815, -0.00316406])}]
INFO:root:Testing 5 out of 14424 hypotheses for numenta_mug (evidence > 4.951649333280006)
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: 5.831
INFO:root:Testing 239 out of 10992 hypotheses for montys_brain (evidence > 4.951649333280006)
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: 19.091
INFO:root:Testing 82 out of 14880 hypotheses for montys_heart (evidence > 4.951649333280006)
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: 16.747
INFO:root:Testing 55 out of 23200 hypotheses for ramen_pack (evidence > 4.951649333280006)
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: 24.661
INFO:root:Testing 114 out of 14864 hypotheses for hot_sauce (evidence > 4.951649333280006)
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: 23.146
INFO:root:Testing 2 out of 12560 hypotheses for harissa_oil (evidence > 4.951649333280006)
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: 4.945
INFO:root:Testing 14 out of 21832 hypotheses for tomato_soup_can (evidence > 4.951649333280006)
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: 7.577
INFO:root:Testing 29 out of 16976 hypotheses for mustard_bottle (evidence > 4.951649333280006)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 22.564
INFO:root:Testing 35 out of 17728 hypotheses for tuna_fish_can (evidence > 4.951649333280006)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 18.953
INFO:root:Testing 4 out of 19024 hypotheses for potted_meat_can (evidence > 4.951649333280006)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.587
DEBUG:root:evidences for each object: [ 5.83059502 19.09098609 16.74718389 24.66061213 23.14635944  4.94518729
  7.57738251 22.56444682 18.95331458  9.58692371]
DEBUG:root:mean evidence: 15.31, std: 7.218 -> th=19.728489703628455
INFO:root:current most likely hypothesis: ramen_pack with evidence 24.66
DEBUG:root:evidences for each object: [ 5.83059502 19.09098609 16.74718389 24.66061213 23.14635944  4.94518729
  7.57738251 22.56444682 18.95331458  9.58692371]
DEBUG:root:mean evidence: 15.31, std: 7.218 -> th=19.728489703628455
DEBUG:root:evidences for each object: [ 5.83059502 19.09098609 16.74718389 24.66061213 23.14635944  4.94518729
  7.57738251 22.56444682 18.95331458  9.58692371]
DEBUG:root:mean evidence: 15.31, std: 7.218 -> th=20.961520310105232
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'mustard_bottle', 'hot_sauce'}
INFO:root:--- Global Matching Step 119 ---
INFO:uvicorn.access:192.168.1.217:65427 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.73477633, -0.28720724,  0.61450448],
       [ 0.36405423, -0.93137775,  0.        ],
       [ 0.5723358 ,  0.22371296,  0.78891333]]), 'pose_fully_defined': False}}, {'patch': array([-0.00304753,  0.00724389,  0.00556563])}]
INFO:root:Testing 2 out of 14424 hypotheses for numenta_mug (evidence > 4.932122425907114)
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: 4.932
INFO:root:Testing 219 out of 10992 hypotheses for montys_brain (evidence > 4.932122425907114)
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: 18.091
INFO:root:Testing 78 out of 14880 hypotheses for montys_heart (evidence > 4.932122425907114)
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: 16.656
INFO:root:Testing 52 out of 23200 hypotheses for ramen_pack (evidence > 4.932122425907114)
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: 24.434
INFO:root:Testing 116 out of 14864 hypotheses for hot_sauce (evidence > 4.932122425907114)
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: 23.573
INFO:root:Testing 6 out of 12560 hypotheses for harissa_oil (evidence > 4.932122425907114)
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: 4.932
INFO:root:Testing 11 out of 21832 hypotheses for tomato_soup_can (evidence > 4.932122425907114)
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: 6.577
INFO:root:Testing 28 out of 16976 hypotheses for mustard_bottle (evidence > 4.932122425907114)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 22.453
INFO:root:Testing 31 out of 17728 hypotheses for tuna_fish_can (evidence > 4.932122425907114)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 19.035
INFO:root:Testing 4 out of 19024 hypotheses for potted_meat_can (evidence > 4.932122425907114)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.587
DEBUG:root:evidences for each object: [ 4.93205047 18.09098609 16.65573383 24.43416851 23.57312369  4.93210861
  6.57738251 22.45271466 19.03489601  8.58692371]
DEBUG:root:mean evidence: 14.927, std: 7.492 -> th=19.547334804710506
INFO:root:current most likely hypothesis: ramen_pack with evidence 24.43
DEBUG:root:evidences for each object: [ 4.93205047 18.09098609 16.65573383 24.43416851 23.57312369  4.93210861
  6.57738251 22.45271466 19.03489601  8.58692371]
DEBUG:root:mean evidence: 14.927, std: 7.492 -> th=19.547334804710506
DEBUG:root:evidences for each object: [ 4.93205047 18.09098609 16.65573383 24.43416851 23.57312369  4.93210861
  6.57738251 22.45271466 19.03489601  8.58692371]
DEBUG:root:mean evidence: 14.927, std: 7.492 -> th=20.76904323000491
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'mustard_bottle', 'hot_sauce'}
INFO:root:--- Global Matching Step 120 ---
INFO:uvicorn.access:192.168.1.217:65427 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.66326745, -0.21972329,  0.71540057],
       [ 0.31446788, -0.94926811,  0.        ],
       [ 0.67910695,  0.2249705 ,  0.69871455]]), 'pose_fully_defined': False}}, {'patch': array([-0.00178586,  0.00733089,  0.00192848])}]
INFO:root:Testing 17 out of 14424 hypotheses for numenta_mug (evidence > 4.8868337011776255)
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: 4.885
INFO:root:Testing 202 out of 10992 hypotheses for montys_brain (evidence > 4.8868337011776255)
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: 17.091
INFO:root:Testing 75 out of 14880 hypotheses for montys_heart (evidence > 4.8868337011776255)
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: 15.656
INFO:root:Testing 57 out of 23200 hypotheses for ramen_pack (evidence > 4.8868337011776255)
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: 23.434
INFO:root:Testing 111 out of 14864 hypotheses for hot_sauce (evidence > 4.8868337011776255)
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: 23.984
INFO:root:Testing 6 out of 12560 hypotheses for harissa_oil (evidence > 4.8868337011776255)
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: 4.886
INFO:root:Testing 12 out of 21832 hypotheses for tomato_soup_can (evidence > 4.8868337011776255)
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: 5.577
INFO:root:Testing 27 out of 16976 hypotheses for mustard_bottle (evidence > 4.8868337011776255)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 21.453
INFO:root:Testing 34 out of 17728 hypotheses for tuna_fish_can (evidence > 4.8868337011776255)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 19.044
INFO:root:Testing 6 out of 19024 hypotheses for potted_meat_can (evidence > 4.8868337011776255)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.587
DEBUG:root:evidences for each object: [ 4.88533101 17.09098609 15.65573383 23.43416851 23.9844836   4.88626739
  5.57738251 21.45271466 19.04399132  7.58692371]
DEBUG:root:mean evidence: 14.36, std: 7.476 -> th=19.1875868801184
INFO:root:current most likely hypothesis: hot_sauce with evidence 23.98
DEBUG:root:evidences for each object: [ 4.88533101 17.09098609 15.65573383 23.43416851 23.9844836   4.88626739
  5.57738251 21.45271466 19.04399132  7.58692371]
DEBUG:root:mean evidence: 14.36, std: 7.476 -> th=19.1875868801184
DEBUG:root:evidences for each object: [ 4.88533101 17.09098609 15.65573383 23.43416851 23.9844836   4.88626739
  5.57738251 21.45271466 19.04399132  7.58692371]
DEBUG:root:mean evidence: 14.36, std: 7.476 -> th=20.3868110601258
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'mustard_bottle', 'hot_sauce'}
INFO:root:--- Global Matching Step 121 ---
INFO:uvicorn.access:192.168.1.217:65427 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.81671077, -0.20549952,  0.53921561],
       [ 0.24401257, -0.96977207,  0.        ],
       [ 0.52291624,  0.13157539,  0.84216776]]), 'pose_fully_defined': False}}, {'patch': array([-0.00519519,  0.00596668, -0.00571987])}]
INFO:root:Testing 17 out of 14424 hypotheses for numenta_mug (evidence > 4.796896720029601)
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: 4.791
INFO:root:Testing 214 out of 10992 hypotheses for montys_brain (evidence > 4.796896720029601)
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: 16.091
INFO:root:Testing 82 out of 14880 hypotheses for montys_heart (evidence > 4.796896720029601)
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: 14.656
INFO:root:Testing 59 out of 23200 hypotheses for ramen_pack (evidence > 4.796896720029601)
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: 22.434
INFO:root:Testing 115 out of 14864 hypotheses for hot_sauce (evidence > 4.796896720029601)
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: 24.304
INFO:root:Testing 17 out of 12560 hypotheses for harissa_oil (evidence > 4.796896720029601)
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: 4.796
INFO:root:Testing 28 out of 21832 hypotheses for tomato_soup_can (evidence > 4.796896720029601)
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: 4.796
INFO:root:Testing 38 out of 16976 hypotheses for mustard_bottle (evidence > 4.796896720029601)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 20.453
INFO:root:Testing 39 out of 17728 hypotheses for tuna_fish_can (evidence > 4.796896720029601)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 19.158
INFO:root:Testing 5 out of 19024 hypotheses for potted_meat_can (evidence > 4.796896720029601)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.587
DEBUG:root:evidences for each object: [ 4.7906788  16.09098609 14.65573383 22.43416851 24.30362066  4.79601629
  4.79633478 20.45271466 19.15776491  6.58692371]
DEBUG:root:mean evidence: 13.806, std: 7.478 -> th=19.442896527076993
INFO:root:current most likely hypothesis: hot_sauce with evidence 24.3
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'mustard_bottle', 'hot_sauce'}
INFO:root:--- Global Matching Step 122 ---
INFO:uvicorn.access:192.168.1.217:65427 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.83728739, -0.1703502 ,  0.5195485 ],
       [ 0.19937036, -0.97992421,  0.        ],
       [ 0.50911815,  0.10358257,  0.85444096]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00232894, -0.01140489, -0.00084787])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.791
INFO:root:Testing 132 out of 10992 hypotheses for montys_brain (evidence > 4.860724131769246)
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: 15.091
INFO:root:Testing 44 out of 14880 hypotheses for montys_heart (evidence > 4.860724131769246)
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: 14.616
INFO:root:Testing 49 out of 23200 hypotheses for ramen_pack (evidence > 4.860724131769246)
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: 21.434
INFO:root:Testing 101 out of 14864 hypotheses for hot_sauce (evidence > 4.860724131769246)
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: 24.664
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.796
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.796
INFO:root:Testing 15 out of 16976 hypotheses for mustard_bottle (evidence > 4.860724131769246)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 19.453
INFO:root:Testing 31 out of 17728 hypotheses for tuna_fish_can (evidence > 4.860724131769246)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 19.34
INFO:root:Testing 1 out of 19024 hypotheses for potted_meat_can (evidence > 4.860724131769246)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.587
DEBUG:root:evidences for each object: [ 4.7906788  15.09098609 14.61604478 21.43416851 24.66355356  4.79601629
  4.79633478 19.45271466 19.34028516  5.58692371]
DEBUG:root:mean evidence: 13.457, std: 7.422 -> th=19.730842847974337
INFO:root:current most likely hypothesis: hot_sauce with evidence 24.66
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 123 ---
INFO:uvicorn.access:192.168.1.217:65427 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.7985425 , -0.13532105,  0.58653056],
       [ 0.16707806, -0.98594367,  0.        ],
       [ 0.57828609,  0.09799639,  0.8099271 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00530104, -0.01093946, -0.00947574])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.791
INFO:root:Testing 106 out of 10992 hypotheses for montys_brain (evidence > 4.9327107119935825)
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: 14.876
INFO:root:Testing 37 out of 14880 hypotheses for montys_heart (evidence > 4.9327107119935825)
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: 14.579
INFO:root:Testing 46 out of 23200 hypotheses for ramen_pack (evidence > 4.9327107119935825)
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: 21.205
INFO:root:Testing 86 out of 14864 hypotheses for hot_sauce (evidence > 4.9327107119935825)
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: 24.686
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.796
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.796
INFO:root:Testing 11 out of 16976 hypotheses for mustard_bottle (evidence > 4.9327107119935825)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 19.395
INFO:root:Testing 28 out of 17728 hypotheses for tuna_fish_can (evidence > 4.9327107119935825)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 19.5
INFO:root:Testing 1 out of 19024 hypotheses for potted_meat_can (evidence > 4.9327107119935825)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.455
DEBUG:root:evidences for each object: [ 4.7906788  14.8764142  14.57892493 21.20486954 24.68642046  4.79601629
  4.79633478 19.39542047 19.49973215  5.45461675]
DEBUG:root:mean evidence: 13.408, std: 7.418 -> th=19.749136367528287
INFO:root:current most likely hypothesis: hot_sauce with evidence 24.69
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 124 ---
INFO:uvicorn.access:192.168.1.217:65427 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.59537562, -0.39807755,  0.69789837],
       [ 0.55582145, -0.8313017 ,  0.        ],
       [ 0.5801641 ,  0.38790688,  0.71619681]]), 'pose_fully_defined': False}}, {'patch': array([0.00845405, 0.00275656, 0.0067257 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.791
INFO:root:Testing 93 out of 10992 hypotheses for montys_brain (evidence > 4.93728409188207)
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: 14.801
INFO:root:Testing 33 out of 14880 hypotheses for montys_heart (evidence > 4.93728409188207)
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: 14.788
INFO:root:Testing 44 out of 23200 hypotheses for ramen_pack (evidence > 4.93728409188207)
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: 21.156
INFO:root:Testing 85 out of 14864 hypotheses for hot_sauce (evidence > 4.93728409188207)
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: 23.686
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.796
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.796
INFO:root:Testing 9 out of 16976 hypotheses for mustard_bottle (evidence > 4.93728409188207)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 19.361
INFO:root:Testing 27 out of 17728 hypotheses for tuna_fish_can (evidence > 4.93728409188207)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 19.253
INFO:root:Testing 1 out of 19024 hypotheses for potted_meat_can (evidence > 4.93728409188207)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.421
DEBUG:root:evidences for each object: [ 4.7906788  14.80089645 14.78773101 21.15573483 23.68642046  4.79601629
  4.79633478 19.36053203 19.25300745  5.42126589]
DEBUG:root:mean evidence: 13.285, std: 7.248 -> th=18.949136367528286
INFO:root:current most likely hypothesis: hot_sauce with evidence 23.69
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'mustard_bottle', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 125 ---
INFO:uvicorn.access:192.168.1.217:65427 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.41850932, -0.61394342,  0.66927081],
       [ 0.82628275, -0.56325555,  0.        ],
       [ 0.3769705 ,  0.55300693,  0.74301856]]), 'pose_fully_defined': False}}, {'patch': array([-0.00081654,  0.00731446,  0.00305814])}]
INFO:root:Testing 18 out of 14424 hypotheses for numenta_mug (evidence > 4.737284091882071)
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: 4.807
INFO:root:Testing 135 out of 10992 hypotheses for montys_brain (evidence > 4.737284091882071)
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: 14.785
INFO:root:Testing 57 out of 14880 hypotheses for montys_heart (evidence > 4.737284091882071)
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: 13.788
INFO:root:Testing 52 out of 23200 hypotheses for ramen_pack (evidence > 4.737284091882071)
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: 21.052
INFO:root:Testing 91 out of 14864 hypotheses for hot_sauce (evidence > 4.737284091882071)
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: 22.686
INFO:root:Testing 14 out of 12560 hypotheses for harissa_oil (evidence > 4.737284091882071)
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: 4.741
INFO:root:Testing 14 out of 21832 hypotheses for tomato_soup_can (evidence > 4.737284091882071)
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: 4.824
INFO:root:Testing 20 out of 16976 hypotheses for mustard_bottle (evidence > 4.737284091882071)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 18.361
INFO:root:Testing 31 out of 17728 hypotheses for tuna_fish_can (evidence > 4.737284091882071)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 18.253
INFO:root:Testing 4 out of 19024 hypotheses for potted_meat_can (evidence > 4.737284091882071)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.918
DEBUG:root:evidences for each object: [ 4.80735234 14.78474654 13.78773101 21.05160243 22.68642046  4.74082594
  4.82360012 18.36053203 18.25300745  4.91752287]
DEBUG:root:mean evidence: 12.821, std: 6.971 -> th=18.149136367528286
INFO:root:current most likely hypothesis: hot_sauce with evidence 22.69
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'mustard_bottle', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 126 ---
INFO:uvicorn.access:192.168.1.217:65427 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.33832272, -0.72490928,  0.60003689],
       [ 0.90616794, -0.42291803,  0.        ],
       [ 0.25376642,  0.54373419,  0.79997233]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00024039, -0.00631478, -0.00032932])}]
INFO:root:Testing 39 out of 14424 hypotheses for numenta_mug (evidence > 4.537284091882071)
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: 4.974
INFO:root:Testing 181 out of 10992 hypotheses for montys_brain (evidence > 4.537284091882071)
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: 14.93
INFO:root:Testing 78 out of 14880 hypotheses for montys_heart (evidence > 4.537284091882071)
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: 14.234
INFO:root:Testing 66 out of 23200 hypotheses for ramen_pack (evidence > 4.537284091882071)
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: 21.183
INFO:root:Testing 103 out of 14864 hypotheses for hot_sauce (evidence > 4.537284091882071)
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: 21.686
INFO:root:Testing 56 out of 12560 hypotheses for harissa_oil (evidence > 4.537284091882071)
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: 4.767
INFO:root:Testing 40 out of 21832 hypotheses for tomato_soup_can (evidence > 4.537284091882071)
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: 5.148
INFO:root:Testing 48 out of 16976 hypotheses for mustard_bottle (evidence > 4.537284091882071)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 18.478
INFO:root:Testing 55 out of 17728 hypotheses for tuna_fish_can (evidence > 4.537284091882071)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 17.402
INFO:root:Testing 12 out of 19024 hypotheses for potted_meat_can (evidence > 4.537284091882071)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.102
DEBUG:root:evidences for each object: [ 4.97351134 14.93019904 14.23371777 21.18343974 21.68642046  4.76708595
  5.14828512 18.47802786 17.40217871  5.10192175]
DEBUG:root:mean evidence: 12.79, std: 6.729 -> th=17.349136367528285
INFO:root:current most likely hypothesis: hot_sauce with evidence 21.69
DEBUG:root:evidences for each object: [ 4.97351134 14.93019904 14.23371777 21.18343974 21.68642046  4.76708595
  5.14828512 18.47802786 17.40217871  5.10192175]
DEBUG:root:mean evidence: 12.79, std: 6.729 -> th=17.349136367528285
DEBUG:root:evidences for each object: [ 4.97351134 14.93019904 14.23371777 21.18343974 21.68642046  4.76708595
  5.14828512 18.47802786 17.40217871  5.10192175]
DEBUG:root:mean evidence: 12.79, std: 6.729 -> th=18.433457390498802
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: {'ramen_pack', 'mustard_bottle', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 127 ---
INFO:uvicorn.access:192.168.1.217:65427 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.20978057, -0.80671765,  0.55244796],
       [ 0.96781258, -0.25167204,  0.        ],
       [ 0.13903571,  0.53466609,  0.83354739]]), 'pose_fully_defined': False}}, {'patch': array([-0.00264394,  0.00582184,  0.00161327])}]
INFO:root:Testing 60 out of 14424 hypotheses for numenta_mug (evidence > 4.337284091882072)
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: 5.173
INFO:root:Testing 222 out of 10992 hypotheses for montys_brain (evidence > 4.337284091882072)
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: 13.93
INFO:root:Testing 99 out of 14880 hypotheses for montys_heart (evidence > 4.337284091882072)
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: 14.61
INFO:root:Testing 85 out of 23200 hypotheses for ramen_pack (evidence > 4.337284091882072)
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: 21.388
INFO:root:Testing 106 out of 14864 hypotheses for hot_sauce (evidence > 4.337284091882072)
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: 21.89
INFO:root:Testing 83 out of 12560 hypotheses for harissa_oil (evidence > 4.337284091882072)
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: 4.942
INFO:root:Testing 81 out of 21832 hypotheses for tomato_soup_can (evidence > 4.337284091882072)
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: 5.409
INFO:root:Testing 62 out of 16976 hypotheses for mustard_bottle (evidence > 4.337284091882072)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 17.478
INFO:root:Testing 60 out of 17728 hypotheses for tuna_fish_can (evidence > 4.337284091882072)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 16.402
INFO:root:Testing 25 out of 19024 hypotheses for potted_meat_can (evidence > 4.337284091882072)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.332
DEBUG:root:evidences for each object: [ 5.17339369 13.93019904 14.60995034 21.38819963 21.88958888  4.9415133
  5.40914179 17.47802786 16.40217871  5.33215336]
DEBUG:root:mean evidence: 12.655, std: 6.526 -> th=17.51167110486644
INFO:root:current most likely hypothesis: hot_sauce with evidence 21.89
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 128 ---
INFO:uvicorn.access:192.168.1.217:65427 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.55364828, -0.77057401,  0.3157361 ],
       [ 0.81211615, -0.58349581,  0.        ],
       [ 0.18423069,  0.25641438,  0.94884705]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00202825, -0.00853386, -0.00908895])}]
INFO:root:Testing 14 out of 14424 hypotheses for numenta_mug (evidence > 4.377917776216609)
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: 5.224
INFO:root:Testing 90 out of 10992 hypotheses for montys_brain (evidence > 4.377917776216609)
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: 13.888
INFO:root:Testing 31 out of 14880 hypotheses for montys_heart (evidence > 4.377917776216609)
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: 14.855
INFO:root:Testing 67 out of 23200 hypotheses for ramen_pack (evidence > 4.377917776216609)
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: 21.311
INFO:root:Testing 84 out of 14864 hypotheses for hot_sauce (evidence > 4.377917776216609)
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: 21.906
INFO:root:Testing 29 out of 12560 hypotheses for harissa_oil (evidence > 4.377917776216609)
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: 5.064
INFO:root:Testing 28 out of 21832 hypotheses for tomato_soup_can (evidence > 4.377917776216609)
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: 5.645
INFO:root:Testing 38 out of 16976 hypotheses for mustard_bottle (evidence > 4.377917776216609)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 17.731
INFO:root:Testing 34 out of 17728 hypotheses for tuna_fish_can (evidence > 4.377917776216609)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 16.354
INFO:root:Testing 6 out of 19024 hypotheses for potted_meat_can (evidence > 4.377917776216609)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.309
DEBUG:root:evidences for each object: [ 5.22420837 13.8881776  14.85508545 21.31076643 21.90621381  5.06432452
  5.64539545 17.73134622 16.35351465  5.30919117]
DEBUG:root:mean evidence: 12.729, std: 6.498 -> th=17.524971045653324
INFO:root:current most likely hypothesis: hot_sauce with evidence 21.91
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'mustard_bottle', 'hot_sauce'}
INFO:root:--- Global Matching Step 129 ---
INFO:uvicorn.access:192.168.1.217:65427 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.54939296, -0.82897532,  0.10472483],
       [ 0.83355887, -0.55243064,  0.        ],
       [ 0.0578532 ,  0.08729431,  0.99450124]]), 'pose_fully_defined': False}}, {'patch': array([-0.01011872,  0.00540909,  0.0039714 ])}]
INFO:root:Testing 13 out of 14424 hypotheses for numenta_mug (evidence > 4.381242761413329)
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: 5.626
INFO:root:Testing 86 out of 10992 hypotheses for montys_brain (evidence > 4.381242761413329)
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: 12.888
INFO:root:Testing 31 out of 14880 hypotheses for montys_heart (evidence > 4.381242761413329)
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: 15.278
INFO:root:Testing 64 out of 23200 hypotheses for ramen_pack (evidence > 4.381242761413329)
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: 21.41
INFO:root:Testing 83 out of 14864 hypotheses for hot_sauce (evidence > 4.381242761413329)
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: 22.15
INFO:root:Testing 26 out of 12560 hypotheses for harissa_oil (evidence > 4.381242761413329)
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: 5.226
INFO:root:Testing 26 out of 21832 hypotheses for tomato_soup_can (evidence > 4.381242761413329)
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: 5.884
INFO:root:Testing 38 out of 16976 hypotheses for mustard_bottle (evidence > 4.381242761413329)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 17.997
INFO:root:Testing 29 out of 17728 hypotheses for tuna_fish_can (evidence > 4.381242761413329)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 16.507
INFO:root:Testing 6 out of 19024 hypotheses for potted_meat_can (evidence > 4.381242761413329)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.594
DEBUG:root:evidences for each object: [ 5.62607549 12.8881776  15.27834643 21.40996603 22.1499663   5.22639923
  5.88375965 17.99658688 16.50708854  5.59367455]
DEBUG:root:mean evidence: 12.856, std: 6.458 -> th=17.719973038793242
INFO:root:current most likely hypothesis: hot_sauce with evidence 22.15
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'mustard_bottle', 'hot_sauce'}
INFO:root:--- Global Matching Step 130 ---
INFO:uvicorn.access:192.168.1.217:65427 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.5982743 , -0.79974236, -0.04979989],
       [ 0.8007359 , -0.59901755,  0.        ],
       [-0.02983101, -0.03987656,  0.99875922]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00201939, -0.00617275, -0.0070349 ])}]
INFO:root:Testing 10 out of 14424 hypotheses for numenta_mug (evidence > 4.4299932596983105)
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: 5.874
INFO:root:Testing 62 out of 10992 hypotheses for montys_brain (evidence > 4.4299932596983105)
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: 13.082
INFO:root:Testing 25 out of 14880 hypotheses for montys_heart (evidence > 4.4299932596983105)
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: 15.63
INFO:root:Testing 52 out of 23200 hypotheses for ramen_pack (evidence > 4.4299932596983105)
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: 21.571
INFO:root:Testing 76 out of 14864 hypotheses for hot_sauce (evidence > 4.4299932596983105)
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: 22.417
INFO:root:Testing 24 out of 12560 hypotheses for harissa_oil (evidence > 4.4299932596983105)
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: 5.363
INFO:root:Testing 23 out of 21832 hypotheses for tomato_soup_can (evidence > 4.4299932596983105)
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: 6.23
INFO:root:Testing 27 out of 16976 hypotheses for mustard_bottle (evidence > 4.4299932596983105)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 18.211
INFO:root:Testing 28 out of 17728 hypotheses for tuna_fish_can (evidence > 4.4299932596983105)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 16.782
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 4.4299932596983105)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.877
DEBUG:root:evidences for each object: [ 5.87392158 13.08217047 15.6301162  21.57113493 22.41673625  5.36269861
  6.23014771 18.21054934 16.78172946  5.87704058]
DEBUG:root:mean evidence: 13.104, std: 6.45 -> th=17.9333890038126
INFO:root:current most likely hypothesis: hot_sauce with evidence 22.42
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'mustard_bottle', 'hot_sauce'}
INFO:root:--- Global Matching Step 131 ---
INFO:uvicorn.access:192.168.1.217:65427 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.44363054, -0.22176686,  0.8683383 ],
       [ 0.4471355 , -0.89446623,  0.        ],
       [ 0.77669929,  0.38826488,  0.49597238]]), 'pose_fully_defined': False}}, {'patch': array([0.0024991 , 0.03851702, 0.01890075])}]
INFO:root:Testing 10 out of 14424 hypotheses for numenta_mug (evidence > 4.483347250953148)
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: 4.874
INFO:root:Testing 62 out of 10992 hypotheses for montys_brain (evidence > 4.483347250953148)
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: 12.082
INFO:root:Testing 24 out of 14880 hypotheses for montys_heart (evidence > 4.483347250953148)
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
INFO:root:Testing 51 out of 23200 hypotheses for ramen_pack (evidence > 4.483347250953148)
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: 21.426
INFO:root:Testing 76 out of 14864 hypotheses for hot_sauce (evidence > 4.483347250953148)
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: 21.417
INFO:root:Testing 23 out of 12560 hypotheses for harissa_oil (evidence > 4.483347250953148)
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: 4.54
INFO:root:Testing 23 out of 21832 hypotheses for tomato_soup_can (evidence > 4.483347250953148)
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: 5.23
INFO:root:Testing 24 out of 16976 hypotheses for mustard_bottle (evidence > 4.483347250953148)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 17.211
INFO:root:Testing 27 out of 17728 hypotheses for tuna_fish_can (evidence > 4.483347250953148)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 16.285
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 4.483347250953148)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.877
DEBUG:root:evidences for each object: [ 4.87392158 12.08217047 14.6301162  21.42597026 21.41673625  4.53957719
  5.23014771 17.21054934 16.28451335  4.87704058]
DEBUG:root:mean evidence: 12.257, std: 6.575 -> th=17.140776204744476
INFO:root:current most likely hypothesis: ramen_pack with evidence 21.43
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'mustard_bottle', 'hot_sauce'}
INFO:root:--- Global Matching Step 132 ---
INFO:uvicorn.access:192.168.1.217:65427 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.40999085, -0.14714774,  0.90014168],
       [ 0.33780686, -0.94121545,  0.        ],
       [ 0.84722726,  0.30407403,  0.43559724]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00322935,  0.0079202 , -0.00093636])}]
INFO:root:Testing 16 out of 14424 hypotheses for numenta_mug (evidence > 4.285194051186117)
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: 4.564
INFO:root:Testing 109 out of 10992 hypotheses for montys_brain (evidence > 4.285194051186117)
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: 11.45
INFO:root:Testing 40 out of 14880 hypotheses for montys_heart (evidence > 4.285194051186117)
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: 13.63
INFO:root:Testing 67 out of 23200 hypotheses for ramen_pack (evidence > 4.285194051186117)
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: 21.303
INFO:root:Testing 80 out of 14864 hypotheses for hot_sauce (evidence > 4.285194051186117)
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: 20.417
INFO:root:Testing 38 out of 12560 hypotheses for harissa_oil (evidence > 4.285194051186117)
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: 4.392
INFO:root:Testing 26 out of 21832 hypotheses for tomato_soup_can (evidence > 4.285194051186117)
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: 4.421
INFO:root:Testing 34 out of 16976 hypotheses for mustard_bottle (evidence > 4.285194051186117)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 16.211
INFO:root:Testing 36 out of 17728 hypotheses for tuna_fish_can (evidence > 4.285194051186117)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 16.074
INFO:root:Testing 21 out of 19024 hypotheses for potted_meat_can (evidence > 4.285194051186117)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.323
DEBUG:root:evidences for each object: [ 4.5635364  11.4496955  13.6301162  21.30277846 20.41673625  4.39222062
  4.42149738 16.21054934 16.07362512  4.32328536]
DEBUG:root:mean evidence: 11.678, std: 6.505 -> th=17.042222769243413
INFO:root:current most likely hypothesis: ramen_pack with evidence 21.3
DEBUG:root:evidences for each object: [ 4.5635364  11.4496955  13.6301162  21.30277846 20.41673625  4.39222062
  4.42149738 16.21054934 16.07362512  4.32328536]
DEBUG:root:mean evidence: 11.678, std: 6.505 -> th=17.042222769243413
DEBUG:root:evidences for each object: [ 4.5635364  11.4496955  13.6301162  21.30277846 20.41673625  4.39222062
  4.42149738 16.21054934 16.07362512  4.32328536]
DEBUG:root:mean evidence: 11.678, std: 6.505 -> th=18.107361692321124
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 133 ---
INFO:uvicorn.access:192.168.1.217:65427 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.62020633, -0.15161305,  0.7696477 ],
       [ 0.23746351, -0.97139646,  0.        ],
       [ 0.74763305,  0.18276325,  0.6384688 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00450855, -0.0019436 , -0.00113762])}]
INFO:root:Testing 5 out of 14424 hypotheses for numenta_mug (evidence > 4.260555692310852)
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: 4.255
INFO:root:Testing 80 out of 10992 hypotheses for montys_brain (evidence > 4.260555692310852)
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: 10.45
INFO:root:Testing 23 out of 14880 hypotheses for montys_heart (evidence > 4.260555692310852)
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: 12.63
INFO:root:Testing 59 out of 23200 hypotheses for ramen_pack (evidence > 4.260555692310852)
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: 21.088
INFO:root:Testing 69 out of 14864 hypotheses for hot_sauce (evidence > 4.260555692310852)
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: 19.417
INFO:root:Testing 10 out of 12560 hypotheses for harissa_oil (evidence > 4.260555692310852)
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: 4.26
INFO:root:Testing 8 out of 21832 hypotheses for tomato_soup_can (evidence > 4.260555692310852)
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: 4.249
INFO:root:Testing 23 out of 16976 hypotheses for mustard_bottle (evidence > 4.260555692310852)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 15.211
INFO:root:Testing 37 out of 17728 hypotheses for tuna_fish_can (evidence > 4.260555692310852)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 15.781
INFO:root:Testing 8 out of 19024 hypotheses for potted_meat_can (evidence > 4.260555692310852)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.253
DEBUG:root:evidences for each object: [ 4.25520511 10.4496955  12.6301162  21.08835031 19.41673625  4.25957434
  4.24908685 15.21054934 15.78119816  4.25277701]
DEBUG:root:mean evidence: 11.159, std: 6.308 -> th=16.870680249077544
INFO:root:current most likely hypothesis: ramen_pack with evidence 21.09
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 134 ---
INFO:uvicorn.access:192.168.1.217:65427 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.84472165, -0.14696301,  0.51463308],
       [ 0.17140332, -0.98520094,  0.        ],
       [ 0.507017  ,  0.08820982,  0.85741052]]), 'pose_fully_defined': False}}, {'patch': array([-0.0075361 , -0.00394797, -0.00625684])}]
INFO:root:Testing 6 out of 14424 hypotheses for numenta_mug (evidence > 4.217670062269384)
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: 4.209
INFO:root:Testing 85 out of 10992 hypotheses for montys_brain (evidence > 4.217670062269384)
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: 9.45
INFO:root:Testing 20 out of 14880 hypotheses for montys_heart (evidence > 4.217670062269384)
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: 11.63
INFO:root:Testing 65 out of 23200 hypotheses for ramen_pack (evidence > 4.217670062269384)
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: 20.088
INFO:root:Testing 61 out of 14864 hypotheses for hot_sauce (evidence > 4.217670062269384)
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: 18.417
INFO:root:Testing 11 out of 12560 hypotheses for harissa_oil (evidence > 4.217670062269384)
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: 4.212
INFO:root:Testing 11 out of 21832 hypotheses for tomato_soup_can (evidence > 4.217670062269384)
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: 4.215
INFO:root:Testing 24 out of 16976 hypotheses for mustard_bottle (evidence > 4.217670062269384)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 14.211
INFO:root:Testing 38 out of 17728 hypotheses for tuna_fish_can (evidence > 4.217670062269384)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 15.901
INFO:root:Testing 5 out of 19024 hypotheses for potted_meat_can (evidence > 4.217670062269384)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.177
DEBUG:root:evidences for each object: [ 4.20870816  9.4496955  11.6301162  20.08835031 18.41673625  4.21180524
  4.21530213 14.21054934 15.90147379  4.17668209]
DEBUG:root:mean evidence: 10.651, std: 5.986 -> th=16.070680249077547
INFO:root:current most likely hypothesis: ramen_pack with evidence 20.09
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 135 ---
INFO:uvicorn.access:192.168.1.217:65427 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.78082133, -0.33768033,  0.525633  ],
       [ 0.39693874, -0.9178451 ,  0.        ],
       [ 0.48244967,  0.2086441 ,  0.85071144]]), 'pose_fully_defined': False}}, {'patch': array([-2.60313076e-05, -1.82303926e-02,  1.60829802e-03])}]
INFO:root:Testing 41 out of 14424 hypotheses for numenta_mug (evidence > 4.017670062269385)
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: 3.996
INFO:root:Testing 229 out of 10992 hypotheses for montys_brain (evidence > 4.017670062269385)
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: 8.45
INFO:root:Testing 78 out of 14880 hypotheses for montys_heart (evidence > 4.017670062269385)
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: 10.63
INFO:root:Testing 88 out of 23200 hypotheses for ramen_pack (evidence > 4.017670062269385)
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: 19.466
INFO:root:Testing 79 out of 14864 hypotheses for hot_sauce (evidence > 4.017670062269385)
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: 18.843
INFO:root:Testing 35 out of 12560 hypotheses for harissa_oil (evidence > 4.017670062269385)
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: 4.012
INFO:root:Testing 44 out of 21832 hypotheses for tomato_soup_can (evidence > 4.017670062269385)
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: 3.992
INFO:root:Testing 47 out of 16976 hypotheses for mustard_bottle (evidence > 4.017670062269385)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 13.211
INFO:root:Testing 63 out of 17728 hypotheses for tuna_fish_can (evidence > 4.017670062269385)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 16.02
INFO:root:Testing 15 out of 19024 hypotheses for potted_meat_can (evidence > 4.017670062269385)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.009
DEBUG:root:evidences for each object: [ 3.99621328  8.4496955  10.6301162  19.46612907 18.84323     4.01241266
  3.99165593 13.21054934 16.02018944  4.00892027]
DEBUG:root:mean evidence: 10.263, std: 6.003 -> th=15.572903257463395
INFO:root:current most likely hypothesis: ramen_pack with evidence 19.47
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 136 ---
INFO:uvicorn.access:192.168.1.217:65427 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.7751649 , -0.40281277,  0.48668393],
       [ 0.46110675, -0.88734467,  0.        ],
       [ 0.43185639,  0.22441325,  0.87357813]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00448762, -0.00952275, -0.0012257 ])}]
INFO:root:Testing 26 out of 14424 hypotheses for numenta_mug (evidence > 3.8932258143658487)
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: 3.893
INFO:root:Testing 90 out of 10992 hypotheses for montys_brain (evidence > 3.8932258143658487)
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: 7.45
INFO:root:Testing 46 out of 14880 hypotheses for montys_heart (evidence > 3.8932258143658487)
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: 10.802
INFO:root:Testing 79 out of 23200 hypotheses for ramen_pack (evidence > 3.8932258143658487)
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: 19.381
INFO:root:Testing 48 out of 14864 hypotheses for hot_sauce (evidence > 3.8932258143658487)
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: 19.297
INFO:root:Testing 22 out of 12560 hypotheses for harissa_oil (evidence > 3.8932258143658487)
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: 3.888
INFO:root:Testing 15 out of 21832 hypotheses for tomato_soup_can (evidence > 3.8932258143658487)
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: 3.887
INFO:root:Testing 35 out of 16976 hypotheses for mustard_bottle (evidence > 3.8932258143658487)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 12.211
INFO:root:Testing 66 out of 17728 hypotheses for tuna_fish_can (evidence > 3.8932258143658487)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 16.175
INFO:root:Testing 10 out of 19024 hypotheses for potted_meat_can (evidence > 3.8932258143658487)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.925
DEBUG:root:evidences for each object: [ 3.89318833  7.4496955  10.80212918 19.380798   19.29727099  3.88785997
  3.8874209  12.21054934 16.17539795  3.9254453 ]
DEBUG:root:mean evidence: 10.091, std: 6.111 -> th=15.504638402409222
INFO:root:current most likely hypothesis: ramen_pack with evidence 19.38
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 137 ---
INFO:uvicorn.access:192.168.1.217:65427 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.62147068, -0.51265194,  0.59242061],
       [ 0.63633763, -0.77141067,  0.        ],
       [ 0.45699958,  0.37697953,  0.80562883]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00451167, -0.00619189,  0.00164626])}]
INFO:root:Testing 5 out of 14424 hypotheses for numenta_mug (evidence > 3.876159600602305)
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: 3.874
INFO:root:Testing 19 out of 10992 hypotheses for montys_brain (evidence > 3.876159600602305)
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: 7.677
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 3.876159600602305)
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: 11.249
INFO:root:Testing 60 out of 23200 hypotheses for ramen_pack (evidence > 3.876159600602305)
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: 19.426
INFO:root:Testing 29 out of 14864 hypotheses for hot_sauce (evidence > 3.876159600602305)
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: 19.709
INFO:root:Testing 6 out of 12560 hypotheses for harissa_oil (evidence > 3.876159600602305)
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: 3.876
INFO:root:Testing 5 out of 21832 hypotheses for tomato_soup_can (evidence > 3.876159600602305)
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: 3.922
INFO:root:Testing 8 out of 16976 hypotheses for mustard_bottle (evidence > 3.876159600602305)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 12.243
INFO:root:Testing 41 out of 17728 hypotheses for tuna_fish_can (evidence > 3.876159600602305)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 16.223
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 3.876159600602305)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.246
DEBUG:root:evidences for each object: [ 3.87387695  7.67703938 11.24919487 19.42613273 19.70932127  3.87550392
  3.92206873 12.24299502 16.22263129  4.2456922 ]
DEBUG:root:mean evidence: 10.244, std: 6.151 -> th=15.76745701309934
INFO:root:current most likely hypothesis: hot_sauce with evidence 19.71
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 138 ---
INFO:uvicorn.access:192.168.1.217:65427 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.70595107, -0.58641328,  0.39718075],
       [ 0.63897511, -0.76922741,  0.        ],
       [ 0.30552232,  0.25378861,  0.91774041]]), 'pose_fully_defined': False}}, {'patch': array([-0.00429706,  0.003917  ,  0.00237149])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.874
INFO:root:Testing 11 out of 10992 hypotheses for montys_brain (evidence > 3.9418642532748347)
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: 7.991
INFO:root:Testing 8 out of 14880 hypotheses for montys_heart (evidence > 3.9418642532748347)
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: 11.523
INFO:root:Testing 52 out of 23200 hypotheses for ramen_pack (evidence > 3.9418642532748347)
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: 19.361
INFO:root:Testing 26 out of 14864 hypotheses for hot_sauce (evidence > 3.9418642532748347)
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: 20.177
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.876
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.922
INFO:root:Testing 5 out of 16976 hypotheses for mustard_bottle (evidence > 3.9418642532748347)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 11.243
INFO:root:Testing 30 out of 17728 hypotheses for tuna_fish_can (evidence > 3.9418642532748347)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 16.357
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 3.9418642532748347)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.022
DEBUG:root:evidences for each object: [ 3.87387695  7.99092442 11.52284748 19.36140084 20.17723353  3.87550392
  3.92206873 11.24299502 16.35726618  4.02233113]
DEBUG:root:mean evidence: 10.235, std: 6.218 -> th=16.141786822052108
INFO:root:current most likely hypothesis: hot_sauce with evidence 20.18
DEBUG:root:evidences for each object: [ 3.87387695  7.99092442 11.52284748 19.36140084 20.17723353  3.87550392
  3.92206873 11.24299502 16.35726618  4.02233113]
DEBUG:root:mean evidence: 10.235, std: 6.218 -> th=16.141786822052108
DEBUG:root:evidences for each object: [ 3.87387695  7.99092442 11.52284748 19.36140084 20.17723353  3.87550392
  3.92206873 11.24299502 16.35726618  4.02233113]
DEBUG:root:mean evidence: 10.235, std: 6.218 -> th=17.150648498430364
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 139 ---
INFO:uvicorn.access:192.168.1.217:65427 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.74120505, -0.46795885,  0.48127912],
       [ 0.53385381, -0.84557679,  0.        ],
       [ 0.40695846,  0.2569327 ,  0.8765674 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00403781,  0.00929371, -0.00417066])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.874
INFO:root:Testing 9 out of 10992 hypotheses for montys_brain (evidence > 4.035446705513028)
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: 6.991
INFO:root:Testing 8 out of 14880 hypotheses for montys_heart (evidence > 4.035446705513028)
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: 10.523
INFO:root:Testing 50 out of 23200 hypotheses for ramen_pack (evidence > 4.035446705513028)
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: 19.271
INFO:root:Testing 22 out of 14864 hypotheses for hot_sauce (evidence > 4.035446705513028)
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: 20.606
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.876
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.922
INFO:root:Testing 4 out of 16976 hypotheses for mustard_bottle (evidence > 4.035446705513028)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 10.243
INFO:root:Testing 30 out of 17728 hypotheses for tuna_fish_can (evidence > 4.035446705513028)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 16.484
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.022
DEBUG:root:evidences for each object: [ 3.87387695  6.99092442 10.52284748 19.27055356 20.60574705  3.87550392
  3.92206873 10.24299502 16.48355565  4.02233113]
DEBUG:root:mean evidence: 9.981, std: 6.305 -> th=16.484597638489603
INFO:root:current most likely hypothesis: hot_sauce with evidence 20.61
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 140 ---
INFO:uvicorn.access:192.168.1.217:65427 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.25343293, -0.523863  ,  0.81322771],
       [ 0.90019237, -0.43549248,  0.        ],
       [ 0.35415455,  0.73206138,  0.58194561]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01522747, -0.00806036,  0.0077553 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.874
INFO:root:Testing 6 out of 10992 hypotheses for montys_brain (evidence > 4.121149409622401)
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: 7.09
INFO:root:Testing 4 out of 14880 hypotheses for montys_heart (evidence > 4.121149409622401)
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: 10.784
INFO:root:Testing 48 out of 23200 hypotheses for ramen_pack (evidence > 4.121149409622401)
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: 19.551
INFO:root:Testing 17 out of 14864 hypotheses for hot_sauce (evidence > 4.121149409622401)
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: 20.917
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.876
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.922
INFO:root:Testing 2 out of 16976 hypotheses for mustard_bottle (evidence > 4.121149409622401)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 10.092
INFO:root:Testing 29 out of 17728 hypotheses for tuna_fish_can (evidence > 4.121149409622401)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 16.215
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.022
DEBUG:root:evidences for each object: [ 3.87387695  7.09005742 10.78376583 19.55133771 20.91712549  3.87550392
  3.92206873 10.09194524 16.21508008  4.02233113]
DEBUG:root:mean evidence: 10.034, std: 6.37 -> th=16.73370039069423
INFO:root:current most likely hypothesis: hot_sauce with evidence 20.92
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 141 ---
INFO:uvicorn.access:192.168.1.217:65427 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.3844104 , -0.1885224 ,  0.90370789],
       [ 0.44031902, -0.89784139,  0.        ],
       [ 0.81138635,  0.39791977,  0.42814957]]), 'pose_fully_defined': False}}, {'patch': array([-0.00209177,  0.03415046,  0.00015123])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.874
INFO:root:Testing 6 out of 10992 hypotheses for montys_brain (evidence > 4.183425097673556)
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: 6.972
INFO:root:Testing 4 out of 14880 hypotheses for montys_heart (evidence > 4.183425097673556)
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: 9.784
INFO:root:Testing 48 out of 23200 hypotheses for ramen_pack (evidence > 4.183425097673556)
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: 19.725
INFO:root:Testing 17 out of 14864 hypotheses for hot_sauce (evidence > 4.183425097673556)
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: 20.764
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.876
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.922
INFO:root:Testing 2 out of 16976 hypotheses for mustard_bottle (evidence > 4.183425097673556)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 9.919
INFO:root:Testing 28 out of 17728 hypotheses for tuna_fish_can (evidence > 4.183425097673556)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 16.011
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.022
DEBUG:root:evidences for each object: [ 3.87387695  6.97203434  9.78376583 19.72514876 20.7635719   3.87550392
  3.92206873  9.91899874 16.01145005  4.02233113]
DEBUG:root:mean evidence: 9.887, std: 6.351 -> th=16.610857521109423
INFO:root:current most likely hypothesis: hot_sauce with evidence 20.76
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 142 ---
INFO:uvicorn.access:192.168.1.217:65427 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.47268412,  0.01885611,  0.88103018],
       [-0.03985987, -0.99920528,  0.        ],
       [ 0.88033   , -0.03511775,  0.47306007]]), 'pose_fully_defined': False}}, {'patch': array([-0.00105993,  0.00565679, -0.00447628])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.874
INFO:root:Testing 6 out of 10992 hypotheses for montys_brain (evidence > 4.152714380277356)
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: 6.767
INFO:root:Testing 2 out of 14880 hypotheses for montys_heart (evidence > 4.152714380277356)
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: 8.784
INFO:root:Testing 46 out of 23200 hypotheses for ramen_pack (evidence > 4.152714380277356)
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: 19.86
INFO:root:Testing 14 out of 14864 hypotheses for hot_sauce (evidence > 4.152714380277356)
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: 19.764
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.876
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.922
INFO:root:Testing 2 out of 16976 hypotheses for mustard_bottle (evidence > 4.152714380277356)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 8.919
INFO:root:Testing 27 out of 17728 hypotheses for tuna_fish_can (evidence > 4.152714380277356)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 15.77
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.022
DEBUG:root:evidences for each object: [ 3.87387695  6.76699075  8.78376583 19.8597278  19.7635719   3.87550392
  3.92206873  8.91899874 15.7695807   4.02233113]
DEBUG:root:mean evidence: 9.556, std: 6.202 -> th=15.887782240479666
INFO:root:current most likely hypothesis: ramen_pack with evidence 19.86
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 143 ---
INFO:uvicorn.access:192.168.1.217:65427 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.50291204,  0.1342085 ,  0.85385453],
       [-0.25783954, -0.96618775,  0.        ],
       [ 0.82498379, -0.22015746,  0.52051171]]), 'pose_fully_defined': False}}, {'patch': array([-0.00212724, -0.00232627,  0.00145086])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.874
INFO:root:Testing 5 out of 10992 hypotheses for montys_brain (evidence > 3.9719455601199165)
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: 6.186
INFO:root:Testing 2 out of 14880 hypotheses for montys_heart (evidence > 3.9719455601199165)
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: 7.784
INFO:root:Testing 46 out of 23200 hypotheses for ramen_pack (evidence > 3.9719455601199165)
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: 19.985
INFO:root:Testing 11 out of 14864 hypotheses for hot_sauce (evidence > 3.9719455601199165)
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: 18.764
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.876
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.922
INFO:root:Testing 2 out of 16976 hypotheses for mustard_bottle (evidence > 3.9719455601199165)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 7.919
INFO:root:Testing 30 out of 17728 hypotheses for tuna_fish_can (evidence > 3.9719455601199165)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 15.533
INFO:root:Testing 1 out of 19024 hypotheses for potted_meat_can (evidence > 3.9719455601199165)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.881
DEBUG:root:evidences for each object: [ 3.87387695  6.18613585  7.78376583 19.98495589 18.7635719   3.87550392
  3.92206873  7.91899874 15.53263637  3.88139399]
DEBUG:root:mean evidence: 9.172, std: 6.111 -> th=15.987964711900696
INFO:root:current most likely hypothesis: ramen_pack with evidence 19.98
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 144 ---
INFO:uvicorn.access:192.168.1.217:65427 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.43038633,  0.09863655,  0.89723934],
       [-0.22338982, -0.97472919,  0.        ],
       [ 0.87456538, -0.20043414,  0.44154452]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00125434,  0.00635526, -0.00099949])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.874
INFO:root:Testing 4 out of 10992 hypotheses for montys_brain (evidence > 3.9969911779751737)
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: 6.003
INFO:root:Testing 1 out of 14880 hypotheses for montys_heart (evidence > 3.9969911779751737)
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: 7.473
INFO:root:Testing 43 out of 23200 hypotheses for ramen_pack (evidence > 3.9969911779751737)
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: 20.131
INFO:root:Testing 11 out of 14864 hypotheses for hot_sauce (evidence > 3.9969911779751737)
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: 17.764
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.876
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.922
INFO:root:Testing 2 out of 16976 hypotheses for mustard_bottle (evidence > 3.9969911779751737)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 6.919
INFO:root:Testing 28 out of 17728 hypotheses for tuna_fish_can (evidence > 3.9969911779751737)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 15.289
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.881
DEBUG:root:evidences for each object: [ 3.87387695  6.00303375  7.47252125 20.1314574  17.7635719   3.87550392
  3.92206873  6.91899874 15.28924275  3.88139399]
DEBUG:root:mean evidence: 8.913, std: 6.003 -> th=16.105165917679365
INFO:root:current most likely hypothesis: ramen_pack with evidence 20.13
DEBUG:root:evidences for each object: [ 3.87387695  6.00303375  7.47252125 20.1314574  17.7635719   3.87550392
  3.92206873  6.91899874 15.28924275  3.88139399]
DEBUG:root:mean evidence: 8.913, std: 6.003 -> th=16.105165917679365
DEBUG:root:evidences for each object: [ 3.87387695  6.00303375  7.47252125 20.1314574  17.7635719   3.87550392
  3.92206873  6.91899874 15.28924275  3.88139399]
DEBUG:root:mean evidence: 8.913, std: 6.003 -> th=17.11173878753433
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 145 ---
INFO:uvicorn.access:192.168.1.217:65427 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.91168678,  0.08064623,  0.40289378],
       [-0.08811419, -0.99611038,  0.        ],
       [ 0.40132668, -0.03550066,  0.91524674]]), 'pose_fully_defined': False}}, {'patch': array([-0.01490587, -0.02047291, -0.00704245])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.874
INFO:root:Testing 4 out of 10992 hypotheses for montys_brain (evidence > 4.0262914794198394)
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: 5.003
INFO:root:Testing 1 out of 14880 hypotheses for montys_heart (evidence > 4.0262914794198394)
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: 6.473
INFO:root:Testing 38 out of 23200 hypotheses for ramen_pack (evidence > 4.0262914794198394)
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: 19.987
INFO:root:Testing 8 out of 14864 hypotheses for hot_sauce (evidence > 4.0262914794198394)
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: 16.764
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.876
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.922
INFO:root:Testing 2 out of 16976 hypotheses for mustard_bottle (evidence > 4.0262914794198394)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 5.919
INFO:root:Testing 24 out of 17728 hypotheses for tuna_fish_can (evidence > 4.0262914794198394)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 15.425
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.881
DEBUG:root:evidences for each object: [ 3.87387695  5.00303375  6.47252125 19.98747009 16.7635719   3.87550392
  3.92206873  5.91899874 15.42473312  3.88139399]
DEBUG:root:mean evidence: 8.512, std: 5.969 -> th=15.989976073351187
INFO:root:current most likely hypothesis: ramen_pack with evidence 19.99
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 146 ---
INFO:uvicorn.access:192.168.1.217:65431 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.65162769,  0.19137841,  0.73399977],
       [-0.28179119, -0.95947576,  0.        ],
       [ 0.70425499, -0.20683467,  0.67914971]]), 'pose_fully_defined': False}}, {'patch': array([0.01102407, 0.0146743 , 0.00806454])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.874
INFO:root:Testing 3 out of 10992 hypotheses for montys_brain (evidence > 3.9974940183377967)
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: 4.003
INFO:root:Testing 1 out of 14880 hypotheses for montys_heart (evidence > 3.9974940183377967)
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: 5.473
INFO:root:Testing 35 out of 23200 hypotheses for ramen_pack (evidence > 3.9974940183377967)
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: 20.024
INFO:root:Testing 8 out of 14864 hypotheses for hot_sauce (evidence > 3.9974940183377967)
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: 15.764
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.876
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.922
INFO:root:Testing 1 out of 16976 hypotheses for mustard_bottle (evidence > 3.9974940183377967)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 4.919
INFO:root:Testing 24 out of 17728 hypotheses for tuna_fish_can (evidence > 3.9974940183377967)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 15.11
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.881
DEBUG:root:evidences for each object: [ 3.87387695  4.00303375  5.47252125 20.02369651 15.7635719   3.87550392
  3.92206873  4.91899874 15.11048026  3.88139399]
DEBUG:root:mean evidence: 8.085, std: 5.957 -> th=16.018957209430845
INFO:root:current most likely hypothesis: ramen_pack with evidence 20.02
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 147 ---
INFO:uvicorn.access:192.168.1.217:65431 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.77687547,  0.00429682,  0.62963962],
       [-0.00553081, -0.9999847 ,  0.        ],
       [ 0.62962999, -0.00348242,  0.77688735]]), 'pose_fully_defined': False}}, {'patch': array([-0.00513013, -0.03677417,  0.00272703])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.874
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 4.003
INFO:root:Testing 1 out of 14880 hypotheses for montys_heart (evidence > 4.004739302357709)
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: 5.449
INFO:root:Testing 32 out of 23200 hypotheses for ramen_pack (evidence > 4.004739302357709)
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: 19.991
INFO:root:Testing 8 out of 14864 hypotheses for hot_sauce (evidence > 4.004739302357709)
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: 16.048
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.876
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.922
INFO:root:Testing 1 out of 16976 hypotheses for mustard_bottle (evidence > 4.004739302357709)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 3.919
INFO:root:Testing 23 out of 17728 hypotheses for tuna_fish_can (evidence > 4.004739302357709)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 15.149
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.881
DEBUG:root:evidences for each object: [ 3.87387695  4.00303375  5.44871298 19.99109994 16.04808913  3.87550392
  3.92206873  3.91899874 15.14932761  3.88139399]
DEBUG:root:mean evidence: 8.011, std: 6.053 -> th=15.992879951913702
INFO:root:current most likely hypothesis: ramen_pack with evidence 19.99
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 148 ---
INFO:uvicorn.access:192.168.1.217:65431 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.82741425,  0.06727469,  0.557548  ],
       [-0.08103972, -0.99671087,  0.        ],
       [ 0.55571415, -0.04518353,  0.83014471]]), 'pose_fully_defined': False}}, {'patch': array([-0.00314501,  0.00789109, -0.00237753])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.874
INFO:root:Testing 1 out of 10992 hypotheses for montys_brain (evidence > 3.998219987978425)
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: 3.9
INFO:root:Testing 1 out of 14880 hypotheses for montys_heart (evidence > 3.998219987978425)
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: 4.449
INFO:root:Testing 31 out of 23200 hypotheses for ramen_pack (evidence > 3.998219987978425)
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: 19.923
INFO:root:Testing 8 out of 14864 hypotheses for hot_sauce (evidence > 3.998219987978425)
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: 16.301
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.876
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.922
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.919
INFO:root:Testing 23 out of 17728 hypotheses for tuna_fish_can (evidence > 3.998219987978425)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 15.217
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.881
DEBUG:root:evidences for each object: [ 3.87387695  3.9001149   4.44871298 19.92324182 16.30141301  3.87550392
  3.92206873  3.91899874 15.21707914  3.88139399]
DEBUG:root:mean evidence: 7.926, std: 6.139 -> th=15.938593454563138
INFO:root:current most likely hypothesis: ramen_pack with evidence 19.92
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 149 ---
INFO:uvicorn.access:192.168.1.217:65432 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.0928173 , -0.32967486,  0.93952085],
       [ 0.96257766,  0.27100598, -0.        ],
       [-0.25461577,  0.90436179,  0.3424917 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.02538133, -0.01819464, -0.00908162])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.874
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.9
INFO:root:Testing 1 out of 14880 hypotheses for montys_heart (evidence > 3.9846483636407832)
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: 4.31
INFO:root:Testing 30 out of 23200 hypotheses for ramen_pack (evidence > 3.9846483636407832)
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: 20.382
INFO:root:Testing 7 out of 14864 hypotheses for hot_sauce (evidence > 3.9846483636407832)
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: 16.162
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.876
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.922
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.919
INFO:root:Testing 24 out of 17728 hypotheses for tuna_fish_can (evidence > 3.9846483636407832)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 15.002
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.881
DEBUG:root:evidences for each object: [ 3.87387695  3.9001149   4.30962478 20.38219369 16.16173023  3.87550392
  3.92206873  3.91899874 15.00229841  3.88139399]
DEBUG:root:mean evidence: 7.923, std: 6.194 -> th=16.305754952708334
INFO:root:current most likely hypothesis: ramen_pack with evidence 20.38
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 150 ---
INFO:uvicorn.access:192.168.1.217:65432 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.06540075, -0.30279715,  0.95080841],
       [ 0.97746009, -0.21112028,  0.        ],
       [ 0.20073493,  0.92937727,  0.30977956]]), 'pose_fully_defined': False}}, {'patch': array([-0.00457387,  0.00347515,  0.00300432])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.874
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.9
INFO:root:Testing 1 out of 14880 hypotheses for montys_heart (evidence > 4.076438738177082)
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: 4.433
INFO:root:Testing 30 out of 23200 hypotheses for ramen_pack (evidence > 4.076438738177082)
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: 20.844
INFO:root:Testing 7 out of 14864 hypotheses for hot_sauce (evidence > 4.076438738177082)
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: 16.034
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.876
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.922
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.919
INFO:root:Testing 23 out of 17728 hypotheses for tuna_fish_can (evidence > 4.076438738177082)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.829
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.881
DEBUG:root:evidences for each object: [ 3.87387695  3.9001149   4.43270259 20.84396197 16.03387088  3.87550392
  3.92206873  3.91899874 14.82941964  3.88139399]
DEBUG:root:mean evidence: 7.951, std: 6.245 -> th=16.675169572494983
INFO:root:current most likely hypothesis: ramen_pack with evidence 20.84
DEBUG:root:evidences for each object: [ 3.87387695  3.9001149   4.43270259 20.84396197 16.03387088  3.87550392
  3.92206873  3.91899874 14.82941964  3.88139399]
DEBUG:root:mean evidence: 7.951, std: 6.245 -> th=16.675169572494983
DEBUG:root:evidences for each object: [ 3.87387695  3.9001149   4.43270259 20.84396197 16.03387088  3.87550392
  3.92206873  3.91899874 14.82941964  3.88139399]
DEBUG:root:mean evidence: 7.951, std: 6.245 -> th=17.717367670775918
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 151 ---
INFO:uvicorn.access:192.168.1.217:65432 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.01978783, -0.23775499,  0.97112358],
       [ 0.99655445, -0.08294106,  0.        ],
       [ 0.08054601,  0.96777753,  0.23857702]]), 'pose_fully_defined': False}}, {'patch': array([-0.00023386,  0.00822634,  0.00541388])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.874
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.9
INFO:root:Testing 1 out of 14880 hypotheses for montys_heart (evidence > 4.168792393123745)
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: 4.588
INFO:root:Testing 30 out of 23200 hypotheses for ramen_pack (evidence > 4.168792393123745)
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: 21.315
INFO:root:Testing 7 out of 14864 hypotheses for hot_sauce (evidence > 4.168792393123745)
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: 16.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.876
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.922
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.919
INFO:root:Testing 23 out of 17728 hypotheses for tuna_fish_can (evidence > 4.168792393123745)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.688
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.881
DEBUG:root:evidences for each object: [ 3.87387695  3.9001149   4.58786186 21.31479304 16.29536492  3.87550392
  3.92206873  3.91899874 14.68757161  3.88139399]
DEBUG:root:mean evidence: 8.026, std: 6.353 -> th=17.05183442829806
INFO:root:current most likely hypothesis: ramen_pack with evidence 21.31
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 152 ---
INFO:uvicorn.access:192.168.1.217:65432 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.04834295, -0.17206943,  0.9838979 ],
       [ 0.96272612,  0.27047814, -0.        ],
       [-0.26612287,  0.9472242 ,  0.17873145]]), 'pose_fully_defined': False}}, {'patch': array([0.00130217, 0.00927133, 0.00210458])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.874
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.9
INFO:root:Testing 1 out of 14880 hypotheses for montys_heart (evidence > 4.262958607074516)
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: 4.463
INFO:root:Testing 30 out of 23200 hypotheses for ramen_pack (evidence > 4.262958607074516)
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: 21.698
INFO:root:Testing 7 out of 14864 hypotheses for hot_sauce (evidence > 4.262958607074516)
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: 16.58
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.876
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.922
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.919
INFO:root:Testing 23 out of 17728 hypotheses for tuna_fish_can (evidence > 4.262958607074516)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.588
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.881
DEBUG:root:evidences for each object: [ 3.87387695  3.9001149   4.46306487 21.6976055  16.58034775  3.87550392
  3.92206873  3.91899874 14.58784629  3.88139399]
DEBUG:root:mean evidence: 8.07, std: 6.467 -> th=17.358084399497077
INFO:root:current most likely hypothesis: ramen_pack with evidence 21.7
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 153 ---
INFO:uvicorn.access:192.168.1.217:65432 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.08806729, -0.0398846 ,  0.99531571],
       [ 0.4125511 ,  0.91093446, -0.        ],
       [-0.90666738,  0.41061859,  0.09667796]]), 'pose_fully_defined': False}}, {'patch': array([0.0007437 , 0.00159553, 0.00231524])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.874
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.9
INFO:root:Testing 1 out of 14880 hypotheses for montys_heart (evidence > 4.339521099874268)
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: 4.367
INFO:root:Testing 30 out of 23200 hypotheses for ramen_pack (evidence > 4.339521099874268)
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: 22.11
INFO:root:Testing 7 out of 14864 hypotheses for hot_sauce (evidence > 4.339521099874268)
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: 16.841
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.876
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.922
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.919
INFO:root:Testing 23 out of 17728 hypotheses for tuna_fish_can (evidence > 4.339521099874268)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.535
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.881
DEBUG:root:evidences for each object: [ 3.87387695  3.9001149   4.36656662 22.10979039 16.84103916  3.87550392
  3.92206873  3.91899874 14.53477656  3.88139399]
DEBUG:root:mean evidence: 8.122, std: 6.589 -> th=17.687832315758122
INFO:root:current most likely hypothesis: ramen_pack with evidence 22.11
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 154 ---
INFO:uvicorn.access:192.168.1.217:65432 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.05728991,  0.03145164,  0.99786205],
       [-0.48123946,  0.87658918,  0.        ],
       [-0.87471507, -0.48021059,  0.06535548]]), 'pose_fully_defined': False}}, {'patch': array([0.00039718, 0.00636195, 0.00070104])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.874
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.9
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.367
INFO:root:Testing 29 out of 23200 hypotheses for ramen_pack (evidence > 4.421958078939529)
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: 21.11
INFO:root:Testing 8 out of 14864 hypotheses for hot_sauce (evidence > 4.421958078939529)
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: 17.138
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.876
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.922
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.919
INFO:root:Testing 23 out of 17728 hypotheses for tuna_fish_can (evidence > 4.421958078939529)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.455
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.881
DEBUG:root:evidences for each object: [ 3.87387695  3.9001149   4.36656662 21.10979039 17.13762665  3.87550392
  3.92206873  3.91899874 14.45476735  3.88139399]
DEBUG:root:mean evidence: 8.044, std: 6.413 -> th=16.887832315758125
INFO:root:current most likely hypothesis: ramen_pack with evidence 21.11
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 155 ---
INFO:uvicorn.access:192.168.1.217:65432 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.10399158,  0.0932711 ,  0.99019506],
       [-0.66769292,  0.74443681,  0.        ],
       [-0.73713765, -0.66114623,  0.13969162]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00147445,  0.01257689, -0.0032564 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.874
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.9
INFO:root:Testing 1 out of 14880 hypotheses for montys_heart (evidence > 4.2219580789395295)
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: 4.291
INFO:root:Testing 29 out of 23200 hypotheses for ramen_pack (evidence > 4.2219580789395295)
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: 21.296
INFO:root:Testing 62 out of 14864 hypotheses for hot_sauce (evidence > 4.2219580789395295)
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: 17.261
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.876
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.922
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.919
INFO:root:Testing 23 out of 17728 hypotheses for tuna_fish_can (evidence > 4.2219580789395295)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.463
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.881
DEBUG:root:evidences for each object: [ 3.87387695  3.9001149   4.29106499 21.29554607 17.26078178  3.87550392
  3.92206873  3.91899874 14.46286936  3.88139399]
DEBUG:root:mean evidence: 8.068, std: 6.474 -> th=17.036436854471713
INFO:root:current most likely hypothesis: ramen_pack with evidence 21.3
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 156 ---
INFO:uvicorn.access:192.168.1.217:65432 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.05997897,  0.12975168,  0.98973078],
       [-0.90771013,  0.41959782,  0.        ],
       [-0.41528888, -0.89838865,  0.14294396]]), 'pose_fully_defined': False}}, {'patch': array([-0.00110074,  0.00797597, -0.00356819])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.874
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.9
INFO:root:Testing 1 out of 14880 hypotheses for montys_heart (evidence > 4.259109213617929)
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: 4.215
INFO:root:Testing 28 out of 23200 hypotheses for ramen_pack (evidence > 4.259109213617929)
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: 21.542
INFO:root:Testing 54 out of 14864 hypotheses for hot_sauce (evidence > 4.259109213617929)
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: 17.361
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.876
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.922
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.919
INFO:root:Testing 22 out of 17728 hypotheses for tuna_fish_can (evidence > 4.259109213617929)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.446
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.881
DEBUG:root:evidences for each object: [ 3.87387695  3.9001149   4.21503399 21.54235848 17.36132829  3.87550392
  3.92206873  3.91899874 14.44584859  3.88139399]
DEBUG:root:mean evidence: 8.094, std: 6.541 -> th=17.23388678185291
INFO:root:current most likely hypothesis: ramen_pack with evidence 21.54
DEBUG:root:evidences for each object: [ 3.87387695  3.9001149   4.21503399 21.54235848 17.36132829  3.87550392
  3.92206873  3.91899874 14.44584859  3.88139399]
DEBUG:root:mean evidence: 8.094, std: 6.541 -> th=17.23388678185291
DEBUG:root:evidences for each object: [ 3.87387695  3.9001149   4.21503399 21.54235848 17.36132829  3.87550392
  3.92206873  3.91899874 14.44584859  3.88139399]
DEBUG:root:mean evidence: 8.094, std: 6.541 -> th=18.311004705718716
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 157 ---
INFO:uvicorn.access:192.168.1.217:65432 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.07430271,  0.15778991,  0.98467327],
       [-0.90471124,  0.42602532,  0.        ],
       [-0.41949575, -0.89084497,  0.17440914]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00030181, -0.00182011,  0.00066968])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.874
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.9
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.215
INFO:root:Testing 28 out of 23200 hypotheses for ramen_pack (evidence > 4.308471695463226)
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: 21.797
INFO:root:Testing 43 out of 14864 hypotheses for hot_sauce (evidence > 4.308471695463226)
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: 17.476
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.876
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.922
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.919
INFO:root:Testing 21 out of 17728 hypotheses for tuna_fish_can (evidence > 4.308471695463226)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.443
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.881
DEBUG:root:evidences for each object: [ 3.87387695  3.9001149   4.21503399 21.79652111 17.4763371   3.87550392
  3.92206873  3.91899874 14.4425123   3.88139399]
DEBUG:root:mean evidence: 8.13, std: 6.61 -> th=17.437216889013445
INFO:root:current most likely hypothesis: ramen_pack with evidence 21.8
DEBUG:root:evidences for each object: [ 3.87387695  3.9001149   4.21503399 21.79652111 17.4763371   3.87550392
  3.92206873  3.91899874 14.4425123   3.88139399]
DEBUG:root:mean evidence: 8.13, std: 6.61 -> th=17.437216889013445
DEBUG:root:evidences for each object: [ 3.87387695  3.9001149   4.21503399 21.79652111 17.4763371   3.87550392
  3.92206873  3.91899874 14.4425123   3.88139399]
DEBUG:root:mean evidence: 8.13, std: 6.61 -> th=18.527042944576785
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 158 ---
INFO:uvicorn.access:192.168.1.217:65435 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.00670257, -0.14116239,  0.98996377],
       [ 0.99887467,  0.04742783, -0.        ],
       [-0.04695183,  0.98884973,  0.14132142]]), 'pose_fully_defined': False}}, {'patch': array([-0.01228783, -0.04095299,  0.01035764])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.874
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.9
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.215
INFO:root:Testing 27 out of 23200 hypotheses for ramen_pack (evidence > 4.3593042222533605)
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: 20.797
INFO:root:Testing 38 out of 14864 hypotheses for hot_sauce (evidence > 4.3593042222533605)
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: 17.956
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.876
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.922
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.919
INFO:root:Testing 21 out of 17728 hypotheses for tuna_fish_can (evidence > 4.3593042222533605)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 13.443
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.881
DEBUG:root:evidences for each object: [ 3.87387695  3.9001149   4.21503399 20.79652111 17.9560601   3.87550392
  3.92206873  3.91899874 13.4425123   3.88139399]
DEBUG:root:mean evidence: 7.978, std: 6.387 -> th=16.637216889013445
INFO:root:current most likely hypothesis: ramen_pack with evidence 20.8
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 159 ---
INFO:uvicorn.access:192.168.1.217:65435 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.0578609 , -0.09279423,  0.99400269],
       [ 0.84855471,  0.52910766, -0.        ],
       [-0.52593443,  0.84346566,  0.10935562]]), 'pose_fully_defined': False}}, {'patch': array([-0.00034192,  0.00680744,  0.00439717])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.874
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.9
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 4.159304222253361)
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: 4.627
INFO:root:Testing 27 out of 23200 hypotheses for ramen_pack (evidence > 4.159304222253361)
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: 19.797
INFO:root:Testing 61 out of 14864 hypotheses for hot_sauce (evidence > 4.159304222253361)
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: 18.339
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.876
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.922
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.919
INFO:root:Testing 20 out of 17728 hypotheses for tuna_fish_can (evidence > 4.159304222253361)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 12.443
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.881
DEBUG:root:evidences for each object: [ 3.87387695  3.9001149   4.62744421 19.79652111 18.33948325  3.87550392
  3.92206873  3.91899874 12.4425123   3.88139399]
DEBUG:root:mean evidence: 7.858, std: 6.149 -> th=15.837216889013444
INFO:root:current most likely hypothesis: ramen_pack with evidence 19.8
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 160 ---
INFO:uvicorn.access:192.168.1.217:65435 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.09069318, -0.06085468,  0.99401783],
       [ 0.55718607,  0.83038767, -0.        ],
       [-0.82542015,  0.5538529 ,  0.10921787]]), 'pose_fully_defined': False}}, {'patch': array([-1.85512432e-05,  8.20846164e-03,  4.05638003e-03])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.874
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.9
INFO:root:Testing 134 out of 14880 hypotheses for montys_heart (evidence > 3.95930422225336)
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: 5.103
INFO:root:Testing 29 out of 23200 hypotheses for ramen_pack (evidence > 3.95930422225336)
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: 18.797
INFO:root:Testing 290 out of 14864 hypotheses for hot_sauce (evidence > 3.95930422225336)
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: 18.723
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.876
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.922
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.919
INFO:root:Testing 22 out of 17728 hypotheses for tuna_fish_can (evidence > 3.95930422225336)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 12.371
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.881
DEBUG:root:evidences for each object: [ 3.87387695  3.9001149   5.1027795  18.79652111 18.72340203  3.87550392
  3.92206873  3.91899874 12.37128424  3.88139399]
DEBUG:root:mean evidence: 7.837, std: 5.999 -> th=15.037216889013445
INFO:root:current most likely hypothesis: ramen_pack with evidence 18.8
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 161 ---
INFO:uvicorn.access:192.168.1.217:65435 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.10618012,  0.01261021,  0.99426695],
       [-0.11793367,  0.99302148,  0.        ],
       [-0.98732843, -0.11725755,  0.1069263 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00127652,  0.00685449, -0.00219282])}]
INFO:root:Testing 29 out of 14424 hypotheses for numenta_mug (evidence > 3.759304222253361)
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: 4.095
INFO:root:Testing 98 out of 10992 hypotheses for montys_brain (evidence > 3.759304222253361)
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: 4.344
INFO:root:Testing 165 out of 14880 hypotheses for montys_heart (evidence > 3.759304222253361)
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: 5.603
INFO:root:Testing 52 out of 23200 hypotheses for ramen_pack (evidence > 3.759304222253361)
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: 17.797
INFO:root:Testing 406 out of 14864 hypotheses for hot_sauce (evidence > 3.759304222253361)
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: 19.15
INFO:root:Testing 25 out of 12560 hypotheses for harissa_oil (evidence > 3.759304222253361)
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: 4.17
INFO:root:Testing 43 out of 21832 hypotheses for tomato_soup_can (evidence > 3.759304222253361)
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: 4.233
INFO:root:Testing 33 out of 16976 hypotheses for mustard_bottle (evidence > 3.759304222253361)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 4.309
INFO:root:Testing 43 out of 17728 hypotheses for tuna_fish_can (evidence > 3.759304222253361)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 12.298
INFO:root:Testing 8 out of 19024 hypotheses for potted_meat_can (evidence > 3.759304222253361)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.22
DEBUG:root:evidences for each object: [ 4.09472966  4.34386517  5.6027795  17.79652111 19.15000103  4.17046286
  4.23290645  4.30892018 12.2982724   4.21979605]
DEBUG:root:mean evidence: 8.022, std: 5.744 -> th=15.320000820966266
INFO:root:current most likely hypothesis: hot_sauce with evidence 19.15
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 162 ---
INFO:uvicorn.access:192.168.1.217:65435 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.11558095,  0.09169733,  0.98905644],
       [-0.62151819,  0.78339973,  0.        ],
       [-0.77482655, -0.61471656,  0.14753765]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00237156,  0.01423908, -0.00237244])}]
INFO:root:Testing 11 out of 14424 hypotheses for numenta_mug (evidence > 3.830000205241566)
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: 4.098
INFO:root:Testing 91 out of 10992 hypotheses for montys_brain (evidence > 3.830000205241566)
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: 4.763
INFO:root:Testing 136 out of 14880 hypotheses for montys_heart (evidence > 3.830000205241566)
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: 5.867
INFO:root:Testing 45 out of 23200 hypotheses for ramen_pack (evidence > 3.830000205241566)
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: 16.797
INFO:root:Testing 308 out of 14864 hypotheses for hot_sauce (evidence > 3.830000205241566)
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: 19.556
INFO:root:Testing 12 out of 12560 hypotheses for harissa_oil (evidence > 3.830000205241566)
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: 4.423
INFO:root:Testing 14 out of 21832 hypotheses for tomato_soup_can (evidence > 3.830000205241566)
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: 4.5
INFO:root:Testing 28 out of 16976 hypotheses for mustard_bottle (evidence > 3.830000205241566)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 4.741
INFO:root:Testing 29 out of 17728 hypotheses for tuna_fish_can (evidence > 3.830000205241566)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 12.242
INFO:root:Testing 4 out of 19024 hypotheses for potted_meat_can (evidence > 3.830000205241566)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.144
DEBUG:root:evidences for each object: [ 4.0979663   4.76293365  5.86745388 16.79652111 19.55607927  4.42264235
  4.49990739  4.74117709 12.24201059  4.14408267]
DEBUG:root:mean evidence: 8.113, std: 5.564 -> th=15.644863414190695
INFO:root:current most likely hypothesis: hot_sauce with evidence 19.56
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 163 ---
INFO:uvicorn.access:192.168.1.217:65435 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.19599874,  0.1594938 ,  0.9675465 ],
       [-0.63117602,  0.77563962,  0.        ],
       [-0.7504674 , -0.61069215,  0.25269305]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00252255,  0.0093634 , -0.00624581])}]
INFO:root:Testing 9 out of 14424 hypotheses for numenta_mug (evidence > 3.9112158535476738)
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: 4.146
INFO:root:Testing 74 out of 10992 hypotheses for montys_brain (evidence > 3.9112158535476738)
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: 5.013
INFO:root:Testing 132 out of 14880 hypotheses for montys_heart (evidence > 3.9112158535476738)
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: 6.225
INFO:root:Testing 37 out of 23200 hypotheses for ramen_pack (evidence > 3.9112158535476738)
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: 15.797
INFO:root:Testing 217 out of 14864 hypotheses for hot_sauce (evidence > 3.9112158535476738)
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: 19.974
INFO:root:Testing 7 out of 12560 hypotheses for harissa_oil (evidence > 3.9112158535476738)
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: 4.644
INFO:root:Testing 9 out of 21832 hypotheses for tomato_soup_can (evidence > 3.9112158535476738)
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: 4.739
INFO:root:Testing 20 out of 16976 hypotheses for mustard_bottle (evidence > 3.9112158535476738)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 5.119
INFO:root:Testing 23 out of 17728 hypotheses for tuna_fish_can (evidence > 3.9112158535476738)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 12.241
INFO:root:Testing 2 out of 19024 hypotheses for potted_meat_can (evidence > 3.9112158535476738)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.265
DEBUG:root:evidences for each object: [ 4.14552942  5.01256338  6.22467628 15.79652111 19.97353045  4.64354208
  4.73881068  5.11874799 12.24135861  4.26474564]
DEBUG:root:mean evidence: 8.216, std: 5.411 -> th=15.97882435938845
INFO:root:current most likely hypothesis: hot_sauce with evidence 19.97
DEBUG:root:evidences for each object: [ 4.14552942  5.01256338  6.22467628 15.79652111 19.97353045  4.64354208
  4.73881068  5.11874799 12.24135861  4.26474564]
DEBUG:root:mean evidence: 8.216, std: 5.411 -> th=15.97882435938845
DEBUG:root:evidences for each object: [ 4.14552942  5.01256338  6.22467628 15.79652111 19.97353045  4.64354208
  4.73881068  5.11874799 12.24135861  4.26474564]
DEBUG:root:mean evidence: 8.216, std: 5.411 -> th=16.977500881850226
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 164 ---
INFO:uvicorn.access:192.168.1.217:65438 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.4933504 , -0.15683221,  0.85557527],
       [ 0.30295295,  0.95300552, -0.        ],
       [-0.81536795,  0.25919905,  0.51767843]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00757296, -0.04990903, -0.01395146])}]
INFO:root:Testing 4 out of 14424 hypotheses for numenta_mug (evidence > 3.994706089847112)
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 40 out of 10992 hypotheses for montys_brain (evidence > 3.994706089847112)
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: 5.231
INFO:root:Testing 108 out of 14880 hypotheses for montys_heart (evidence > 3.994706089847112)
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: 6.495
INFO:root:Testing 37 out of 23200 hypotheses for ramen_pack (evidence > 3.994706089847112)
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: 16.115
INFO:root:Testing 179 out of 14864 hypotheses for hot_sauce (evidence > 3.994706089847112)
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: 20.341
INFO:root:Testing 5 out of 12560 hypotheses for harissa_oil (evidence > 3.994706089847112)
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: 4.618
INFO:root:Testing 5 out of 21832 hypotheses for tomato_soup_can (evidence > 3.994706089847112)
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: 4.806
INFO:root:Testing 13 out of 16976 hypotheses for mustard_bottle (evidence > 3.994706089847112)
DEBUG:root:Calculating evidence for mustard_bottle using input 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 21 out of 17728 hypotheses for tuna_fish_can (evidence > 3.994706089847112)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 12.305
INFO:root:Testing 2 out of 19024 hypotheses for potted_meat_can (evidence > 3.994706089847112)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.583
DEBUG:root:evidences for each object: [ 4.42738097  5.23054889  6.49473797 16.1148136  20.34128759  4.61791272
  4.80602857  5.11098269 12.30524841  4.58331071]
DEBUG:root:mean evidence: 8.403, std: 5.472 -> th=16.273030068025896
INFO:root:current most likely hypothesis: hot_sauce with evidence 20.34
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 165 ---
INFO:uvicorn.access:192.168.1.217:65439 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.54721278, -0.18281595,  0.81678424],
       [ 0.31686991,  0.94846901, -0.        ],
       [-0.77469454,  0.25881435,  0.57694324]]), 'pose_fully_defined': False}}, {'patch': array([-0.00447092, -0.00743618, -0.00211622])}]
INFO:root:Testing 10 out of 14424 hypotheses for numenta_mug (evidence > 4.068257517006472)
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: 4.68
INFO:root:Testing 40 out of 10992 hypotheses for montys_brain (evidence > 4.068257517006472)
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: 5.521
INFO:root:Testing 108 out of 14880 hypotheses for montys_heart (evidence > 4.068257517006472)
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: 6.87
INFO:root:Testing 37 out of 23200 hypotheses for ramen_pack (evidence > 4.068257517006472)
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: 16.4
INFO:root:Testing 178 out of 14864 hypotheses for hot_sauce (evidence > 4.068257517006472)
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: 19.341
INFO:root:Testing 4 out of 12560 hypotheses for harissa_oil (evidence > 4.068257517006472)
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: 4.452
INFO:root:Testing 5 out of 21832 hypotheses for tomato_soup_can (evidence > 4.068257517006472)
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: 5.148
INFO:root:Testing 13 out of 16976 hypotheses for mustard_bottle (evidence > 4.068257517006472)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 5.17
INFO:root:Testing 21 out of 17728 hypotheses for tuna_fish_can (evidence > 4.068257517006472)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 12.128
INFO:root:Testing 10 out of 19024 hypotheses for potted_meat_can (evidence > 4.068257517006472)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.855
DEBUG:root:evidences for each object: [ 4.6802057   5.52052134  6.87027885 16.39995874 19.34128759  4.45243856
  5.14830114  5.16983341 12.12827959  4.85511561]
DEBUG:root:mean evidence: 8.457, std: 5.208 -> th=15.473030068025896
INFO:root:current most likely hypothesis: hot_sauce with evidence 19.34
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 166 ---
INFO:uvicorn.access:192.168.1.217:65439 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.58446755, -0.18598842,  0.7898139 ],
       [ 0.30323544,  0.95291567, -0.        ],
       [-0.75262604,  0.23949957,  0.61334656]]), 'pose_fully_defined': False}}, {'patch': array([0.0086065 , 0.01391212, 0.00188084])}]
INFO:root:Testing 32 out of 14424 hypotheses for numenta_mug (evidence > 3.868257517006473)
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: 5.04
INFO:root:Testing 40 out of 10992 hypotheses for montys_brain (evidence > 3.868257517006473)
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: 5.984
INFO:root:Testing 112 out of 14880 hypotheses for montys_heart (evidence > 3.868257517006473)
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: 7.026
INFO:root:Testing 35 out of 23200 hypotheses for ramen_pack (evidence > 3.868257517006473)
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: 16.827
INFO:root:Testing 183 out of 14864 hypotheses for hot_sauce (evidence > 3.868257517006473)
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: 19.692
INFO:root:Testing 4 out of 12560 hypotheses for harissa_oil (evidence > 3.868257517006473)
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: 4.834
INFO:root:Testing 6 out of 21832 hypotheses for tomato_soup_can (evidence > 3.868257517006473)
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: 5.512
INFO:root:Testing 13 out of 16976 hypotheses for mustard_bottle (evidence > 3.868257517006473)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 5.559
INFO:root:Testing 22 out of 17728 hypotheses for tuna_fish_can (evidence > 3.868257517006473)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 12.232
INFO:root:Testing 27 out of 19024 hypotheses for potted_meat_can (evidence > 3.868257517006473)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.248
DEBUG:root:evidences for each object: [ 5.03965857  5.98382734  7.02587831 16.82690785 19.69240587  4.83412085
  5.51245048  5.55860365 12.23158415  5.24839705]
DEBUG:root:mean evidence: 8.795, std: 5.194 -> th=15.75392469850442
INFO:root:current most likely hypothesis: hot_sauce with evidence 19.69
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 167 ---
INFO:uvicorn.access:192.168.1.217:65439 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.51763926, -0.16079287,  0.84035424],
       [ 0.29664523,  0.95498775, -0.        ],
       [-0.80252801,  0.24928708,  0.54203759]]), 'pose_fully_defined': False}}, {'patch': array([-0.0009889 ,  0.00631753,  0.00326928])}]
INFO:root:Testing 31 out of 14424 hypotheses for numenta_mug (evidence > 3.938481174626105)
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: 5.399
INFO:root:Testing 40 out of 10992 hypotheses for montys_brain (evidence > 3.938481174626105)
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: 6.342
INFO:root:Testing 112 out of 14880 hypotheses for montys_heart (evidence > 3.938481174626105)
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: 7.376
INFO:root:Testing 35 out of 23200 hypotheses for ramen_pack (evidence > 3.938481174626105)
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: 17.263
INFO:root:Testing 183 out of 14864 hypotheses for hot_sauce (evidence > 3.938481174626105)
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: 20.021
INFO:root:Testing 4 out of 12560 hypotheses for harissa_oil (evidence > 3.938481174626105)
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: 5.189
INFO:root:Testing 6 out of 21832 hypotheses for tomato_soup_can (evidence > 3.938481174626105)
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: 5.907
INFO:root:Testing 13 out of 16976 hypotheses for mustard_bottle (evidence > 3.938481174626105)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 5.979
INFO:root:Testing 22 out of 17728 hypotheses for tuna_fish_can (evidence > 3.938481174626105)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 12.332
INFO:root:Testing 27 out of 19024 hypotheses for potted_meat_can (evidence > 3.938481174626105)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.648
DEBUG:root:evidences for each object: [ 5.39881002  6.34197197  7.37578091 17.2628896  20.02130162  5.18896798
  5.90732505  5.97942045 12.33199754  5.64776442]
DEBUG:root:mean evidence: 9.146, std: 5.175 -> th=16.017041297699826
INFO:root:current most likely hypothesis: hot_sauce with evidence 20.02
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 168 ---
INFO:uvicorn.access:192.168.1.217:65439 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.50702946, -0.12273645,  0.85314529],
       [ 0.23527453,  0.97192896, -0.        ],
       [-0.82919662,  0.20072335,  0.52167337]]), 'pose_fully_defined': False}}, {'patch': array([-0.00197439,  0.00165075,  0.00344149])}]
INFO:root:Testing 30 out of 14424 hypotheses for numenta_mug (evidence > 4.004260324424955)
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: 5.741
INFO:root:Testing 40 out of 10992 hypotheses for montys_brain (evidence > 4.004260324424955)
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: 6.635
INFO:root:Testing 112 out of 14880 hypotheses for montys_heart (evidence > 4.004260324424955)
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: 7.681
INFO:root:Testing 36 out of 23200 hypotheses for ramen_pack (evidence > 4.004260324424955)
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: 17.716
INFO:root:Testing 183 out of 14864 hypotheses for hot_sauce (evidence > 4.004260324424955)
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: 20.397
INFO:root:Testing 5 out of 12560 hypotheses for harissa_oil (evidence > 4.004260324424955)
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: 5.544
INFO:root:Testing 6 out of 21832 hypotheses for tomato_soup_can (evidence > 4.004260324424955)
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: 6.352
INFO:root:Testing 13 out of 16976 hypotheses for mustard_bottle (evidence > 4.004260324424955)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 6.415
INFO:root:Testing 22 out of 17728 hypotheses for tuna_fish_can (evidence > 4.004260324424955)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 12.44
INFO:root:Testing 26 out of 19024 hypotheses for potted_meat_can (evidence > 4.004260324424955)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.999
DEBUG:root:evidences for each object: [ 5.74134149  6.63488177  7.68115467 17.71574836 20.3969577   5.54423109
  6.35214116  6.41540401 12.44046843  5.99887266]
DEBUG:root:mean evidence: 9.492, std: 5.176 -> th=16.317566158528074
INFO:root:current most likely hypothesis: hot_sauce with evidence 20.4
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 169 ---
INFO:uvicorn.access:192.168.1.217:65439 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.51533605, -0.00200968,  0.85698583],
       [ 0.00389972,  0.9999924 , -0.        ],
       [-0.85697931,  0.00334201,  0.51533997]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00209857,  0.00472778, -0.0023701 ])}]
INFO:root:Testing 30 out of 14424 hypotheses for numenta_mug (evidence > 4.079391539632017)
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: 5.967
INFO:root:Testing 40 out of 10992 hypotheses for montys_brain (evidence > 4.079391539632017)
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: 6.817
INFO:root:Testing 112 out of 14880 hypotheses for montys_heart (evidence > 4.079391539632017)
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: 7.971
INFO:root:Testing 36 out of 23200 hypotheses for ramen_pack (evidence > 4.079391539632017)
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: 18.201
INFO:root:Testing 183 out of 14864 hypotheses for hot_sauce (evidence > 4.079391539632017)
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: 20.694
INFO:root:Testing 11 out of 12560 hypotheses for harissa_oil (evidence > 4.079391539632017)
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: 5.91
INFO:root:Testing 6 out of 21832 hypotheses for tomato_soup_can (evidence > 4.079391539632017)
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: 6.709
INFO:root:Testing 13 out of 16976 hypotheses for mustard_bottle (evidence > 4.079391539632017)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 6.899
INFO:root:Testing 22 out of 17728 hypotheses for tuna_fish_can (evidence > 4.079391539632017)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 12.628
INFO:root:Testing 27 out of 19024 hypotheses for potted_meat_can (evidence > 4.079391539632017)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.387
DEBUG:root:evidences for each object: [ 5.96696598  6.81683341  7.9713062  18.2013625  20.69355164  5.90975889
  6.70870862  6.89875049 12.62833859  6.3873013 ]
DEBUG:root:mean evidence: 9.818, std: 5.186 -> th=16.55484131198928
INFO:root:current most likely hypothesis: hot_sauce with evidence 20.69
DEBUG:root:evidences for each object: [ 5.96696598  6.81683341  7.9713062  18.2013625  20.69355164  5.90975889
  6.70870862  6.89875049 12.62833859  6.3873013 ]
DEBUG:root:mean evidence: 9.818, std: 5.186 -> th=16.55484131198928
DEBUG:root:evidences for each object: [ 5.96696598  6.81683341  7.9713062  18.2013625  20.69355164  5.90975889
  6.70870862  6.89875049 12.62833859  6.3873013 ]
DEBUG:root:mean evidence: 9.818, std: 5.186 -> th=17.589518893988608
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 170 ---
INFO:uvicorn.access:192.168.1.217:65439 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.43097856,  0.02600251,  0.90198744],
       [-0.06022415,  0.99818488,  0.        ],
       [-0.90035023, -0.05432142,  0.43176226]]), 'pose_fully_defined': False}}, {'patch': array([-0.00261771,  0.01018615, -0.00225833])}]
INFO:root:Testing 30 out of 14424 hypotheses for numenta_mug (evidence > 4.13871032799732)
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: 6.122
INFO:root:Testing 40 out of 10992 hypotheses for montys_brain (evidence > 4.13871032799732)
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: 6.883
INFO:root:Testing 112 out of 14880 hypotheses for montys_heart (evidence > 4.13871032799732)
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: 8.055
INFO:root:Testing 41 out of 23200 hypotheses for ramen_pack (evidence > 4.13871032799732)
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: 18.668
INFO:root:Testing 183 out of 14864 hypotheses for hot_sauce (evidence > 4.13871032799732)
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: 20.984
INFO:root:Testing 18 out of 12560 hypotheses for harissa_oil (evidence > 4.13871032799732)
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: 6.207
INFO:root:Testing 6 out of 21832 hypotheses for tomato_soup_can (evidence > 4.13871032799732)
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: 6.877
INFO:root:Testing 12 out of 16976 hypotheses for mustard_bottle (evidence > 4.13871032799732)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 7.36
INFO:root:Testing 22 out of 17728 hypotheses for tuna_fish_can (evidence > 4.13871032799732)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 12.767
INFO:root:Testing 26 out of 19024 hypotheses for potted_meat_can (evidence > 4.13871032799732)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.841
DEBUG:root:evidences for each object: [ 6.12187167  6.88345993  8.0549977  18.66803621 20.98439938  6.20716372
  6.87745147  7.36038826 12.76731217  6.84092332]
DEBUG:root:mean evidence: 10.077, std: 5.225 -> th=16.78751950051005
INFO:root:current most likely hypothesis: hot_sauce with evidence 20.98
DEBUG:root:evidences for each object: [ 6.12187167  6.88345993  8.0549977  18.66803621 20.98439938  6.20716372
  6.87745147  7.36038826 12.76731217  6.84092332]
DEBUG:root:mean evidence: 10.077, std: 5.225 -> th=16.78751950051005
DEBUG:root:evidences for each object: [ 6.12187167  6.88345993  8.0549977  18.66803621 20.98439938  6.20716372
  6.87745147  7.36038826 12.76731217  6.84092332]
DEBUG:root:mean evidence: 10.077, std: 5.225 -> th=17.83673946929193
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 171 ---
INFO:uvicorn.access:192.168.1.217:65439 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.44713338,  0.14742439,  0.88223454],
       [-0.31312916,  0.94971055,  0.        ],
       [-0.83786745, -0.27625336,  0.47081017]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00063408, -0.00506608,  0.00215215])}]
INFO:root:Testing 30 out of 14424 hypotheses for numenta_mug (evidence > 4.196879875127511)
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: 6.305
INFO:root:Testing 37 out of 10992 hypotheses for montys_brain (evidence > 4.196879875127511)
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: 7.15
INFO:root:Testing 112 out of 14880 hypotheses for montys_heart (evidence > 4.196879875127511)
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: 8.318
INFO:root:Testing 41 out of 23200 hypotheses for ramen_pack (evidence > 4.196879875127511)
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: 19.087
INFO:root:Testing 182 out of 14864 hypotheses for hot_sauce (evidence > 4.196879875127511)
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: 21.225
INFO:root:Testing 16 out of 12560 hypotheses for harissa_oil (evidence > 4.196879875127511)
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: 6.519
INFO:root:Testing 6 out of 21832 hypotheses for tomato_soup_can (evidence > 4.196879875127511)
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: 7.208
INFO:root:Testing 12 out of 16976 hypotheses for mustard_bottle (evidence > 4.196879875127511)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 7.794
INFO:root:Testing 22 out of 17728 hypotheses for tuna_fish_can (evidence > 4.196879875127511)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 12.927
INFO:root:Testing 26 out of 19024 hypotheses for potted_meat_can (evidence > 4.196879875127511)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.185
DEBUG:root:evidences for each object: [ 6.30532538  7.14963527  8.31799764 19.08682483 21.22482505  6.51948992
  7.20828818  7.793637   12.92743783  7.18500083]
DEBUG:root:mean evidence: 10.372, std: 5.225 -> th=16.979860043006767
INFO:root:current most likely hypothesis: hot_sauce with evidence 21.22
DEBUG:root:evidences for each object: [ 6.30532538  7.14963527  8.31799764 19.08682483 21.22482505  6.51948992
  7.20828818  7.793637   12.92743783  7.18500083]
DEBUG:root:mean evidence: 10.372, std: 5.225 -> th=16.979860043006767
DEBUG:root:evidences for each object: [ 6.30532538  7.14963527  8.31799764 19.08682483 21.22482505  6.51948992
  7.20828818  7.793637   12.92743783  7.18500083]
DEBUG:root:mean evidence: 10.372, std: 5.225 -> th=18.041101295694688
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 172 ---
INFO:uvicorn.access:192.168.1.217:65441 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.5673697 ,  0.13668259,  0.81204032],
       [-0.23420542,  0.97218713,  0.        ],
       [-0.78945516, -0.19018424,  0.58360133]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00324876,  0.01104393, -0.00713003])}]
INFO:root:Testing 29 out of 14424 hypotheses for numenta_mug (evidence > 4.244965010751692)
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: 6.525
INFO:root:Testing 36 out of 10992 hypotheses for montys_brain (evidence > 4.244965010751692)
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: 7.233
INFO:root:Testing 112 out of 14880 hypotheses for montys_heart (evidence > 4.244965010751692)
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: 8.456
INFO:root:Testing 41 out of 23200 hypotheses for ramen_pack (evidence > 4.244965010751692)
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: 19.315
INFO:root:Testing 182 out of 14864 hypotheses for hot_sauce (evidence > 4.244965010751692)
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: 21.437
INFO:root:Testing 16 out of 12560 hypotheses for harissa_oil (evidence > 4.244965010751692)
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: 6.865
INFO:root:Testing 6 out of 21832 hypotheses for tomato_soup_can (evidence > 4.244965010751692)
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: 7.526
INFO:root:Testing 12 out of 16976 hypotheses for mustard_bottle (evidence > 4.244965010751692)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 8.083
INFO:root:Testing 22 out of 17728 hypotheses for tuna_fish_can (evidence > 4.244965010751692)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 13.217
INFO:root:Testing 25 out of 19024 hypotheses for potted_meat_can (evidence > 4.244965010751692)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.614
DEBUG:root:evidences for each object: [ 6.52548599  7.2328186   8.45641999 19.31530603 21.43697993  6.8646519
  7.52618582  8.08286248 13.21691975  7.61356603]
DEBUG:root:mean evidence: 10.627, std: 5.21 -> th=17.149583941075612
INFO:root:current most likely hypothesis: hot_sauce with evidence 21.44
DEBUG:root:evidences for each object: [ 6.52548599  7.2328186   8.45641999 19.31530603 21.43697993  6.8646519
  7.52618582  8.08286248 13.21691975  7.61356603]
DEBUG:root:mean evidence: 10.627, std: 5.21 -> th=17.149583941075612
DEBUG:root:evidences for each object: [ 6.52548599  7.2328186   8.45641999 19.31530603 21.43697993  6.8646519
  7.52618582  8.08286248 13.21691975  7.61356603]
DEBUG:root:mean evidence: 10.627, std: 5.21 -> th=18.221432937392837
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 173 ---
INFO:uvicorn.access:192.168.1.217:65441 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.42930366,  0.20344472,  0.87994808],
       [-0.42824169,  0.90366424,  0.        ],
       [-0.79517761, -0.37683045,  0.47506987]]), 'pose_fully_defined': False}}, {'patch': array([-0.00395397,  0.00458372, -0.0010205 ])}]
INFO:root:Testing 27 out of 14424 hypotheses for numenta_mug (evidence > 4.287395985268901)
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: 6.725
INFO:root:Testing 36 out of 10992 hypotheses for montys_brain (evidence > 4.287395985268901)
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: 7.257
INFO:root:Testing 111 out of 14880 hypotheses for montys_heart (evidence > 4.287395985268901)
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: 8.512
INFO:root:Testing 41 out of 23200 hypotheses for ramen_pack (evidence > 4.287395985268901)
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: 19.414
INFO:root:Testing 182 out of 14864 hypotheses for hot_sauce (evidence > 4.287395985268901)
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: 21.59
INFO:root:Testing 15 out of 12560 hypotheses for harissa_oil (evidence > 4.287395985268901)
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: 6.828
INFO:root:Testing 6 out of 21832 hypotheses for tomato_soup_can (evidence > 4.287395985268901)
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: 7.402
INFO:root:Testing 12 out of 16976 hypotheses for mustard_bottle (evidence > 4.287395985268901)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 8.189
INFO:root:Testing 22 out of 17728 hypotheses for tuna_fish_can (evidence > 4.287395985268901)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 13.425
INFO:root:Testing 25 out of 19024 hypotheses for potted_meat_can (evidence > 4.287395985268901)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.044
DEBUG:root:evidences for each object: [ 6.72465446  7.25731069  8.51214787 19.41403311 21.58952481  6.82820288
  7.40188867  8.18887867 13.42544341  8.0440963 ]
DEBUG:root:mean evidence: 10.739, std: 5.231 -> th=17.2716198484054
INFO:root:current most likely hypothesis: hot_sauce with evidence 21.59
DEBUG:root:evidences for each object: [ 6.72465446  7.25731069  8.51214787 19.41403311 21.58952481  6.82820288
  7.40188867  8.18887867 13.42544341  8.0440963 ]
DEBUG:root:mean evidence: 10.739, std: 5.231 -> th=17.2716198484054
DEBUG:root:evidences for each object: [ 6.72465446  7.25731069  8.51214787 19.41403311 21.58952481  6.82820288
  7.40188867  8.18887867 13.42544341  8.0440963 ]
DEBUG:root:mean evidence: 10.739, std: 5.231 -> th=18.351096088930735
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 174 ---
INFO:uvicorn.access:192.168.1.217:65441 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.22437108,  0.16409056,  0.96058935],
       [-0.59031457,  0.80717329,  0.        ],
       [-0.77536207, -0.56704989,  0.27797139]]), 'pose_fully_defined': False}}, {'patch': array([-0.00294796,  0.00202616,  0.00413479])}]
INFO:root:Testing 24 out of 14424 hypotheses for numenta_mug (evidence > 4.317904962101348)
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: 6.821
INFO:root:Testing 36 out of 10992 hypotheses for montys_brain (evidence > 4.317904962101348)
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: 7.302
INFO:root:Testing 110 out of 14880 hypotheses for montys_heart (evidence > 4.317904962101348)
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: 8.399
INFO:root:Testing 41 out of 23200 hypotheses for ramen_pack (evidence > 4.317904962101348)
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: 19.742
INFO:root:Testing 181 out of 14864 hypotheses for hot_sauce (evidence > 4.317904962101348)
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: 21.728
INFO:root:Testing 14 out of 12560 hypotheses for harissa_oil (evidence > 4.317904962101348)
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: 6.861
INFO:root:Testing 6 out of 21832 hypotheses for tomato_soup_can (evidence > 4.317904962101348)
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: 7.617
INFO:root:Testing 12 out of 16976 hypotheses for mustard_bottle (evidence > 4.317904962101348)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 8.472
INFO:root:Testing 22 out of 17728 hypotheses for tuna_fish_can (evidence > 4.317904962101348)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 13.482
INFO:root:Testing 24 out of 19024 hypotheses for potted_meat_can (evidence > 4.317904962101348)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.343
DEBUG:root:evidences for each object: [ 6.82078992  7.30233071  8.39905478 19.74234951 21.72846108  6.86092613
  7.61687706  8.47187921 13.48225429  8.34290701]
DEBUG:root:mean evidence: 10.877, std: 5.268 -> th=17.382768864804923
INFO:root:current most likely hypothesis: hot_sauce with evidence 21.73
DEBUG:root:evidences for each object: [ 6.82078992  7.30233071  8.39905478 19.74234951 21.72846108  6.86092613
  7.61687706  8.47187921 13.48225429  8.34290701]
DEBUG:root:mean evidence: 10.877, std: 5.268 -> th=17.382768864804923
DEBUG:root:evidences for each object: [ 6.82078992  7.30233071  8.39905478 19.74234951 21.72846108  6.86092613
  7.61687706  8.47187921 13.48225429  8.34290701]
DEBUG:root:mean evidence: 10.877, std: 5.268 -> th=18.46919191885523
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 175 ---
INFO:uvicorn.access:192.168.1.217:65441 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.26922087,  0.15257185,  0.95091638],
       [-0.49304524,  0.87000367,  0.        ],
       [-0.82730074, -0.4688448 ,  0.30944797]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00064114, -0.01819165,  0.0065833 ])}]
INFO:root:Testing 23 out of 14424 hypotheses for numenta_mug (evidence > 4.345692216201229)
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: 6.973
INFO:root:Testing 36 out of 10992 hypotheses for montys_brain (evidence > 4.345692216201229)
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: 7.508
INFO:root:Testing 110 out of 14880 hypotheses for montys_heart (evidence > 4.345692216201229)
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: 8.64
INFO:root:Testing 38 out of 23200 hypotheses for ramen_pack (evidence > 4.345692216201229)
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: 20.17
INFO:root:Testing 177 out of 14864 hypotheses for hot_sauce (evidence > 4.345692216201229)
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: 21.924
INFO:root:Testing 10 out of 12560 hypotheses for harissa_oil (evidence > 4.345692216201229)
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: 7.081
INFO:root:Testing 6 out of 21832 hypotheses for tomato_soup_can (evidence > 4.345692216201229)
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: 7.887
INFO:root:Testing 12 out of 16976 hypotheses for mustard_bottle (evidence > 4.345692216201229)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 8.843
INFO:root:Testing 22 out of 17728 hypotheses for tuna_fish_can (evidence > 4.345692216201229)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 13.559
INFO:root:Testing 22 out of 19024 hypotheses for potted_meat_can (evidence > 4.345692216201229)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.521
DEBUG:root:evidences for each object: [ 6.9732388   7.50839534  8.64008858 20.17017963 21.92356528  7.08142509
  7.8869704   8.84332176 13.55901872  8.52071555]
DEBUG:root:mean evidence: 11.111, std: 5.288 -> th=17.53885222124296
INFO:root:current most likely hypothesis: hot_sauce with evidence 21.92
DEBUG:root:evidences for each object: [ 6.9732388   7.50839534  8.64008858 20.17017963 21.92356528  7.08142509
  7.8869704   8.84332176 13.55901872  8.52071555]
DEBUG:root:mean evidence: 11.111, std: 5.288 -> th=17.53885222124296
DEBUG:root:evidences for each object: [ 6.9732388   7.50839534  8.64008858 20.17017963 21.92356528  7.08142509
  7.8869704   8.84332176 13.55901872  8.52071555]
DEBUG:root:mean evidence: 11.111, std: 5.288 -> th=18.635030485070644
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 176 ---
INFO:uvicorn.access:192.168.1.217:65441 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.24978453,  0.06046491,  0.96641176],
       [-0.23527326,  0.97192926,  0.        ],
       [-0.93928387, -0.22737085,  0.25699867]]), 'pose_fully_defined': False}}, {'patch': array([-0.0002584 , -0.01070851, -0.00157797])}]
INFO:root:Testing 23 out of 14424 hypotheses for numenta_mug (evidence > 4.3847130553107405)
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: 7.164
INFO:root:Testing 33 out of 10992 hypotheses for montys_brain (evidence > 4.3847130553107405)
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: 7.843
INFO:root:Testing 108 out of 14880 hypotheses for montys_heart (evidence > 4.3847130553107405)
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: 8.995
INFO:root:Testing 38 out of 23200 hypotheses for ramen_pack (evidence > 4.3847130553107405)
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: 20.639
INFO:root:Testing 176 out of 14864 hypotheses for hot_sauce (evidence > 4.3847130553107405)
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: 22.138
INFO:root:Testing 10 out of 12560 hypotheses for harissa_oil (evidence > 4.3847130553107405)
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: 7.297
INFO:root:Testing 6 out of 21832 hypotheses for tomato_soup_can (evidence > 4.3847130553107405)
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: 8.279
INFO:root:Testing 12 out of 16976 hypotheses for mustard_bottle (evidence > 4.3847130553107405)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 9.253
INFO:root:Testing 22 out of 17728 hypotheses for tuna_fish_can (evidence > 4.3847130553107405)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 13.616
INFO:root:Testing 21 out of 19024 hypotheses for potted_meat_can (evidence > 4.3847130553107405)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.753
DEBUG:root:evidences for each object: [ 7.16415204  7.84278602  8.99544332 20.63853738 22.13847214  7.29686047
  8.27911624  9.25349608 13.61587544  8.75328876]
DEBUG:root:mean evidence: 11.398, std: 5.293 -> th=17.710777714002745
INFO:root:current most likely hypothesis: hot_sauce with evidence 22.14
DEBUG:root:evidences for each object: [ 7.16415204  7.84278602  8.99544332 20.63853738 22.13847214  7.29686047
  8.27911624  9.25349608 13.61587544  8.75328876]
DEBUG:root:mean evidence: 11.398, std: 5.293 -> th=17.710777714002745
DEBUG:root:evidences for each object: [ 7.16415204  7.84278602  8.99544332 20.63853738 22.13847214  7.29686047
  8.27911624  9.25349608 13.61587544  8.75328876]
DEBUG:root:mean evidence: 11.398, std: 5.293 -> th=18.817701321127917
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 177 ---
INFO:uvicorn.access:192.168.1.217:65443 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.65943902, -0.097924  ,  0.74535298],
       [ 0.14688526,  0.98915354, -0.        ],
       [-0.73726854,  0.10948137,  0.66667003]]), 'pose_fully_defined': False}}, {'patch': array([-0.00718445, -0.01614756, -0.00313137])}]
INFO:root:Testing 22 out of 14424 hypotheses for numenta_mug (evidence > 4.427694428500686)
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: 7.445
INFO:root:Testing 30 out of 10992 hypotheses for montys_brain (evidence > 4.427694428500686)
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: 8.111
INFO:root:Testing 103 out of 14880 hypotheses for montys_heart (evidence > 4.427694428500686)
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: 9.076
INFO:root:Testing 38 out of 23200 hypotheses for ramen_pack (evidence > 4.427694428500686)
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: 20.918
INFO:root:Testing 174 out of 14864 hypotheses for hot_sauce (evidence > 4.427694428500686)
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: 22.276
INFO:root:Testing 10 out of 12560 hypotheses for harissa_oil (evidence > 4.427694428500686)
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: 7.106
INFO:root:Testing 5 out of 21832 hypotheses for tomato_soup_can (evidence > 4.427694428500686)
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: 8.69
INFO:root:Testing 11 out of 16976 hypotheses for mustard_bottle (evidence > 4.427694428500686)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 8.253
INFO:root:Testing 22 out of 17728 hypotheses for tuna_fish_can (evidence > 4.427694428500686)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 13.179
INFO:root:Testing 21 out of 19024 hypotheses for potted_meat_can (evidence > 4.427694428500686)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.254
DEBUG:root:evidences for each object: [ 7.44537176  8.11103978  9.0759187  20.91756676 22.27577161  7.10606352
  8.68988489  8.25349608 13.17938054  8.25443141]
DEBUG:root:mean evidence: 11.331, std: 5.38 -> th=17.82061729138674
INFO:root:current most likely hypothesis: hot_sauce with evidence 22.28
DEBUG:root:evidences for each object: [ 7.44537176  8.11103978  9.0759187  20.91756676 22.27577161  7.10606352
  8.68988489  8.25349608 13.17938054  8.25443141]
DEBUG:root:mean evidence: 11.331, std: 5.38 -> th=17.82061729138674
DEBUG:root:evidences for each object: [ 7.44537176  8.11103978  9.0759187  20.91756676 22.27577161  7.10606352
  8.68988489  8.25349608 13.17938054  8.25443141]
DEBUG:root:mean evidence: 11.331, std: 5.38 -> th=18.93440587209841
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 178 ---
INFO:uvicorn.access:192.168.1.217:65443 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.65413464, -0.12287501,  0.74633076],
       [ 0.18461476,  0.98281096, -0.        ],
       [-0.73350205,  0.13778368,  0.66557524]]), 'pose_fully_defined': False}}, {'patch': array([6.04162008e-03, 1.20396417e-02, 5.70787822e-05])}]
INFO:root:Testing 21 out of 14424 hypotheses for numenta_mug (evidence > 4.455154322846685)
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: 7.855
INFO:root:Testing 25 out of 10992 hypotheses for montys_brain (evidence > 4.455154322846685)
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: 8.544
INFO:root:Testing 90 out of 14880 hypotheses for montys_heart (evidence > 4.455154322846685)
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: 9.433
INFO:root:Testing 38 out of 23200 hypotheses for ramen_pack (evidence > 4.455154322846685)
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: 21.329
INFO:root:Testing 171 out of 14864 hypotheses for hot_sauce (evidence > 4.455154322846685)
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: 22.686
INFO:root:Testing 7 out of 12560 hypotheses for harissa_oil (evidence > 4.455154322846685)
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: 7.539
INFO:root:Testing 5 out of 21832 hypotheses for tomato_soup_can (evidence > 4.455154322846685)
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: 9.138
INFO:root:Testing 8 out of 16976 hypotheses for mustard_bottle (evidence > 4.455154322846685)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 8.687
INFO:root:Testing 22 out of 17728 hypotheses for tuna_fish_can (evidence > 4.455154322846685)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 13.322
INFO:root:Testing 17 out of 19024 hypotheses for potted_meat_can (evidence > 4.455154322846685)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.666
DEBUG:root:evidences for each object: [ 7.8547937   8.54430395  9.43322161 21.32881282 22.68645078  7.53893757
  9.13841978  8.6874097  13.32202765  8.66578268]
DEBUG:root:mean evidence: 11.72, std: 5.367 -> th=18.149160621029154
INFO:root:current most likely hypothesis: hot_sauce with evidence 22.69
DEBUG:root:evidences for each object: [ 7.8547937   8.54430395  9.43322161 21.32881282 22.68645078  7.53893757
  9.13841978  8.6874097  13.32202765  8.66578268]
DEBUG:root:mean evidence: 11.72, std: 5.367 -> th=18.149160621029154
DEBUG:root:evidences for each object: [ 7.8547937   8.54430395  9.43322161 21.32881282 22.68645078  7.53893757
  9.13841978  8.6874097  13.32202765  8.66578268]
DEBUG:root:mean evidence: 11.72, std: 5.367 -> th=19.283483159843477
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 179 ---
INFO:uvicorn.access:192.168.1.217:65443 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.67899986, -0.06441159,  0.73130728],
       [ 0.09443848,  0.9955307 , -0.        ],
       [-0.72803885,  0.06906355,  0.68204814]]), 'pose_fully_defined': False}}, {'patch': array([0.00224719, 0.00750356, 0.00151615])}]
INFO:root:Testing 13 out of 14424 hypotheses for numenta_mug (evidence > 4.537290155257288)
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: 8.281
INFO:root:Testing 15 out of 10992 hypotheses for montys_brain (evidence > 4.537290155257288)
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: 8.998
INFO:root:Testing 70 out of 14880 hypotheses for montys_heart (evidence > 4.537290155257288)
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: 9.906
INFO:root:Testing 37 out of 23200 hypotheses for ramen_pack (evidence > 4.537290155257288)
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: 21.808
INFO:root:Testing 148 out of 14864 hypotheses for hot_sauce (evidence > 4.537290155257288)
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: 23.119
INFO:root:Testing 7 out of 12560 hypotheses for harissa_oil (evidence > 4.537290155257288)
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: 8.002
INFO:root:Testing 5 out of 21832 hypotheses for tomato_soup_can (evidence > 4.537290155257288)
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: 9.613
INFO:root:Testing 6 out of 16976 hypotheses for mustard_bottle (evidence > 4.537290155257288)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 9.16
INFO:root:Testing 21 out of 17728 hypotheses for tuna_fish_can (evidence > 4.537290155257288)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 13.548
INFO:root:Testing 9 out of 19024 hypotheses for potted_meat_can (evidence > 4.537290155257288)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.126
DEBUG:root:evidences for each object: [ 8.2811812   8.99840247  9.90645775 21.80763254 23.11901914  8.00177168
  9.6127391   9.16009879 13.54827591  9.12556505]
DEBUG:root:mean evidence: 12.156, std: 5.359 -> th=18.495215308775524
INFO:root:current most likely hypothesis: hot_sauce with evidence 23.12
DEBUG:root:evidences for each object: [ 8.2811812   8.99840247  9.90645775 21.80763254 23.11901914  8.00177168
  9.6127391   9.16009879 13.54827591  9.12556505]
DEBUG:root:mean evidence: 12.156, std: 5.359 -> th=18.495215308775524
DEBUG:root:evidences for each object: [ 8.2811812   8.99840247  9.90645775 21.80763254 23.11901914  8.00177168
  9.6127391   9.16009879 13.54827591  9.12556505]
DEBUG:root:mean evidence: 12.156, std: 5.359 -> th=19.651166265573995
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 180 ---
INFO:uvicorn.access:192.168.1.217:65443 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.69468415, -0.04706895,  0.71777325],
       [ 0.06760091,  0.99771244, -0.        ],
       [-0.7161313 ,  0.04852213,  0.69627693]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00255116,  0.01166976, -0.00438917])}]
INFO:root:Testing 13 out of 14424 hypotheses for numenta_mug (evidence > 4.623803827193882)
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: 8.531
INFO:root:Testing 15 out of 10992 hypotheses for montys_brain (evidence > 4.623803827193882)
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: 9.421
INFO:root:Testing 70 out of 14880 hypotheses for montys_heart (evidence > 4.623803827193882)
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: 10.229
INFO:root:Testing 37 out of 23200 hypotheses for ramen_pack (evidence > 4.623803827193882)
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: 22.186
INFO:root:Testing 147 out of 14864 hypotheses for hot_sauce (evidence > 4.623803827193882)
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: 23.473
INFO:root:Testing 7 out of 12560 hypotheses for harissa_oil (evidence > 4.623803827193882)
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: 8.136
INFO:root:Testing 6 out of 21832 hypotheses for tomato_soup_can (evidence > 4.623803827193882)
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: 9.868
INFO:root:Testing 8 out of 16976 hypotheses for mustard_bottle (evidence > 4.623803827193882)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 9.568
INFO:root:Testing 21 out of 17728 hypotheses for tuna_fish_can (evidence > 4.623803827193882)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 13.809
INFO:root:Testing 11 out of 19024 hypotheses for potted_meat_can (evidence > 4.623803827193882)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.588
DEBUG:root:evidences for each object: [ 8.53059955  9.42051674 10.22932852 22.18571627 23.473125    8.13587067
  9.86828411  9.56800002 13.80865156  9.58828875]
DEBUG:root:mean evidence: 12.481, std: 5.379 -> th=18.778499999124527
INFO:root:current most likely hypothesis: hot_sauce with evidence 23.47
DEBUG:root:evidences for each object: [ 8.53059955  9.42051674 10.22932852 22.18571627 23.473125    8.13587067
  9.86828411  9.56800002 13.80865156  9.58828875]
DEBUG:root:mean evidence: 12.481, std: 5.379 -> th=18.778499999124527
DEBUG:root:evidences for each object: [ 8.53059955  9.42051674 10.22932852 22.18571627 23.473125    8.13587067
  9.86828411  9.56800002 13.80865156  9.58828875]
DEBUG:root:mean evidence: 12.481, std: 5.379 -> th=19.952156249069812
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 181 ---
INFO:uvicorn.access:192.168.1.217:65443 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.7517917 ,  0.06632618,  0.65605646],
       [-0.08788279,  0.99613082,  0.        ],
       [-0.65351806, -0.05765607,  0.75471182]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0013708 ,  0.00270084, -0.00112044])}]
INFO:root:Testing 13 out of 14424 hypotheses for numenta_mug (evidence > 4.69462499978113)
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: 8.848
INFO:root:Testing 15 out of 10992 hypotheses for montys_brain (evidence > 4.69462499978113)
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: 9.838
INFO:root:Testing 70 out of 14880 hypotheses for montys_heart (evidence > 4.69462499978113)
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: 10.438
INFO:root:Testing 37 out of 23200 hypotheses for ramen_pack (evidence > 4.69462499978113)
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: 22.502
INFO:root:Testing 147 out of 14864 hypotheses for hot_sauce (evidence > 4.69462499978113)
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: 23.881
INFO:root:Testing 9 out of 12560 hypotheses for harissa_oil (evidence > 4.69462499978113)
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: 8.187
INFO:root:Testing 6 out of 21832 hypotheses for tomato_soup_can (evidence > 4.69462499978113)
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: 10.081
INFO:root:Testing 9 out of 16976 hypotheses for mustard_bottle (evidence > 4.69462499978113)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 9.984
INFO:root:Testing 21 out of 17728 hypotheses for tuna_fish_can (evidence > 4.69462499978113)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.174
INFO:root:Testing 11 out of 19024 hypotheses for potted_meat_can (evidence > 4.69462499978113)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.04
DEBUG:root:evidences for each object: [ 8.84835787  9.83799911 10.43814386 22.50208275 23.88125859  8.18732723
 10.08112678  9.98380338 14.17429918 10.04037885]
DEBUG:root:mean evidence: 12.797, std: 5.413 -> th=19.105006872399443
INFO:root:current most likely hypothesis: hot_sauce with evidence 23.88
DEBUG:root:evidences for each object: [ 8.84835787  9.83799911 10.43814386 22.50208275 23.88125859  8.18732723
 10.08112678  9.98380338 14.17429918 10.04037885]
DEBUG:root:mean evidence: 12.797, std: 5.413 -> th=19.105006872399443
DEBUG:root:evidences for each object: [ 8.84835787  9.83799911 10.43814386 22.50208275 23.88125859  8.18732723
 10.08112678  9.98380338 14.17429918 10.04037885]
DEBUG:root:mean evidence: 12.797, std: 5.413 -> th=20.299069801924407
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 182 ---
INFO:uvicorn.access:192.168.1.217:65443 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.72063051,  0.15527771,  0.67570741],
       [-0.21064032,  0.97756363,  0.        ],
       [-0.66054699, -0.14233122,  0.73716992]]), 'pose_fully_defined': False}}, {'patch': array([-0.00200522,  0.00696272, -0.00070796])}]
INFO:root:Testing 13 out of 14424 hypotheses for numenta_mug (evidence > 4.776251718099861)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.187
INFO:root:Testing 14 out of 10992 hypotheses for montys_brain (evidence > 4.776251718099861)
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: 9.993
INFO:root:Testing 70 out of 14880 hypotheses for montys_heart (evidence > 4.776251718099861)
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: 10.674
INFO:root:Testing 37 out of 23200 hypotheses for ramen_pack (evidence > 4.776251718099861)
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: 22.827
INFO:root:Testing 147 out of 14864 hypotheses for hot_sauce (evidence > 4.776251718099861)
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: 24.19
INFO:root:Testing 9 out of 12560 hypotheses for harissa_oil (evidence > 4.776251718099861)
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: 8.169
INFO:root:Testing 8 out of 21832 hypotheses for tomato_soup_can (evidence > 4.776251718099861)
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: 10.491
INFO:root:Testing 9 out of 16976 hypotheses for mustard_bottle (evidence > 4.776251718099861)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 10.378
INFO:root:Testing 21 out of 17728 hypotheses for tuna_fish_can (evidence > 4.776251718099861)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.56
INFO:root:Testing 11 out of 19024 hypotheses for potted_meat_can (evidence > 4.776251718099861)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.439
DEBUG:root:evidences for each object: [ 9.18727815  9.99329033 10.67445657 22.82738781 24.18976879  8.16916411
 10.49118124 10.3778118  14.55976829 10.43888523]
DEBUG:root:mean evidence: 13.091, std: 5.442 -> th=19.35181502925088
INFO:root:current most likely hypothesis: hot_sauce with evidence 24.19
DEBUG:root:evidences for each object: [ 9.18727815  9.99329033 10.67445657 22.82738781 24.18976879  8.16916411
 10.49118124 10.3778118  14.55976829 10.43888523]
DEBUG:root:mean evidence: 13.091, std: 5.442 -> th=19.35181502925088
DEBUG:root:evidences for each object: [ 9.18727815  9.99329033 10.67445657 22.82738781 24.18976879  8.16916411
 10.49118124 10.3778118  14.55976829 10.43888523]
DEBUG:root:mean evidence: 13.091, std: 5.442 -> th=20.561303468579062
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 183 ---
INFO:uvicorn.access:192.168.1.217:65443 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.75560276,  0.23007171,  0.61329559],
       [-0.29128403,  0.95663661,  0.        ],
       [-0.58670102, -0.17864321,  0.78985348]]), 'pose_fully_defined': False}}, {'patch': array([-0.00013198,  0.00189313,  0.00041279])}]
INFO:root:Testing 13 out of 14424 hypotheses for numenta_mug (evidence > 4.837953757312718)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.576
INFO:root:Testing 14 out of 10992 hypotheses for montys_brain (evidence > 4.837953757312718)
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: 10.196
INFO:root:Testing 70 out of 14880 hypotheses for montys_heart (evidence > 4.837953757312718)
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: 10.942
INFO:root:Testing 37 out of 23200 hypotheses for ramen_pack (evidence > 4.837953757312718)
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: 23.226
INFO:root:Testing 147 out of 14864 hypotheses for hot_sauce (evidence > 4.837953757312718)
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: 24.625
INFO:root:Testing 9 out of 12560 hypotheses for harissa_oil (evidence > 4.837953757312718)
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: 8.292
INFO:root:Testing 16 out of 21832 hypotheses for tomato_soup_can (evidence > 4.837953757312718)
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: 10.855
INFO:root:Testing 9 out of 16976 hypotheses for mustard_bottle (evidence > 4.837953757312718)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 10.793
INFO:root:Testing 21 out of 17728 hypotheses for tuna_fish_can (evidence > 4.837953757312718)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.977
INFO:root:Testing 11 out of 19024 hypotheses for potted_meat_can (evidence > 4.837953757312718)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.85
DEBUG:root:evidences for each object: [ 9.5759586  10.1959991  10.94172102 23.22579619 24.62471108  8.29199524
 10.85461117 10.79293627 14.97721498 10.85015131]
DEBUG:root:mean evidence: 13.433, std: 5.494 -> th=19.69976886241862
INFO:root:current most likely hypothesis: hot_sauce with evidence 24.62
DEBUG:root:evidences for each object: [ 9.5759586  10.1959991  10.94172102 23.22579619 24.62471108  8.29199524
 10.85461117 10.79293627 14.97721498 10.85015131]
DEBUG:root:mean evidence: 13.433, std: 5.494 -> th=19.69976886241862
DEBUG:root:evidences for each object: [ 9.5759586  10.1959991  10.94172102 23.22579619 24.62471108  8.29199524
 10.85461117 10.79293627 14.97721498 10.85015131]
DEBUG:root:mean evidence: 13.433, std: 5.494 -> th=20.931004416319784
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: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 184 ---
INFO:uvicorn.access:192.168.1.217:65445 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.73215208, -0.09373985,  0.67466004],
       [ 0.12699664,  0.99190315, -0.        ],
       [-0.66919742,  0.08567956,  0.7381286 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00605947, -0.04486889,  0.00087466])}]
INFO:root:Testing 13 out of 14424 hypotheses for numenta_mug (evidence > 4.924942215604652)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.813
INFO:root:Testing 14 out of 10992 hypotheses for montys_brain (evidence > 4.924942215604652)
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: 10.42
INFO:root:Testing 69 out of 14880 hypotheses for montys_heart (evidence > 4.924942215604652)
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: 11.155
INFO:root:Testing 37 out of 23200 hypotheses for ramen_pack (evidence > 4.924942215604652)
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: 23.359
INFO:root:Testing 146 out of 14864 hypotheses for hot_sauce (evidence > 4.924942215604652)
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: 23.625
INFO:root:Testing 9 out of 12560 hypotheses for harissa_oil (evidence > 4.924942215604652)
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: 8.188
INFO:root:Testing 15 out of 21832 hypotheses for tomato_soup_can (evidence > 4.924942215604652)
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: 11.309
INFO:root:Testing 11 out of 16976 hypotheses for mustard_bottle (evidence > 4.924942215604652)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 10.788
INFO:root:Testing 21 out of 17728 hypotheses for tuna_fish_can (evidence > 4.924942215604652)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.815
INFO:root:Testing 11 out of 19024 hypotheses for potted_meat_can (evidence > 4.924942215604652)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.818
DEBUG:root:evidences for each object: [ 9.81342188 10.42012088 11.15481119 23.3588446  23.62471108  8.18756145
 11.30920168 10.78756712 14.8152585  10.81778979]
DEBUG:root:mean evidence: 13.429, std: 5.268 -> th=18.899768862418618
INFO:root:current most likely hypothesis: hot_sauce with evidence 23.62
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 185 ---
INFO:uvicorn.access:192.168.1.217:65445 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.63447186, -0.05398686,  0.77105828],
       [ 0.08478308,  0.99639943, -0.        ],
       [-0.76828204,  0.0653727 ,  0.63676458]]), 'pose_fully_defined': False}}, {'patch': array([0.00340664, 0.01375431, 0.00373207])}]
INFO:root:Testing 13 out of 14424 hypotheses for numenta_mug (evidence > 4.724942215604653)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.201
INFO:root:Testing 15 out of 10992 hypotheses for montys_brain (evidence > 4.724942215604653)
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: 10.893
INFO:root:Testing 69 out of 14880 hypotheses for montys_heart (evidence > 4.724942215604653)
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: 11.485
INFO:root:Testing 57 out of 23200 hypotheses for ramen_pack (evidence > 4.724942215604653)
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: 23.796
INFO:root:Testing 146 out of 14864 hypotheses for hot_sauce (evidence > 4.724942215604653)
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: 24.029
INFO:root:Testing 18 out of 12560 hypotheses for harissa_oil (evidence > 4.724942215604653)
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: 8.625
INFO:root:Testing 33 out of 21832 hypotheses for tomato_soup_can (evidence > 4.724942215604653)
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: 11.721
INFO:root:Testing 28 out of 16976 hypotheses for mustard_bottle (evidence > 4.724942215604653)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 11.247
INFO:root:Testing 21 out of 17728 hypotheses for tuna_fish_can (evidence > 4.724942215604653)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.995
INFO:root:Testing 11 out of 19024 hypotheses for potted_meat_can (evidence > 4.724942215604653)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.235
DEBUG:root:evidences for each object: [10.20102692 10.89338875 11.48472358 23.79607443 24.02937127  8.62502514
 11.72052407 11.24732682 14.9947795  11.23483984]
DEBUG:root:mean evidence: 13.823, std: 5.263 -> th=19.223497016712937
INFO:root:current most likely hypothesis: hot_sauce with evidence 24.03
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 186 ---
INFO:uvicorn.access:192.168.1.217:65445 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.62058058,  0.00182435,  0.78414056],
       [-0.00293974,  0.99999568,  0.        ],
       [-0.78413717, -0.00230517,  0.62058326]]), 'pose_fully_defined': False}}, {'patch': array([0.00149103, 0.01171825, 0.00218193])}]
INFO:root:Testing 13 out of 14424 hypotheses for numenta_mug (evidence > 4.8058742541782316)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.596
INFO:root:Testing 14 out of 10992 hypotheses for montys_brain (evidence > 4.8058742541782316)
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: 11.32
INFO:root:Testing 66 out of 14880 hypotheses for montys_heart (evidence > 4.8058742541782316)
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: 11.917
INFO:root:Testing 56 out of 23200 hypotheses for ramen_pack (evidence > 4.8058742541782316)
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: 24.269
INFO:root:Testing 140 out of 14864 hypotheses for hot_sauce (evidence > 4.8058742541782316)
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: 24.42
INFO:root:Testing 14 out of 12560 hypotheses for harissa_oil (evidence > 4.8058742541782316)
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: 9.054
INFO:root:Testing 28 out of 21832 hypotheses for tomato_soup_can (evidence > 4.8058742541782316)
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: 12.176
INFO:root:Testing 24 out of 16976 hypotheses for mustard_bottle (evidence > 4.8058742541782316)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 11.719
INFO:root:Testing 21 out of 17728 hypotheses for tuna_fish_can (evidence > 4.8058742541782316)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 15.226
INFO:root:Testing 10 out of 19024 hypotheses for potted_meat_can (evidence > 4.8058742541782316)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.686
DEBUG:root:evidences for each object: [10.59634105 11.31975569 11.91709723 24.26933064 24.41997782  9.05353645
 12.17605258 11.71931064 15.2260489  11.68580564]
DEBUG:root:mean evidence: 14.238, std: 5.258 -> th=19.535982257121965
INFO:root:current most likely hypothesis: hot_sauce with evidence 24.42
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 187 ---
INFO:uvicorn.access:192.168.1.217:65445 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.61529544,  0.04446237,  0.78704169],
       [-0.07207389,  0.9973993 ,  0.        ],
       [-0.78499483, -0.05672515,  0.61689981]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00260168,  0.01412165, -0.00624513])}]
INFO:root:Testing 13 out of 14424 hypotheses for numenta_mug (evidence > 4.8839955642804895)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.842
INFO:root:Testing 14 out of 10992 hypotheses for montys_brain (evidence > 4.8839955642804895)
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: 11.407
INFO:root:Testing 66 out of 14880 hypotheses for montys_heart (evidence > 4.8839955642804895)
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: 12.059
INFO:root:Testing 56 out of 23200 hypotheses for ramen_pack (evidence > 4.8839955642804895)
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: 24.503
INFO:root:Testing 140 out of 14864 hypotheses for hot_sauce (evidence > 4.8839955642804895)
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: 24.734
INFO:root:Testing 14 out of 12560 hypotheses for harissa_oil (evidence > 4.8839955642804895)
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: 9.371
INFO:root:Testing 28 out of 21832 hypotheses for tomato_soup_can (evidence > 4.8839955642804895)
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: 12.481
INFO:root:Testing 23 out of 16976 hypotheses for mustard_bottle (evidence > 4.8839955642804895)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 12.043
INFO:root:Testing 21 out of 17728 hypotheses for tuna_fish_can (evidence > 4.8839955642804895)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 15.506
INFO:root:Testing 11 out of 19024 hypotheses for potted_meat_can (evidence > 4.8839955642804895)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.121
DEBUG:root:evidences for each object: [10.8418268  11.40662781 12.0594592  24.50295146 24.73387628  9.3714404
 12.48120989 12.04272509 15.50568844 12.12109143]
DEBUG:root:mean evidence: 14.507, std: 5.261 -> th=19.78710102091803
INFO:root:current most likely hypothesis: hot_sauce with evidence 24.73
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 188 ---
INFO:uvicorn.access:192.168.1.217:65445 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.54495847,  0.16817532,  0.82142396],
       [-0.29487989,  0.95553433,  0.        ],
       [-0.7848988 , -0.2422214 ,  0.57031804]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00034449,  0.0068194 , -0.00413746])}]
INFO:root:Testing 13 out of 14424 hypotheses for numenta_mug (evidence > 4.9467752552295075)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.058
INFO:root:Testing 14 out of 10992 hypotheses for montys_brain (evidence > 4.9467752552295075)
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: 11.475
INFO:root:Testing 66 out of 14880 hypotheses for montys_heart (evidence > 4.9467752552295075)
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: 12.125
INFO:root:Testing 56 out of 23200 hypotheses for ramen_pack (evidence > 4.9467752552295075)
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: 24.581
INFO:root:Testing 140 out of 14864 hypotheses for hot_sauce (evidence > 4.9467752552295075)
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: 24.786
INFO:root:Testing 14 out of 12560 hypotheses for harissa_oil (evidence > 4.9467752552295075)
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: 8.371
INFO:root:Testing 28 out of 21832 hypotheses for tomato_soup_can (evidence > 4.9467752552295075)
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: 12.307
INFO:root:Testing 23 out of 16976 hypotheses for mustard_bottle (evidence > 4.9467752552295075)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 12.207
INFO:root:Testing 21 out of 17728 hypotheses for tuna_fish_can (evidence > 4.9467752552295075)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 15.777
INFO:root:Testing 11 out of 19024 hypotheses for potted_meat_can (evidence > 4.9467752552295075)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.531
DEBUG:root:evidences for each object: [11.05845736 11.47489054 12.12496984 24.58095261 24.78628459  8.3714404
 12.30706662 12.20737555 15.77688591 12.53104326]
DEBUG:root:mean evidence: 14.522, std: 5.359 -> th=19.829027669491737
INFO:root:current most likely hypothesis: hot_sauce with evidence 24.79
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 189 ---
INFO:uvicorn.access:192.168.1.217:65446 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.61668995,  0.16241053,  0.77027029],
       [-0.25467471,  0.96702678,  0.        ],
       [-0.744872  , -0.19616836,  0.63771756]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00136863, -0.00102191,  0.00021727])}]
INFO:root:Testing 13 out of 14424 hypotheses for numenta_mug (evidence > 4.957256917372934)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.312
INFO:root:Testing 14 out of 10992 hypotheses for montys_brain (evidence > 4.957256917372934)
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: 11.577
INFO:root:Testing 65 out of 14880 hypotheses for montys_heart (evidence > 4.957256917372934)
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: 12.23
INFO:root:Testing 55 out of 23200 hypotheses for ramen_pack (evidence > 4.957256917372934)
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: 24.699
INFO:root:Testing 140 out of 14864 hypotheses for hot_sauce (evidence > 4.957256917372934)
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: 24.959
INFO:root:Testing 13 out of 12560 hypotheses for harissa_oil (evidence > 4.957256917372934)
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: 8.459
INFO:root:Testing 27 out of 21832 hypotheses for tomato_soup_can (evidence > 4.957256917372934)
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: 12.168
INFO:root:Testing 22 out of 16976 hypotheses for mustard_bottle (evidence > 4.957256917372934)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 12.413
INFO:root:Testing 21 out of 17728 hypotheses for tuna_fish_can (evidence > 4.957256917372934)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 16.092
INFO:root:Testing 11 out of 19024 hypotheses for potted_meat_can (evidence > 4.957256917372934)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.973
DEBUG:root:evidences for each object: [11.31181718 11.57668551 12.23040335 24.6987941  24.95897607  8.4588209
 12.16779097 12.41333497 16.09212811 12.97347417]
DEBUG:root:mean evidence: 14.688, std: 5.367 -> th=19.96718085480031
INFO:root:current most likely hypothesis: hot_sauce with evidence 24.96
DEBUG:root:evidences for each object: [11.31181718 11.57668551 12.23040335 24.6987941  24.95897607  8.4588209
 12.16779097 12.41333497 16.09212811 12.97347417]
DEBUG:root:mean evidence: 14.688, std: 5.367 -> th=19.96718085480031
DEBUG:root:evidences for each object: [11.31181718 11.57668551 12.23040335 24.6987941  24.95897607  8.4588209
 12.16779097 12.41333497 16.09212811 12.97347417]
DEBUG:root:mean evidence: 14.688, std: 5.367 -> th=21.215129658225333
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 190 ---
INFO:uvicorn.access:192.168.1.217:65448 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.79140112, -0.54951225, -0.26780693],
       [ 0.57034549,  0.82140491, -0.        ],
       [ 0.21997792, -0.15274247,  0.9634726 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.01440128, -0.04900456, -0.00653984])}]
INFO:root:Testing 13 out of 14424 hypotheses for numenta_mug (evidence > 4.991795213700076)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.679
INFO:root:Testing 14 out of 10992 hypotheses for montys_brain (evidence > 4.991795213700076)
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: 11.909
INFO:root:Testing 64 out of 14880 hypotheses for montys_heart (evidence > 4.991795213700076)
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: 12.602
INFO:root:Testing 54 out of 23200 hypotheses for ramen_pack (evidence > 4.991795213700076)
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: 25.106
INFO:root:Testing 138 out of 14864 hypotheses for hot_sauce (evidence > 4.991795213700076)
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: 24.763
INFO:root:Testing 12 out of 12560 hypotheses for harissa_oil (evidence > 4.991795213700076)
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: 8.861
INFO:root:Testing 23 out of 21832 hypotheses for tomato_soup_can (evidence > 4.991795213700076)
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: 12.471
INFO:root:Testing 22 out of 16976 hypotheses for mustard_bottle (evidence > 4.991795213700076)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 12.711
INFO:root:Testing 21 out of 17728 hypotheses for tuna_fish_can (evidence > 4.991795213700076)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 16.435
INFO:root:Testing 11 out of 19024 hypotheses for potted_meat_can (evidence > 4.991795213700076)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.076
DEBUG:root:evidences for each object: [11.679059   11.90909024 12.60208854 25.10639005 24.7625517   8.86067338
 12.4705849  12.71105483 16.43453439 13.07578116]
DEBUG:root:mean evidence: 14.961, std: 5.281 -> th=20.08511203972001
INFO:root:current most likely hypothesis: ramen_pack with evidence 25.11
DEBUG:root:evidences for each object: [11.679059   11.90909024 12.60208854 25.10639005 24.7625517   8.86067338
 12.4705849  12.71105483 16.43453439 13.07578116]
DEBUG:root:mean evidence: 14.961, std: 5.281 -> th=20.08511203972001
DEBUG:root:evidences for each object: [11.679059   11.90909024 12.60208854 25.10639005 24.7625517   8.86067338
 12.4705849  12.71105483 16.43453439 13.07578116]
DEBUG:root:mean evidence: 14.961, std: 5.281 -> th=21.34043154220251
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 191 ---
INFO:uvicorn.access:192.168.1.217:65450 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.19939362, -0.07887764, -0.97673973],
       [ 0.36785087, -0.9298848 ,  0.        ],
       [-0.90825543, -0.35929456,  0.21442831]]), 'pose_fully_defined': False}}, {'patch': array([ 0.05144697, -0.02924683,  0.00200058])}]
INFO:root:Testing 13 out of 14424 hypotheses for numenta_mug (evidence > 5.0212780099300005)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.679
INFO:root:Testing 14 out of 10992 hypotheses for montys_brain (evidence > 5.0212780099300005)
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: 10.909
INFO:root:Testing 64 out of 14880 hypotheses for montys_heart (evidence > 5.0212780099300005)
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: 11.602
INFO:root:Testing 54 out of 23200 hypotheses for ramen_pack (evidence > 5.0212780099300005)
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: 24.106
INFO:root:Testing 138 out of 14864 hypotheses for hot_sauce (evidence > 5.0212780099300005)
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: 23.763
INFO:root:Testing 8 out of 12560 hypotheses for harissa_oil (evidence > 5.0212780099300005)
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: 7.861
INFO:root:Testing 22 out of 21832 hypotheses for tomato_soup_can (evidence > 5.0212780099300005)
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: 11.471
INFO:root:Testing 21 out of 16976 hypotheses for mustard_bottle (evidence > 5.0212780099300005)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 11.711
INFO:root:Testing 21 out of 17728 hypotheses for tuna_fish_can (evidence > 5.0212780099300005)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 15.435
INFO:root:Testing 11 out of 19024 hypotheses for potted_meat_can (evidence > 5.0212780099300005)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.076
DEBUG:root:evidences for each object: [10.679059   10.90909024 11.60208854 24.10639005 23.7625517   7.86067338
 11.4705849  11.71105483 15.43453439 12.07578116]
DEBUG:root:mean evidence: 13.961, std: 5.281 -> th=19.28511203972001
INFO:root:current most likely hypothesis: ramen_pack with evidence 24.11
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 192 ---
INFO:uvicorn.access:192.168.1.217:65450 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.05322002, -0.20821539, -0.97663401],
       [ 0.96885227, -0.2476394 ,  0.        ],
       [-0.24185305, -0.94621408,  0.21490933]]), 'pose_fully_defined': False}}, {'patch': array([-0.00339767, -0.0051232 ,  0.00173024])}]
INFO:root:Testing 11 out of 14424 hypotheses for numenta_mug (evidence > 4.821278009930001)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.679
INFO:root:Testing 13 out of 10992 hypotheses for montys_brain (evidence > 4.821278009930001)
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: 9.909
INFO:root:Testing 63 out of 14880 hypotheses for montys_heart (evidence > 4.821278009930001)
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: 10.602
INFO:root:Testing 51 out of 23200 hypotheses for ramen_pack (evidence > 4.821278009930001)
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: 23.106
INFO:root:Testing 136 out of 14864 hypotheses for hot_sauce (evidence > 4.821278009930001)
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: 22.763
INFO:root:Testing 14 out of 12560 hypotheses for harissa_oil (evidence > 4.821278009930001)
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: 6.861
INFO:root:Testing 23 out of 21832 hypotheses for tomato_soup_can (evidence > 4.821278009930001)
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: 10.471
INFO:root:Testing 20 out of 16976 hypotheses for mustard_bottle (evidence > 4.821278009930001)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 10.711
INFO:root:Testing 22 out of 17728 hypotheses for tuna_fish_can (evidence > 4.821278009930001)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.435
INFO:root:Testing 12 out of 19024 hypotheses for potted_meat_can (evidence > 4.821278009930001)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.076
DEBUG:root:evidences for each object: [ 9.679059    9.90909024 10.60208854 23.10639005 22.7625517   6.86067338
 10.4705849  10.71105483 14.43453439 11.07578116]
DEBUG:root:mean evidence: 12.961, std: 5.281 -> th=18.485112039720008
INFO:root:current most likely hypothesis: ramen_pack with evidence 23.11
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 193 ---
INFO:uvicorn.access:192.168.1.217:65450 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.70323315, -0.67123851, -0.23431175],
       [ 0.69045987,  0.7233707 , -0.        ],
       [ 0.16949425, -0.16178286,  0.97216151]]), 'pose_fully_defined': False}}, {'patch': array([0.00398528, 0.00666719, 0.00203401])}]
INFO:root:Testing 19 out of 14424 hypotheses for numenta_mug (evidence > 4.621278009930002)
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: 8.679
INFO:root:Testing 16 out of 10992 hypotheses for montys_brain (evidence > 4.621278009930002)
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: 8.909
INFO:root:Testing 59 out of 14880 hypotheses for montys_heart (evidence > 4.621278009930002)
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: 9.602
INFO:root:Testing 66 out of 23200 hypotheses for ramen_pack (evidence > 4.621278009930002)
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: 22.106
INFO:root:Testing 123 out of 14864 hypotheses for hot_sauce (evidence > 4.621278009930002)
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: 21.763
INFO:root:Testing 45 out of 12560 hypotheses for harissa_oil (evidence > 4.621278009930002)
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: 5.861
INFO:root:Testing 48 out of 21832 hypotheses for tomato_soup_can (evidence > 4.621278009930002)
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: 9.471
INFO:root:Testing 25 out of 16976 hypotheses for mustard_bottle (evidence > 4.621278009930002)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 9.711
INFO:root:Testing 37 out of 17728 hypotheses for tuna_fish_can (evidence > 4.621278009930002)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 13.435
INFO:root:Testing 16 out of 19024 hypotheses for potted_meat_can (evidence > 4.621278009930002)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.076
DEBUG:root:evidences for each object: [ 8.679059    8.90909024  9.60208854 22.10639005 21.7625517   5.86067338
  9.4705849   9.71105483 13.43453439 10.07578116]
DEBUG:root:mean evidence: 11.961, std: 5.281 -> th=17.685112039720007
INFO:root:current most likely hypothesis: ramen_pack with evidence 22.11
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 194 ---
INFO:uvicorn.access:192.168.1.217:65451 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.62484776, -0.7419305 , -0.24311399],
       [ 0.76487859,  0.64417446, -0.        ],
       [ 0.15660782, -0.18595269,  0.96999773]]), 'pose_fully_defined': False}}, {'patch': array([-0.05360458,  0.0425095 , -0.0208395 ])}]
INFO:root:Testing 23 out of 14424 hypotheses for numenta_mug (evidence > 4.421278009930003)
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: 8.811
INFO:root:Testing 14 out of 10992 hypotheses for montys_brain (evidence > 4.421278009930003)
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: 9.009
INFO:root:Testing 49 out of 14880 hypotheses for montys_heart (evidence > 4.421278009930003)
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: 9.898
INFO:root:Testing 77 out of 23200 hypotheses for ramen_pack (evidence > 4.421278009930003)
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: 22.263
INFO:root:Testing 115 out of 14864 hypotheses for hot_sauce (evidence > 4.421278009930003)
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: 21.877
INFO:root:Testing 53 out of 12560 hypotheses for harissa_oil (evidence > 4.421278009930003)
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: 5.628
INFO:root:Testing 58 out of 21832 hypotheses for tomato_soup_can (evidence > 4.421278009930003)
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: 9.598
INFO:root:Testing 36 out of 16976 hypotheses for mustard_bottle (evidence > 4.421278009930003)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 9.788
INFO:root:Testing 58 out of 17728 hypotheses for tuna_fish_can (evidence > 4.421278009930003)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 13.561
INFO:root:Testing 35 out of 19024 hypotheses for potted_meat_can (evidence > 4.421278009930003)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.125
DEBUG:root:evidences for each object: [ 8.81135887  9.00945456  9.89807923 22.26316516 21.87695401  5.62821388
  9.59758041  9.78756761 13.56073599 10.12510868]
DEBUG:root:mean evidence: 12.056, std: 5.325 -> th=17.81053212743917
INFO:root:current most likely hypothesis: ramen_pack with evidence 22.26
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 195 ---
INFO:uvicorn.access:192.168.1.217:65451 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.40976078, -0.76744308, -0.49307932],
       [ 0.88213435,  0.47099787, -0.        ],
       [ 0.23223931, -0.4349622 ,  0.86998436]]), 'pose_fully_defined': False}}, {'patch': array([-0.00815846, -0.00700251,  0.00400622])}]
INFO:root:Testing 19 out of 14424 hypotheses for numenta_mug (evidence > 4.4526330318597935)
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: 8.995
INFO:root:Testing 14 out of 10992 hypotheses for montys_brain (evidence > 4.4526330318597935)
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: 9.183
INFO:root:Testing 49 out of 14880 hypotheses for montys_heart (evidence > 4.4526330318597935)
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: 10.228
INFO:root:Testing 66 out of 23200 hypotheses for ramen_pack (evidence > 4.4526330318597935)
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: 22.554
INFO:root:Testing 109 out of 14864 hypotheses for hot_sauce (evidence > 4.4526330318597935)
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: 21.967
INFO:root:Testing 42 out of 12560 hypotheses for harissa_oil (evidence > 4.4526330318597935)
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: 6.036
INFO:root:Testing 54 out of 21832 hypotheses for tomato_soup_can (evidence > 4.4526330318597935)
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: 10.014
INFO:root:Testing 29 out of 16976 hypotheses for mustard_bottle (evidence > 4.4526330318597935)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 9.969
INFO:root:Testing 44 out of 17728 hypotheses for tuna_fish_can (evidence > 4.4526330318597935)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 13.921
INFO:root:Testing 28 out of 19024 hypotheses for potted_meat_can (evidence > 4.4526330318597935)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.394
DEBUG:root:evidences for each object: [ 8.99503655  9.1833398  10.22842816 22.55431273 21.96706955  6.03644286
 10.0137629   9.9690814  13.92067054 10.3944084 ]
DEBUG:root:mean evidence: 12.326, std: 5.288 -> th=18.043450180808797
INFO:root:current most likely hypothesis: ramen_pack with evidence 22.55
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 196 ---
INFO:uvicorn.access:192.168.1.217:65451 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.46717661, -0.704615  , -0.53410085],
       [ 0.83344889,  0.55259655, -0.        ],
       [ 0.29514229, -0.44514576,  0.84542077]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00274185, -0.001998  , -0.00046163])}]
INFO:root:Testing 30 out of 14424 hypotheses for numenta_mug (evidence > 4.5108625452021975)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.223
INFO:root:Testing 21 out of 10992 hypotheses for montys_brain (evidence > 4.5108625452021975)
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: 9.444
INFO:root:Testing 49 out of 14880 hypotheses for montys_heart (evidence > 4.5108625452021975)
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: 10.592
INFO:root:Testing 62 out of 23200 hypotheses for ramen_pack (evidence > 4.5108625452021975)
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: 22.884
INFO:root:Testing 106 out of 14864 hypotheses for hot_sauce (evidence > 4.5108625452021975)
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: 22.083
INFO:root:Testing 31 out of 12560 hypotheses for harissa_oil (evidence > 4.5108625452021975)
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: 6.467
INFO:root:Testing 50 out of 21832 hypotheses for tomato_soup_can (evidence > 4.5108625452021975)
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: 10.44
INFO:root:Testing 26 out of 16976 hypotheses for mustard_bottle (evidence > 4.5108625452021975)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 10.394
INFO:root:Testing 31 out of 17728 hypotheses for tuna_fish_can (evidence > 4.5108625452021975)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.304
INFO:root:Testing 24 out of 19024 hypotheses for potted_meat_can (evidence > 4.5108625452021975)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.865
DEBUG:root:evidences for each object: [ 9.22296364  9.44350339 10.59249884 22.88375679 22.08270412  6.46663383
 10.43984377 10.39402596 14.30438423 10.86498357]
DEBUG:root:mean evidence: 12.67, std: 5.235 -> th=18.30700543582275
INFO:root:current most likely hypothesis: ramen_pack with evidence 22.88
DEBUG:root:evidences for each object: [ 9.22296364  9.44350339 10.59249884 22.88375679 22.08270412  6.46663383
 10.43984377 10.39402596 14.30438423 10.86498357]
DEBUG:root:mean evidence: 12.67, std: 5.235 -> th=18.30700543582275
DEBUG:root:evidences for each object: [ 9.22296364  9.44350339 10.59249884 22.88375679 22.08270412  6.46663383
 10.43984377 10.39402596 14.30438423 10.86498357]
DEBUG:root:mean evidence: 12.67, std: 5.235 -> th=19.45119327556167
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 197 ---
INFO:uvicorn.access:192.168.1.217:65451 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.42785872, -0.78448158, -0.44891599],
       [ 0.87791454,  0.47881735, -0.        ],
       [ 0.21494877, -0.39410988,  0.89357397]]), 'pose_fully_defined': False}}, {'patch': array([-0.00465843, -0.00647701,  0.01128785])}]
INFO:root:Testing 22 out of 14424 hypotheses for numenta_mug (evidence > 4.576751358955686)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.491
INFO:root:Testing 20 out of 10992 hypotheses for montys_brain (evidence > 4.576751358955686)
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: 9.719
INFO:root:Testing 49 out of 14880 hypotheses for montys_heart (evidence > 4.576751358955686)
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: 11.011
INFO:root:Testing 59 out of 23200 hypotheses for ramen_pack (evidence > 4.576751358955686)
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: 23.111
INFO:root:Testing 106 out of 14864 hypotheses for hot_sauce (evidence > 4.576751358955686)
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: 22.073
INFO:root:Testing 26 out of 12560 hypotheses for harissa_oil (evidence > 4.576751358955686)
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: 6.954
INFO:root:Testing 49 out of 21832 hypotheses for tomato_soup_can (evidence > 4.576751358955686)
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: 10.94
INFO:root:Testing 23 out of 16976 hypotheses for mustard_bottle (evidence > 4.576751358955686)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 10.738
INFO:root:Testing 27 out of 17728 hypotheses for tuna_fish_can (evidence > 4.576751358955686)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.727
INFO:root:Testing 22 out of 19024 hypotheses for potted_meat_can (evidence > 4.576751358955686)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.327
DEBUG:root:evidences for each object: [ 9.49053423  9.71949212 11.01069127 23.11090971 22.07261909  6.95370985
 10.93984377 10.7379338  14.72655035 11.3271206 ]
DEBUG:root:mean evidence: 13.009, std: 5.131 -> th=18.488727769019523
INFO:root:current most likely hypothesis: ramen_pack with evidence 23.11
DEBUG:root:evidences for each object: [ 9.49053423  9.71949212 11.01069127 23.11090971 22.07261909  6.95370985
 10.93984377 10.7379338  14.72655035 11.3271206 ]
DEBUG:root:mean evidence: 13.009, std: 5.131 -> th=18.488727769019523
DEBUG:root:evidences for each object: [ 9.49053423  9.71949212 11.01069127 23.11090971 22.07261909  6.95370985
 10.93984377 10.7379338  14.72655035 11.3271206 ]
DEBUG:root:mean evidence: 13.009, std: 5.131 -> th=19.64427325458324
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 198 ---
INFO:uvicorn.access:192.168.1.217:65451 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.37401168, -0.82096227, -0.43143506],
       [ 0.91001246,  0.41458091, -0.        ],
       [ 0.17886474, -0.39261128,  0.902144  ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00234398, -0.000813  ,  0.00234368])}]
INFO:root:Testing 32 out of 14424 hypotheses for numenta_mug (evidence > 4.62218194225488)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.633
INFO:root:Testing 20 out of 10992 hypotheses for montys_brain (evidence > 4.62218194225488)
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: 9.945
INFO:root:Testing 48 out of 14880 hypotheses for montys_heart (evidence > 4.62218194225488)
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: 11.274
INFO:root:Testing 54 out of 23200 hypotheses for ramen_pack (evidence > 4.62218194225488)
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: 23.395
INFO:root:Testing 104 out of 14864 hypotheses for hot_sauce (evidence > 4.62218194225488)
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: 22.085
INFO:root:Testing 21 out of 12560 hypotheses for harissa_oil (evidence > 4.62218194225488)
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: 7.431
INFO:root:Testing 42 out of 21832 hypotheses for tomato_soup_can (evidence > 4.62218194225488)
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: 11.44
INFO:root:Testing 21 out of 16976 hypotheses for mustard_bottle (evidence > 4.62218194225488)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 11.104
INFO:root:Testing 26 out of 17728 hypotheses for tuna_fish_can (evidence > 4.62218194225488)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 15.151
INFO:root:Testing 21 out of 19024 hypotheses for potted_meat_can (evidence > 4.62218194225488)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.722
DEBUG:root:evidences for each object: [ 9.63263428  9.94526594 11.27351789 23.39539722 22.08518451  7.4310715
 11.43984377 11.1043553  15.15075844 11.72173065]
DEBUG:root:mean evidence: 13.318, std: 5.065 -> th=18.716317773172285
INFO:root:current most likely hypothesis: ramen_pack with evidence 23.4
DEBUG:root:evidences for each object: [ 9.63263428  9.94526594 11.27351789 23.39539722 22.08518451  7.4310715
 11.43984377 11.1043553  15.15075844 11.72173065]
DEBUG:root:mean evidence: 13.318, std: 5.065 -> th=18.716317773172285
DEBUG:root:evidences for each object: [ 9.63263428  9.94526594 11.27351789 23.39539722 22.08518451  7.4310715
 11.43984377 11.1043553  15.15075844 11.72173065]
DEBUG:root:mean evidence: 13.318, std: 5.065 -> th=19.886087633995555
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 199 ---
INFO:uvicorn.access:192.168.1.217:65451 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.44525667, -0.70668093, -0.54986231],
       [ 0.84606577,  0.53307853, -0.        ],
       [ 0.29311979, -0.46521968,  0.83525531]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00587449,  0.00349098, -0.00880066])}]
INFO:root:Testing 29 out of 14424 hypotheses for numenta_mug (evidence > 4.67907944329307)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.01
INFO:root:Testing 19 out of 10992 hypotheses for montys_brain (evidence > 4.67907944329307)
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: 10.218
INFO:root:Testing 47 out of 14880 hypotheses for montys_heart (evidence > 4.67907944329307)
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: 11.669
INFO:root:Testing 48 out of 23200 hypotheses for ramen_pack (evidence > 4.67907944329307)
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: 23.702
INFO:root:Testing 103 out of 14864 hypotheses for hot_sauce (evidence > 4.67907944329307)
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: 22.068
INFO:root:Testing 21 out of 12560 hypotheses for harissa_oil (evidence > 4.67907944329307)
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: 7.873
INFO:root:Testing 42 out of 21832 hypotheses for tomato_soup_can (evidence > 4.67907944329307)
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: 11.94
INFO:root:Testing 21 out of 16976 hypotheses for mustard_bottle (evidence > 4.67907944329307)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 11.574
INFO:root:Testing 23 out of 17728 hypotheses for tuna_fish_can (evidence > 4.67907944329307)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 15.556
INFO:root:Testing 21 out of 19024 hypotheses for potted_meat_can (evidence > 4.67907944329307)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.189
DEBUG:root:evidences for each object: [10.010242   10.21754841 11.66947884 23.7024797  22.06785556  7.87342181
 11.93984377 11.57362268 15.5558483  12.18851444]
DEBUG:root:mean evidence: 13.68, std: 4.972 -> th=18.961983759633043
INFO:root:current most likely hypothesis: ramen_pack with evidence 23.7
DEBUG:root:evidences for each object: [10.010242   10.21754841 11.66947884 23.7024797  22.06785556  7.87342181
 11.93984377 11.57362268 15.5558483  12.18851444]
DEBUG:root:mean evidence: 13.68, std: 4.972 -> th=18.961983759633043
DEBUG:root:evidences for each object: [10.010242   10.21754841 11.66947884 23.7024797  22.06785556  7.87342181
 11.93984377 11.57362268 15.5558483  12.18851444]
DEBUG:root:mean evidence: 13.68, std: 4.972 -> th=20.147107744610107
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'hot_sauce'}
INFO:root:--- Global Matching Step 200 ---
INFO:root:saving model to /Users/nleadholm/tbp/results/monty/projects/evidence_eval_runs/logs/probe_triggered_data_collection_for_learning/montys_brain/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/montys_brain/log.txt (NOTSET)>
