INFO:root:Logger initialized at 2025-10-01 12:33:49.309477
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_heart/observations',
                                    'vive_url': 'http://192.168.1.237:3001/pose'},
                  'env_init_func': <class 'custom_classes.probe_triggered_environment.ProbeTriggeredUltrasoundEnvironment'>,
                  'rng': RandomState(MT19937) at 0x7FA8E09A1440,
                  '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_heart',
                    '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': 'j1ptlkkw'},
 '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([[ 0.90514765,  0.04980763,  0.42216931],
       [-0.05494395,  0.99848944,  0.        ],
       [-0.4215316 , -0.02319565,  0.906517  ]]), 'pose_fully_defined': False}}, None]
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.0
INFO:root:current most likely hypothesis: numenta_mug with evidence 0.0
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'tuna_fish_can', 'potted_meat_can', 'hot_sauce', 'tomato_soup_can', 'montys_brain', 'harissa_oil', 'numenta_mug'}
INFO:root:--- Global Matching Step 1 ---
INFO:uvicorn.access:192.168.1.217:65506 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.86270899,  0.00690536, -0.50565356],
       [-0.00800402,  0.99996797,  0.        ],
       [ 0.50563736,  0.00404726,  0.86273662]]), 'pose_fully_defined': False}}, {'patch': array([-0.00701072,  0.08417465, -0.02482113])}]
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 0.04 seconds. New max evidence: 0.475
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 0.03 seconds. New max evidence: -1.0
INFO:root:Testing 14880 out of 14880 hypotheses for montys_heart (evidence > 0.0)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.04 seconds. New max evidence: 0.5
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 0.06 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: 0.496
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: 0.063
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: 0.497
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: 0.156
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
DEBUG:root:evidences for each object: [ 0.47497289 -1.          0.5         0.5         0.49643443  0.06342889
  0.5         0.49682824  0.15575996  0.5       ]
DEBUG:root:mean evidence: 0.269, std: 0.45 -> th=0.4
INFO:root:current most likely hypothesis: montys_heart with evidence 0.5
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 2 ---
INFO:uvicorn.access:192.168.1.217:65506 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.88946268,  0.01024308, -0.45689302],
       [-0.01151527,  0.9999337 ,  0.        ],
       [ 0.45686272,  0.00526125,  0.88952165]]), 'pose_fully_defined': False}}, {'patch': array([-0.00013971, -0.00147115, -0.00816077])}]
INFO:root:Testing 253 out of 14424 hypotheses for numenta_mug (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.945
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 83 out of 14880 hypotheses for montys_heart (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.909
INFO:root:Testing 925 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 0.0 seconds. New max evidence: 1.0
INFO:root:Testing 696 out of 14864 hypotheses for hot_sauce (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.984
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 471 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 0.0 seconds. New max evidence: 0.96
INFO:root:Testing 792 out of 16976 hypotheses for mustard_bottle (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.975
INFO:root:Testing 4 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 0.0 seconds. New max evidence: 0.272
INFO:root:Testing 502 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 0.0 seconds. New max evidence: 1.0
DEBUG:root:evidences for each object: [ 0.94541087 -1.          0.90940146  1.          0.98375071  0.06342889
  0.95955686  0.97504239  0.27244753  1.        ]
DEBUG:root:mean evidence: 0.611, std: 0.625 -> th=0.8
INFO:root:current most likely hypothesis: ramen_pack with evidence 1.0
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 3 ---
INFO:uvicorn.access:192.168.1.217:65506 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.89665505,  0.09271464,  0.43291306],
       [-0.10285219,  0.99469665,  0.        ],
       [-0.43061717, -0.04452606,  0.90143568]]), 'pose_fully_defined': False}}, {'patch': array([0.00647515, 0.0047065 , 0.01573765])}]
INFO:root:Testing 176 out of 14424 hypotheses for numenta_mug (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.302
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 58 out of 14880 hypotheses for montys_heart (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.248
INFO:root:Testing 637 out of 23200 hypotheses for ramen_pack (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.359
INFO:root:Testing 467 out of 14864 hypotheses for hot_sauce (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.446
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 357 out of 21832 hypotheses for tomato_soup_can (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.337
INFO:root:Testing 620 out of 16976 hypotheses for mustard_bottle (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 1.392
INFO:root:Testing 2 out of 17728 hypotheses for tuna_fish_can (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.346
INFO:root:Testing 345 out of 19024 hypotheses for potted_meat_can (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.139
DEBUG:root:evidences for each object: [ 1.30173042 -1.          1.24762249  1.35863377  1.44573457  0.06342889
  1.33672753  1.39168445  0.34551656  1.13856902]
DEBUG:root:mean evidence: 0.863, std: 0.767 -> th=1.1565876565889057
INFO:root:current most likely hypothesis: hot_sauce with evidence 1.45
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 4 ---
INFO:uvicorn.access:192.168.1.217:65506 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.94214565,  0.10542096,  0.31819491],
       [-0.11120057,  0.99379798,  0.        ],
       [-0.31622146, -0.03538346,  0.94802532]]), 'pose_fully_defined': False}}, {'patch': array([-0.00012749, -0.01258972, -0.00167638])}]
INFO:root:Testing 107 out of 14424 hypotheses for numenta_mug (evidence > 0.2891469141472265)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.77
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 38 out of 14880 hypotheses for montys_heart (evidence > 0.2891469141472265)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.589
INFO:root:Testing 495 out of 23200 hypotheses for ramen_pack (evidence > 0.2891469141472265)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.798
INFO:root:Testing 379 out of 14864 hypotheses for hot_sauce (evidence > 0.2891469141472265)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.885
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 258 out of 21832 hypotheses for tomato_soup_can (evidence > 0.2891469141472265)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.791
INFO:root:Testing 456 out of 16976 hypotheses for mustard_bottle (evidence > 0.2891469141472265)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 1.818
INFO:root:Testing 1 out of 17728 hypotheses for tuna_fish_can (evidence > 0.2891469141472265)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 209 out of 19024 hypotheses for potted_meat_can (evidence > 0.2891469141472265)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.565
DEBUG:root:evidences for each object: [ 1.76954227 -1.          1.58894802  1.79751953  1.88517591  0.06342889
  1.79067438  1.81814403  0.26971313  1.56540659]
DEBUG:root:mean evidence: 1.155, std: 0.956 -> th=1.5081407302746863
INFO:root:current most likely hypothesis: hot_sauce with evidence 1.89
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 5 ---
INFO:uvicorn.access:192.168.1.217:65506 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98044219,  0.0991005 ,  0.17003591],
       [-0.10056494,  0.9949305 ,  0.        ],
       [-0.16917392, -0.01709965,  0.98543787]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00177798, -0.0008011 , -0.00567319])}]
INFO:root:Testing 103 out of 14424 hypotheses for numenta_mug (evidence > 0.3770351825686715)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.175
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 34 out of 14880 hypotheses for montys_heart (evidence > 0.3770351825686715)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.026
INFO:root:Testing 480 out of 23200 hypotheses for ramen_pack (evidence > 0.3770351825686715)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.271
INFO:root:Testing 374 out of 14864 hypotheses for hot_sauce (evidence > 0.3770351825686715)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.365
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 242 out of 21832 hypotheses for tomato_soup_can (evidence > 0.3770351825686715)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.231
INFO:root:Testing 445 out of 16976 hypotheses for mustard_bottle (evidence > 0.3770351825686715)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.264
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 178 out of 19024 hypotheses for potted_meat_can (evidence > 0.3770351825686715)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.98
DEBUG:root:evidences for each object: [ 2.17515119 -1.          2.02606838  2.27052877  2.3652722   0.06342889
  2.23105986  2.26419428  0.26971313  1.9796624 ]
DEBUG:root:mean evidence: 1.465, std: 1.151 -> th=1.892217760821421
INFO:root:current most likely hypothesis: hot_sauce with evidence 2.37
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 6 ---
INFO:uvicorn.access:192.168.1.217:65506 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.997937  ,  0.0597854 , -0.0233975 ],
       [-0.05980177,  0.99821027,  0.        ],
       [ 0.02335562,  0.00139921,  0.99972624]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00076585, -0.00230025, -0.00510627])}]
INFO:root:Testing 101 out of 14424 hypotheses for numenta_mug (evidence > 0.47305444020535514)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.648
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 34 out of 14880 hypotheses for montys_heart (evidence > 0.47305444020535514)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.36
INFO:root:Testing 460 out of 23200 hypotheses for ramen_pack (evidence > 0.47305444020535514)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.712
INFO:root:Testing 371 out of 14864 hypotheses for hot_sauce (evidence > 0.47305444020535514)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.814
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 224 out of 21832 hypotheses for tomato_soup_can (evidence > 0.47305444020535514)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.691
INFO:root:Testing 421 out of 16976 hypotheses for mustard_bottle (evidence > 0.47305444020535514)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.717
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 167 out of 19024 hypotheses for potted_meat_can (evidence > 0.47305444020535514)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 2.348
DEBUG:root:evidences for each object: [ 2.64781685 -1.          2.36031712  2.71176133  2.81421612  0.06342889
  2.69063054  2.71685579  0.26971313  2.34769342]
DEBUG:root:mean evidence: 1.762, std: 1.342 -> th=2.2513728985157244
INFO:root:current most likely hypothesis: hot_sauce with evidence 2.81
DEBUG:root:evidences for each object: [ 2.64781685 -1.          2.36031712  2.71176133  2.81421612  0.06342889
  2.69063054  2.71685579  0.26971313  2.34769342]
DEBUG:root:mean evidence: 1.762, std: 1.342 -> th=2.2513728985157244
DEBUG:root:evidences for each object: [ 2.64781685 -1.          2.36031712  2.71176133  2.81421612  0.06342889
  2.69063054  2.71685579  0.26971313  2.34769342]
DEBUG:root:mean evidence: 1.762, std: 1.342 -> th=2.392083704672957
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 7 ---
INFO:uvicorn.access:192.168.1.217:65508 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98658047,  0.11083394,  0.11989498],
       [-0.11163924,  0.9937488 ,  0.        ],
       [-0.11914549, -0.01338498,  0.99278658]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00913624, -0.01733985,  0.01976203])}]
INFO:root:Testing 95 out of 14424 hypotheses for numenta_mug (evidence > 0.562843224628931)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.542
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 35 out of 14880 hypotheses for montys_heart (evidence > 0.562843224628931)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.835
INFO:root:Testing 427 out of 23200 hypotheses for ramen_pack (evidence > 0.562843224628931)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.895
INFO:root:Testing 326 out of 14864 hypotheses for hot_sauce (evidence > 0.562843224628931)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.054
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 206 out of 21832 hypotheses for tomato_soup_can (evidence > 0.562843224628931)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.813
INFO:root:Testing 396 out of 16976 hypotheses for mustard_bottle (evidence > 0.562843224628931)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.114
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 153 out of 19024 hypotheses for potted_meat_can (evidence > 0.562843224628931)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 2.407
DEBUG:root:evidences for each object: [ 2.54243605 -1.          2.83517589  2.89507607  3.05386242  0.06342889
  2.81277484  3.1137488   0.26971313  2.40677023]
DEBUG:root:mean evidence: 1.899, std: 1.436 -> th=2.4909990381605995
INFO:root:current most likely hypothesis: mustard_bottle with evidence 3.11
DEBUG:root:evidences for each object: [ 2.54243605 -1.          2.83517589  2.89507607  3.05386242  0.06342889
  2.81277484  3.1137488   0.26971313  2.40677023]
DEBUG:root:mean evidence: 1.899, std: 1.436 -> th=2.4909990381605995
DEBUG:root:evidences for each object: [ 2.54243605 -1.          2.83517589  2.89507607  3.05386242  0.06342889
  2.81277484  3.1137488   0.26971313  2.40677023]
DEBUG:root:mean evidence: 1.899, std: 1.436 -> th=2.6466864780456367
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 8 ---
INFO:uvicorn.access:192.168.1.217:65508 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99589933,  0.06047477, -0.06728546],
       [-0.06061213,  0.99816139,  0.        ],
       [ 0.06716175,  0.00407831,  0.99773377]]), 'pose_fully_defined': False}}, {'patch': array([-0.00414163, -0.00123318, -0.0099278 ])}]
INFO:root:Testing 73 out of 14424 hypotheses for numenta_mug (evidence > 0.6227497595401497)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.027
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 35 out of 14880 hypotheses for montys_heart (evidence > 0.6227497595401497)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.325
INFO:root:Testing 373 out of 23200 hypotheses for ramen_pack (evidence > 0.6227497595401497)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.306
INFO:root:Testing 286 out of 14864 hypotheses for hot_sauce (evidence > 0.6227497595401497)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.513
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 133 out of 21832 hypotheses for tomato_soup_can (evidence > 0.6227497595401497)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 3.279
INFO:root:Testing 382 out of 16976 hypotheses for mustard_bottle (evidence > 0.6227497595401497)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.506
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 135 out of 19024 hypotheses for potted_meat_can (evidence > 0.6227497595401497)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 2.647
DEBUG:root:evidences for each object: [ 3.02733198 -1.          3.32527818  3.30580055  3.51278161  0.06342889
  3.27924301  3.50638815  0.26971313  2.64702259]
DEBUG:root:mean evidence: 2.194, std: 1.628 -> th=2.8102252889308144
INFO:root:current most likely hypothesis: hot_sauce with evidence 3.51
DEBUG:root:evidences for each object: [ 3.02733198 -1.          3.32527818  3.30580055  3.51278161  0.06342889
  3.27924301  3.50638815  0.26971313  2.64702259]
DEBUG:root:mean evidence: 2.194, std: 1.628 -> th=2.8102252889308144
DEBUG:root:evidences for each object: [ 3.02733198 -1.          3.32527818  3.30580055  3.51278161  0.06342889
  3.27924301  3.50638815  0.26971313  2.64702259]
DEBUG:root:mean evidence: 2.194, std: 1.628 -> th=2.9858643694889904
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 9 ---
INFO:uvicorn.access:192.168.1.217:65508 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.69745334,  0.18710196,  0.69177431],
       [-0.25910316,  0.96584965,  0.        ],
       [-0.66814998, -0.17924091,  0.72211377]]), 'pose_fully_defined': False}}, {'patch': array([-0.00579015, -0.00675912,  0.02818938])}]
INFO:root:Testing 65 out of 14424 hypotheses for numenta_mug (evidence > 0.7025563222327036)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.45
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 35 out of 14880 hypotheses for montys_heart (evidence > 0.7025563222327036)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.78
INFO:root:Testing 344 out of 23200 hypotheses for ramen_pack (evidence > 0.7025563222327036)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.646
INFO:root:Testing 263 out of 14864 hypotheses for hot_sauce (evidence > 0.7025563222327036)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.919
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 110 out of 21832 hypotheses for tomato_soup_can (evidence > 0.7025563222327036)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 3.701
INFO:root:Testing 337 out of 16976 hypotheses for mustard_bottle (evidence > 0.7025563222327036)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.898
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 121 out of 19024 hypotheses for potted_meat_can (evidence > 0.7025563222327036)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 2.979
DEBUG:root:evidences for each object: [ 3.44976434 -1.          3.77981885  3.64593144  3.91899955  0.06342889
  3.70102252  3.89798497  0.26971313  2.9786228 ]
DEBUG:root:mean evidence: 2.471, std: 1.807 -> th=3.1351996439770367
INFO:root:current most likely hypothesis: hot_sauce with evidence 3.92
DEBUG:root:evidences for each object: [ 3.44976434 -1.          3.77981885  3.64593144  3.91899955  0.06342889
  3.70102252  3.89798497  0.26971313  2.9786228 ]
DEBUG:root:mean evidence: 2.471, std: 1.807 -> th=3.1351996439770367
DEBUG:root:evidences for each object: [ 3.44976434 -1.          3.77981885  3.64593144  3.91899955  0.06342889
  3.70102252  3.89798497  0.26971313  2.9786228 ]
DEBUG:root:mean evidence: 2.471, std: 1.807 -> th=3.3311496217256016
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 10 ---
INFO:uvicorn.access:192.168.1.217:65508 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.78253623,  0.18912472,  0.59318538],
       [-0.23491831,  0.97201512,  0.        ],
       [-0.57658515, -0.1393501 ,  0.8050659 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00063687, -0.01396503,  0.00031165])}]
INFO:root:Testing 54 out of 14424 hypotheses for numenta_mug (evidence > 0.7837999109942588)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.873
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 29 out of 14880 hypotheses for montys_heart (evidence > 0.7837999109942588)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.161
INFO:root:Testing 286 out of 23200 hypotheses for ramen_pack (evidence > 0.7837999109942588)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.146
INFO:root:Testing 222 out of 14864 hypotheses for hot_sauce (evidence > 0.7837999109942588)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.38
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 99 out of 21832 hypotheses for tomato_soup_can (evidence > 0.7837999109942588)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 4.115
INFO:root:Testing 290 out of 16976 hypotheses for mustard_bottle (evidence > 0.7837999109942588)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.339
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 93 out of 19024 hypotheses for potted_meat_can (evidence > 0.7837999109942588)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.375
DEBUG:root:evidences for each object: [ 3.87298815 -1.          4.16093722  4.14593144  4.37966268  0.06342889
  4.11517037  4.33919724  0.26971313  3.37496682]
DEBUG:root:mean evidence: 2.772, std: 2.002 -> th=3.503730143706952
INFO:root:current most likely hypothesis: hot_sauce with evidence 4.38
DEBUG:root:evidences for each object: [ 3.87298815 -1.          4.16093722  4.14593144  4.37966268  0.06342889
  4.11517037  4.33919724  0.26971313  3.37496682]
DEBUG:root:mean evidence: 2.772, std: 2.002 -> th=3.503730143706952
DEBUG:root:evidences for each object: [ 3.87298815 -1.          4.16093722  4.14593144  4.37966268  0.06342889
  4.11517037  4.33919724  0.26971313  3.37496682]
DEBUG:root:mean evidence: 2.772, std: 2.002 -> th=3.722713277688637
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: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 11 ---
INFO:uvicorn.access:192.168.1.217:65508 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.94591893,  0.15905319,  0.28273566],
       [-0.16581895,  0.98615621,  0.        ],
       [-0.27882153, -0.04688293,  0.95919786]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00566689,  0.00090765, -0.0114925 ])}]
INFO:root:Testing 51 out of 14424 hypotheses for numenta_mug (evidence > 0.8759325359267378)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.305
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 31 out of 14880 hypotheses for montys_heart (evidence > 0.8759325359267378)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.639
INFO:root:Testing 272 out of 23200 hypotheses for ramen_pack (evidence > 0.8759325359267378)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.601
INFO:root:Testing 202 out of 14864 hypotheses for hot_sauce (evidence > 0.8759325359267378)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.803
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 90 out of 21832 hypotheses for tomato_soup_can (evidence > 0.8759325359267378)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 4.539
INFO:root:Testing 285 out of 16976 hypotheses for mustard_bottle (evidence > 0.8759325359267378)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No 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
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 89 out of 19024 hypotheses for potted_meat_can (evidence > 0.8759325359267378)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.778
DEBUG:root:evidences for each object: [ 4.30493958 -1.          4.63905131  4.60059884  4.80275234  0.06342889
  4.53879307  4.74073625  0.26971313  3.77783442]
DEBUG:root:mean evidence: 3.074, std: 2.196 -> th=3.8422018720482356
INFO:root:current most likely hypothesis: hot_sauce with evidence 4.8
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 12 ---
INFO:uvicorn.access:192.168.1.217:65508 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98804677,  0.11899898,  0.09799395],
       [-0.11957449,  0.99282523,  0.        ],
       [-0.09729087, -0.01171758,  0.99518701]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0007682 , -0.00039341, -0.00843416])}]
INFO:root:Testing 51 out of 14424 hypotheses for numenta_mug (evidence > 0.9605504680120589)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.759
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 30 out of 14880 hypotheses for montys_heart (evidence > 0.9605504680120589)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.119
INFO:root:Testing 271 out of 23200 hypotheses for ramen_pack (evidence > 0.9605504680120589)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.008
INFO:root:Testing 219 out of 14864 hypotheses for hot_sauce (evidence > 0.9605504680120589)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.247
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 89 out of 21832 hypotheses for tomato_soup_can (evidence > 0.9605504680120589)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 4.989
INFO:root:Testing 282 out of 16976 hypotheses for mustard_bottle (evidence > 0.9605504680120589)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.144
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 88 out of 19024 hypotheses for potted_meat_can (evidence > 0.9605504680120589)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.094
DEBUG:root:evidences for each object: [ 4.75898746 -1.          5.11940986  5.0081152   5.24729313  0.06342889
  4.98877982  5.14410856  0.26971313  4.09416805]
DEBUG:root:mean evidence: 3.369, std: 2.39 -> th=4.197834505539667
INFO:root:current most likely hypothesis: hot_sauce with evidence 5.25
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 13 ---
INFO:uvicorn.access:192.168.1.217:65508 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.87299054,  0.07309694,  0.48222853],
       [-0.08343967,  0.99651283,  0.        ],
       [-0.48054692, -0.04023699,  0.87604546]]), 'pose_fully_defined': False}}, {'patch': array([-0.00388418, -0.00139239,  0.01683149])}]
INFO:root:Testing 50 out of 14424 hypotheses for numenta_mug (evidence > 1.0494586263849168)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.232
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 30 out of 14880 hypotheses for montys_heart (evidence > 1.0494586263849168)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.564
INFO:root:Testing 270 out of 23200 hypotheses for ramen_pack (evidence > 1.0494586263849168)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.493
INFO:root:Testing 219 out of 14864 hypotheses for hot_sauce (evidence > 1.0494586263849168)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.696
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 91 out of 21832 hypotheses for tomato_soup_can (evidence > 1.0494586263849168)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 5.444
INFO:root:Testing 282 out of 16976 hypotheses for mustard_bottle (evidence > 1.0494586263849168)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.64
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 84 out of 19024 hypotheses for potted_meat_can (evidence > 1.0494586263849168)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.582
DEBUG:root:evidences for each object: [ 5.23163375 -1.          5.5638648   5.49309505  5.69640509  0.06342889
  5.44358622  5.63980634  0.26971313  4.58217398]
DEBUG:root:mean evidence: 3.698, std: 2.602 -> th=4.55712406891512
INFO:root:current most likely hypothesis: hot_sauce with evidence 5.7
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 14 ---
INFO:uvicorn.access:192.168.1.217:65508 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.91468562,  0.0324805 ,  0.40285883],
       [-0.03548764,  0.99937012,  0.        ],
       [-0.40260508, -0.01429651,  0.91526213]]), 'pose_fully_defined': False}}, {'patch': array([-0.00158471, -0.01370437, -0.00241795])}]
INFO:root:Testing 50 out of 14424 hypotheses for numenta_mug (evidence > 1.1392810172287797)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.713
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 29 out of 14880 hypotheses for montys_heart (evidence > 1.1392810172287797)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.913
INFO:root:Testing 267 out of 23200 hypotheses for ramen_pack (evidence > 1.1392810172287797)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.915
INFO:root:Testing 215 out of 14864 hypotheses for hot_sauce (evidence > 1.1392810172287797)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.17
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 89 out of 21832 hypotheses for tomato_soup_can (evidence > 1.1392810172287797)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 5.919
INFO:root:Testing 281 out of 16976 hypotheses for mustard_bottle (evidence > 1.1392810172287797)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.125
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 84 out of 19024 hypotheses for potted_meat_can (evidence > 1.1392810172287797)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.052
DEBUG:root:evidences for each object: [ 5.71279643 -1.          5.91326014  5.91535881  6.16954583  0.06342889
  5.91948966  6.12487658  0.26971313  5.05226397]
DEBUG:root:mean evidence: 4.014, std: 2.805 -> th=4.9356366605434
INFO:root:current most likely hypothesis: hot_sauce with evidence 6.17
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 15 ---
INFO:uvicorn.access:192.168.1.217:65508 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.90496577, -0.09407505,  0.41495401],
       [ 0.10339708,  0.99464016, -0.        ],
       [-0.41272992,  0.04290503,  0.90984239]]), 'pose_fully_defined': False}}, {'patch': array([-0.00392258, -0.01189969, -0.00114432])}]
INFO:root:Testing 50 out of 14424 hypotheses for numenta_mug (evidence > 1.2339091651358496)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.159
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 29 out of 14880 hypotheses for montys_heart (evidence > 1.2339091651358496)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.395
INFO:root:Testing 267 out of 23200 hypotheses for ramen_pack (evidence > 1.2339091651358496)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.218
INFO:root:Testing 218 out of 14864 hypotheses for hot_sauce (evidence > 1.2339091651358496)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.625
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 111 out of 21832 hypotheses for tomato_soup_can (evidence > 1.2339091651358496)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 6.366
INFO:root:Testing 282 out of 16976 hypotheses for mustard_bottle (evidence > 1.2339091651358496)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.553
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 84 out of 19024 hypotheses for potted_meat_can (evidence > 1.2339091651358496)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.474
DEBUG:root:evidences for each object: [ 6.15882063 -1.          6.39501738  6.21753611  6.62543846  0.06342889
  6.36570417  6.55284465  0.26971313  5.47405924]
DEBUG:root:mean evidence: 4.312, std: 2.999 -> th=5.300350770956954
INFO:root:current most likely hypothesis: hot_sauce with evidence 6.63
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 16 ---
INFO:uvicorn.access:192.168.1.217:65508 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.89991222, -0.15565369,  0.40734496],
       [ 0.17043475,  0.98536896, -0.        ],
       [-0.40138508,  0.06942574,  0.91327437]]), 'pose_fully_defined': False}}, {'patch': array([-0.00425071, -0.00802171, -0.00076428])}]
INFO:root:Testing 50 out of 14424 hypotheses for numenta_mug (evidence > 1.3250876927392383)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.558
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 29 out of 14880 hypotheses for montys_heart (evidence > 1.3250876927392383)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.846
INFO:root:Testing 268 out of 23200 hypotheses for ramen_pack (evidence > 1.3250876927392383)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.686
INFO:root:Testing 257 out of 14864 hypotheses for hot_sauce (evidence > 1.3250876927392383)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.037
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 157 out of 21832 hypotheses for tomato_soup_can (evidence > 1.3250876927392383)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 6.494
INFO:root:Testing 289 out of 16976 hypotheses for mustard_bottle (evidence > 1.3250876927392383)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.95
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 84 out of 19024 hypotheses for potted_meat_can (evidence > 1.3250876927392383)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.928
DEBUG:root:evidences for each object: [ 6.55829663 -1.          6.84628326  6.68599306  7.03745157  0.06342889
  6.49425351  6.94981359  0.26971313  5.92763326]
DEBUG:root:mean evidence: 4.583, std: 3.174 -> th=5.629961253958931
INFO:root:current most likely hypothesis: hot_sauce with evidence 7.04
DEBUG:root:evidences for each object: [ 6.55829663 -1.          6.84628326  6.68599306  7.03745157  0.06342889
  6.49425351  6.94981359  0.26971313  5.92763326]
DEBUG:root:mean evidence: 4.583, std: 3.174 -> th=5.629961253958931
DEBUG:root:evidences for each object: [ 6.55829663 -1.          6.84628326  6.68599306  7.03745157  0.06342889
  6.49425351  6.94981359  0.26971313  5.92763326]
DEBUG:root:mean evidence: 4.583, std: 3.174 -> th=5.981833832331365
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', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 17 ---
INFO:uvicorn.access:192.168.1.217:65508 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.86259019, -0.17647113,  0.47412667],
       [ 0.20043137,  0.97970774, -0.        ],
       [-0.46450557,  0.09502986,  0.88045664]]), 'pose_fully_defined': False}}, {'patch': array([-0.00120833,  0.00305237,  0.003418  ])}]
INFO:root:Testing 50 out of 14424 hypotheses for numenta_mug (evidence > 1.407490313489732)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.941
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 29 out of 14880 hypotheses for montys_heart (evidence > 1.407490313489732)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.305
INFO:root:Testing 268 out of 23200 hypotheses for ramen_pack (evidence > 1.407490313489732)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.158
INFO:root:Testing 257 out of 14864 hypotheses for hot_sauce (evidence > 1.407490313489732)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.383
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 155 out of 21832 hypotheses for tomato_soup_can (evidence > 1.407490313489732)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 6.904
INFO:root:Testing 302 out of 16976 hypotheses for mustard_bottle (evidence > 1.407490313489732)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.332
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 84 out of 19024 hypotheses for potted_meat_can (evidence > 1.407490313489732)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.316
DEBUG:root:evidences for each object: [ 6.94147624 -1.          7.30476344  7.15752845  7.38267045  0.06342889
  6.90366908  7.33203836  0.26971313  6.31614728]
DEBUG:root:mean evidence: 4.867, std: 3.358 -> th=5.906136358741377
INFO:root:current most likely hypothesis: hot_sauce with evidence 7.38
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 18 ---
INFO:uvicorn.access:192.168.1.217:65508 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.77942594, -0.20148669,  0.59321018],
       [ 0.25027922,  0.9681737 , -0.        ],
       [-0.57433049,  0.14846818,  0.80504763]]), 'pose_fully_defined': False}}, {'patch': array([-0.00128894, -0.00055162,  0.00141633])}]
INFO:root:Testing 51 out of 14424 hypotheses for numenta_mug (evidence > 1.4765340896853436)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.312
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 29 out of 14880 hypotheses for montys_heart (evidence > 1.4765340896853436)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.773
INFO:root:Testing 268 out of 23200 hypotheses for ramen_pack (evidence > 1.4765340896853436)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.565
INFO:root:Testing 257 out of 14864 hypotheses for hot_sauce (evidence > 1.4765340896853436)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.763
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 152 out of 21832 hypotheses for tomato_soup_can (evidence > 1.4765340896853436)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 7.309
INFO:root:Testing 310 out of 16976 hypotheses for mustard_bottle (evidence > 1.4765340896853436)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.685
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 84 out of 19024 hypotheses for potted_meat_can (evidence > 1.4765340896853436)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.771
DEBUG:root:evidences for each object: [ 7.3124877  -1.          7.77329078  7.56509482  7.7630587   0.06342889
  7.30918655  7.6845639   0.26971313  6.7713514 ]
DEBUG:root:mean evidence: 5.151, std: 3.542 -> th=6.218632627828532
INFO:root:current most likely hypothesis: montys_heart with evidence 7.77
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 19 ---
INFO:uvicorn.access:192.168.1.217:65508 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.77782555, -0.18393785,  0.60096113],
       [ 0.23012993,  0.97315991, -0.        ],
       [-0.58483128,  0.13829915,  0.79927825]]), 'pose_fully_defined': False}}, {'patch': array([0.00317594, 0.00899368, 0.00143664])}]
INFO:root:Testing 51 out of 14424 hypotheses for numenta_mug (evidence > 1.5546581569571325)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.705
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 29 out of 14880 hypotheses for montys_heart (evidence > 1.5546581569571325)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.2
INFO:root:Testing 268 out of 23200 hypotheses for ramen_pack (evidence > 1.5546581569571325)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.02
INFO:root:Testing 257 out of 14864 hypotheses for hot_sauce (evidence > 1.5546581569571325)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.192
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 151 out of 21832 hypotheses for tomato_soup_can (evidence > 1.5546581569571325)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 7.733
INFO:root:Testing 314 out of 16976 hypotheses for mustard_bottle (evidence > 1.5546581569571325)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.052
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 84 out of 19024 hypotheses for potted_meat_can (evidence > 1.5546581569571325)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.227
DEBUG:root:evidences for each object: [ 7.70458235 -1.          8.20024264  8.02014064  8.19154097  0.06342889
  7.73254775  8.05153132  0.26971313  7.22708324]
DEBUG:root:mean evidence: 5.446, std: 3.733 -> th=6.560194112893906
INFO:root:current most likely hypothesis: montys_heart with evidence 8.2
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 20 ---
INFO:uvicorn.access:192.168.1.217:65508 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.81534069, -0.12392183,  0.56556427],
       [ 0.15026216,  0.98864619, -0.        ],
       [-0.55914296,  0.08498291,  0.82470422]]), 'pose_fully_defined': False}}, {'patch': array([0.00465254, 0.01304322, 0.00059924])}]
INFO:root:Testing 51 out of 14424 hypotheses for numenta_mug (evidence > 1.6400485282234758)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.137
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 29 out of 14880 hypotheses for montys_heart (evidence > 1.6400485282234758)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.621
INFO:root:Testing 268 out of 23200 hypotheses for ramen_pack (evidence > 1.6400485282234758)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.514
INFO:root:Testing 271 out of 14864 hypotheses for hot_sauce (evidence > 1.6400485282234758)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.624
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 149 out of 21832 hypotheses for tomato_soup_can (evidence > 1.6400485282234758)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 8.17
INFO:root:Testing 322 out of 16976 hypotheses for mustard_bottle (evidence > 1.6400485282234758)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.459
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 84 out of 19024 hypotheses for potted_meat_can (evidence > 1.6400485282234758)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.618
DEBUG:root:evidences for each object: [ 8.13661572 -1.          8.62063966  8.51375685  8.62406885  0.06342889
  8.16988387  8.45900518  0.26971313  7.61750886]
DEBUG:root:mean evidence: 5.747, std: 3.93 -> th=6.899255077259856
INFO:root:current most likely hypothesis: hot_sauce with evidence 8.62
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 21 ---
INFO:uvicorn.access:192.168.1.217:65508 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.87204637, -0.05219481,  0.48663214],
       [ 0.05974633,  0.99821359, -0.        ],
       [-0.48576281,  0.02907448,  0.87360698]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00252596,  0.0093662 , -0.00076299])}]
INFO:root:Testing 51 out of 14424 hypotheses for numenta_mug (evidence > 1.7248137693149639)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.608
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 29 out of 14880 hypotheses for montys_heart (evidence > 1.7248137693149639)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.082
INFO:root:Testing 268 out of 23200 hypotheses for ramen_pack (evidence > 1.7248137693149639)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.988
INFO:root:Testing 270 out of 14864 hypotheses for hot_sauce (evidence > 1.7248137693149639)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.046
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 143 out of 21832 hypotheses for tomato_soup_can (evidence > 1.7248137693149639)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 8.649
INFO:root:Testing 319 out of 16976 hypotheses for mustard_bottle (evidence > 1.7248137693149639)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.906
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 85 out of 19024 hypotheses for potted_meat_can (evidence > 1.7248137693149639)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.073
DEBUG:root:evidences for each object: [ 8.60765064 -1.          9.08240316  8.98832576  9.04642564  0.06342889
  8.64899462  8.90633572  0.26971313  8.07310892]
DEBUG:root:mean evidence: 6.069, std: 4.139 -> th=7.265922525841153
INFO:root:current most likely hypothesis: montys_heart with evidence 9.08
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 22 ---
INFO:uvicorn.access:192.168.1.217:65508 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.81311698,  0.05658573,  0.57934345],
       [-0.06942322,  0.9975873 ,  0.        ],
       [-0.57794567, -0.04021989,  0.81508353]]), 'pose_fully_defined': False}}, {'patch': array([0.00100031, 0.01306798, 0.00092256])}]
INFO:root:Testing 50 out of 14424 hypotheses for numenta_mug (evidence > 1.816480631460288)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.094
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 29 out of 14880 hypotheses for montys_heart (evidence > 1.816480631460288)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.558
INFO:root:Testing 268 out of 23200 hypotheses for ramen_pack (evidence > 1.816480631460288)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.453
INFO:root:Testing 265 out of 14864 hypotheses for hot_sauce (evidence > 1.816480631460288)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.499
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 140 out of 21832 hypotheses for tomato_soup_can (evidence > 1.816480631460288)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 9.1
INFO:root:Testing 314 out of 16976 hypotheses for mustard_bottle (evidence > 1.816480631460288)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.396
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 84 out of 19024 hypotheses for potted_meat_can (evidence > 1.816480631460288)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.497
DEBUG:root:evidences for each object: [ 9.09412564 -1.          9.55787336  9.45322402  9.49884003  0.06342889
  9.10024368  9.39559507  0.26971313  8.49737234]
DEBUG:root:mean evidence: 6.393, std: 4.351 -> th=7.646298691487573
INFO:root:current most likely hypothesis: montys_heart with evidence 9.56
DEBUG:root:evidences for each object: [ 9.09412564 -1.          9.55787336  9.45322402  9.49884003  0.06342889
  9.10024368  9.39559507  0.26971313  8.49737234]
DEBUG:root:mean evidence: 6.393, std: 4.351 -> th=7.646298691487573
DEBUG:root:evidences for each object: [ 9.09412564 -1.          9.55787336  9.45322402  9.49884003  0.06342889
  9.10024368  9.39559507  0.26971313  8.49737234]
DEBUG:root:mean evidence: 6.393, std: 4.351 -> th=8.124192359705546
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', 'hot_sauce', 'tomato_soup_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 23 ---
INFO:uvicorn.access:192.168.1.217:65508 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.86342039,  0.0369067 ,  0.5031333 ],
       [-0.04270577,  0.99908769,  0.        ],
       [-0.50267429, -0.02148669,  0.86420882]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00284017,  0.01172829, -0.00506592])}]
INFO:root:Testing 50 out of 14424 hypotheses for numenta_mug (evidence > 1.9115746728718932)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.569
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 29 out of 14880 hypotheses for montys_heart (evidence > 1.9115746728718932)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.031
INFO:root:Testing 267 out of 23200 hypotheses for ramen_pack (evidence > 1.9115746728718932)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.878
INFO:root:Testing 251 out of 14864 hypotheses for hot_sauce (evidence > 1.9115746728718932)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.963
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 135 out of 21832 hypotheses for tomato_soup_can (evidence > 1.9115746728718932)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 9.57
INFO:root:Testing 303 out of 16976 hypotheses for mustard_bottle (evidence > 1.9115746728718932)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.885
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 84 out of 19024 hypotheses for potted_meat_can (evidence > 1.9115746728718932)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.955
DEBUG:root:evidences for each object: [ 9.56892375 -1.         10.03126764  9.87751011  9.9630674   0.06342889
  9.56970115  9.88500553  0.26971313  8.95495253]
DEBUG:root:mean evidence: 6.718, std: 4.563 -> th=8.025014114510986
INFO:root:current most likely hypothesis: montys_heart with evidence 10.03
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 24 ---
INFO:uvicorn.access:192.168.1.217:65508 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.88836696,  0.07931921,  0.4522307 ],
       [-0.08893275,  0.99603763,  0.        ],
       [-0.4504388 , -0.04021812,  0.891901  ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00141627,  0.00400122, -0.00648576])}]
INFO:root:Testing 49 out of 14424 hypotheses for numenta_mug (evidence > 2.006253528627747)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.051
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 29 out of 14880 hypotheses for montys_heart (evidence > 2.006253528627747)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.48
INFO:root:Testing 267 out of 23200 hypotheses for ramen_pack (evidence > 2.006253528627747)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.362
INFO:root:Testing 231 out of 14864 hypotheses for hot_sauce (evidence > 2.006253528627747)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.447
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 121 out of 21832 hypotheses for tomato_soup_can (evidence > 2.006253528627747)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 9.984
INFO:root:Testing 285 out of 16976 hypotheses for mustard_bottle (evidence > 2.006253528627747)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.379
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 83 out of 19024 hypotheses for potted_meat_can (evidence > 2.006253528627747)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.417
DEBUG:root:evidences for each object: [10.05128014 -1.         10.47974493 10.36245359 10.44673972  0.06342889
  9.9842428  10.37923768  0.26971313  9.41702227]
DEBUG:root:mean evidence: 7.045, std: 4.777 -> th=8.38379594284353
INFO:root:current most likely hypothesis: montys_heart with evidence 10.48
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 25 ---
INFO:uvicorn.access:192.168.1.217:65508 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.86480121,  0.13397869,  0.48390968],
       [-0.15309786,  0.98821103,  0.        ],
       [-0.47820489, -0.07408554,  0.87511795]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00063217,  0.00529781, -0.00010782])}]
INFO:root:Testing 48 out of 14424 hypotheses for numenta_mug (evidence > 2.0959489857108817)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.505
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 29 out of 14880 hypotheses for montys_heart (evidence > 2.0959489857108817)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.961
INFO:root:Testing 267 out of 23200 hypotheses for ramen_pack (evidence > 2.0959489857108817)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.85
INFO:root:Testing 229 out of 14864 hypotheses for hot_sauce (evidence > 2.0959489857108817)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.929
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 121 out of 21832 hypotheses for tomato_soup_can (evidence > 2.0959489857108817)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 10.364
INFO:root:Testing 285 out of 16976 hypotheses for mustard_bottle (evidence > 2.0959489857108817)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.851
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 83 out of 19024 hypotheses for potted_meat_can (evidence > 2.0959489857108817)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.845
DEBUG:root:evidences for each object: [10.50506918 -1.         10.96125268 10.85047356 10.92934881  0.06342889
 10.36449319 10.85073877  0.26971313  9.8450554 ]
DEBUG:root:mean evidence: 7.364, std: 4.986 -> th=8.769002146012546
INFO:root:current most likely hypothesis: montys_heart with evidence 10.96
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 26 ---
INFO:uvicorn.access:192.168.1.217:65508 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.77955727,  0.15342316,  0.60724937],
       [-0.19310381,  0.98117833,  0.        ],
       [-0.59581992, -0.11726217,  0.7945113 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00643893,  0.00554731, -0.00450049])}]
INFO:root:Testing 46 out of 14424 hypotheses for numenta_mug (evidence > 2.1922505365031366)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.905
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 31 out of 14880 hypotheses for montys_heart (evidence > 2.1922505365031366)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 11.343
INFO:root:Testing 265 out of 23200 hypotheses for ramen_pack (evidence > 2.1922505365031366)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.347
INFO:root:Testing 226 out of 14864 hypotheses for hot_sauce (evidence > 2.1922505365031366)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.305
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 119 out of 21832 hypotheses for tomato_soup_can (evidence > 2.1922505365031366)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 10.689
INFO:root:Testing 283 out of 16976 hypotheses for mustard_bottle (evidence > 2.1922505365031366)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.277
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 82 out of 19024 hypotheses for potted_meat_can (evidence > 2.1922505365031366)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.22
DEBUG:root:evidences for each object: [10.9048627  -1.         11.34309769 11.34663955 11.30484687  0.06342889
 10.68885599 11.2772286   0.26971313 10.22009731]
DEBUG:root:mean evidence: 7.642, std: 5.168 -> th=9.077311638880927
INFO:root:current most likely hypothesis: ramen_pack with evidence 11.35
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 27 ---
INFO:uvicorn.access:192.168.1.217:65508 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.84962135,  0.18952178,  0.49216364],
       [-0.21771533,  0.97601231,  0.        ],
       [-0.48035778, -0.10715157,  0.8705027 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00412984,  0.00297884, -0.00263794])}]
INFO:root:Testing 46 out of 14424 hypotheses for numenta_mug (evidence > 2.269327909720232)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.298
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 29 out of 14880 hypotheses for montys_heart (evidence > 2.269327909720232)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 11.744
INFO:root:Testing 265 out of 23200 hypotheses for ramen_pack (evidence > 2.269327909720232)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.798
INFO:root:Testing 226 out of 14864 hypotheses for hot_sauce (evidence > 2.269327909720232)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.703
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 118 out of 21832 hypotheses for tomato_soup_can (evidence > 2.269327909720232)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 11.019
INFO:root:Testing 280 out of 16976 hypotheses for mustard_bottle (evidence > 2.269327909720232)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.69
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 82 out of 19024 hypotheses for potted_meat_can (evidence > 2.269327909720232)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.522
DEBUG:root:evidences for each object: [11.29845041 -1.         11.74386422 11.79781078 11.70258255  0.06342889
 11.01919793 11.6898412   0.26971313 10.52244828]
DEBUG:root:mean evidence: 7.911, std: 5.346 -> th=9.438248623353363
INFO:root:current most likely hypothesis: ramen_pack with evidence 11.8
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 28 ---
INFO:uvicorn.access:192.168.1.217:65508 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.95627454,  0.1244713 ,  0.26466186],
       [-0.12907391,  0.99163498,  0.        ],
       [-0.26244796, -0.03416094,  0.96434128]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00360172,  0.00915493, -0.00294925])}]
INFO:root:Testing 46 out of 14424 hypotheses for numenta_mug (evidence > 2.35956215583834)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.777
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 29 out of 14880 hypotheses for montys_heart (evidence > 2.35956215583834)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 12.195
INFO:root:Testing 264 out of 23200 hypotheses for ramen_pack (evidence > 2.35956215583834)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.189
INFO:root:Testing 225 out of 14864 hypotheses for hot_sauce (evidence > 2.35956215583834)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.033
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 118 out of 21832 hypotheses for tomato_soup_can (evidence > 2.35956215583834)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 11.385
INFO:root:Testing 279 out of 16976 hypotheses for mustard_bottle (evidence > 2.35956215583834)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.121
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 82 out of 19024 hypotheses for potted_meat_can (evidence > 2.35956215583834)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.017
DEBUG:root:evidences for each object: [11.77686404 -1.         12.19500007 12.18908599 12.03332573  0.06342889
 11.38509596 12.12145699  0.26971313 11.01693641]
DEBUG:root:mean evidence: 8.205, std: 5.537 -> th=9.756000054775727
INFO:root:current most likely hypothesis: montys_heart with evidence 12.2
DEBUG:root:evidences for each object: [11.77686404 -1.         12.19500007 12.18908599 12.03332573  0.06342889
 11.38509596 12.12145699  0.26971313 11.01693641]
DEBUG:root:mean evidence: 8.205, std: 5.537 -> th=9.756000054775727
DEBUG:root:evidences for each object: [11.77686404 -1.         12.19500007 12.18908599 12.03332573  0.06342889
 11.38509596 12.12145699  0.26971313 11.01693641]
DEBUG:root:mean evidence: 8.205, std: 5.537 -> th=10.365750058199211
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', 'hot_sauce', 'tomato_soup_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 29 ---
INFO:uvicorn.access:192.168.1.217:65508 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.90958752,  0.13257605,  0.39379453],
       [-0.14423006,  0.98954418,  0.        ],
       [-0.38967708, -0.05679701,  0.91919849]]), 'pose_fully_defined': False}}, {'patch': array([-0.00325425,  0.00468724, -0.00346181])}]
INFO:root:Testing 46 out of 14424 hypotheses for numenta_mug (evidence > 2.4390000136939314)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.89
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 29 out of 14880 hypotheses for montys_heart (evidence > 2.4390000136939314)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 12.674
INFO:root:Testing 264 out of 23200 hypotheses for ramen_pack (evidence > 2.4390000136939314)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.416
INFO:root:Testing 225 out of 14864 hypotheses for hot_sauce (evidence > 2.4390000136939314)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.445
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 118 out of 21832 hypotheses for tomato_soup_can (evidence > 2.4390000136939314)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 11.363
INFO:root:Testing 279 out of 16976 hypotheses for mustard_bottle (evidence > 2.4390000136939314)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.562
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 82 out of 19024 hypotheses for potted_meat_can (evidence > 2.4390000136939314)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.118
DEBUG:root:evidences for each object: [11.89010007 -1.         12.67387542 12.41550712 12.44490364  0.06342889
 11.36307644 12.56152712  0.26971313 11.11762783]
DEBUG:root:mean evidence: 8.38, std: 5.66 -> th=10.139100336288674
INFO:root:current most likely hypothesis: montys_heart with evidence 12.67
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 30 ---
INFO:uvicorn.access:192.168.1.217:65508 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.95470574,  0.21288978,  0.20788193],
       [-0.21764446,  0.97602812,  0.        ],
       [-0.20289861, -0.04524435,  0.97815393]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00328677,  0.00918984, -0.00190202])}]
INFO:root:Testing 46 out of 14424 hypotheses for numenta_mug (evidence > 2.5347750840721677)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.769
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 29 out of 14880 hypotheses for montys_heart (evidence > 2.5347750840721677)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 12.33
INFO:root:Testing 264 out of 23200 hypotheses for ramen_pack (evidence > 2.5347750840721677)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.586
INFO:root:Testing 225 out of 14864 hypotheses for hot_sauce (evidence > 2.5347750840721677)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.912
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 118 out of 21832 hypotheses for tomato_soup_can (evidence > 2.5347750840721677)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 11.589
INFO:root:Testing 279 out of 16976 hypotheses for mustard_bottle (evidence > 2.5347750840721677)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.82
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 82 out of 19024 hypotheses for potted_meat_can (evidence > 2.5347750840721677)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.484
DEBUG:root:evidences for each object: [11.76916465 -1.         12.3299951  12.58584349 12.91215794  0.06342889
 11.58877439 12.81967482  0.26971313 11.48391686]
DEBUG:root:mean evidence: 8.482, std: 5.725 -> th=10.329726349202776
INFO:root:current most likely hypothesis: hot_sauce with evidence 12.91
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 31 ---
INFO:uvicorn.access:192.168.1.217:65508 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.92440187,  0.25029538,  0.28780791],
       [-0.26135374,  0.96524309,  0.        ],
       [-0.2778046 , -0.07521968,  0.95768816]]), 'pose_fully_defined': False}}, {'patch': array([-0.0016801 ,  0.00192501,  0.00407303])}]
INFO:root:Testing 45 out of 14424 hypotheses for numenta_mug (evidence > 2.582431587300693)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.501
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 29 out of 14880 hypotheses for montys_heart (evidence > 2.582431587300693)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 12.785
INFO:root:Testing 264 out of 23200 hypotheses for ramen_pack (evidence > 2.582431587300693)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.825
INFO:root:Testing 225 out of 14864 hypotheses for hot_sauce (evidence > 2.582431587300693)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.336
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 118 out of 21832 hypotheses for tomato_soup_can (evidence > 2.582431587300693)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 11.733
INFO:root:Testing 279 out of 16976 hypotheses for mustard_bottle (evidence > 2.582431587300693)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.004
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 81 out of 19024 hypotheses for potted_meat_can (evidence > 2.582431587300693)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.73
DEBUG:root:evidences for each object: [11.50058785 -1.         12.7853938  12.82475655 13.33643339  0.06342889
 11.73272651 13.0035312   0.26971313 11.7301923 ]
DEBUG:root:mean evidence: 8.625, std: 5.828 -> th=10.669146710602266
INFO:root:current most likely hypothesis: hot_sauce with evidence 13.34
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 32 ---
INFO:uvicorn.access:192.168.1.217:65512 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.61765578, -0.1579161 ,  0.77043095],
       [ 0.24770242,  0.96883616, -0.        ],
       [-0.74642136,  0.19083761,  0.63752345]]), 'pose_fully_defined': False}}, {'patch': array([-0.00104112, -0.09417872,  0.02002918])}]
INFO:root:Testing 45 out of 14424 hypotheses for numenta_mug (evidence > 2.6672866776505657)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.914
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 29 out of 14880 hypotheses for montys_heart (evidence > 2.6672866776505657)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.256
INFO:root:Testing 263 out of 23200 hypotheses for ramen_pack (evidence > 2.6672866776505657)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.077
INFO:root:Testing 222 out of 14864 hypotheses for hot_sauce (evidence > 2.6672866776505657)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.72
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 117 out of 21832 hypotheses for tomato_soup_can (evidence > 2.6672866776505657)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 12.147
INFO:root:Testing 279 out of 16976 hypotheses for mustard_bottle (evidence > 2.6672866776505657)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.279
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 81 out of 19024 hypotheses for potted_meat_can (evidence > 2.6672866776505657)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.127
DEBUG:root:evidences for each object: [11.91369129 -1.         13.25594983 13.07650438 13.71967804  0.06342889
 12.14685915 13.27856293  0.26971313 12.12747442]
DEBUG:root:mean evidence: 8.885, std: 5.995 -> th=10.975742434969165
INFO:root:current most likely hypothesis: hot_sauce with evidence 13.72
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 33 ---
INFO:uvicorn.access:192.168.1.217:65512 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.65206854, -0.1527673 ,  0.74260943],
       [ 0.22810461,  0.97363663, -0.        ],
       [-0.72303175,  0.16939263,  0.66972474]]), 'pose_fully_defined': False}}, {'patch': array([0.00388551, 0.01244279, 0.0033538 ])}]
INFO:root:Testing 45 out of 14424 hypotheses for numenta_mug (evidence > 2.743935608742291)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.322
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 29 out of 14880 hypotheses for montys_heart (evidence > 2.743935608742291)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.691
INFO:root:Testing 263 out of 23200 hypotheses for ramen_pack (evidence > 2.743935608742291)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.534
INFO:root:Testing 223 out of 14864 hypotheses for hot_sauce (evidence > 2.743935608742291)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.105
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 118 out of 21832 hypotheses for tomato_soup_can (evidence > 2.743935608742291)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 12.579
INFO:root:Testing 279 out of 16976 hypotheses for mustard_bottle (evidence > 2.743935608742291)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.596
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 81 out of 19024 hypotheses for potted_meat_can (evidence > 2.743935608742291)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.425
DEBUG:root:evidences for each object: [12.32234088 -1.         13.69076959 13.53353208 14.10505322  0.06342889
 12.57929809 13.59606708  0.26971313 12.42462516]
DEBUG:root:mean evidence: 9.158, std: 6.174 -> th=11.284042573992913
INFO:root:current most likely hypothesis: hot_sauce with evidence 14.11
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 34 ---
INFO:uvicorn.access:192.168.1.217:65512 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.67434831, -0.10186732,  0.73135313],
       [ 0.14936579,  0.98878201, -0.        ],
       [-0.72314882,  0.10923914,  0.68199897]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00206719,  0.00696568, -0.00029348])}]
INFO:root:Testing 45 out of 14424 hypotheses for numenta_mug (evidence > 2.8210106434982283)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.742
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 29 out of 14880 hypotheses for montys_heart (evidence > 2.8210106434982283)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.153
INFO:root:Testing 263 out of 23200 hypotheses for ramen_pack (evidence > 2.8210106434982283)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.008
INFO:root:Testing 225 out of 14864 hypotheses for hot_sauce (evidence > 2.8210106434982283)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.516
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 118 out of 21832 hypotheses for tomato_soup_can (evidence > 2.8210106434982283)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 12.954
INFO:root:Testing 279 out of 16976 hypotheses for mustard_bottle (evidence > 2.8210106434982283)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.936
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 81 out of 19024 hypotheses for potted_meat_can (evidence > 2.8210106434982283)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.714
DEBUG:root:evidences for each object: [12.74186084 -1.         14.15319386 14.00806325 14.51584354  0.06342889
 12.9540397  13.93624102  0.26971313 12.71396681]
DEBUG:root:mean evidence: 9.436, std: 6.356 -> th=11.612674835187487
INFO:root:current most likely hypothesis: hot_sauce with evidence 14.52
DEBUG:root:evidences for each object: [12.74186084 -1.         14.15319386 14.00806325 14.51584354  0.06342889
 12.9540397  13.93624102  0.26971313 12.71396681]
DEBUG:root:mean evidence: 9.436, std: 6.356 -> th=11.612674835187487
DEBUG:root:evidences for each object: [12.74186084 -1.         14.15319386 14.00806325 14.51584354  0.06342889
 12.9540397  13.93624102  0.26971313 12.71396681]
DEBUG:root:mean evidence: 9.436, std: 6.356 -> th=12.338467012386706
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', 'hot_sauce', 'tomato_soup_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 35 ---
INFO:uvicorn.access:192.168.1.217:65512 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.70542665, -0.0306186 ,  0.70812128],
       [ 0.04336354,  0.99905936, -0.        ],
       [-0.70745519,  0.03070665,  0.70609083]]), 'pose_fully_defined': False}}, {'patch': array([0.00240623, 0.0081775 , 0.00050584])}]
INFO:root:Testing 45 out of 14424 hypotheses for numenta_mug (evidence > 2.903168708796871)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 13.167
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 29 out of 14880 hypotheses for montys_heart (evidence > 2.903168708796871)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.643
INFO:root:Testing 263 out of 23200 hypotheses for ramen_pack (evidence > 2.903168708796871)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.408
INFO:root:Testing 228 out of 14864 hypotheses for hot_sauce (evidence > 2.903168708796871)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.929
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 120 out of 21832 hypotheses for tomato_soup_can (evidence > 2.903168708796871)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 13.324
INFO:root:Testing 279 out of 16976 hypotheses for mustard_bottle (evidence > 2.903168708796871)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.297
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 82 out of 19024 hypotheses for potted_meat_can (evidence > 2.903168708796871)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.031
DEBUG:root:evidences for each object: [13.16722566 -1.         14.64272394 14.40759788 14.92888273  0.06342889
 13.32384942 14.29746542  0.26971313 13.03143966]
DEBUG:root:mean evidence: 9.713, std: 6.539 -> th=11.943106181168478
INFO:root:current most likely hypothesis: hot_sauce with evidence 14.93
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 36 ---
INFO:uvicorn.access:192.168.1.217:65512 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.66930258,  0.04852802,  0.74140346],
       [-0.07231551,  0.99738181,  0.        ],
       [-0.73946232, -0.05361497,  0.67105954]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00032338,  0.0074712 , -0.00079671])}]
INFO:root:Testing 45 out of 14424 hypotheses for numenta_mug (evidence > 2.9857765452921186)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 13.582
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 29 out of 14880 hypotheses for montys_heart (evidence > 2.9857765452921186)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 15.097
INFO:root:Testing 263 out of 23200 hypotheses for ramen_pack (evidence > 2.9857765452921186)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.817
INFO:root:Testing 227 out of 14864 hypotheses for hot_sauce (evidence > 2.9857765452921186)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 15.406
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 117 out of 21832 hypotheses for tomato_soup_can (evidence > 2.9857765452921186)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 13.645
INFO:root:Testing 279 out of 16976 hypotheses for mustard_bottle (evidence > 2.9857765452921186)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.637
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 82 out of 19024 hypotheses for potted_meat_can (evidence > 2.9857765452921186)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.331
DEBUG:root:evidences for each object: [13.58217302 -1.         15.09659177 14.81659411 15.40635882  0.06342889
 13.64469616 14.63710817  0.26971313 13.33146276]
DEBUG:root:mean evidence: 9.985, std: 6.72 -> th=12.325087058100824
INFO:root:current most likely hypothesis: hot_sauce with evidence 15.41
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 37 ---
INFO:uvicorn.access:192.168.1.217:65512 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.67088833,  0.05219498,  0.73971922],
       [-0.07756541,  0.99698726,  0.        ],
       [-0.73749064, -0.05737663,  0.67291565]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00120559,  0.01715771, -0.00343503])}]
INFO:root:Testing 41 out of 14424 hypotheses for numenta_mug (evidence > 3.081271764525205)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 13.924
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 29 out of 14880 hypotheses for montys_heart (evidence > 3.081271764525205)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 15.52
INFO:root:Testing 262 out of 23200 hypotheses for ramen_pack (evidence > 3.081271764525205)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.197
INFO:root:Testing 225 out of 14864 hypotheses for hot_sauce (evidence > 3.081271764525205)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 15.789
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 116 out of 21832 hypotheses for tomato_soup_can (evidence > 3.081271764525205)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 13.933
INFO:root:Testing 279 out of 16976 hypotheses for mustard_bottle (evidence > 3.081271764525205)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.986
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 82 out of 19024 hypotheses for potted_meat_can (evidence > 3.081271764525205)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.63
DEBUG:root:evidences for each object: [13.92372898 -1.         15.51959349 15.19733057 15.78881338  0.06342889
 13.93261832 14.98641679  0.26971313 13.63034265]
DEBUG:root:mean evidence: 10.231, std: 6.883 -> th=12.631050704458003
INFO:root:current most likely hypothesis: hot_sauce with evidence 15.79
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 38 ---
INFO:uvicorn.access:192.168.1.217:65512 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.63043667,  0.06361706,  0.77362942],
       [-0.10039964,  0.99494719,  0.        ],
       [-0.76972042, -0.07767212,  0.63363832]]), 'pose_fully_defined': False}}, {'patch': array([-0.01260648,  0.01822453, -0.00542121])}]
INFO:root:Testing 36 out of 14424 hypotheses for numenta_mug (evidence > 3.1577626761144995)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 14.359
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 31 out of 14880 hypotheses for montys_heart (evidence > 3.1577626761144995)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 15.913
INFO:root:Testing 262 out of 23200 hypotheses for ramen_pack (evidence > 3.1577626761144995)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.664
INFO:root:Testing 221 out of 14864 hypotheses for hot_sauce (evidence > 3.1577626761144995)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 16.265
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 114 out of 21832 hypotheses for tomato_soup_can (evidence > 3.1577626761144995)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 14.246
INFO:root:Testing 275 out of 16976 hypotheses for mustard_bottle (evidence > 3.1577626761144995)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.412
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 80 out of 19024 hypotheses for potted_meat_can (evidence > 3.1577626761144995)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.906
DEBUG:root:evidences for each object: [14.35908263 -1.         15.91331901 15.66415606 16.26484806  0.06342889
 14.24603988 15.41230224  0.26971313 13.90555927]
DEBUG:root:mean evidence: 10.51, std: 7.069 -> th=13.01187844718632
INFO:root:current most likely hypothesis: hot_sauce with evidence 16.26
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 39 ---
INFO:uvicorn.access:192.168.1.217:65512 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.52871246,  0.15665486,  0.83421963],
       [-0.28408719,  0.95879845,  0.        ],
       [-0.79984849, -0.23699111,  0.55143232]]), 'pose_fully_defined': False}}, {'patch': array([-0.00486428,  0.0047386 , -0.001099  ])}]
INFO:root:Testing 36 out of 14424 hypotheses for numenta_mug (evidence > 3.25296961179658)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 14.664
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 29 out of 14880 hypotheses for montys_heart (evidence > 3.25296961179658)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 16.316
INFO:root:Testing 262 out of 23200 hypotheses for ramen_pack (evidence > 3.25296961179658)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.03
INFO:root:Testing 217 out of 14864 hypotheses for hot_sauce (evidence > 3.25296961179658)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 16.474
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 114 out of 21832 hypotheses for tomato_soup_can (evidence > 3.25296961179658)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 14.221
INFO:root:Testing 275 out of 16976 hypotheses for mustard_bottle (evidence > 3.25296961179658)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.833
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 78 out of 19024 hypotheses for potted_meat_can (evidence > 3.25296961179658)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.862
DEBUG:root:evidences for each object: [14.66376876 -1.         16.3159239  16.02989669 16.47436193  0.06342889
 14.22095517 15.83340047  0.26971313 13.86216412]
DEBUG:root:mean evidence: 10.673, std: 7.187 -> th=13.179489540444274
INFO:root:current most likely hypothesis: hot_sauce with evidence 16.47
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 40 ---
INFO:uvicorn.access:192.168.1.217:65514 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.25865919,  0.17163934,  0.95059737],
       [-0.55291451,  0.83323799,  0.        ],
       [-0.79207384, -0.52559908,  0.31042655]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00327483,  0.0083652 , -0.00281883])}]
INFO:root:Testing 36 out of 14424 hypotheses for numenta_mug (evidence > 3.294872385111068)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 14.704
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 29 out of 14880 hypotheses for montys_heart (evidence > 3.294872385111068)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 16.683
INFO:root:Testing 259 out of 23200 hypotheses for ramen_pack (evidence > 3.294872385111068)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.245
INFO:root:Testing 215 out of 14864 hypotheses for hot_sauce (evidence > 3.294872385111068)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 16.746
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 113 out of 21832 hypotheses for tomato_soup_can (evidence > 3.294872385111068)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 14.183
INFO:root:Testing 275 out of 16976 hypotheses for mustard_bottle (evidence > 3.294872385111068)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.274
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 77 out of 19024 hypotheses for potted_meat_can (evidence > 3.294872385111068)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.918
DEBUG:root:evidences for each object: [14.70394649 -1.         16.6825629  16.24450295 16.74643903  0.06342889
 14.18253134 16.27386616  0.26971313 13.91779425]
DEBUG:root:mean evidence: 10.808, std: 7.29 -> th=13.397151224146288
INFO:root:current most likely hypothesis: hot_sauce with evidence 16.75
DEBUG:root:evidences for each object: [14.70394649 -1.         16.6825629  16.24450295 16.74643903  0.06342889
 14.18253134 16.27386616  0.26971313 13.91779425]
DEBUG:root:mean evidence: 10.808, std: 7.29 -> th=13.397151224146288
DEBUG:root:evidences for each object: [14.70394649 -1.         16.6825629  16.24450295 16.74643903  0.06342889
 14.18253134 16.27386616  0.26971313 13.91779425]
DEBUG:root:mean evidence: 10.808, std: 7.29 -> th=14.234473175655431
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', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 41 ---
INFO:uvicorn.access:192.168.1.217:65515 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.31902706, -0.20867101,  0.92448805],
       [ 0.54738974,  0.83687781, -0.        ],
       [-0.77368353,  0.50605527,  0.38121104]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00291997, -0.09228554,  0.01028991])}]
INFO:root:Testing 36 out of 14424 hypotheses for numenta_mug (evidence > 3.349287806036571)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 15.021
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 29 out of 14880 hypotheses for montys_heart (evidence > 3.349287806036571)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 17.013
INFO:root:Testing 258 out of 23200 hypotheses for ramen_pack (evidence > 3.349287806036571)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.629
INFO:root:Testing 205 out of 14864 hypotheses for hot_sauce (evidence > 3.349287806036571)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 17.087
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 113 out of 21832 hypotheses for tomato_soup_can (evidence > 3.349287806036571)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 14.463
INFO:root:Testing 274 out of 16976 hypotheses for mustard_bottle (evidence > 3.349287806036571)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.394
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 76 out of 19024 hypotheses for potted_meat_can (evidence > 3.349287806036571)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.294
DEBUG:root:evidences for each object: [15.02129148 -1.         17.01345214 16.62884274 17.08700181  0.06342889
 14.46274501 16.39367058  0.26971313 14.29443504]
DEBUG:root:mean evidence: 11.023, std: 7.428 -> th=13.669601447374252
INFO:root:current most likely hypothesis: hot_sauce with evidence 17.09
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 42 ---
INFO:uvicorn.access:192.168.1.217:65515 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.33618789, -0.10952099,  0.93540518],
       [ 0.30975089,  0.95081775, -0.        ],
       [-0.88939985,  0.28974259,  0.35357763]]), 'pose_fully_defined': False}}, {'patch': array([0.00045155, 0.00618516, 0.00182339])}]
INFO:root:Testing 36 out of 14424 hypotheses for numenta_mug (evidence > 3.417400361843562)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 15.39
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 29 out of 14880 hypotheses for montys_heart (evidence > 3.417400361843562)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 17.381
INFO:root:Testing 258 out of 23200 hypotheses for ramen_pack (evidence > 3.417400361843562)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.052
INFO:root:Testing 205 out of 14864 hypotheses for hot_sauce (evidence > 3.417400361843562)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 17.528
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 113 out of 21832 hypotheses for tomato_soup_can (evidence > 3.417400361843562)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 14.802
INFO:root:Testing 274 out of 16976 hypotheses for mustard_bottle (evidence > 3.417400361843562)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.532
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 76 out of 19024 hypotheses for potted_meat_can (evidence > 3.417400361843562)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.564
DEBUG:root:evidences for each object: [15.39012739 -1.         17.38057096 17.05160302 17.52826355  0.06342889
 14.80194914 16.5318404   0.26971313 14.56394156]
DEBUG:root:mean evidence: 11.258, std: 7.583 -> th=14.0226108432442
INFO:root:current most likely hypothesis: hot_sauce with evidence 17.53
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 43 ---
INFO:uvicorn.access:192.168.1.217:65515 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.30909458, -0.03244465,  0.95047772],
       [ 0.1043932 ,  0.9945361 , -0.        ],
       [-0.9452844 ,  0.09922341,  0.31079272]]), 'pose_fully_defined': False}}, {'patch': array([0.00111321, 0.01760723, 0.00586018])}]
INFO:root:Testing 36 out of 14424 hypotheses for numenta_mug (evidence > 3.5056527108110487)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 15.779
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 29 out of 14880 hypotheses for montys_heart (evidence > 3.5056527108110487)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 17.827
INFO:root:Testing 258 out of 23200 hypotheses for ramen_pack (evidence > 3.5056527108110487)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.495
INFO:root:Testing 205 out of 14864 hypotheses for hot_sauce (evidence > 3.5056527108110487)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 17.984
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 113 out of 21832 hypotheses for tomato_soup_can (evidence > 3.5056527108110487)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 15.168
INFO:root:Testing 274 out of 16976 hypotheses for mustard_bottle (evidence > 3.5056527108110487)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.71
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 76 out of 19024 hypotheses for potted_meat_can (evidence > 3.5056527108110487)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.694
DEBUG:root:evidences for each object: [15.77861686 -1.         17.82744118 17.49528777 17.98391835  0.06342889
 15.16755158 16.70996307  0.26971313 14.69433108]
DEBUG:root:mean evidence: 11.499, std: 7.748 -> th=14.387134683420166
INFO:root:current most likely hypothesis: hot_sauce with evidence 17.98
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 44 ---
INFO:uvicorn.access:192.168.1.217:65515 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.29527593,  0.04306959,  0.95444075],
       [-0.14433483,  0.98952891,  0.        ],
       [-0.94444671, -0.13775904,  0.29840051]]), 'pose_fully_defined': False}}, {'patch': array([-0.00149535,  0.0160692 ,  0.00321146])}]
INFO:root:Testing 36 out of 14424 hypotheses for numenta_mug (evidence > 3.596783670855041)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 16.111
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 29 out of 14880 hypotheses for montys_heart (evidence > 3.596783670855041)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.297
INFO:root:Testing 257 out of 23200 hypotheses for ramen_pack (evidence > 3.596783670855041)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.495
INFO:root:Testing 204 out of 14864 hypotheses for hot_sauce (evidence > 3.596783670855041)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 18.407
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 113 out of 21832 hypotheses for tomato_soup_can (evidence > 3.596783670855041)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 15.507
INFO:root:Testing 274 out of 16976 hypotheses for mustard_bottle (evidence > 3.596783670855041)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.942
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 76 out of 19024 hypotheses for potted_meat_can (evidence > 3.596783670855041)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.788
DEBUG:root:evidences for each object: [16.11134532 -1.         18.29729732 16.49528777 18.40688613  0.06342889
 15.50688659 16.94216139  0.26971313 14.78818089]
DEBUG:root:mean evidence: 11.588, std: 7.808 -> th=14.725508905596476
INFO:root:current most likely hypothesis: hot_sauce with evidence 18.41
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 45 ---
INFO:uvicorn.access:192.168.1.217:65515 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.27681158,  0.05154056,  0.95954099],
       [-0.18304775,  0.98310402,  0.        ],
       [-0.94332861, -0.17564182,  0.28156896]]), 'pose_fully_defined': False}}, {'patch': array([-0.00038882,  0.01744099, -0.0013707 ])}]
INFO:root:Testing 36 out of 14424 hypotheses for numenta_mug (evidence > 3.6813772263991176)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 16.494
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 29 out of 14880 hypotheses for montys_heart (evidence > 3.6813772263991176)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.745
INFO:root:Testing 257 out of 23200 hypotheses for ramen_pack (evidence > 3.6813772263991176)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.495
INFO:root:Testing 204 out of 14864 hypotheses for hot_sauce (evidence > 3.6813772263991176)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 18.848
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 113 out of 21832 hypotheses for tomato_soup_can (evidence > 3.6813772263991176)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 15.743
INFO:root:Testing 273 out of 16976 hypotheses for mustard_bottle (evidence > 3.6813772263991176)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.175
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 76 out of 19024 hypotheses for potted_meat_can (evidence > 3.6813772263991176)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.916
DEBUG:root:evidences for each object: [16.49446681 -1.         18.74485796 15.49528777 18.84759401  0.06342889
 15.74266368 17.17450321  0.26971313 14.91598588]
DEBUG:root:mean evidence: 11.675, std: 7.887 -> th=15.078075211271326
INFO:root:current most likely hypothesis: hot_sauce with evidence 18.85
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 46 ---
INFO:uvicorn.access:192.168.1.217:65515 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.29726368,  0.10829708,  0.94863378],
       [-0.34230468,  0.93958901,  0.        ],
       [-0.89132587, -0.32472178,  0.31637628]]), 'pose_fully_defined': False}}, {'patch': array([-0.0070716 ,  0.01523736, -0.00338818])}]
INFO:root:Testing 35 out of 14424 hypotheses for numenta_mug (evidence > 3.7695188028178315)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 16.904
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 28 out of 14880 hypotheses for montys_heart (evidence > 3.7695188028178315)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 19.125
INFO:root:Testing 255 out of 23200 hypotheses for ramen_pack (evidence > 3.7695188028178315)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.905
INFO:root:Testing 202 out of 14864 hypotheses for hot_sauce (evidence > 3.7695188028178315)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 19.309
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 113 out of 21832 hypotheses for tomato_soup_can (evidence > 3.7695188028178315)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 15.96
INFO:root:Testing 273 out of 16976 hypotheses for mustard_bottle (evidence > 3.7695188028178315)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.452
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 76 out of 19024 hypotheses for potted_meat_can (evidence > 3.7695188028178315)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.136
DEBUG:root:evidences for each object: [16.90365129 -1.         19.12463021 15.90512369 19.30921904  0.06342889
 15.95970471 17.45164238  0.26971313 15.1356706 ]
DEBUG:root:mean evidence: 11.912, std: 8.048 -> th=15.447375228425662
INFO:root:current most likely hypothesis: hot_sauce with evidence 19.31
DEBUG:root:evidences for each object: [16.90365129 -1.         19.12463021 15.90512369 19.30921904  0.06342889
 15.95970471 17.45164238  0.26971313 15.1356706 ]
DEBUG:root:mean evidence: 11.912, std: 8.048 -> th=15.447375228425662
DEBUG:root:evidences for each object: [16.90365129 -1.         19.12463021 15.90512369 19.30921904  0.06342889
 15.95970471 17.45164238  0.26971313 15.1356706 ]
DEBUG:root:mean evidence: 11.912, std: 8.048 -> th=16.412836180202266
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', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 47 ---
INFO:uvicorn.access:192.168.1.217:65515 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.21343216,  0.16364848,  0.96315414],
       [-0.60847172,  0.79357556,  0.        ],
       [-0.76433558, -0.58605205,  0.26895002]]), 'pose_fully_defined': False}}, {'patch': array([-0.00326306,  0.01002962, -0.00820246])}]
INFO:root:Testing 34 out of 14424 hypotheses for numenta_mug (evidence > 3.861843807106414)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 17.205
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 28 out of 14880 hypotheses for montys_heart (evidence > 3.861843807106414)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 19.57
INFO:root:Testing 255 out of 23200 hypotheses for ramen_pack (evidence > 3.861843807106414)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.31
INFO:root:Testing 194 out of 14864 hypotheses for hot_sauce (evidence > 3.861843807106414)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 19.786
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 111 out of 21832 hypotheses for tomato_soup_can (evidence > 3.861843807106414)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 15.96
INFO:root:Testing 273 out of 16976 hypotheses for mustard_bottle (evidence > 3.861843807106414)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.886
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 75 out of 19024 hypotheses for potted_meat_can (evidence > 3.861843807106414)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.346
DEBUG:root:evidences for each object: [17.20538096 -1.         19.57047965 16.31036519 19.78579151  0.06342889
 15.9604446  17.8863556   0.26971313 15.34568381]
DEBUG:root:mean evidence: 12.14, std: 8.21 -> th=15.828633207009322
INFO:root:current most likely hypothesis: hot_sauce with evidence 19.79
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'tomato_soup_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 48 ---
INFO:uvicorn.access:192.168.1.217:65515 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.11251909,  0.1897144 ,  0.97537065],
       [-0.86010111,  0.5101236 ,  0.        ],
       [-0.49755958, -0.83891738,  0.22057221]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00062477,  0.00921681, -0.00728944])}]
INFO:root:Testing 34 out of 14424 hypotheses for numenta_mug (evidence > 3.9571583017523295)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 17.152
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 26 out of 14880 hypotheses for montys_heart (evidence > 3.9571583017523295)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 19.783
INFO:root:Testing 247 out of 23200 hypotheses for ramen_pack (evidence > 3.9571583017523295)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.392
INFO:root:Testing 194 out of 14864 hypotheses for hot_sauce (evidence > 3.9571583017523295)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.267
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 109 out of 21832 hypotheses for tomato_soup_can (evidence > 3.9571583017523295)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 15.851
INFO:root:Testing 273 out of 16976 hypotheses for mustard_bottle (evidence > 3.9571583017523295)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.068
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 74 out of 19024 hypotheses for potted_meat_can (evidence > 3.9571583017523295)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.525
DEBUG:root:evidences for each object: [17.15169884 -1.         19.78301182 16.39228796 20.26657422  0.06342889
 15.85116234 18.06792531  0.26971313 15.52517423]
DEBUG:root:mean evidence: 12.237, std: 8.291 -> th=16.21325937742545
INFO:root:current most likely hypothesis: hot_sauce with evidence 20.27
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack', 'mustard_bottle', 'hot_sauce', 'numenta_mug'}
INFO:root:--- Global Matching Step 49 ---
INFO:uvicorn.access:192.168.1.217:65515 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.12913243,  0.23125014,  0.96428636],
       [-0.87309712,  0.48754632,  0.        ],
       [-0.47013427, -0.84191565,  0.26486188]]), 'pose_fully_defined': False}}, {'patch': array([-0.00263639, -0.00225107,  0.00188252])}]
INFO:root:Testing 34 out of 14424 hypotheses for numenta_mug (evidence > 4.053314844356361)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 17.039
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 26 out of 14880 hypotheses for montys_heart (evidence > 4.053314844356361)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 19.995
INFO:root:Testing 241 out of 23200 hypotheses for ramen_pack (evidence > 4.053314844356361)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.464
INFO:root:Testing 193 out of 14864 hypotheses for hot_sauce (evidence > 4.053314844356361)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.742
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 109 out of 21832 hypotheses for tomato_soup_can (evidence > 4.053314844356361)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 15.895
INFO:root:Testing 271 out of 16976 hypotheses for mustard_bottle (evidence > 4.053314844356361)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.542
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 73 out of 19024 hypotheses for potted_meat_can (evidence > 4.053314844356361)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.721
DEBUG:root:evidences for each object: [17.03923168 -1.         19.99527356 16.46418422 20.74186918  0.06342889
 15.89508177 18.54175303  0.26971313 15.72079048]
DEBUG:root:mean evidence: 12.373, std: 8.397 -> th=16.593495343708362
INFO:root:current most likely hypothesis: hot_sauce with evidence 20.74
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce', 'mustard_bottle', 'numenta_mug'}
INFO:root:--- Global Matching Step 50 ---
INFO:uvicorn.access:192.168.1.217:65519 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.28401705, -0.47486976,  0.8329664 ],
       [ 0.8582135 , -0.51329289,  0.        ],
       [ 0.42755573,  0.71486301,  0.55332357]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00851516, -0.10185328, -0.00271917])}]
INFO:root:Testing 34 out of 14424 hypotheses for numenta_mug (evidence > 4.148373835927089)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 16.039
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 24 out of 14880 hypotheses for montys_heart (evidence > 4.148373835927089)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 20.198
INFO:root:Testing 234 out of 23200 hypotheses for ramen_pack (evidence > 4.148373835927089)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.865
INFO:root:Testing 187 out of 14864 hypotheses for hot_sauce (evidence > 4.148373835927089)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.02
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 105 out of 21832 hypotheses for tomato_soup_can (evidence > 4.148373835927089)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 14.895
INFO:root:Testing 270 out of 16976 hypotheses for mustard_bottle (evidence > 4.148373835927089)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.251
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 71 out of 19024 hypotheses for potted_meat_can (evidence > 4.148373835927089)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.164
DEBUG:root:evidences for each object: [16.03923168 -1.         20.19846666 15.86467651 20.02000781  0.06342889
 14.89508177 18.2506096   0.26971313 16.16374156]
DEBUG:root:mean evidence: 12.076, std: 8.226 -> th=16.158773330848543
INFO:root:current most likely hypothesis: montys_heart with evidence 20.2
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'potted_meat_can', 'hot_sauce', 'mustard_bottle'}
INFO:root:--- Global Matching Step 51 ---
INFO:uvicorn.access:192.168.1.217:65519 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.22983957, -0.39037702,  0.8915041 ],
       [ 0.86173539, -0.50735798,  0.        ],
       [ 0.45231171,  0.76824063,  0.45301263]]), 'pose_fully_defined': False}}, {'patch': array([-0.0012987 ,  0.00689682,  0.00437043])}]
INFO:root:Testing 34 out of 14424 hypotheses for numenta_mug (evidence > 4.039693332712137)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 15.039
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 24 out of 14880 hypotheses for montys_heart (evidence > 4.039693332712137)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 20.439
INFO:root:Testing 232 out of 23200 hypotheses for ramen_pack (evidence > 4.039693332712137)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.203
INFO:root:Testing 189 out of 14864 hypotheses for hot_sauce (evidence > 4.039693332712137)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.073
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 104 out of 21832 hypotheses for tomato_soup_can (evidence > 4.039693332712137)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 14.919
INFO:root:Testing 262 out of 16976 hypotheses for mustard_bottle (evidence > 4.039693332712137)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.251
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 70 out of 19024 hypotheses for potted_meat_can (evidence > 4.039693332712137)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.551
DEBUG:root:evidences for each object: [15.03923168 -1.         20.43947962 16.2032207  20.0730437   0.06342889
 14.91879895 17.2506096   0.26971313 16.55059594]
DEBUG:root:mean evidence: 11.981, std: 8.18 -> th=16.351583698127037
INFO:root:current most likely hypothesis: montys_heart with evidence 20.44
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'potted_meat_can', 'hot_sauce', 'mustard_bottle'}
INFO:root:--- Global Matching Step 52 ---
INFO:uvicorn.access:192.168.1.217:65519 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.19289018, -0.35251924,  0.91570932],
       [ 0.87725983, -0.48001582,  0.        ],
       [ 0.43955496,  0.80331501,  0.40184131]]), 'pose_fully_defined': False}}, {'patch': array([-0.00094286,  0.00596786,  0.00287054])}]
INFO:root:Testing 34 out of 14424 hypotheses for numenta_mug (evidence > 4.087895924531757)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 14.388
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 24 out of 14880 hypotheses for montys_heart (evidence > 4.087895924531757)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 20.812
INFO:root:Testing 225 out of 23200 hypotheses for ramen_pack (evidence > 4.087895924531757)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.516
INFO:root:Testing 181 out of 14864 hypotheses for hot_sauce (evidence > 4.087895924531757)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.384
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 103 out of 21832 hypotheses for tomato_soup_can (evidence > 4.087895924531757)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 14.952
INFO:root:Testing 254 out of 16976 hypotheses for mustard_bottle (evidence > 4.087895924531757)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.55
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 65 out of 19024 hypotheses for potted_meat_can (evidence > 4.087895924531757)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.909
DEBUG:root:evidences for each object: [14.3883409  -1.         20.81237094 16.51628775 20.38447487  0.06342889
 14.95171448 17.54966947  0.26971313 16.90859628]
DEBUG:root:mean evidence: 12.084, std: 8.287 -> th=16.64989675311474
INFO:root:current most likely hypothesis: montys_heart with evidence 20.81
DEBUG:root:evidences for each object: [14.3883409  -1.         20.81237094 16.51628775 20.38447487  0.06342889
 14.95171448 17.54966947  0.26971313 16.90859628]
DEBUG:root:mean evidence: 12.084, std: 8.287 -> th=16.64989675311474
DEBUG:root:evidences for each object: [14.3883409  -1.         20.81237094 16.51628775 20.38447487  0.06342889
 14.95171448 17.54966947  0.26971313 16.90859628]
DEBUG:root:mean evidence: 12.084, std: 8.287 -> th=17.690515300184412
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', 'potted_meat_can', 'hot_sauce', 'mustard_bottle'}
INFO:root:--- Global Matching Step 53 ---
INFO:uvicorn.access:192.168.1.217:65519 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.24892797, -0.22806195,  0.94128774],
       [ 0.6755282 , -0.73733415,  0.        ],
       [ 0.6940436 ,  0.63586642,  0.33760537]]), 'pose_fully_defined': False}}, {'patch': array([-0.00167841,  0.00433122,  0.0027098 ])}]
INFO:root:Testing 33 out of 14424 hypotheses for numenta_mug (evidence > 4.162474188278683)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 14.608
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 24 out of 14880 hypotheses for montys_heart (evidence > 4.162474188278683)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 21.215
INFO:root:Testing 219 out of 23200 hypotheses for ramen_pack (evidence > 4.162474188278683)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.861
INFO:root:Testing 177 out of 14864 hypotheses for hot_sauce (evidence > 4.162474188278683)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.818
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 99 out of 21832 hypotheses for tomato_soup_can (evidence > 4.162474188278683)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 14.925
INFO:root:Testing 241 out of 16976 hypotheses for mustard_bottle (evidence > 4.162474188278683)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.945
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 62 out of 19024 hypotheses for potted_meat_can (evidence > 4.162474188278683)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.222
DEBUG:root:evidences for each object: [14.60827209 -1.         21.21455521 16.86061858 20.81791274  0.06342889
 14.92453922 17.94486942  0.26971313 17.22182143]
DEBUG:root:mean evidence: 12.293, std: 8.441 -> th=16.971644171671915
INFO:root:current most likely hypothesis: montys_heart with evidence 21.21
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'potted_meat_can', 'hot_sauce', 'mustard_bottle'}
INFO:root:--- Global Matching Step 54 ---
INFO:uvicorn.access:192.168.1.217:65519 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.14505464, -0.15981984,  0.97643063],
       [ 0.74048437, -0.67207358,  0.        ],
       [ 0.65623322,  0.72303162,  0.21583148]]), 'pose_fully_defined': False}}, {'patch': array([0.00190053, 0.01099017, 0.00393931])}]
INFO:root:Testing 33 out of 14424 hypotheses for numenta_mug (evidence > 4.242911042917978)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 14.848
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 24 out of 14880 hypotheses for montys_heart (evidence > 4.242911042917978)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 21.636
INFO:root:Testing 194 out of 23200 hypotheses for ramen_pack (evidence > 4.242911042917978)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.249
INFO:root:Testing 177 out of 14864 hypotheses for hot_sauce (evidence > 4.242911042917978)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 96 out of 21832 hypotheses for tomato_soup_can (evidence > 4.242911042917978)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 15.142
INFO:root:Testing 214 out of 16976 hypotheses for mustard_bottle (evidence > 4.242911042917978)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.385
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 57 out of 19024 hypotheses for potted_meat_can (evidence > 4.242911042917978)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.442
DEBUG:root:evidences for each object: [14.84799852 -1.         21.636345   17.24893688 21.28683629  0.06342889
 15.14243497 18.3845064   0.26971313 17.44189454]
DEBUG:root:mean evidence: 12.532, std: 8.61 -> th=17.309075997771767
INFO:root:current most likely hypothesis: montys_heart with evidence 21.64
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'potted_meat_can', 'hot_sauce', 'mustard_bottle'}
INFO:root:--- Global Matching Step 55 ---
INFO:uvicorn.access:192.168.1.217:65519 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.14603689, -0.04567105,  0.98822436],
       [ 0.29848051, -0.95441573,  0.        ],
       [ 0.94317687,  0.29496571,  0.15301182]]), 'pose_fully_defined': False}}, {'patch': array([-0.00097406,  0.01007079,  0.00169729])}]
INFO:root:Testing 33 out of 14424 hypotheses for numenta_mug (evidence > 4.327268999442943)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 15.078
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 24 out of 14880 hypotheses for montys_heart (evidence > 4.327268999442943)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 22.07
INFO:root:Testing 188 out of 23200 hypotheses for ramen_pack (evidence > 4.327268999442943)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.727
INFO:root:Testing 177 out of 14864 hypotheses for hot_sauce (evidence > 4.327268999442943)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.706
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 96 out of 21832 hypotheses for tomato_soup_can (evidence > 4.327268999442943)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 15.383
INFO:root:Testing 213 out of 16976 hypotheses for mustard_bottle (evidence > 4.327268999442943)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.845
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 55 out of 19024 hypotheses for potted_meat_can (evidence > 4.327268999442943)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.612
DEBUG:root:evidences for each object: [15.07824613 -1.         22.06960338 17.72741549 21.70629948  0.06342889
 15.38319752 18.84494947  0.26971313 17.61239353]
DEBUG:root:mean evidence: 12.776, std: 8.779 -> th=17.65568270270935
INFO:root:current most likely hypothesis: montys_heart with evidence 22.07
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce', 'ramen_pack', 'mustard_bottle'}
INFO:root:--- Global Matching Step 56 ---
INFO:uvicorn.access:192.168.1.217:65519 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.15573505,  0.02308774,  0.98752901],
       [-0.14664734, -0.98918884,  0.        ],
       [ 0.97685268, -0.1448185 ,  0.15743713]]), 'pose_fully_defined': False}}, {'patch': array([-0.00028071,  0.01049622,  0.00380585])}]
INFO:root:Testing 33 out of 14424 hypotheses for numenta_mug (evidence > 4.4139206756773355)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 15.415
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 24 out of 14880 hypotheses for montys_heart (evidence > 4.4139206756773355)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 22.521
INFO:root:Testing 184 out of 23200 hypotheses for ramen_pack (evidence > 4.4139206756773355)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.727
INFO:root:Testing 178 out of 14864 hypotheses for hot_sauce (evidence > 4.4139206756773355)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 22.103
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 96 out of 21832 hypotheses for tomato_soup_can (evidence > 4.4139206756773355)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 15.655
INFO:root:Testing 206 out of 16976 hypotheses for mustard_bottle (evidence > 4.4139206756773355)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 19.105
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 54 out of 19024 hypotheses for potted_meat_can (evidence > 4.4139206756773355)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.669
DEBUG:root:evidences for each object: [15.41494525 -1.         22.52140722 16.72741549 22.1026819   0.06342889
 15.65465077 19.10506223  0.26971313 17.66902785]
DEBUG:root:mean evidence: 12.853, std: 8.858 -> th=18.017125775029484
INFO:root:current most likely hypothesis: montys_heart with evidence 22.52
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce', 'mustard_bottle'}
INFO:root:--- Global Matching Step 57 ---
INFO:uvicorn.access:192.168.1.217:65519 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.09664044,  0.05500946,  0.99379806],
       [-0.4946899 , -0.86906956,  0.        ],
       [ 0.86367965, -0.49162186,  0.11119989]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00123813,  0.01325311, -0.00122093])}]
INFO:root:Testing 33 out of 14424 hypotheses for numenta_mug (evidence > 4.504281443757371)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 15.752
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 24 out of 14880 hypotheses for montys_heart (evidence > 4.504281443757371)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 22.973
INFO:root:Testing 181 out of 23200 hypotheses for ramen_pack (evidence > 4.504281443757371)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.161
INFO:root:Testing 178 out of 14864 hypotheses for hot_sauce (evidence > 4.504281443757371)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 22.518
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 96 out of 21832 hypotheses for tomato_soup_can (evidence > 4.504281443757371)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 15.881
INFO:root:Testing 205 out of 16976 hypotheses for mustard_bottle (evidence > 4.504281443757371)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 19.313
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 51 out of 19024 hypotheses for potted_meat_can (evidence > 4.504281443757371)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.586
DEBUG:root:evidences for each object: [15.75190155 -1.         22.97287637 17.161116   22.51834337  0.06342889
 15.88140708 19.31294292  0.26971313 17.58619417]
DEBUG:root:mean evidence: 13.052, std: 8.997 -> th=18.378301094491185
INFO:root:current most likely hypothesis: montys_heart with evidence 22.97
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce', 'mustard_bottle'}
INFO:root:--- Global Matching Step 58 ---
INFO:uvicorn.access:192.168.1.217:65519 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.14739155,  0.10789658,  0.9831755 ],
       [-0.59068508, -0.80690219,  0.        ],
       [ 0.79332646, -0.58074709,  0.18266346]]), 'pose_fully_defined': False}}, {'patch': array([-0.00218515,  0.01470641, -0.00093157])}]
INFO:root:Testing 33 out of 14424 hypotheses for numenta_mug (evidence > 4.5945752736227945)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 16.039
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 24 out of 14880 hypotheses for montys_heart (evidence > 4.5945752736227945)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 23.409
INFO:root:Testing 176 out of 23200 hypotheses for ramen_pack (evidence > 4.5945752736227945)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.534
INFO:root:Testing 178 out of 14864 hypotheses for hot_sauce (evidence > 4.5945752736227945)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 22.983
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 96 out of 21832 hypotheses for tomato_soup_can (evidence > 4.5945752736227945)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 16.132
INFO:root:Testing 201 out of 16976 hypotheses for mustard_bottle (evidence > 4.5945752736227945)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 19.309
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 50 out of 19024 hypotheses for potted_meat_can (evidence > 4.5945752736227945)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.57
DEBUG:root:evidences for each object: [16.03917606 -1.         23.40859739 17.53445364 22.98318503  0.06342889
 16.13229331 19.30850893  0.26971313 17.57005481]
DEBUG:root:mean evidence: 13.231, std: 9.128 -> th=18.726877913786772
INFO:root:current most likely hypothesis: montys_heart with evidence 23.41
DEBUG:root:evidences for each object: [16.03917606 -1.         23.40859739 17.53445364 22.98318503  0.06342889
 16.13229331 19.30850893  0.26971313 17.57005481]
DEBUG:root:mean evidence: 13.231, std: 9.128 -> th=18.726877913786772
DEBUG:root:evidences for each object: [16.03917606 -1.         23.40859739 17.53445364 22.98318503  0.06342889
 16.13229331 19.30850893  0.26971313 17.57005481]
DEBUG:root:mean evidence: 13.231, std: 9.128 -> th=19.897307783398446
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce', 'mustard_bottle'}
INFO:root:--- Global Matching Step 59 ---
INFO:uvicorn.access:192.168.1.217:65519 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.10650688,  0.15043957,  0.98286531],
       [-0.81616387, -0.57782051,  0.        ],
       [ 0.56791974, -0.80217915,  0.1843252 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00072171,  0.01246093, -0.01023346])}]
INFO:root:Testing 33 out of 14424 hypotheses for numenta_mug (evidence > 4.681719478446691)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 16.227
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 24 out of 14880 hypotheses for montys_heart (evidence > 4.681719478446691)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 23.481
INFO:root:Testing 170 out of 23200 hypotheses for ramen_pack (evidence > 4.681719478446691)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.943
INFO:root:Testing 177 out of 14864 hypotheses for hot_sauce (evidence > 4.681719478446691)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 23.419
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 96 out of 21832 hypotheses for tomato_soup_can (evidence > 4.681719478446691)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 16.285
INFO:root:Testing 195 out of 16976 hypotheses for mustard_bottle (evidence > 4.681719478446691)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 19.277
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 50 out of 19024 hypotheses for potted_meat_can (evidence > 4.681719478446691)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.764
DEBUG:root:evidences for each object: [16.22694969 -1.         23.48124858 17.9431883  23.41868984  0.06342889
 16.28511394 19.27726038  0.26971313 16.76368841]
DEBUG:root:mean evidence: 13.273, std: 9.178 -> th=18.78499886049436
INFO:root:current most likely hypothesis: montys_heart with evidence 23.48
DEBUG:root:evidences for each object: [16.22694969 -1.         23.48124858 17.9431883  23.41868984  0.06342889
 16.28511394 19.27726038  0.26971313 16.76368841]
DEBUG:root:mean evidence: 13.273, std: 9.178 -> th=18.78499886049436
DEBUG:root:evidences for each object: [16.22694969 -1.         23.48124858 17.9431883  23.41868984  0.06342889
 16.28511394 19.27726038  0.26971313 16.76368841]
DEBUG:root:mean evidence: 13.273, std: 9.178 -> th=19.959061289275255
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce', 'mustard_bottle'}
INFO:root:--- Global Matching Step 60 ---
INFO:uvicorn.access:192.168.1.217:65519 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.12155232,  0.36795968,  0.92186263],
       [-0.94953213, -0.31366979,  0.        ],
       [ 0.28916046, -0.87533818,  0.38751683]]), 'pose_fully_defined': False}}, {'patch': array([-0.00599592, -0.00039823, -0.00384159])}]
INFO:root:Testing 33 out of 14424 hypotheses for numenta_mug (evidence > 4.696249715123589)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 15.227
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 24 out of 14880 hypotheses for montys_heart (evidence > 4.696249715123589)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 23.794
INFO:root:Testing 152 out of 23200 hypotheses for ramen_pack (evidence > 4.696249715123589)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 18.121
INFO:root:Testing 177 out of 14864 hypotheses for hot_sauce (evidence > 4.696249715123589)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 23.792
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 95 out of 21832 hypotheses for tomato_soup_can (evidence > 4.696249715123589)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 15.477
INFO:root:Testing 174 out of 16976 hypotheses for mustard_bottle (evidence > 4.696249715123589)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 19.351
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 50 out of 19024 hypotheses for potted_meat_can (evidence > 4.696249715123589)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.03
DEBUG:root:evidences for each object: [15.22694969 -1.         23.79374654 18.12113597 23.79192407  0.06342889
 15.47669225 19.35072189  0.26971313 17.02967062]
DEBUG:root:mean evidence: 13.212, std: 9.229 -> th=19.03499723527157
INFO:root:current most likely hypothesis: montys_heart with evidence 23.79
DEBUG:root:evidences for each object: [15.22694969 -1.         23.79374654 18.12113597 23.79192407  0.06342889
 15.47669225 19.35072189  0.26971313 17.02967062]
DEBUG:root:mean evidence: 13.212, std: 9.229 -> th=19.03499723527157
DEBUG:root:evidences for each object: [15.22694969 -1.         23.79374654 18.12113597 23.79192407  0.06342889
 15.47669225 19.35072189  0.26971313 17.02967062]
DEBUG:root:mean evidence: 13.212, std: 9.229 -> th=20.224684562476046
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce', 'mustard_bottle'}
INFO:root:--- Global Matching Step 61 ---
INFO:uvicorn.access:192.168.1.217:65521 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.01483038,  0.24859055,  0.96849512],
       [-0.99822521, -0.05955198,  0.        ],
       [ 0.0576758 , -0.96677624,  0.24903253]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00649912,  0.01727451, -0.00673253])}]
INFO:root:Testing 32 out of 14424 hypotheses for numenta_mug (evidence > 4.758749308817894)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 15.379
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 24 out of 14880 hypotheses for montys_heart (evidence > 4.758749308817894)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 23.909
INFO:root:Testing 125 out of 23200 hypotheses for ramen_pack (evidence > 4.758749308817894)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 18.11
INFO:root:Testing 177 out of 14864 hypotheses for hot_sauce (evidence > 4.758749308817894)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 22.792
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 94 out of 21832 hypotheses for tomato_soup_can (evidence > 4.758749308817894)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 15.545
INFO:root:Testing 142 out of 16976 hypotheses for mustard_bottle (evidence > 4.758749308817894)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 19.479
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 49 out of 19024 hypotheses for potted_meat_can (evidence > 4.758749308817894)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.227
DEBUG:root:evidences for each object: [15.37858077 -1.         23.90941264 18.10962027 22.79192407  0.06342889
 15.54516701 19.47911977  0.26971313 17.22725176]
DEBUG:root:mean evidence: 13.177, std: 9.155 -> th=19.127530113009723
INFO:root:current most likely hypothesis: montys_heart with evidence 23.91
DEBUG:root:evidences for each object: [15.37858077 -1.         23.90941264 18.10962027 22.79192407  0.06342889
 15.54516701 19.47911977  0.26971313 17.22725176]
DEBUG:root:mean evidence: 13.177, std: 9.155 -> th=19.127530113009723
DEBUG:root:evidences for each object: [15.37858077 -1.         23.90941264 18.10962027 22.79192407  0.06342889
 15.54516701 19.47911977  0.26971313 17.22725176]
DEBUG:root:mean evidence: 13.177, std: 9.155 -> th=20.323000745072832
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', 'hot_sauce', 'mustard_bottle'}
INFO:root:--- Global Matching Step 62 ---
INFO:uvicorn.access:192.168.1.217:65526 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.67440795, -0.60937413,  0.41693774],
       [ 0.67042649, -0.74197596,  0.        ],
       [ 0.30935778,  0.2795261 ,  0.90893505]]), 'pose_fully_defined': False}}, {'patch': array([-0.00401811, -0.10301342, -0.00058545])}]
INFO:root:Testing 32 out of 14424 hypotheses for numenta_mug (evidence > 4.7818825282524315)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 15.71
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 24 out of 14880 hypotheses for montys_heart (evidence > 4.7818825282524315)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 24.119
INFO:root:Testing 115 out of 23200 hypotheses for ramen_pack (evidence > 4.7818825282524315)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 18.577
INFO:root:Testing 171 out of 14864 hypotheses for hot_sauce (evidence > 4.7818825282524315)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 23.0
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 91 out of 21832 hypotheses for tomato_soup_can (evidence > 4.7818825282524315)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 15.579
INFO:root:Testing 124 out of 16976 hypotheses for mustard_bottle (evidence > 4.7818825282524315)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 19.111
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 47 out of 19024 hypotheses for potted_meat_can (evidence > 4.7818825282524315)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.521
DEBUG:root:evidences for each object: [15.71041373 -1.         24.11866038 18.57716355 22.99975426  0.06342889
 15.57866573 19.11050946  0.26971313 17.52145003]
DEBUG:root:mean evidence: 13.295, std: 9.225 -> th=19.294928307491
INFO:root:current most likely hypothesis: montys_heart with evidence 24.12
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 63 ---
INFO:uvicorn.access:192.168.1.217:65526 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.75651578, -0.48512466,  0.43856349],
       [ 0.539807  , -0.84178881,  0.        ],
       [ 0.36917784,  0.23673964,  0.89870021]]), 'pose_fully_defined': False}}, {'patch': array([-0.00648813,  0.00870907,  0.00548101])}]
INFO:root:Testing 30 out of 14424 hypotheses for numenta_mug (evidence > 4.823732076872748)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 16.037
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 24 out of 14880 hypotheses for montys_heart (evidence > 4.823732076872748)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 24.344
INFO:root:Testing 98 out of 23200 hypotheses for ramen_pack (evidence > 4.823732076872748)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 18.989
INFO:root:Testing 171 out of 14864 hypotheses for hot_sauce (evidence > 4.823732076872748)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 23.314
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 88 out of 21832 hypotheses for tomato_soup_can (evidence > 4.823732076872748)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 15.55
INFO:root:Testing 116 out of 16976 hypotheses for mustard_bottle (evidence > 4.823732076872748)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.931
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 47 out of 19024 hypotheses for potted_meat_can (evidence > 4.823732076872748)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.785
DEBUG:root:evidences for each object: [16.03713577 -1.         24.34392897 18.9891933  23.31353391  0.06342889
 15.55042185 18.93094613  0.26971313 17.78537394]
DEBUG:root:mean evidence: 13.428, std: 9.318 -> th=19.475143176487837
INFO:root:current most likely hypothesis: montys_heart with evidence 24.34
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 64 ---
INFO:uvicorn.access:192.168.1.217:65526 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.81885868, -0.31246238,  0.48149529],
       [ 0.35650962, -0.93429165,  0.        ],
       [ 0.44985703,  0.1716577 ,  0.87644868]]), 'pose_fully_defined': False}}, {'patch': array([-0.00209305,  0.00319497,  0.00095253])}]
INFO:root:Testing 26 out of 14424 hypotheses for numenta_mug (evidence > 4.868785794121958)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 16.379
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 24 out of 14880 hypotheses for montys_heart (evidence > 4.868785794121958)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 24.681
INFO:root:Testing 91 out of 23200 hypotheses for ramen_pack (evidence > 4.868785794121958)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 19.393
INFO:root:Testing 168 out of 14864 hypotheses for hot_sauce (evidence > 4.868785794121958)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 23.797
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 86 out of 21832 hypotheses for tomato_soup_can (evidence > 4.868785794121958)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 15.439
INFO:root:Testing 100 out of 16976 hypotheses for mustard_bottle (evidence > 4.868785794121958)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 19.384
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 46 out of 19024 hypotheses for potted_meat_can (evidence > 4.868785794121958)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.001
DEBUG:root:evidences for each object: [16.37932297 -1.         24.6813583  19.39274741 23.79679107  0.06342889
 15.4389817  19.38358224  0.26971313 18.00115251]
DEBUG:root:mean evidence: 13.641, std: 9.478 -> th=19.74508664093868
INFO:root:current most likely hypothesis: montys_heart with evidence 24.68
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 65 ---
INFO:uvicorn.access:192.168.1.217:65526 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.80195247, -0.17016934,  0.57263831],
       [ 0.20757215, -0.97821971,  0.        ],
       [ 0.56016608,  0.11886377,  0.81980813]]), 'pose_fully_defined': False}}, {'patch': array([-5.88895769e-05,  1.10676540e-03,  4.34403677e-03])}]
INFO:root:Testing 22 out of 14424 hypotheses for numenta_mug (evidence > 4.93627166023467)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 16.701
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 23 out of 14880 hypotheses for montys_heart (evidence > 4.93627166023467)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 25.035
INFO:root:Testing 89 out of 23200 hypotheses for ramen_pack (evidence > 4.93627166023467)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 18.753
INFO:root:Testing 161 out of 14864 hypotheses for hot_sauce (evidence > 4.93627166023467)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 24.236
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 78 out of 21832 hypotheses for tomato_soup_can (evidence > 4.93627166023467)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 15.33
INFO:root:Testing 89 out of 16976 hypotheses for mustard_bottle (evidence > 4.93627166023467)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 19.797
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 43 out of 19024 hypotheses for potted_meat_can (evidence > 4.93627166023467)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.193
DEBUG:root:evidences for each object: [16.70119161 -1.         25.03518932 18.75342278 24.23631627  0.06342889
 15.32951457 19.79696242  0.26971313 18.19307147]
DEBUG:root:mean evidence: 13.738, std: 9.573 -> th=20.02815145867978
INFO:root:current most likely hypothesis: montys_heart with evidence 25.04
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 66 ---
INFO:uvicorn.access:192.168.1.217:65526 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.78940626, -0.08385824,  0.6081164 ],
       [ 0.10563515, -0.99440496,  0.        ],
       [ 0.60471396,  0.06423847,  0.79384787]]), 'pose_fully_defined': False}}, {'patch': array([-0.00365875,  0.00880211,  0.00212489])}]
INFO:root:Testing 19 out of 14424 hypotheses for numenta_mug (evidence > 5.007037864669943)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 16.999
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 23 out of 14880 hypotheses for montys_heart (evidence > 5.007037864669943)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 25.453
INFO:root:Testing 88 out of 23200 hypotheses for ramen_pack (evidence > 5.007037864669943)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 19.053
INFO:root:Testing 156 out of 14864 hypotheses for hot_sauce (evidence > 5.007037864669943)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 24.726
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 73 out of 21832 hypotheses for tomato_soup_can (evidence > 5.007037864669943)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 14.33
INFO:root:Testing 87 out of 16976 hypotheses for mustard_bottle (evidence > 5.007037864669943)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 20.207
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 40 out of 19024 hypotheses for potted_meat_can (evidence > 5.007037864669943)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.353
DEBUG:root:evidences for each object: [16.99921238 -1.         25.45294159 19.05258675 24.72618697  0.06342889
 14.32951457 20.20730839  0.26971313 18.3531339 ]
DEBUG:root:mean evidence: 13.845, std: 9.725 -> th=20.362353272522814
INFO:root:current most likely hypothesis: montys_heart with evidence 25.45
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 67 ---
INFO:uvicorn.access:192.168.1.217:65526 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.77735137, -0.06928429,  0.62523959],
       [ 0.08877675, -0.99605155,  0.        ],
       [ 0.62277086,  0.05550674,  0.78043287]]), 'pose_fully_defined': False}}, {'patch': array([-0.00251641,  0.00969969,  0.00053678])}]
INFO:root:Testing 15 out of 14424 hypotheses for numenta_mug (evidence > 5.090588318130703)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 17.308
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 23 out of 14880 hypotheses for montys_heart (evidence > 5.090588318130703)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 25.884
INFO:root:Testing 80 out of 23200 hypotheses for ramen_pack (evidence > 5.090588318130703)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 18.07
INFO:root:Testing 155 out of 14864 hypotheses for hot_sauce (evidence > 5.090588318130703)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 25.051
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 68 out of 21832 hypotheses for tomato_soup_can (evidence > 5.090588318130703)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 14.601
INFO:root:Testing 83 out of 16976 hypotheses for mustard_bottle (evidence > 5.090588318130703)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 20.637
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 33 out of 19024 hypotheses for potted_meat_can (evidence > 5.090588318130703)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.497
DEBUG:root:evidences for each object: [17.30823507 -1.         25.88355495 18.07017245 25.05068269  0.06342889
 14.60070544 20.6370133   0.26971313 18.49665079]
DEBUG:root:mean evidence: 13.938, std: 9.814 -> th=20.706843956827356
INFO:root:current most likely hypothesis: montys_heart with evidence 25.88
DEBUG:root:evidences for each object: [17.30823507 -1.         25.88355495 18.07017245 25.05068269  0.06342889
 14.60070544 20.6370133   0.26971313 18.49665079]
DEBUG:root:mean evidence: 13.938, std: 9.814 -> th=20.706843956827356
DEBUG:root:evidences for each object: [17.30823507 -1.         25.88355495 18.07017245 25.05068269  0.06342889
 14.60070544 20.6370133   0.26971313 18.49665079]
DEBUG:root:mean evidence: 13.938, std: 9.814 -> th=22.001021704129066
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', 'hot_sauce'}
INFO:root:--- Global Matching Step 68 ---
INFO:uvicorn.access:192.168.1.217:65526 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.80082606, -0.04984546,  0.59681911],
       [ 0.06212233, -0.99806854,  0.        ],
       [ 0.59566638,  0.03707579,  0.80237582]]), 'pose_fully_defined': False}}, {'patch': array([-0.00200511,  0.03406747, -0.00019249])}]
INFO:root:Testing 14 out of 14424 hypotheses for numenta_mug (evidence > 5.176710989206839)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 17.601
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 23 out of 14880 hypotheses for montys_heart (evidence > 5.176710989206839)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 26.207
INFO:root:Testing 78 out of 23200 hypotheses for ramen_pack (evidence > 5.176710989206839)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 18.544
INFO:root:Testing 150 out of 14864 hypotheses for hot_sauce (evidence > 5.176710989206839)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 25.521
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 56 out of 21832 hypotheses for tomato_soup_can (evidence > 5.176710989206839)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 13.601
INFO:root:Testing 77 out of 16976 hypotheses for mustard_bottle (evidence > 5.176710989206839)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 19.637
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 29 out of 19024 hypotheses for potted_meat_can (evidence > 5.176710989206839)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.497
DEBUG:root:evidences for each object: [17.60059372 -1.         26.20666371 18.54359889 25.52097483  0.06342889
 13.60070544 19.6370133   0.26971313 17.49665079]
DEBUG:root:mean evidence: 13.794, std: 9.833 -> th=20.965330971184326
INFO:root:current most likely hypothesis: montys_heart with evidence 26.21
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 69 ---
INFO:uvicorn.access:192.168.1.217:65528 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.79333791, -0.03692322,  0.60766078],
       [ 0.04649129, -0.9989187 ,  0.        ],
       [ 0.60700372,  0.02825093,  0.79419668]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00414101,  0.02626202, -0.01090089])}]
INFO:root:Testing 14 out of 14424 hypotheses for numenta_mug (evidence > 5.241332742796079)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 17.555
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 21 out of 14880 hypotheses for montys_heart (evidence > 5.241332742796079)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 26.378
INFO:root:Testing 75 out of 23200 hypotheses for ramen_pack (evidence > 5.241332742796079)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 19.0
INFO:root:Testing 151 out of 14864 hypotheses for hot_sauce (evidence > 5.241332742796079)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 25.859
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 47 out of 21832 hypotheses for tomato_soup_can (evidence > 5.241332742796079)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 13.717
INFO:root:Testing 70 out of 16976 hypotheses for mustard_bottle (evidence > 5.241332742796079)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.637
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 25 out of 19024 hypotheses for potted_meat_can (evidence > 5.241332742796079)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.54
DEBUG:root:evidences for each object: [17.55492983 -1.         26.37835232 18.99975625 25.85886271  0.06342889
 13.71702268 18.6370133   0.26971313 17.54047329]
DEBUG:root:mean evidence: 13.802, std: 9.864 -> th=21.102681855063953
INFO:root:current most likely hypothesis: montys_heart with evidence 26.38
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 70 ---
INFO:uvicorn.access:192.168.1.217:65530 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.39454584, -0.30267106,  0.86759657],
       [ 0.60866698, -0.79342581,  0.        ],
       [ 0.68837351,  0.52807738,  0.49726873]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01763486, -0.08438089,  0.00943474])}]
INFO:root:Testing 11 out of 14424 hypotheses for numenta_mug (evidence > 5.275670463765987)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 17.728
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 19 out of 14880 hypotheses for montys_heart (evidence > 5.275670463765987)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 26.688
INFO:root:Testing 73 out of 23200 hypotheses for ramen_pack (evidence > 5.275670463765987)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 19.337
INFO:root:Testing 150 out of 14864 hypotheses for hot_sauce (evidence > 5.275670463765987)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 26.194
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 43 out of 21832 hypotheses for tomato_soup_can (evidence > 5.275670463765987)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 13.69
INFO:root:Testing 62 out of 16976 hypotheses for mustard_bottle (evidence > 5.275670463765987)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.998
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 25 out of 19024 hypotheses for potted_meat_can (evidence > 5.275670463765987)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.87
DEBUG:root:evidences for each object: [17.72848336 -1.         26.68754695 19.33727851 26.1941496   0.06342889
 13.68959118 18.99808218  0.26971313 17.87039971]
DEBUG:root:mean evidence: 13.984, std: 9.999 -> th=21.35003756306248
INFO:root:current most likely hypothesis: montys_heart with evidence 26.69
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 71 ---
INFO:uvicorn.access:192.168.1.217:65530 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.51500439, -0.11944165,  0.84882517],
       [ 0.225927  , -0.97414424,  0.        ],
       [ 0.82687815,  0.19177252,  0.52867365]]), 'pose_fully_defined': False}}, {'patch': array([-0.00604682,  0.0170459 ,  0.00362546])}]
INFO:root:Testing 10 out of 14424 hypotheses for numenta_mug (evidence > 5.337509390765618)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 18.203
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 19 out of 14880 hypotheses for montys_heart (evidence > 5.337509390765618)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 27.018
INFO:root:Testing 61 out of 23200 hypotheses for ramen_pack (evidence > 5.337509390765618)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 19.756
INFO:root:Testing 147 out of 14864 hypotheses for hot_sauce (evidence > 5.337509390765618)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 26.644
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 40 out of 21832 hypotheses for tomato_soup_can (evidence > 5.337509390765618)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 12.69
INFO:root:Testing 57 out of 16976 hypotheses for mustard_bottle (evidence > 5.337509390765618)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 19.388
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 23 out of 19024 hypotheses for potted_meat_can (evidence > 5.337509390765618)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.104
DEBUG:root:evidences for each object: [18.20302318 -1.         27.01834887 19.75636339 26.64424743  0.06342889
 12.68982593 19.38797199  0.26971313 18.10434491]
DEBUG:root:mean evidence: 14.114, std: 10.175 -> th=21.614679098728903
INFO:root:current most likely hypothesis: montys_heart with evidence 27.02
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 72 ---
INFO:uvicorn.access:192.168.1.217:65530 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.59069153, -0.04991263,  0.80535225],
       [ 0.08419858, -0.99644899,  0.        ],
       [ 0.80249244,  0.06780952,  0.59279656]]), 'pose_fully_defined': False}}, {'patch': array([-0.00660094,  0.03524253,  0.0013811 ])}]
INFO:root:Testing 10 out of 14424 hypotheses for numenta_mug (evidence > 5.403669774682225)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 18.447
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 19 out of 14880 hypotheses for montys_heart (evidence > 5.403669774682225)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 27.396
INFO:root:Testing 56 out of 23200 hypotheses for ramen_pack (evidence > 5.403669774682225)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 20.219
INFO:root:Testing 147 out of 14864 hypotheses for hot_sauce (evidence > 5.403669774682225)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 27.107
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 35 out of 21832 hypotheses for tomato_soup_can (evidence > 5.403669774682225)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 12.946
INFO:root:Testing 50 out of 16976 hypotheses for mustard_bottle (evidence > 5.403669774682225)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.483
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 19 out of 19024 hypotheses for potted_meat_can (evidence > 5.403669774682225)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.104
DEBUG:root:evidences for each object: [18.44654197 -1.         27.39551656 20.21876499 27.10711328  0.06342889
 12.94556744 18.4829546   0.26971313 17.10434491]
DEBUG:root:mean evidence: 14.103, std: 10.238 -> th=21.916413248604638
INFO:root:current most likely hypothesis: montys_heart with evidence 27.4
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 73 ---
INFO:uvicorn.access:192.168.1.217:65530 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.54695957,  0.07102701,  0.83414051],
       [-0.12877663, -0.99167363,  0.        ],
       [ 0.82719514, -0.1074178 ,  0.551552  ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00318708,  0.01944294, -0.00452215])}]
INFO:root:Testing 9 out of 14424 hypotheses for numenta_mug (evidence > 5.479103312151157)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 17.447
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 18 out of 14880 hypotheses for montys_heart (evidence > 5.479103312151157)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 27.799
INFO:root:Testing 51 out of 23200 hypotheses for ramen_pack (evidence > 5.479103312151157)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 20.664
INFO:root:Testing 147 out of 14864 hypotheses for hot_sauce (evidence > 5.479103312151157)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 27.559
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 29 out of 21832 hypotheses for tomato_soup_can (evidence > 5.479103312151157)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 13.054
INFO:root:Testing 45 out of 16976 hypotheses for mustard_bottle (evidence > 5.479103312151157)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.704
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 19 out of 19024 hypotheses for potted_meat_can (evidence > 5.479103312151157)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.288
DEBUG:root:evidences for each object: [17.44654197 -1.         27.79910392 20.66394099 27.55923266  0.06342889
 13.05357442 18.70413369  0.26971313 17.28786042]
DEBUG:root:mean evidence: 14.185, std: 10.353 -> th=22.239283139699218
INFO:root:current most likely hypothesis: montys_heart with evidence 27.8
DEBUG:root:evidences for each object: [17.44654197 -1.         27.79910392 20.66394099 27.55923266  0.06342889
 13.05357442 18.70413369  0.26971313 17.28786042]
DEBUG:root:mean evidence: 14.185, std: 10.353 -> th=22.239283139699218
DEBUG:root:evidences for each object: [17.44654197 -1.         27.79910392 20.66394099 27.55923266  0.06342889
 13.05357442 18.70413369  0.26971313 17.28786042]
DEBUG:root:mean evidence: 14.185, std: 10.353 -> th=23.629238335930417
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 74 ---
INFO:uvicorn.access:192.168.1.217:65530 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.39413851,  0.11403317,  0.91194916],
       [-0.27792415, -0.96060302,  0.        ],
       [ 0.87602112, -0.2534527 ,  0.41030322]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0086762 ,  0.01483177, -0.00645534])}]
INFO:root:Testing 6 out of 14424 hypotheses for numenta_mug (evidence > 5.559820784924803)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 17.419
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 18 out of 14880 hypotheses for montys_heart (evidence > 5.559820784924803)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 28.214
INFO:root:Testing 50 out of 23200 hypotheses for ramen_pack (evidence > 5.559820784924803)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 19.664
INFO:root:Testing 145 out of 14864 hypotheses for hot_sauce (evidence > 5.559820784924803)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 27.82
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 20 out of 21832 hypotheses for tomato_soup_can (evidence > 5.559820784924803)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 13.002
INFO:root:Testing 43 out of 16976 hypotheses for mustard_bottle (evidence > 5.559820784924803)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 19.112
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 18 out of 19024 hypotheses for potted_meat_can (evidence > 5.559820784924803)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.693
DEBUG:root:evidences for each object: [17.41921479 -1.         28.21403809 19.66394099 27.81999926  0.06342889
 13.001855   19.11234469  0.26971313 17.69337844]
DEBUG:root:mean evidence: 14.226, std: 10.415 -> th=22.571230473575717
INFO:root:current most likely hypothesis: montys_heart with evidence 28.21
DEBUG:root:evidences for each object: [17.41921479 -1.         28.21403809 19.66394099 27.81999926  0.06342889
 13.001855   19.11234469  0.26971313 17.69337844]
DEBUG:root:mean evidence: 14.226, std: 10.415 -> th=22.571230473575717
DEBUG:root:evidences for each object: [17.41921479 -1.         28.21403809 19.66394099 27.81999926  0.06342889
 13.001855   19.11234469  0.26971313 17.69337844]
DEBUG:root:mean evidence: 14.226, std: 10.415 -> th=23.9819323781742
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 75 ---
INFO:uvicorn.access:192.168.1.217:65531 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.8744489 , -0.35700035, -0.32846593],
       [ 0.37797181, -0.92581711,  0.        ],
       [-0.30409937, -0.12415086,  0.94451582]]), 'pose_fully_defined': False}}, {'patch': array([-0.01855024, -0.06875704, -0.03139499])}]
INFO:root:Testing 6 out of 14424 hypotheses for numenta_mug (evidence > 5.6428076183939275)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 16.419
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 18 out of 14880 hypotheses for montys_heart (evidence > 5.6428076183939275)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 27.214
INFO:root:Testing 48 out of 23200 hypotheses for ramen_pack (evidence > 5.6428076183939275)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 19.895
INFO:root:Testing 136 out of 14864 hypotheses for hot_sauce (evidence > 5.6428076183939275)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 26.82
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 18 out of 21832 hypotheses for tomato_soup_can (evidence > 5.6428076183939275)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 12.002
INFO:root:Testing 40 out of 16976 hypotheses for mustard_bottle (evidence > 5.6428076183939275)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 19.462
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 18 out of 19024 hypotheses for potted_meat_can (evidence > 5.6428076183939275)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.028
DEBUG:root:evidences for each object: [16.41921479 -1.         27.21403809 19.89503276 26.81999926  0.06342889
 12.001855   19.46233881  0.26971313 18.02790818]
DEBUG:root:mean evidence: 13.917, std: 10.185 -> th=21.771230473575717
INFO:root:current most likely hypothesis: montys_heart with evidence 27.21
DEBUG:root:evidences for each object: [16.41921479 -1.         27.21403809 19.89503276 26.81999926  0.06342889
 12.001855   19.46233881  0.26971313 18.02790818]
DEBUG:root:mean evidence: 13.917, std: 10.185 -> th=21.771230473575717
DEBUG:root:evidences for each object: [16.41921479 -1.         27.21403809 19.89503276 26.81999926  0.06342889
 12.001855   19.46233881  0.26971313 18.02790818]
DEBUG:root:mean evidence: 13.917, std: 10.185 -> th=23.1319323781742
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 76 ---
INFO:uvicorn.access:192.168.1.217:65531 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.96719875, -0.14775039, -0.20663105],
       [ 0.15100933, -0.98853234,  0.        ],
       [-0.20426148, -0.03120322,  0.97841893]]), 'pose_fully_defined': False}}, {'patch': array([-0.00677295,  0.00795441,  0.00939392])}]
INFO:root:Testing 5 out of 14424 hypotheses for numenta_mug (evidence > 5.442807618393928)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 16.745
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 18 out of 14880 hypotheses for montys_heart (evidence > 5.442807618393928)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 27.679
INFO:root:Testing 48 out of 23200 hypotheses for ramen_pack (evidence > 5.442807618393928)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 18.895
INFO:root:Testing 136 out of 14864 hypotheses for hot_sauce (evidence > 5.442807618393928)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 27.16
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 13 out of 21832 hypotheses for tomato_soup_can (evidence > 5.442807618393928)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 11.002
INFO:root:Testing 40 out of 16976 hypotheses for mustard_bottle (evidence > 5.442807618393928)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 19.912
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 18 out of 19024 hypotheses for potted_meat_can (evidence > 5.442807618393928)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.402
DEBUG:root:evidences for each object: [16.74477503 -1.         27.67924472 18.89503276 27.16024777  0.06342889
 11.001855   19.91215681  0.26971313 18.40183753]
DEBUG:root:mean evidence: 13.913, std: 10.309 -> th=22.143395778227532
INFO:root:current most likely hypothesis: montys_heart with evidence 27.68
DEBUG:root:evidences for each object: [16.74477503 -1.         27.67924472 18.89503276 27.16024777  0.06342889
 11.001855   19.91215681  0.26971313 18.40183753]
DEBUG:root:mean evidence: 13.913, std: 10.309 -> th=22.143395778227532
DEBUG:root:evidences for each object: [16.74477503 -1.         27.67924472 18.89503276 27.16024777  0.06342889
 11.001855   19.91215681  0.26971313 18.40183753]
DEBUG:root:mean evidence: 13.913, std: 10.309 -> th=23.527358014366754
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 77 ---
INFO:uvicorn.access:192.168.1.217:65531 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-9.82573546e-01,  5.25114331e-03, -1.85800035e-01],
       [-5.34419876e-03, -9.99985720e-01,  0.00000000e+00],
       [-1.85797382e-01,  9.92952316e-04,  9.82587577e-01]]), 'pose_fully_defined': False}}, {'patch': array([-0.00510903,  0.01370675,  0.00293285])}]
INFO:root:Testing 4 out of 14424 hypotheses for numenta_mug (evidence > 5.535848944556882)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 17.001
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 18 out of 14880 hypotheses for montys_heart (evidence > 5.535848944556882)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 28.123
INFO:root:Testing 43 out of 23200 hypotheses for ramen_pack (evidence > 5.535848944556882)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.895
INFO:root:Testing 127 out of 14864 hypotheses for hot_sauce (evidence > 5.535848944556882)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 27.585
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 7 out of 21832 hypotheses for tomato_soup_can (evidence > 5.535848944556882)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 10.002
INFO:root:Testing 39 out of 16976 hypotheses for mustard_bottle (evidence > 5.535848944556882)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 20.382
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 18 out of 19024 hypotheses for potted_meat_can (evidence > 5.535848944556882)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.774
DEBUG:root:evidences for each object: [17.0008751  -1.         28.12255835 17.89503276 27.58539338  0.06342889
 10.001855   20.38180375  0.26971313 18.7737866 ]
DEBUG:root:mean evidence: 13.909, std: 10.466 -> th=22.498046676036207
INFO:root:current most likely hypothesis: montys_heart with evidence 28.12
DEBUG:root:evidences for each object: [17.0008751  -1.         28.12255835 17.89503276 27.58539338  0.06342889
 10.001855   20.38180375  0.26971313 18.7737866 ]
DEBUG:root:mean evidence: 13.909, std: 10.466 -> th=22.498046676036207
DEBUG:root:evidences for each object: [17.0008751  -1.         28.12255835 17.89503276 27.58539338  0.06342889
 10.001855   20.38180375  0.26971313 18.7737866 ]
DEBUG:root:mean evidence: 13.909, std: 10.466 -> th=23.90417459328847
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: {'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 78 ---
INFO:uvicorn.access:192.168.1.217:65531 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.96281595,  0.13234577, -0.23552079],
       [-0.13617651, -0.99068459,  0.        ],
       [-0.23332682,  0.0320724 ,  0.97186931]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00015627,  0.00567242, -0.00324653])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 5.624511669009049)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 16.001
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 18 out of 14880 hypotheses for montys_heart (evidence > 5.624511669009049)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 28.575
INFO:root:Testing 36 out of 23200 hypotheses for ramen_pack (evidence > 5.624511669009049)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.895
INFO:root:Testing 122 out of 14864 hypotheses for hot_sauce (evidence > 5.624511669009049)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 27.963
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 6 out of 21832 hypotheses for tomato_soup_can (evidence > 5.624511669009049)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 9.002
INFO:root:Testing 38 out of 16976 hypotheses for mustard_bottle (evidence > 5.624511669009049)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 20.783
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 18 out of 19024 hypotheses for potted_meat_can (evidence > 5.624511669009049)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 19.135
DEBUG:root:evidences for each object: [16.0008751  -1.         28.5751237  16.89503276 27.96285349  0.06342889
  9.001855   20.78260622  0.26971313 19.13527062]
DEBUG:root:mean evidence: 13.769, std: 10.604 -> th=22.860098961666836
INFO:root:current most likely hypothesis: montys_heart with evidence 28.58
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 79 ---
INFO:uvicorn.access:192.168.1.217:65531 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.93615124,  0.19795726, -0.2905749 ],
       [-0.20688383, -0.97836551,  0.        ],
       [-0.28428846,  0.06011525,  0.95685225]]), 'pose_fully_defined': False}}, {'patch': array([-0.00015384,  0.01715401,  0.00237452])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 5.715024740416709)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 15.001
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 18 out of 14880 hypotheses for montys_heart (evidence > 5.715024740416709)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 28.917
INFO:root:Testing 30 out of 23200 hypotheses for ramen_pack (evidence > 5.715024740416709)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.973
INFO:root:Testing 121 out of 14864 hypotheses for hot_sauce (evidence > 5.715024740416709)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 28.286
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 4 out of 21832 hypotheses for tomato_soup_can (evidence > 5.715024740416709)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 8.002
INFO:root:Testing 35 out of 16976 hypotheses for mustard_bottle (evidence > 5.715024740416709)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 21.118
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 18 out of 19024 hypotheses for potted_meat_can (evidence > 5.715024740416709)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 19.564
DEBUG:root:evidences for each object: [15.0008751  -1.         28.91668347 15.97338961 28.28598886  0.06342889
  8.001855   21.11813666  0.26971313 19.56390018]
DEBUG:root:mean evidence: 13.619, std: 10.749 -> th=23.133346777519684
INFO:root:current most likely hypothesis: montys_heart with evidence 28.92
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 80 ---
INFO:uvicorn.access:192.168.1.217:65531 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.89371279,  0.2751481 , -0.35435995],
       [-0.29424171, -0.95573104,  0.        ],
       [-0.3386728 ,  0.10426748,  0.9351091 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00400304,  0.01398359, -0.00508468])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 5.783336694379919)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 14.001
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 18 out of 14880 hypotheses for montys_heart (evidence > 5.783336694379919)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 29.389
INFO:root:Testing 29 out of 23200 hypotheses for ramen_pack (evidence > 5.783336694379919)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.92
INFO:root:Testing 122 out of 14864 hypotheses for hot_sauce (evidence > 5.783336694379919)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 28.564
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 4 out of 21832 hypotheses for tomato_soup_can (evidence > 5.783336694379919)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 7.002
INFO:root:Testing 35 out of 16976 hypotheses for mustard_bottle (evidence > 5.783336694379919)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 21.48
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 18 out of 19024 hypotheses for potted_meat_can (evidence > 5.783336694379919)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 19.95
DEBUG:root:evidences for each object: [14.0008751  -1.         29.38854718 15.91959496 28.56362005  0.06342889
  7.001855   21.48003402  0.26971313 19.94965972]
DEBUG:root:mean evidence: 13.564, std: 10.949 -> th=23.51083774353183
INFO:root:current most likely hypothesis: montys_heart with evidence 29.39
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 81 ---
INFO:uvicorn.access:192.168.1.217:65531 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.84771288,  0.15418837, -0.50755179],
       [-0.17895145, -0.98385791,  0.        ],
       [-0.49935884,  0.09082713,  0.86162125]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00251099,  0.00189381, -0.00422798])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 5.877709435882956)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 13.001
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 17 out of 14880 hypotheses for montys_heart (evidence > 5.877709435882956)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 29.817
INFO:root:Testing 27 out of 23200 hypotheses for ramen_pack (evidence > 5.877709435882956)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.801
INFO:root:Testing 122 out of 14864 hypotheses for hot_sauce (evidence > 5.877709435882956)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 28.886
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 2 out of 21832 hypotheses for tomato_soup_can (evidence > 5.877709435882956)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 6.002
INFO:root:Testing 35 out of 16976 hypotheses for mustard_bottle (evidence > 5.877709435882956)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 21.83
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 18 out of 19024 hypotheses for potted_meat_can (evidence > 5.877709435882956)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 20.327
DEBUG:root:evidences for each object: [13.0008751  -1.         29.81697413 15.80116405 28.8856936   0.06342889
  6.001855   21.82979344  0.26971313 20.32721345]
DEBUG:root:mean evidence: 13.5, std: 11.165 -> th=23.853579307206992
INFO:root:current most likely hypothesis: montys_heart with evidence 29.82
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 82 ---
INFO:uvicorn.access:192.168.1.217:65531 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.8192209 ,  0.18084466, -0.54421716],
       [-0.21556216, -0.97649012,  0.        ],
       [-0.53142268,  0.11731262,  0.83894438]]), 'pose_fully_defined': False}}, {'patch': array([-0.00304742,  0.00378206,  0.00021684])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 5.963394826801746)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.933
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 17 out of 14880 hypotheses for montys_heart (evidence > 5.963394826801746)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 30.251
INFO:root:Testing 25 out of 23200 hypotheses for ramen_pack (evidence > 5.963394826801746)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.665
INFO:root:Testing 122 out of 14864 hypotheses for hot_sauce (evidence > 5.963394826801746)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 29.206
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 5.963394826801746)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 6.143
INFO:root:Testing 32 out of 16976 hypotheses for mustard_bottle (evidence > 5.963394826801746)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 22.156
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 17 out of 19024 hypotheses for potted_meat_can (evidence > 5.963394826801746)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 20.617
DEBUG:root:evidences for each object: [12.93253472 -1.         30.25128316 15.6652521  29.20578249  0.06342889
  6.14283026 22.15574043  0.26971313 20.61732449]
DEBUG:root:mean evidence: 13.63, std: 11.303 -> th=24.201026529385473
INFO:root:current most likely hypothesis: montys_heart with evidence 30.25
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 83 ---
INFO:uvicorn.access:192.168.1.217:65531 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.74332581,  0.2511903 , -0.61997595],
       [-0.32014228, -0.94736947,  0.        ],
       [-0.58734629,  0.19848051,  0.78462081]]), 'pose_fully_defined': False}}, {'patch': array([-0.00232951, -0.00053809,  0.00138349])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 6.050256632346368)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.872
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 17 out of 14880 hypotheses for montys_heart (evidence > 6.050256632346368)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 30.665
INFO:root:Testing 23 out of 23200 hypotheses for ramen_pack (evidence > 6.050256632346368)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.491
INFO:root:Testing 121 out of 14864 hypotheses for hot_sauce (evidence > 6.050256632346368)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 29.476
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 6.050256632346368)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 6.107
INFO:root:Testing 30 out of 16976 hypotheses for mustard_bottle (evidence > 6.050256632346368)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 22.363
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 17 out of 19024 hypotheses for potted_meat_can (evidence > 6.050256632346368)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 20.853
DEBUG:root:evidences for each object: [12.87184952 -1.         30.66481149 15.49074368 29.47565351  0.06342889
  6.10650314 22.36284205  0.26971313 20.85329996]
DEBUG:root:mean evidence: 13.716, std: 11.432 -> th=24.531849193762657
INFO:root:current most likely hypothesis: montys_heart with evidence 30.66
DEBUG:root:evidences for each object: [12.87184952 -1.         30.66481149 15.49074368 29.47565351  0.06342889
  6.10650314 22.36284205  0.26971313 20.85329996]
DEBUG:root:mean evidence: 13.716, std: 11.432 -> th=24.531849193762657
DEBUG:root:evidences for each object: [12.87184952 -1.         30.66481149 15.49074368 29.47565351  0.06342889
  6.10650314 22.36284205  0.26971313 20.85329996]
DEBUG:root:mean evidence: 13.716, std: 11.432 -> th=26.06508976837282
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', 'hot_sauce'}
INFO:root:--- Global Matching Step 84 ---
INFO:uvicorn.access:192.168.1.217:65534 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.83736448,  0.40199926, -0.37042856],
       [-0.43278733, -0.90149605,  0.        ],
       [-0.33393988,  0.16031679,  0.92886096]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00409032, -0.00129654,  0.00131447])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 6.132962298440663)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.919
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 17 out of 14880 hypotheses for montys_heart (evidence > 6.132962298440663)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 31.113
INFO:root:Testing 22 out of 23200 hypotheses for ramen_pack (evidence > 6.132962298440663)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.419
INFO:root:Testing 120 out of 14864 hypotheses for hot_sauce (evidence > 6.132962298440663)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 29.686
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 27 out of 16976 hypotheses for mustard_bottle (evidence > 6.132962298440663)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 22.693
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 17 out of 19024 hypotheses for potted_meat_can (evidence > 6.132962298440663)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 21.176
DEBUG:root:evidences for each object: [12.91948364 -1.         31.11266522 15.41907817 29.68581279  0.06342889
  6.10650314 22.69261903  0.26971313 21.17582973]
DEBUG:root:mean evidence: 13.845, std: 11.571 -> th=24.890132174683195
INFO:root:current most likely hypothesis: montys_heart with evidence 31.11
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 85 ---
INFO:uvicorn.access:192.168.1.217:65534 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.89806442,  0.28446238, -0.33550178],
       [-0.30196437, -0.95331921,  0.        ],
       [-0.31984029,  0.10130958,  0.94203957]]), 'pose_fully_defined': False}}, {'patch': array([-0.00178187, -0.00409509,  0.00208341])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 6.222533043670797)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.662
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 17 out of 14880 hypotheses for montys_heart (evidence > 6.222533043670797)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 31.583
INFO:root:Testing 19 out of 23200 hypotheses for ramen_pack (evidence > 6.222533043670797)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.373
INFO:root:Testing 120 out of 14864 hypotheses for hot_sauce (evidence > 6.222533043670797)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 29.96
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 25 out of 16976 hypotheses for mustard_bottle (evidence > 6.222533043670797)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 23.064
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 17 out of 19024 hypotheses for potted_meat_can (evidence > 6.222533043670797)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 21.579
DEBUG:root:evidences for each object: [12.6623442  -1.         31.58325368 15.37314664 29.96039223  0.06342889
  6.10650314 23.06381687  0.26971313 21.57863606]
DEBUG:root:mean evidence: 13.966, std: 11.735 -> th=25.26660294382823
INFO:root:current most likely hypothesis: montys_heart with evidence 31.58
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 86 ---
INFO:uvicorn.access:192.168.1.217:65534 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.91440221,  0.22740662, -0.33489525],
       [-0.24134288, -0.97043991,  0.        ],
       [-0.32499572,  0.08082458,  0.94225536]]), 'pose_fully_defined': False}}, {'patch': array([-0.00523125, -0.01295753,  0.00334055])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 6.3166507359570545)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.662
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 17 out of 14880 hypotheses for montys_heart (evidence > 6.3166507359570545)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 32.02
INFO:root:Testing 17 out of 23200 hypotheses for ramen_pack (evidence > 6.3166507359570545)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.33
INFO:root:Testing 119 out of 14864 hypotheses for hot_sauce (evidence > 6.3166507359570545)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 30.262
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 24 out of 16976 hypotheses for mustard_bottle (evidence > 6.3166507359570545)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 23.373
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 17 out of 19024 hypotheses for potted_meat_can (evidence > 6.3166507359570545)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 21.981
DEBUG:root:evidences for each object: [11.6623442  -1.         32.02027547 15.33044191 30.26238337  0.06342889
  6.10650314 23.37346709  0.26971313 21.98075378]
DEBUG:root:mean evidence: 14.007, std: 11.908 -> th=25.616220376159767
INFO:root:current most likely hypothesis: montys_heart with evidence 32.02
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 87 ---
INFO:uvicorn.access:192.168.1.217:65535 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.77970191,  0.44503279, -0.44046652],
       [-0.49570966, -0.8684883 ,  0.        ],
       [-0.38254002,  0.21834351,  0.89776904]]), 'pose_fully_defined': False}}, {'patch': array([ 0.014166  ,  0.02452161, -0.00209062])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 6.40405509403994)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.717
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 17 out of 14880 hypotheses for montys_heart (evidence > 6.40405509403994)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 32.373
INFO:root:Testing 15 out of 23200 hypotheses for ramen_pack (evidence > 6.40405509403994)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.221
INFO:root:Testing 119 out of 14864 hypotheses for hot_sauce (evidence > 6.40405509403994)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 29.262
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 23 out of 16976 hypotheses for mustard_bottle (evidence > 6.40405509403994)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 23.528
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 21 out of 19024 hypotheses for potted_meat_can (evidence > 6.40405509403994)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 22.273
DEBUG:root:evidences for each object: [11.71655147 -1.         32.37293193 15.22077744 29.26238337  0.06342889
  6.10650314 23.52845399  0.26971313 22.27341483]
DEBUG:root:mean evidence: 13.981, std: 11.86 -> th=25.898345545896014
INFO:root:current most likely hypothesis: montys_heart with evidence 32.37
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 88 ---
INFO:uvicorn.access:192.168.1.217:49153 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.59719523,  0.2777659 , -0.75246526],
       [-0.42173159, -0.90672072,  0.        ],
       [-0.68227584,  0.31733837,  0.65863194]]), 'pose_fully_defined': False}}, {'patch': array([-0.00199252, -0.00853566, -0.01197369])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 6.474586386474002)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.717
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 6.474586386474002)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 32.804
INFO:root:Testing 15 out of 23200 hypotheses for ramen_pack (evidence > 6.474586386474002)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.221
INFO:root:Testing 119 out of 14864 hypotheses for hot_sauce (evidence > 6.474586386474002)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 29.534
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 21 out of 16976 hypotheses for mustard_bottle (evidence > 6.474586386474002)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 23.852
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 17 out of 19024 hypotheses for potted_meat_can (evidence > 6.474586386474002)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 22.51
DEBUG:root:evidences for each object: [10.71655147 -1.         32.8043929  14.22077744 29.53353739  0.06342889
  6.10650314 23.85186286  0.26971313 22.51003119]
DEBUG:root:mean evidence: 13.908, std: 12.022 -> th=26.243514320820147
INFO:root:current most likely hypothesis: montys_heart with evidence 32.8
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 89 ---
INFO:uvicorn.access:192.168.1.217:49153 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.64217716,  0.29433499, -0.70779617],
       [-0.41665914, -0.90906279,  0.        ],
       [-0.64343116,  0.29490974,  0.70641672]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00026593, -0.00329907, -0.00122778])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 6.560878580205035)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.717
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 6.560878580205035)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 33.241
INFO:root:Testing 14 out of 23200 hypotheses for ramen_pack (evidence > 6.560878580205035)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.221
INFO:root:Testing 119 out of 14864 hypotheses for hot_sauce (evidence > 6.560878580205035)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 29.795
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 20 out of 16976 hypotheses for mustard_bottle (evidence > 6.560878580205035)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 24.148
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 18 out of 19024 hypotheses for potted_meat_can (evidence > 6.560878580205035)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 22.768
DEBUG:root:evidences for each object: [ 9.71655147 -1.         33.24118744 13.22077744 29.79539     0.06342889
  6.10650314 24.1477844   0.26971313 22.76767911]
DEBUG:root:mean evidence: 13.833, std: 12.2 -> th=26.592949955502824
INFO:root:current most likely hypothesis: montys_heart with evidence 33.24
DEBUG:root:evidences for each object: [ 9.71655147 -1.         33.24118744 13.22077744 29.79539     0.06342889
  6.10650314 24.1477844   0.26971313 22.76767911]
DEBUG:root:mean evidence: 13.833, std: 12.2 -> th=26.592949955502824
DEBUG:root:evidences for each object: [ 9.71655147 -1.         33.24118744 13.22077744 29.79539     0.06342889
  6.10650314 24.1477844   0.26971313 22.76767911]
DEBUG:root:mean evidence: 13.833, std: 12.2 -> th=28.25500932772175
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 90 ---
INFO:uvicorn.access:192.168.1.217:49153 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.48821275,  0.2671917 , -0.83081701],
       [-0.48008944, -0.87721955,  0.        ],
       [-0.72880892,  0.39886647,  0.55654568]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00703275,  0.00193155, -0.00697293])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 6.648237488875704)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.961
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 6.648237488875704)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 33.714
INFO:root:Testing 13 out of 23200 hypotheses for ramen_pack (evidence > 6.648237488875704)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.112
INFO:root:Testing 118 out of 14864 hypotheses for hot_sauce (evidence > 6.648237488875704)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 30.058
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 18 out of 16976 hypotheses for mustard_bottle (evidence > 6.648237488875704)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 24.584
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 17 out of 19024 hypotheses for potted_meat_can (evidence > 6.648237488875704)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 23.175
DEBUG:root:evidences for each object: [ 9.96126797 -1.         33.71354144 13.11237761 30.0581861   0.06342889
  6.10650314 24.58389582  0.26971313 23.17467981]
DEBUG:root:mean evidence: 14.004, std: 12.369 -> th=26.970833153425122
INFO:root:current most likely hypothesis: montys_heart with evidence 33.71
DEBUG:root:evidences for each object: [ 9.96126797 -1.         33.71354144 13.11237761 30.0581861   0.06342889
  6.10650314 24.58389582  0.26971313 23.17467981]
DEBUG:root:mean evidence: 14.004, std: 12.369 -> th=26.970833153425122
DEBUG:root:evidences for each object: [ 9.96126797 -1.         33.71354144 13.11237761 30.0581861   0.06342889
  6.10650314 24.58389582  0.26971313 23.17467981]
DEBUG:root:mean evidence: 14.004, std: 12.369 -> th=28.65651022551419
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 91 ---
INFO:uvicorn.access:192.168.1.217:49153 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.68486202,  0.29793272, -0.66498128],
       [-0.39891374, -0.91698846,  0.        ],
       [-0.60978016,  0.26527017,  0.74686003]]), 'pose_fully_defined': False}}, {'patch': array([0.00213256, 0.00203147, 0.00025189])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 6.74270828835628)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.094
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 6.74270828835628)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 34.129
INFO:root:Testing 11 out of 23200 hypotheses for ramen_pack (evidence > 6.74270828835628)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.907
INFO:root:Testing 117 out of 14864 hypotheses for hot_sauce (evidence > 6.74270828835628)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 30.196
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 17 out of 16976 hypotheses for mustard_bottle (evidence > 6.74270828835628)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 24.935
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 17 out of 19024 hypotheses for potted_meat_can (evidence > 6.74270828835628)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 23.193
DEBUG:root:evidences for each object: [10.09369976 -1.         34.12875931 12.90658794 30.19619721  0.06342889
  6.10650314 24.93537621  0.26971313 23.19260454]
DEBUG:root:mean evidence: 14.089, std: 12.482 -> th=27.30300744444486
INFO:root:current most likely hypothesis: montys_heart with evidence 34.13
DEBUG:root:evidences for each object: [10.09369976 -1.         34.12875931 12.90658794 30.19619721  0.06342889
  6.10650314 24.93537621  0.26971313 23.19260454]
DEBUG:root:mean evidence: 14.089, std: 12.482 -> th=27.30300744444486
DEBUG:root:evidences for each object: [10.09369976 -1.         34.12875931 12.90658794 30.19619721  0.06342889
  6.10650314 24.93537621  0.26971313 23.19260454]
DEBUG:root:mean evidence: 14.089, std: 12.482 -> th=29.009445409722662
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 92 ---
INFO:uvicorn.access:192.168.1.217:49153 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.34719065,  0.24038888, -0.90646116],
       [-0.5692518 , -0.82216324,  0.        ],
       [-0.74525904,  0.51600465,  0.42228919]]), 'pose_fully_defined': False}}, {'patch': array([0.00476942, 0.00351707, 0.00303698])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 6.825751861111215)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.342
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 6.825751861111215)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 34.578
INFO:root:Testing 11 out of 23200 hypotheses for ramen_pack (evidence > 6.825751861111215)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.864
INFO:root:Testing 115 out of 14864 hypotheses for hot_sauce (evidence > 6.825751861111215)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 30.491
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 15 out of 16976 hypotheses for mustard_bottle (evidence > 6.825751861111215)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 25.364
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 17 out of 19024 hypotheses for potted_meat_can (evidence > 6.825751861111215)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 23.284
DEBUG:root:evidences for each object: [10.34212479 -1.         34.57802454 12.86440479 30.49050858  0.06342889
  6.10650314 25.3643351   0.26971313 23.28414333]
DEBUG:root:mean evidence: 14.236, std: 12.629 -> th=27.662419628661496
INFO:root:current most likely hypothesis: montys_heart with evidence 34.58
DEBUG:root:evidences for each object: [10.34212479 -1.         34.57802454 12.86440479 30.49050858  0.06342889
  6.10650314 25.3643351   0.26971313 23.28414333]
DEBUG:root:mean evidence: 14.236, std: 12.629 -> th=27.662419628661496
DEBUG:root:evidences for each object: [10.34212479 -1.         34.57802454 12.86440479 30.49050858  0.06342889
  6.10650314 25.3643351   0.26971313 23.28414333]
DEBUG:root:mean evidence: 14.236, std: 12.629 -> th=29.39132085545284
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 93 ---
INFO:uvicorn.access:192.168.1.217:49153 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.54288431,  0.51467869, -0.66361319],
       [-0.68800332, -0.72570754,  0.        ],
       [-0.48158909,  0.45656808,  0.74807589]]), 'pose_fully_defined': False}}, {'patch': array([-0.00590593,  0.0050551 ,  0.00830385])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 6.915604907165374)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.362
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 6.915604907165374)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 35.016
INFO:root:Testing 10 out of 23200 hypotheses for ramen_pack (evidence > 6.915604907165374)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.864
INFO:root:Testing 115 out of 14864 hypotheses for hot_sauce (evidence > 6.915604907165374)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 29.491
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 14 out of 16976 hypotheses for mustard_bottle (evidence > 6.915604907165374)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 25.619
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 17 out of 19024 hypotheses for potted_meat_can (evidence > 6.915604907165374)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 23.699
DEBUG:root:evidences for each object: [10.36166332 -1.         35.01586266 11.86440479 29.49050858  0.06342889
  6.10650314 25.61868755  0.26971313 23.69929683]
DEBUG:root:mean evidence: 14.149, std: 12.642 -> th=28.012690125556468
INFO:root:current most likely hypothesis: montys_heart with evidence 35.02
DEBUG:root:evidences for each object: [10.36166332 -1.         35.01586266 11.86440479 29.49050858  0.06342889
  6.10650314 25.61868755  0.26971313 23.69929683]
DEBUG:root:mean evidence: 14.149, std: 12.642 -> th=28.012690125556468
DEBUG:root:evidences for each object: [10.36166332 -1.         35.01586266 11.86440479 29.49050858  0.06342889
  6.10650314 25.61868755  0.26971313 23.69929683]
DEBUG:root:mean evidence: 14.149, std: 12.642 -> th=29.76348325840375
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 94 ---
INFO:uvicorn.access:192.168.1.217:49153 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.78690424,  0.45025177, -0.42196572],
       [-0.49663128, -0.86796162,  0.        ],
       [-0.36625005,  0.20956137,  0.90661179]]), 'pose_fully_defined': False}}, {'patch': array([-0.00562382, -0.00126855,  0.00938031])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 7.003172531389115)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.423
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 7.003172531389115)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 35.375
INFO:root:Testing 9 out of 23200 hypotheses for ramen_pack (evidence > 7.003172531389115)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.762
INFO:root:Testing 113 out of 14864 hypotheses for hot_sauce (evidence > 7.003172531389115)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 28.491
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 14 out of 16976 hypotheses for mustard_bottle (evidence > 7.003172531389115)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 25.778
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 17 out of 19024 hypotheses for potted_meat_can (evidence > 7.003172531389115)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 23.855
DEBUG:root:evidences for each object: [10.42268398 -1.         35.3747729  11.76243853 28.49050858  0.06342889
  6.10650314 25.7775827   0.26971313 23.85475056]
DEBUG:root:mean evidence: 14.112, std: 12.611 -> th=28.29981832136437
INFO:root:current most likely hypothesis: montys_heart with evidence 35.37
DEBUG:root:evidences for each object: [10.42268398 -1.         35.3747729  11.76243853 28.49050858  0.06342889
  6.10650314 25.7775827   0.26971313 23.85475056]
DEBUG:root:mean evidence: 14.112, std: 12.611 -> th=28.29981832136437
DEBUG:root:evidences for each object: [10.42268398 -1.         35.3747729  11.76243853 28.49050858  0.06342889
  6.10650314 25.7775827   0.26971313 23.85475056]
DEBUG:root:mean evidence: 14.112, std: 12.611 -> th=30.06855696644964
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 95 ---
INFO:uvicorn.access:192.168.1.217:49153 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.73205666,  0.41828016, -0.53771252],
       [-0.49610502, -0.86826252,  0.        ],
       [-0.46687562,  0.26676188,  0.84312825]]), 'pose_fully_defined': False}}, {'patch': array([-0.02008766,  0.00864387, -0.00267041])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 7.0749545803410925)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.423
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 7.0749545803410925)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 34.375
INFO:root:Testing 8 out of 23200 hypotheses for ramen_pack (evidence > 7.0749545803410925)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.675
INFO:root:Testing 113 out of 14864 hypotheses for hot_sauce (evidence > 7.0749545803410925)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 28.665
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 14 out of 16976 hypotheses for mustard_bottle (evidence > 7.0749545803410925)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 24.778
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 17 out of 19024 hypotheses for potted_meat_can (evidence > 7.0749545803410925)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 22.855
DEBUG:root:evidences for each object: [ 9.42268398 -1.         34.3747729  11.67463882 28.66458999  0.06342889
  6.10650314 24.7775827   0.26971313 22.85475056]
DEBUG:root:mean evidence: 13.721, std: 12.33 -> th=27.49981832136437
INFO:root:current most likely hypothesis: montys_heart with evidence 34.37
DEBUG:root:evidences for each object: [ 9.42268398 -1.         34.3747729  11.67463882 28.66458999  0.06342889
  6.10650314 24.7775827   0.26971313 22.85475056]
DEBUG:root:mean evidence: 13.721, std: 12.33 -> th=27.49981832136437
DEBUG:root:evidences for each object: [ 9.42268398 -1.         34.3747729  11.67463882 28.66458999  0.06342889
  6.10650314 24.7775827   0.26971313 22.85475056]
DEBUG:root:mean evidence: 13.721, std: 12.33 -> th=29.218556966449643
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 96 ---
INFO:uvicorn.access:192.168.1.217:49153 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.39482944,  0.45915819, -0.7957911 ],
       [-0.75822324, -0.65199503,  0.        ],
       [-0.51885184,  0.6033873 ,  0.60557124]]), 'pose_fully_defined': False}}, {'patch': array([ 0.03220092, -0.00204777, -0.0046672 ])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 6.87495458034109)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.4
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 6.87495458034109)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 34.757
INFO:root:Testing 8 out of 23200 hypotheses for ramen_pack (evidence > 6.87495458034109)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.715
INFO:root:Testing 113 out of 14864 hypotheses for hot_sauce (evidence > 6.87495458034109)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 27.665
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 14 out of 16976 hypotheses for mustard_bottle (evidence > 6.87495458034109)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 25.208
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 17 out of 19024 hypotheses for potted_meat_can (evidence > 6.87495458034109)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 23.227
DEBUG:root:evidences for each object: [ 9.40045543 -1.         34.75718328 11.71518335 27.66458999  0.06342889
  6.10650314 25.20830123  0.26971313 23.22730558]
DEBUG:root:mean evidence: 13.741, std: 12.346 -> th=27.805746621557876
INFO:root:current most likely hypothesis: montys_heart with evidence 34.76
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 97 ---
INFO:uvicorn.access:192.168.1.217:49153 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.41289063,  0.57852659, -0.70344034],
       [-0.81396142, -0.58091893,  0.        ],
       [-0.40864181,  0.5725733 ,  0.71075431]]), 'pose_fully_defined': False}}, {'patch': array([-0.00353284, -0.00319507, -0.00129578])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 6.951436655389468)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.429
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 6.951436655389468)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 35.205
INFO:root:Testing 8 out of 23200 hypotheses for ramen_pack (evidence > 6.951436655389468)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.715
INFO:root:Testing 113 out of 14864 hypotheses for hot_sauce (evidence > 6.951436655389468)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 26.859
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 13 out of 16976 hypotheses for mustard_bottle (evidence > 6.951436655389468)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 25.566
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 17 out of 19024 hypotheses for potted_meat_can (evidence > 6.951436655389468)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 23.667
DEBUG:root:evidences for each object: [ 9.42858127 -1.         35.20514359 10.71518335 26.85863614  0.06342889
  6.10650314 25.56551774  0.26971313 23.66707033]
DEBUG:root:mean evidence: 13.688, std: 12.422 -> th=28.164114873117278
INFO:root:current most likely hypothesis: montys_heart with evidence 35.21
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 98 ---
INFO:uvicorn.access:192.168.1.217:49156 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.55997626, -0.08136026, -0.82450415],
       [ 0.14378265, -0.98960929,  0.        ],
       [-0.81593697, -0.11854939,  0.5658559 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00094997, -0.07202833, -0.00882983])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 7.041028718279318)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.429
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 7.041028718279318)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 35.59
INFO:root:Testing 5 out of 23200 hypotheses for ramen_pack (evidence > 7.041028718279318)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.586
INFO:root:Testing 113 out of 14864 hypotheses for hot_sauce (evidence > 7.041028718279318)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 27.158
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 13 out of 16976 hypotheses for mustard_bottle (evidence > 7.041028718279318)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 24.566
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 17 out of 19024 hypotheses for potted_meat_can (evidence > 7.041028718279318)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 22.667
DEBUG:root:evidences for each object: [ 8.42858127 -1.         35.58981735 10.58558551 27.15796458  0.06342889
  6.10650314 24.56551774  0.26971313 22.66707033]
DEBUG:root:mean evidence: 13.443, std: 12.392 -> th=28.471853882028626
INFO:root:current most likely hypothesis: montys_heart with evidence 35.59
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 99 ---
INFO:uvicorn.access:192.168.1.217:49156 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.61284352, -0.03545365, -0.78940855],
       [ 0.0577545 , -0.99833082,  0.        ],
       [-0.78809088, -0.0455919 ,  0.61386818]]), 'pose_fully_defined': False}}, {'patch': array([-0.00599096,  0.00673439,  0.00022701])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 7.117963470507156)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.429
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 7.117963470507156)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 35.973
INFO:root:Testing 5 out of 23200 hypotheses for ramen_pack (evidence > 7.117963470507156)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.432
INFO:root:Testing 111 out of 14864 hypotheses for hot_sauce (evidence > 7.117963470507156)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 27.502
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 12 out of 16976 hypotheses for mustard_bottle (evidence > 7.117963470507156)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 24.826
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 17 out of 19024 hypotheses for potted_meat_can (evidence > 7.117963470507156)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 22.935
DEBUG:root:evidences for each object: [ 7.42858127 -1.         35.97301284 10.43177351 27.50185866  0.06342889
  6.10650314 24.82622664  0.26971313 22.93464522]
DEBUG:root:mean evidence: 13.454, std: 12.59 -> th=28.77841026846901
INFO:root:current most likely hypothesis: montys_heart with evidence 35.97
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 100 ---
INFO:uvicorn.access:192.168.1.217:49156 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.81091447,  0.10274217, -0.57607445],
       [-0.1256943 , -0.99206902,  0.        ],
       [-0.57150562,  0.07240928,  0.81739723]]), 'pose_fully_defined': False}}, {'patch': array([-0.0112955 ,  0.00766897,  0.00447765])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 7.194602567117251)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.702
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 7.194602567117251)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 36.447
INFO:root:Testing 5 out of 23200 hypotheses for ramen_pack (evidence > 7.194602567117251)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.432
INFO:root:Testing 109 out of 14864 hypotheses for hot_sauce (evidence > 7.194602567117251)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 27.885
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 11 out of 16976 hypotheses for mustard_bottle (evidence > 7.194602567117251)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 25.174
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 17 out of 19024 hypotheses for potted_meat_can (evidence > 7.194602567117251)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 23.32
DEBUG:root:evidences for each object: [ 7.70166472 -1.         36.44743655  9.43177351 27.88513497  0.06342889
  6.10650314 25.17414645  0.26971313 23.31958698]
DEBUG:root:mean evidence: 13.54, std: 12.794 -> th=29.15794924240554
INFO:root:current most likely hypothesis: montys_heart with evidence 36.45
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 101 ---
INFO:uvicorn.access:192.168.1.217:49156 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.83951629,  0.22155947, -0.49610866],
       [-0.25517628, -0.96689455,  0.        ],
       [-0.47968476,  0.12659516,  0.86826044]]), 'pose_fully_defined': False}}, {'patch': array([-0.00269758,  0.01001594,  0.00059808])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 7.289487310601384)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.97
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 7.289487310601384)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 36.826
INFO:root:Testing 4 out of 23200 hypotheses for ramen_pack (evidence > 7.289487310601384)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.432
INFO:root:Testing 105 out of 14864 hypotheses for hot_sauce (evidence > 7.289487310601384)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 28.199
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 11 out of 16976 hypotheses for mustard_bottle (evidence > 7.289487310601384)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 25.512
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 24 out of 19024 hypotheses for potted_meat_can (evidence > 7.289487310601384)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 23.675
DEBUG:root:evidences for each object: [ 7.97017659 -1.         36.82639286  8.43177351 28.19875819  0.06342889
  6.10650314 25.51206317  0.26971313 23.67511916]
DEBUG:root:mean evidence: 13.605, std: 12.979 -> th=29.461114286672625
INFO:root:current most likely hypothesis: montys_heart with evidence 36.83
DEBUG:root:evidences for each object: [ 7.97017659 -1.         36.82639286  8.43177351 28.19875819  0.06342889
  6.10650314 25.51206317  0.26971313 23.67511916]
DEBUG:root:mean evidence: 13.605, std: 12.979 -> th=29.461114286672625
DEBUG:root:evidences for each object: [ 7.97017659 -1.         36.82639286  8.43177351 28.19875819  0.06342889
  6.10650314 25.51206317  0.26971313 23.67511916]
DEBUG:root:mean evidence: 13.605, std: 12.979 -> th=31.302433929589665
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 102 ---
INFO:uvicorn.access:192.168.1.217:49156 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.85611025,  0.25316008, -0.4505388 ],
       [-0.28357115, -0.9589512 ,  0.        ],
       [-0.43204472,  0.1277598 ,  0.89275685]]), 'pose_fully_defined': False}}, {'patch': array([-0.00110891,  0.01517317,  0.00468573])}]
INFO:root:Testing 2 out of 14424 hypotheses for numenta_mug (evidence > 7.365278571668156)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 7.365278571668156)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 37.281
INFO:root:Testing 3 out of 23200 hypotheses for ramen_pack (evidence > 7.365278571668156)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.334
INFO:root:Testing 104 out of 14864 hypotheses for hot_sauce (evidence > 7.365278571668156)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 28.576
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 11 out of 16976 hypotheses for mustard_bottle (evidence > 7.365278571668156)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 25.825
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 23 out of 19024 hypotheses for potted_meat_can (evidence > 7.365278571668156)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 24.02
DEBUG:root:evidences for each object: [ 7.13817772 -1.         37.28090088  8.3338979  28.57610195  0.06342889
  6.10650314 25.82516908  0.26971313 24.02019651]
DEBUG:root:mean evidence: 13.661, std: 13.202 -> th=29.82472070621419
INFO:root:current most likely hypothesis: montys_heart with evidence 37.28
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 103 ---
INFO:uvicorn.access:192.168.1.217:49156 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.80481967,  0.25570757, -0.5356108 ],
       [-0.30280424, -0.95305278,  0.        ],
       [-0.51046536,  0.16218522,  0.84446496]]), 'pose_fully_defined': False}}, {'patch': array([0.00200755, 0.01850223, 0.00150274])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 7.456180176553545)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 37.743
INFO:root:Testing 1 out of 23200 hypotheses for ramen_pack (evidence > 7.456180176553545)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.199
INFO:root:Testing 103 out of 14864 hypotheses for hot_sauce (evidence > 7.456180176553545)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 28.943
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 11 out of 16976 hypotheses for mustard_bottle (evidence > 7.456180176553545)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 26.119
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 27 out of 19024 hypotheses for potted_meat_can (evidence > 7.456180176553545)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 24.354
DEBUG:root:evidences for each object: [ 7.13817772 -1.         37.74339924  8.19888417 28.94348774  0.06342889
  6.10650314 26.11933132  0.26971313 24.35364139]
DEBUG:root:mean evidence: 13.794, std: 13.385 -> th=30.1947193952367
INFO:root:current most likely hypothesis: montys_heart with evidence 37.74
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 104 ---
INFO:uvicorn.access:192.168.1.217:49156 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.88874155, -0.08689456, -0.45009753],
       [ 0.09730858, -0.99525426,  0.        ],
       [-0.44796148, -0.04379835,  0.8929794 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00471122, -0.05228458, -0.00200054])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 7.548679848809172)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 38.218
INFO:root:Testing 1 out of 23200 hypotheses for ramen_pack (evidence > 7.548679848809172)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 103 out of 14864 hypotheses for hot_sauce (evidence > 7.548679848809172)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 29.275
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 11 out of 16976 hypotheses for mustard_bottle (evidence > 7.548679848809172)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 26.529
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 26 out of 19024 hypotheses for potted_meat_can (evidence > 7.548679848809172)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 24.829
DEBUG:root:evidences for each object: [ 7.13817772 -1.         38.21818035  7.34313673 29.27528328  0.06342889
  6.10650314 26.52920304  0.26971313 24.82931785]
DEBUG:root:mean evidence: 13.877, std: 13.621 -> th=30.574544279438623
INFO:root:current most likely hypothesis: montys_heart with evidence 38.22
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 105 ---
INFO:uvicorn.access:192.168.1.217:49156 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.9677931 ,  0.14431605, -0.20627506],
       [-0.14748791, -0.98906386,  0.        ],
       [-0.2040192 ,  0.03042308,  0.97849405]]), 'pose_fully_defined': False}}, {'patch': array([-0.00873982,  0.01881782,  0.010595  ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 7.643636069859653)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 38.694
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 99 out of 14864 hypotheses for hot_sauce (evidence > 7.643636069859653)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 29.72
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 9 out of 16976 hypotheses for mustard_bottle (evidence > 7.643636069859653)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 26.929
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 25 out of 19024 hypotheses for potted_meat_can (evidence > 7.643636069859653)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 25.176
DEBUG:root:evidences for each object: [ 7.13817772 -1.         38.69426137  7.34313673 29.719544    0.06342889
  6.10650314 26.92882751  0.26971313 25.17566205]
DEBUG:root:mean evidence: 14.044, std: 13.822 -> th=30.955409098275037
INFO:root:current most likely hypothesis: montys_heart with evidence 38.69
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 106 ---
INFO:uvicorn.access:192.168.1.217:49156 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.90559505,  0.35606809, -0.23046283],
       [-0.3659182 , -0.93064702,  0.        ],
       [-0.21447955,  0.08433054,  0.97308113]]), 'pose_fully_defined': False}}, {'patch': array([-0.00052308,  0.01387425, -0.0012777 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 14 out of 14880 hypotheses for montys_heart (evidence > 7.738852274568757)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 39.144
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 98 out of 14864 hypotheses for hot_sauce (evidence > 7.738852274568757)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 30.059
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 10 out of 16976 hypotheses for mustard_bottle (evidence > 7.738852274568757)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 27.237
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 26 out of 19024 hypotheses for potted_meat_can (evidence > 7.738852274568757)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 25.561
DEBUG:root:evidences for each object: [ 7.13817772 -1.         39.14432768  7.34313673 30.05934561  0.06342889
  6.10650314 27.23699863  0.26971313 25.5613832 ]
DEBUG:root:mean evidence: 14.192, std: 14.0 -> th=31.315462147352587
INFO:root:current most likely hypothesis: montys_heart with evidence 39.14
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 107 ---
INFO:uvicorn.access:192.168.1.217:49159 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.30749837, -0.08960694, -0.94732009],
       [ 0.27976955, -0.96006718,  0.        ],
       [-0.90949093, -0.26503132,  0.32028839]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01788497, -0.04598335, -0.01202919])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 12 out of 14880 hypotheses for montys_heart (evidence > 7.828865536838144)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 39.458
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 98 out of 14864 hypotheses for hot_sauce (evidence > 7.828865536838144)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 30.499
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 9 out of 16976 hypotheses for mustard_bottle (evidence > 7.828865536838144)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 27.292
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 31 out of 19024 hypotheses for potted_meat_can (evidence > 7.828865536838144)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 24.911
DEBUG:root:evidences for each object: [ 7.13817772 -1.         39.45753487  7.34313673 30.49931392  0.06342889
  6.10650314 27.29230419  0.26971313 24.91064207]
DEBUG:root:mean evidence: 14.208, std: 14.061 -> th=31.566027893914235
INFO:root:current most likely hypothesis: montys_heart with evidence 39.46
DEBUG:root:evidences for each object: [ 7.13817772 -1.         39.45753487  7.34313673 30.49931392  0.06342889
  6.10650314 27.29230419  0.26971313 24.91064207]
DEBUG:root:mean evidence: 14.208, std: 14.061 -> th=31.566027893914235
DEBUG:root:evidences for each object: [ 7.13817772 -1.         39.45753487  7.34313673 30.49931392  0.06342889
  6.10650314 27.29230419  0.26971313 24.91064207]
DEBUG:root:mean evidence: 14.208, std: 14.061 -> th=33.53890463728388
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 108 ---
INFO:uvicorn.access:192.168.1.217:49159 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.2025454 , -0.0351745 , -0.97864095],
       [ 0.1711014 , -0.98525342,  0.        ],
       [-0.96420935, -0.16744684,  0.20557695]]), 'pose_fully_defined': False}}, {'patch': array([-0.00111855,  0.01494777, -0.01039057])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 12 out of 14880 hypotheses for montys_heart (evidence > 7.891506973478556)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 39.933
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 97 out of 14864 hypotheses for hot_sauce (evidence > 7.891506973478556)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 30.267
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 9 out of 16976 hypotheses for mustard_bottle (evidence > 7.891506973478556)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 27.352
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 27 out of 19024 hypotheses for potted_meat_can (evidence > 7.891506973478556)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 24.99
DEBUG:root:evidences for each object: [ 7.13817772 -1.         39.93334399  7.34313673 30.26712707  0.06342889
  6.10650314 27.35181615  0.26971313 24.99035462]
DEBUG:root:mean evidence: 14.246, std: 14.132 -> th=31.946675188012797
INFO:root:current most likely hypothesis: montys_heart with evidence 39.93
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 109 ---
INFO:uvicorn.access:192.168.1.217:49159 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.1559912 ,  0.04527735, -0.98672018],
       [-0.27875104, -0.9603634 ,  0.        ],
       [-0.94760994,  0.27504927,  0.16242934]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00582397,  0.01365612, -0.00713515])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 12 out of 14880 hypotheses for montys_heart (evidence > 7.9866687970031975)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 40.377
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 96 out of 14864 hypotheses for hot_sauce (evidence > 7.9866687970031975)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 29.267
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 9 out of 16976 hypotheses for mustard_bottle (evidence > 7.9866687970031975)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 27.409
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 27 out of 19024 hypotheses for potted_meat_can (evidence > 7.9866687970031975)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 25.068
DEBUG:root:evidences for each object: [ 7.13817772 -1.         40.37722105  7.34313673 29.26712707  0.06342889
  6.10650314 27.40898848  0.26971313 25.06777304]
DEBUG:root:mean evidence: 14.204, std: 14.114 -> th=32.30177684058164
INFO:root:current most likely hypothesis: montys_heart with evidence 40.38
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 110 ---
INFO:uvicorn.access:192.168.1.217:49160 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.45125639,  0.19452296, -0.87093541],
       [-0.39585663, -0.91831233,  0.        ],
       [-0.79979072,  0.34476556,  0.49139751]]), 'pose_fully_defined': False}}, {'patch': array([-0.00861961,  0.00540901,  0.00361041])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 12 out of 14880 hypotheses for montys_heart (evidence > 8.075444210145406)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 40.797
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 95 out of 14864 hypotheses for hot_sauce (evidence > 8.075444210145406)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 28.267
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 9 out of 16976 hypotheses for mustard_bottle (evidence > 8.075444210145406)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 27.582
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 26 out of 19024 hypotheses for potted_meat_can (evidence > 8.075444210145406)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 25.255
DEBUG:root:evidences for each object: [ 7.13817772 -1.         40.7971579   7.34313673 28.26712707  0.06342889
  6.10650314 27.58249917  0.26971313 25.25513193]
DEBUG:root:mean evidence: 14.182, std: 14.121 -> th=32.63772631704071
INFO:root:current most likely hypothesis: montys_heart with evidence 40.8
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 111 ---
INFO:uvicorn.access:192.168.1.217:49160 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.29957357,  0.08496313, -0.95028256],
       [-0.27285212, -0.96205599,  0.        ],
       [-0.91422503,  0.25928661,  0.31138891]]), 'pose_fully_defined': False}}, {'patch': array([0.00548021, 0.02828552, 0.0017683 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 12 out of 14880 hypotheses for montys_heart (evidence > 8.159431579260179)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 41.251
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 94 out of 14864 hypotheses for hot_sauce (evidence > 8.159431579260179)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No 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
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 9 out of 16976 hypotheses for mustard_bottle (evidence > 8.159431579260179)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 27.987
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 26 out of 19024 hypotheses for potted_meat_can (evidence > 8.159431579260179)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 25.352
DEBUG:root:evidences for each object: [ 7.13817772 -1.         41.25070639  7.34313673 28.67197237  0.06342889
  6.10650314 27.98735916  0.26971313 25.35239265]
DEBUG:root:mean evidence: 14.318, std: 14.293 -> th=33.000565108341576
INFO:root:current most likely hypothesis: montys_heart with evidence 41.25
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 112 ---
INFO:uvicorn.access:192.168.1.217:49160 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.32070595,  0.26041453, -0.91067665],
       [-0.63036069, -0.77630239,  0.        ],
       [-0.70696046,  0.57405477,  0.41311988]]), 'pose_fully_defined': False}}, {'patch': array([0.00086668, 0.0127284 , 0.00424421])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 12 out of 14880 hypotheses for montys_heart (evidence > 8.25014127708539)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 41.714
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 92 out of 14864 hypotheses for hot_sauce (evidence > 8.25014127708539)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 29.129
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 9 out of 16976 hypotheses for mustard_bottle (evidence > 8.25014127708539)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 28.381
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 25 out of 19024 hypotheses for potted_meat_can (evidence > 8.25014127708539)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 25.459
DEBUG:root:evidences for each object: [ 7.13817772 -1.         41.71418856  7.34313673 29.12933301  0.06342889
  6.10650314 28.38072664  0.26971313 25.45885637]
DEBUG:root:mean evidence: 14.46, std: 14.472 -> th=33.37135085033798
INFO:root:current most likely hypothesis: montys_heart with evidence 41.71
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 113 ---
INFO:uvicorn.access:192.168.1.217:49160 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.58729494,  0.22722043, -0.776824  ],
       [-0.360829  , -0.93263199,  0.        ],
       [-0.72449092,  0.28030062,  0.62971777]]), 'pose_fully_defined': False}}, {'patch': array([-0.01095262, -0.02450012,  0.00043661])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 11 out of 14880 hypotheses for montys_heart (evidence > 8.342837712584497)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 42.097
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 92 out of 14864 hypotheses for hot_sauce (evidence > 8.342837712584497)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 29.595
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 9 out of 16976 hypotheses for mustard_bottle (evidence > 8.342837712584497)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 28.592
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 24 out of 19024 hypotheses for potted_meat_can (evidence > 8.342837712584497)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 25.709
DEBUG:root:evidences for each object: [ 7.13817772 -1.         42.0973919   7.34313673 29.5953628   0.06342889
  6.10650314 28.59229066  0.26971313 25.70866402]
DEBUG:root:mean evidence: 14.591, std: 14.631 -> th=33.677913517153186
INFO:root:current most likely hypothesis: montys_heart with evidence 42.1
DEBUG:root:evidences for each object: [ 7.13817772 -1.         42.0973919   7.34313673 29.5953628   0.06342889
  6.10650314 28.59229066  0.26971313 25.70866402]
DEBUG:root:mean evidence: 14.591, std: 14.631 -> th=33.677913517153186
DEBUG:root:evidences for each object: [ 7.13817772 -1.         42.0973919   7.34313673 29.5953628   0.06342889
  6.10650314 28.59229066  0.26971313 25.70866402]
DEBUG:root:mean evidence: 14.591, std: 14.631 -> th=35.78278311197526
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 114 ---
INFO:uvicorn.access:192.168.1.217:49160 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.6461235 ,  0.08339725, -0.75866285],
       [-0.12801131, -0.99177271,  0.        ],
       [-0.75242111,  0.09711742,  0.65148344]]), 'pose_fully_defined': False}}, {'patch': array([-0.00445931, -0.01807185,  0.0003152 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 11 out of 14880 hypotheses for montys_heart (evidence > 8.419478379288293)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 42.486
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 92 out of 14864 hypotheses for hot_sauce (evidence > 8.419478379288293)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 28.595
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 9 out of 16976 hypotheses for mustard_bottle (evidence > 8.419478379288293)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 28.852
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 24 out of 19024 hypotheses for potted_meat_can (evidence > 8.419478379288293)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 26.011
DEBUG:root:evidences for each object: [ 7.13817772 -1.         42.48552277  7.34313673 28.5953628   0.06342889
  6.10650314 28.85223691  0.26971313 26.01109081]
DEBUG:root:mean evidence: 14.587, std: 14.654 -> th=33.988418219522416
INFO:root:current most likely hypothesis: montys_heart with evidence 42.49
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 115 ---
INFO:uvicorn.access:192.168.1.217:49160 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.60112669, -0.08146603, -0.79499056],
       [ 0.13429459, -0.99094145,  0.        ],
       [-0.7877891 , -0.10676293,  0.6066218 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00640854, -0.01706194,  0.00397097])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 11 out of 14880 hypotheses for montys_heart (evidence > 8.4971045548806)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 42.917
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 91 out of 14864 hypotheses for hot_sauce (evidence > 8.4971045548806)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 29.072
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 9 out of 16976 hypotheses for mustard_bottle (evidence > 8.4971045548806)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 29.073
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 26 out of 19024 hypotheses for potted_meat_can (evidence > 8.4971045548806)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 26.288
DEBUG:root:evidences for each object: [ 7.13817772 -1.         42.91694692  7.34313673 29.07206973  0.06342889
  6.10650314 29.07263837  0.26971313 26.28821274]
DEBUG:root:mean evidence: 14.727, std: 14.825 -> th=34.333557534588444
INFO:root:current most likely hypothesis: montys_heart with evidence 42.92
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 116 ---
INFO:uvicorn.access:192.168.1.217:49160 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.45394295, -0.09562722, -0.88588443],
       [ 0.20613492, -0.97852358,  0.        ],
       [-0.86685881, -0.18261172,  0.46390599]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00117305, -0.01209222,  0.00731767])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 11 out of 14880 hypotheses for montys_heart (evidence > 8.58338938364711)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 43.279
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 88 out of 14864 hypotheses for hot_sauce (evidence > 8.58338938364711)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 29.56
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 9 out of 16976 hypotheses for mustard_bottle (evidence > 8.58338938364711)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No 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
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 35 out of 19024 hypotheses for potted_meat_can (evidence > 8.58338938364711)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 26.491
DEBUG:root:evidences for each object: [ 7.13817772 -1.         43.27879682  7.34313673 29.56023258  0.06342889
  6.10650314 29.18878771  0.26971313 26.49144693]
DEBUG:root:mean evidence: 14.844, std: 14.968 -> th=34.62303745921074
INFO:root:current most likely hypothesis: montys_heart with evidence 43.28
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 117 ---
INFO:uvicorn.access:192.168.1.217:49162 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.09789492, -0.20913062, -0.97297532],
       [ 0.90568359, -0.42395429,  0.        ],
       [-0.41249706, -0.88120778,  0.23090914]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00285261,  0.00756756, -0.01115021])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 11 out of 14880 hypotheses for montys_heart (evidence > 8.655759364802684)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 43.66
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 87 out of 14864 hypotheses for hot_sauce (evidence > 8.655759364802684)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 29.969
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 9 out of 16976 hypotheses for mustard_bottle (evidence > 8.655759364802684)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No 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
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 35 out of 19024 hypotheses for potted_meat_can (evidence > 8.655759364802684)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 26.511
DEBUG:root:evidences for each object: [ 7.13817772 -1.         43.66041622  7.34313673 29.9692789   0.06342889
  6.10650314 29.18905985  0.26971313 26.51063588]
DEBUG:root:mean evidence: 14.925, std: 15.083 -> th=34.928332979765784
INFO:root:current most likely hypothesis: montys_heart with evidence 43.66
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 118 ---
INFO:uvicorn.access:192.168.1.217:49162 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.0853424 , -0.06139714, -0.99445818],
       [ 0.58399527, -0.81175706,  0.        ],
       [-0.80725844, -0.58075887,  0.10513294]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00010484,  0.00522217, -0.00568501])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 11 out of 14880 hypotheses for montys_heart (evidence > 8.732083244941443)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 44.125
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 83 out of 14864 hypotheses for hot_sauce (evidence > 8.732083244941443)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 28.969
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 9 out of 16976 hypotheses for mustard_bottle (evidence > 8.732083244941443)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 29.201
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 34 out of 19024 hypotheses for potted_meat_can (evidence > 8.732083244941443)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 26.537
DEBUG:root:evidences for each object: [ 7.13817772 -1.         44.12480872  7.34313673 28.9692789   0.06342889
  6.10650314 29.20132893  0.26971313 26.53739815]
DEBUG:root:mean evidence: 14.875, std: 15.079 -> th=35.29984697579982
INFO:root:current most likely hypothesis: montys_heart with evidence 44.12
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 119 ---
INFO:uvicorn.access:192.168.1.217:49162 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.07441769,  0.00986115, -0.9971784 ],
       [-0.13136253, -0.9913344 ,  0.        ],
       [-0.98853725,  0.13099187,  0.07506821]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00361266,  0.00875352, -0.00319452])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 11 out of 14880 hypotheses for montys_heart (evidence > 8.824961743949956)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 44.585
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 79 out of 14864 hypotheses for hot_sauce (evidence > 8.824961743949956)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 27.969
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 9 out of 16976 hypotheses for mustard_bottle (evidence > 8.824961743949956)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 29.21
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 31 out of 19024 hypotheses for potted_meat_can (evidence > 8.824961743949956)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 26.579
DEBUG:root:evidences for each object: [ 7.13817772 -1.         44.58485777  7.34313673 27.9692789   0.06342889
  6.10650314 29.20989654  0.26971313 26.57866242]
DEBUG:root:mean evidence: 14.826, std: 15.082 -> th=35.66788621269704
INFO:root:current most likely hypothesis: montys_heart with evidence 44.58
DEBUG:root:evidences for each object: [ 7.13817772 -1.         44.58485777  7.34313673 27.9692789   0.06342889
  6.10650314 29.20989654  0.26971313 26.57866242]
DEBUG:root:mean evidence: 14.826, std: 15.082 -> th=35.66788621269704
DEBUG:root:evidences for each object: [ 7.13817772 -1.         44.58485777  7.34313673 27.9692789   0.06342889
  6.10650314 29.20989654  0.26971313 26.57866242]
DEBUG:root:mean evidence: 14.826, std: 15.082 -> th=37.897129100990604
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 120 ---
INFO:uvicorn.access:192.168.1.217:49162 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.0703861 ,  0.03228653, -0.99699718],
       [-0.41693463, -0.90893647,  0.        ],
       [-0.9062071 ,  0.41568265,  0.07743786]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00427558,  0.01167188, -0.00306482])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 11 out of 14880 hypotheses for montys_heart (evidence > 8.916971553174257)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 45.05
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 76 out of 14864 hypotheses for hot_sauce (evidence > 8.916971553174257)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 26.969
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 9 out of 16976 hypotheses for mustard_bottle (evidence > 8.916971553174257)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 29.229
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 29 out of 19024 hypotheses for potted_meat_can (evidence > 8.916971553174257)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 26.595
DEBUG:root:evidences for each object: [ 7.13817772 -1.         45.05022587  7.34313673 26.9692789   0.06342889
  6.10650314 29.2292581   0.26971313 26.59547959]
DEBUG:root:mean evidence: 14.777, std: 15.094 -> th=36.04018069620572
INFO:root:current most likely hypothesis: montys_heart with evidence 45.05
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 121 ---
INFO:uvicorn.access:192.168.1.217:49162 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.04683363,  0.07552485, -0.99604348],
       [-0.84986127, -0.52700647,  0.        ],
       [-0.52492136,  0.84649877,  0.08886727]]), 'pose_fully_defined': False}}, {'patch': array([0.00236612, 0.00875551, 0.00135392])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 11 out of 14880 hypotheses for montys_heart (evidence > 9.010045174051427)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 45.505
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 75 out of 14864 hypotheses for hot_sauce (evidence > 9.010045174051427)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 25.969
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 8 out of 16976 hypotheses for mustard_bottle (evidence > 9.010045174051427)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 28.229
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 28 out of 19024 hypotheses for potted_meat_can (evidence > 9.010045174051427)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 26.596
DEBUG:root:evidences for each object: [ 7.13817772 -1.         45.50504616  7.34313673 25.9692789   0.06342889
  6.10650314 28.2292581   0.26971313 26.595708  ]
DEBUG:root:mean evidence: 14.622, std: 15.015 -> th=36.404036930331
INFO:root:current most likely hypothesis: montys_heart with evidence 45.51
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 122 ---
INFO:uvicorn.access:192.168.1.217:49162 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.14000628,  0.13910978, -0.9803299 ],
       [-0.70483199,  0.70937428,  0.        ],
       [ 0.69542081,  0.69096787,  0.19736588]]), 'pose_fully_defined': False}}, {'patch': array([0.00299185, 0.01493492, 0.00318846])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 11 out of 14880 hypotheses for montys_heart (evidence > 9.101009232582747)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 45.921
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 71 out of 14864 hypotheses for hot_sauce (evidence > 9.101009232582747)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 26.432
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 7 out of 16976 hypotheses for mustard_bottle (evidence > 9.101009232582747)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 28.401
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 24 out of 19024 hypotheses for potted_meat_can (evidence > 9.101009232582747)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 26.804
DEBUG:root:evidences for each object: [ 7.13817772 -1.         45.92077557  7.34313673 26.43157037  0.06342889
  6.10650314 28.4008828   0.26971313 26.80444306]
DEBUG:root:mean evidence: 14.748, std: 15.168 -> th=36.73662045774468
INFO:root:current most likely hypothesis: montys_heart with evidence 45.92
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 123 ---
INFO:uvicorn.access:192.168.1.217:49162 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.18902935,  0.26616321, -0.94521164],
       [-0.81530565,  0.57903082,  0.        ],
       [ 0.54730668,  0.77063639,  0.32645819]]), 'pose_fully_defined': False}}, {'patch': array([0.0024774 , 0.01116581, 0.0070122 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 11 out of 14880 hypotheses for montys_heart (evidence > 9.184155114436166)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 46.293
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 68 out of 14864 hypotheses for hot_sauce (evidence > 9.184155114436166)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 26.883
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 7 out of 16976 hypotheses for mustard_bottle (evidence > 9.184155114436166)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 28.794
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 23 out of 19024 hypotheses for potted_meat_can (evidence > 9.184155114436166)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 27.098
DEBUG:root:evidences for each object: [ 7.13817772 -1.         46.29276017  7.34313673 26.88335611  0.06342889
  6.10650314 28.79357598  0.26971313 27.09798208]
DEBUG:root:mean evidence: 14.899, std: 15.338 -> th=37.03420813964054
INFO:root:current most likely hypothesis: montys_heart with evidence 46.29
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 124 ---
INFO:uvicorn.access:192.168.1.217:49162 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.21977649,  0.24442103, -0.94443457],
       [-0.7436003 ,  0.6686244 ,  0.        ],
       [ 0.63147199,  0.70228183,  0.32869948]]), 'pose_fully_defined': False}}, {'patch': array([-3.60420450e-05, -5.42829869e-04, -1.13407148e-03])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 11 out of 14880 hypotheses for montys_heart (evidence > 9.258552034910132)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 46.651
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 66 out of 14864 hypotheses for hot_sauce (evidence > 9.258552034910132)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 27.307
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 7 out of 16976 hypotheses for mustard_bottle (evidence > 9.258552034910132)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No 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
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 23 out of 19024 hypotheses for potted_meat_can (evidence > 9.258552034910132)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 27.39
DEBUG:root:evidences for each object: [ 7.13817772 -1.         46.65093971  7.34313673 27.30675056  0.06342889
  6.10650314 29.18874593  0.26971313 27.38964726]
DEBUG:root:mean evidence: 15.046, std: 15.504 -> th=37.32075176706417
INFO:root:current most likely hypothesis: montys_heart with evidence 46.65
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 125 ---
INFO:uvicorn.access:192.168.1.217:49162 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.13508175,  0.2615143 , -0.95570037],
       [-0.88847298, -0.45892894,  0.        ],
       [-0.43859855,  0.84911395,  0.29434131]]), 'pose_fully_defined': False}}, {'patch': array([-0.00834578,  0.00189933,  0.00066676])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 11 out of 14880 hypotheses for montys_heart (evidence > 9.330187941766042)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 47.049
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 63 out of 14864 hypotheses for hot_sauce (evidence > 9.330187941766042)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 27.784
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 7 out of 16976 hypotheses for mustard_bottle (evidence > 9.330187941766042)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 29.576
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 23 out of 19024 hypotheses for potted_meat_can (evidence > 9.330187941766042)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 27.575
DEBUG:root:evidences for each object: [ 7.13817772 -1.         47.04889668  7.34313673 27.78416756  0.06342889
  6.10650314 29.57550006  0.26971313 27.57493508]
DEBUG:root:mean evidence: 15.19, std: 15.673 -> th=37.63911734673222
INFO:root:current most likely hypothesis: montys_heart with evidence 47.05
DEBUG:root:evidences for each object: [ 7.13817772 -1.         47.04889668  7.34313673 27.78416756  0.06342889
  6.10650314 29.57550006  0.26971313 27.57493508]
DEBUG:root:mean evidence: 15.19, std: 15.673 -> th=37.63911734673222
DEBUG:root:evidences for each object: [ 7.13817772 -1.         47.04889668  7.34313673 27.78416756  0.06342889
  6.10650314 29.57550006  0.26971313 27.57493508]
DEBUG:root:mean evidence: 15.19, std: 15.673 -> th=39.99156218090299
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 126 ---
INFO:uvicorn.access:192.168.1.217:49165 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.55900171, -0.69925971, -0.44559281],
       [ 0.78109001,  0.62441844, -0.        ],
       [ 0.27823637, -0.34804809,  0.89523575]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00618634, -0.09856789,  0.03523318])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 11 out of 14880 hypotheses for montys_heart (evidence > 9.409779336683052)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 47.19
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 63 out of 14864 hypotheses for hot_sauce (evidence > 9.409779336683052)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 26.784
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 7 out of 16976 hypotheses for mustard_bottle (evidence > 9.409779336683052)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 28.576
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 23 out of 19024 hypotheses for potted_meat_can (evidence > 9.409779336683052)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 27.327
DEBUG:root:evidences for each object: [ 7.13817772 -1.         47.18969777  7.34313673 26.78416756  0.06342889
  6.10650314 28.57550006  0.26971313 27.32729289]
DEBUG:root:mean evidence: 14.98, std: 15.514 -> th=37.751758216245584
INFO:root:current most likely hypothesis: montys_heart with evidence 47.19
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 127 ---
INFO:uvicorn.access:192.168.1.217:49165 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.5878109 , -0.73565646, -0.3365827 ],
       [ 0.78123869,  0.62423242, -0.        ],
       [ 0.21010583, -0.26295142,  0.94165391]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00414167,  0.00591376, -0.00780185])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 11 out of 14880 hypotheses for montys_heart (evidence > 9.437939554061394)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 47.52
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 60 out of 14864 hypotheses for hot_sauce (evidence > 9.437939554061394)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 25.784
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 7 out of 16976 hypotheses for mustard_bottle (evidence > 9.437939554061394)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 27.576
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 23 out of 19024 hypotheses for potted_meat_can (evidence > 9.437939554061394)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 27.112
DEBUG:root:evidences for each object: [ 7.13817772 -1.         47.51959426  7.34313673 25.78416756  0.06342889
  6.10650314 27.57550006  0.26971313 27.11171616]
DEBUG:root:mean evidence: 14.791, std: 15.407 -> th=38.015675411897405
INFO:root:current most likely hypothesis: montys_heart with evidence 47.52
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 128 ---
INFO:uvicorn.access:192.168.1.217:49165 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.6307047 , -0.62939262, -0.45395651],
       [ 0.70637012,  0.70784267, -0.        ],
       [ 0.32132979, -0.32066132,  0.89102384]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0046168 ,  0.00730909, -0.00709924])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 11 out of 14880 hypotheses for montys_heart (evidence > 9.503918852974351)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 47.894
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 57 out of 14864 hypotheses for hot_sauce (evidence > 9.503918852974351)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 24.784
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 7 out of 16976 hypotheses for mustard_bottle (evidence > 9.503918852974351)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 26.576
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 23 out of 19024 hypotheses for potted_meat_can (evidence > 9.503918852974351)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 26.112
DEBUG:root:evidences for each object: [ 7.13817772 -1.         47.89428949  7.34313673 24.78416756  0.06342889
  6.10650314 26.57550006  0.26971313 26.11171616]
DEBUG:root:mean evidence: 14.529, std: 15.26 -> th=38.31543159163077
INFO:root:current most likely hypothesis: montys_heart with evidence 47.89
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 129 ---
INFO:uvicorn.access:192.168.1.217:49165 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.61670924, -0.51496863, -0.59537973],
       [ 0.64095113,  0.76758169, -0.        ],
       [ 0.45700257, -0.38160931,  0.80344445]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00530176,  0.01160623, -0.00934843])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 11 out of 14880 hypotheses for montys_heart (evidence > 9.578857897907689)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 48.338
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 57 out of 14864 hypotheses for hot_sauce (evidence > 9.578857897907689)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 25.049
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 7 out of 16976 hypotheses for mustard_bottle (evidence > 9.578857897907689)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 25.576
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 23 out of 19024 hypotheses for potted_meat_can (evidence > 9.578857897907689)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 25.112
DEBUG:root:evidences for each object: [ 7.13817772 -1.         48.33790324  7.34313673 25.04882037  0.06342889
  6.10650314 25.57550006  0.26971313 25.11171616]
DEBUG:root:mean evidence: 14.399, std: 15.227 -> th=38.670322591003696
INFO:root:current most likely hypothesis: montys_heart with evidence 48.34
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 130 ---
INFO:uvicorn.access:192.168.1.217:49165 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.64064542, -0.33993184, -0.68849095],
       [ 0.46871315,  0.88335043, -0.        ],
       [ 0.60817878, -0.32270476,  0.72524493]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00037396,  0.01108666, -0.00423419])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 11 out of 14880 hypotheses for montys_heart (evidence > 9.667580647750924)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 48.812
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 56 out of 14864 hypotheses for hot_sauce (evidence > 9.667580647750924)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 25.415
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 7 out of 16976 hypotheses for mustard_bottle (evidence > 9.667580647750924)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 24.576
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 23 out of 19024 hypotheses for potted_meat_can (evidence > 9.667580647750924)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 24.112
DEBUG:root:evidences for each object: [ 7.13817772 -1.         48.81203617  7.34313673 25.41465157  0.06342889
  6.10650314 24.57550006  0.26971313 24.11171616]
DEBUG:root:mean evidence: 14.283, std: 15.221 -> th=39.04962893408664
INFO:root:current most likely hypothesis: montys_heart with evidence 48.81
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 131 ---
INFO:uvicorn.access:192.168.1.217:49165 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.62598937, -0.21958534, -0.74827775],
       [ 0.3310071 ,  0.94362826, -0.        ],
       [ 0.70609603, -0.24768525,  0.66338557]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00114645,  0.01806773, -0.01120501])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 11 out of 14880 hypotheses for montys_heart (evidence > 9.762407233521657)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 49.188
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 54 out of 14864 hypotheses for hot_sauce (evidence > 9.762407233521657)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 24.415
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 7 out of 16976 hypotheses for mustard_bottle (evidence > 9.762407233521657)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 23.576
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 23 out of 19024 hypotheses for potted_meat_can (evidence > 9.762407233521657)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 23.774
DEBUG:root:evidences for each object: [ 7.13817772 -1.         49.18793104  7.34313673 24.41465157  0.06342889
  6.10650314 23.57550006  0.26971313 23.77406285]
DEBUG:root:mean evidence: 14.087, std: 15.15 -> th=39.35034483430602
INFO:root:current most likely hypothesis: montys_heart with evidence 49.19
DEBUG:root:evidences for each object: [ 7.13817772 -1.         49.18793104  7.34313673 24.41465157  0.06342889
  6.10650314 23.57550006  0.26971313 23.77406285]
DEBUG:root:mean evidence: 14.087, std: 15.15 -> th=39.35034483430602
DEBUG:root:evidences for each object: [ 7.13817772 -1.         49.18793104  7.34313673 24.41465157  0.06342889
  6.10650314 23.57550006  0.26971313 23.77406285]
DEBUG:root:mean evidence: 14.087, std: 15.15 -> th=41.80974138645014
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 132 ---
INFO:uvicorn.access:192.168.1.217:49165 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.63315298, -0.2042022 , -0.74660483],
       [ 0.30694737,  0.95172649, -0.        ],
       [ 0.71056359, -0.22916838,  0.66526779]]), 'pose_fully_defined': False}}, {'patch': array([0.00188286, 0.01019961, 0.00148701])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 11 out of 14880 hypotheses for montys_heart (evidence > 9.837586208576504)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 49.654
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 51 out of 14864 hypotheses for hot_sauce (evidence > 9.837586208576504)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 23.415
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 7 out of 16976 hypotheses for mustard_bottle (evidence > 9.837586208576504)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 22.576
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 23 out of 19024 hypotheses for potted_meat_can (evidence > 9.837586208576504)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 23.881
DEBUG:root:evidences for each object: [ 7.13817772 -1.         49.65395416  7.34313673 23.41465157  0.06342889
  6.10650314 22.57550006  0.26971313 23.88063422]
DEBUG:root:mean evidence: 13.945, std: 15.141 -> th=39.723163330522176
INFO:root:current most likely hypothesis: montys_heart with evidence 49.65
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 133 ---
INFO:uvicorn.access:192.168.1.217:49165 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.40003867, -0.12010585, -0.90859432],
       [ 0.2875549 ,  0.95776416, -0.        ],
       [ 0.87021908, -0.26127075,  0.41767973]]), 'pose_fully_defined': False}}, {'patch': array([-0.00627259,  0.01029275, -0.00409477])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 11 out of 14880 hypotheses for montys_heart (evidence > 9.930790832630542)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 50.104
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 43 out of 14864 hypotheses for hot_sauce (evidence > 9.930790832630542)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 22.415
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 7 out of 16976 hypotheses for mustard_bottle (evidence > 9.930790832630542)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 21.576
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 22 out of 19024 hypotheses for potted_meat_can (evidence > 9.930790832630542)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 24.06
DEBUG:root:evidences for each object: [ 7.13817772 -1.         50.10377214  7.34313673 22.41465157  0.06342889
  6.10650314 21.57550006  0.26971313 24.05978625]
DEBUG:root:mean evidence: 13.807, std: 15.146 -> th=40.083017709788365
INFO:root:current most likely hypothesis: montys_heart with evidence 50.1
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 134 ---
INFO:uvicorn.access:192.168.1.217:49167 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.57644194,  0.0089688 , -0.81708889],
       [-0.01555701,  0.99987898,  0.        ],
       [ 0.81699001,  0.01271146,  0.5765117 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00481808,  0.00107155, -0.00707727])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 11 out of 14880 hypotheses for montys_heart (evidence > 10.020754427447088)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 49.104
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 36 out of 14864 hypotheses for hot_sauce (evidence > 10.020754427447088)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.415
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 7 out of 16976 hypotheses for mustard_bottle (evidence > 10.020754427447088)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 21.67
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 22 out of 19024 hypotheses for potted_meat_can (evidence > 10.020754427447088)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 23.06
DEBUG:root:evidences for each object: [ 7.13817772 -1.         49.10377214  7.34313673 21.41465157  0.06342889
  6.10650314 21.67049559  0.26971313 23.05978625]
DEBUG:root:mean evidence: 13.517, std: 14.789 -> th=39.28301770978836
INFO:root:current most likely hypothesis: montys_heart with evidence 49.1
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 135 ---
INFO:uvicorn.access:192.168.1.217:49167 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.35716675,  0.06292062, -0.93191894],
       [-0.17349438,  0.98483486,  0.        ],
       [ 0.91778626,  0.1616827 ,  0.36266664]]), 'pose_fully_defined': False}}, {'patch': array([-0.00800291,  0.00869183,  0.0108198 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 11 out of 14880 hypotheses for montys_heart (evidence > 9.820754427447085)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 49.563
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 36 out of 14864 hypotheses for hot_sauce (evidence > 9.820754427447085)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.841
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 7 out of 16976 hypotheses for mustard_bottle (evidence > 9.820754427447085)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 21.808
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 22 out of 19024 hypotheses for potted_meat_can (evidence > 9.820754427447085)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 23.334
DEBUG:root:evidences for each object: [ 7.13817772 -1.         49.56346774  7.34313673 21.84091847  0.06342889
  6.10650314 21.80808259  0.26971313 23.33421088]
DEBUG:root:mean evidence: 13.647, std: 14.948 -> th=39.65077419541549
INFO:root:current most likely hypothesis: montys_heart with evidence 49.56
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 136 ---
INFO:uvicorn.access:192.168.1.217:49169 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.73704037, -0.65106782, -0.18133447],
       [ 0.66204352,  0.74946539, -0.        ],
       [ 0.13590391, -0.12005131,  0.98342148]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01210091, -0.06910002,  0.01468816])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 11 out of 14880 hypotheses for montys_heart (evidence > 9.912693548853866)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 49.975
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 33 out of 14864 hypotheses for hot_sauce (evidence > 9.912693548853866)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.98
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 6 out of 16976 hypotheses for mustard_bottle (evidence > 9.912693548853866)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 20.808
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 22 out of 19024 hypotheses for potted_meat_can (evidence > 9.912693548853866)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 23.77
DEBUG:root:evidences for each object: [ 7.13817772 -1.         49.97452403  7.34313673 21.98035394  0.06342889
  6.10650314 20.80808259  0.26971313 23.77015644]
DEBUG:root:mean evidence: 13.645, std: 15.033 -> th=39.979619227310344
INFO:root:current most likely hypothesis: montys_heart with evidence 49.97
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 137 ---
INFO:uvicorn.access:192.168.1.217:49169 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.93060904, -0.32338197, -0.17143781],
       [ 0.3282416 ,  0.9445938 , -0.        ],
       [ 0.1619391 , -0.05627302,  0.98519494]]), 'pose_fully_defined': False}}, {'patch': array([-0.00158291,  0.00065761,  0.01126614])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 11 out of 14880 hypotheses for montys_heart (evidence > 9.994904806827584)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 50.396
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 29 out of 14864 hypotheses for hot_sauce (evidence > 9.994904806827584)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 22.319
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 6 out of 16976 hypotheses for mustard_bottle (evidence > 9.994904806827584)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 20.975
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 21 out of 19024 hypotheses for potted_meat_can (evidence > 9.994904806827584)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 24.123
DEBUG:root:evidences for each object: [ 7.13817772 -1.         50.39616297  7.34313673 22.31852915  0.06342889
  6.10650314 20.97533779  0.26971313 24.12320888]
DEBUG:root:mean evidence: 13.773, std: 15.185 -> th=40.316930373540735
INFO:root:current most likely hypothesis: montys_heart with evidence 50.4
DEBUG:root:evidences for each object: [ 7.13817772 -1.         50.39616297  7.34313673 22.31852915  0.06342889
  6.10650314 20.97533779  0.26971313 24.12320888]
DEBUG:root:mean evidence: 13.773, std: 15.185 -> th=40.316930373540735
DEBUG:root:evidences for each object: [ 7.13817772 -1.         50.39616297  7.34313673 22.31852915  0.06342889
  6.10650314 20.97533779  0.26971313 24.12320888]
DEBUG:root:mean evidence: 13.773, std: 15.185 -> th=42.836738521887035
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 138 ---
INFO:uvicorn.access:192.168.1.217:49169 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.96372521, -0.24470307, -0.10655569],
       [ 0.24610421,  0.96924337, -0.        ],
       [ 0.1032784 , -0.0262238 ,  0.99430674]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00860377,  0.02215013, -0.00402234])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 11 out of 14880 hypotheses for montys_heart (evidence > 10.079232593385179)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 50.866
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 31 out of 14864 hypotheses for hot_sauce (evidence > 10.079232593385179)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 22.722
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 6 out of 16976 hypotheses for mustard_bottle (evidence > 10.079232593385179)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 21.263
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 20 out of 19024 hypotheses for potted_meat_can (evidence > 10.079232593385179)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 24.388
DEBUG:root:evidences for each object: [ 7.13817772 -1.         50.86619174  7.34313673 22.72177125  0.06342889
  6.10650314 21.26251824  0.26971313 24.38775024]
DEBUG:root:mean evidence: 13.916, std: 15.353 -> th=40.69295339483851
INFO:root:current most likely hypothesis: montys_heart with evidence 50.87
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 139 ---
INFO:uvicorn.access:192.168.1.217:49169 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99468642, -0.09851694, -0.02988886],
       [ 0.09856097,  0.99513101, -0.        ],
       [ 0.02974333, -0.00294588,  0.99955323]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00341042,  0.00534242, -0.00229677])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 12 out of 14880 hypotheses for montys_heart (evidence > 10.173238348709624)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 51.269
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 29 out of 14864 hypotheses for hot_sauce (evidence > 10.173238348709624)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.722
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 6 out of 16976 hypotheses for mustard_bottle (evidence > 10.173238348709624)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 21.63
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 20 out of 19024 hypotheses for potted_meat_can (evidence > 10.173238348709624)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 24.691
DEBUG:root:evidences for each object: [ 7.13817772 -1.         51.26915259  7.34313673 21.72177125  0.06342889
  6.10650314 21.62989916  0.26971313 24.690594  ]
DEBUG:root:mean evidence: 13.923, std: 15.435 -> th=41.015322074204114
INFO:root:current most likely hypothesis: montys_heart with evidence 51.27
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 140 ---
INFO:uvicorn.access:192.168.1.217:49169 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99582101, -0.04300276, -0.08056847],
       [ 0.04314301,  0.99906891, -0.        ],
       [ 0.08049346, -0.00347597,  0.99674908]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00969486,  0.01289915, -0.01191354])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 12 out of 14880 hypotheses for montys_heart (evidence > 10.253830518551027)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 50.269
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 25 out of 14864 hypotheses for hot_sauce (evidence > 10.253830518551027)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.722
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 6 out of 16976 hypotheses for mustard_bottle (evidence > 10.253830518551027)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 20.63
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 20 out of 19024 hypotheses for potted_meat_can (evidence > 10.253830518551027)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 25.012
DEBUG:root:evidences for each object: [ 7.13817772 -1.         50.26915259  7.34313673 20.72177125  0.06342889
  6.10650314 20.62989916  0.26971313 25.01166751]
DEBUG:root:mean evidence: 13.655, std: 15.12 -> th=40.21532207420411
INFO:root:current most likely hypothesis: montys_heart with evidence 50.27
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 141 ---
INFO:uvicorn.access:192.168.1.217:49169 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98988543,  0.04898877, -0.13314253],
       [-0.04942884,  0.99877765,  0.        ],
       [ 0.13297978,  0.00658108,  0.9910969 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00127233,  0.01843133, -0.00331581])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 12 out of 14880 hypotheses for montys_heart (evidence > 10.053830518551024)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 49.269
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 26 out of 14864 hypotheses for hot_sauce (evidence > 10.053830518551024)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 19.722
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 6 out of 16976 hypotheses for mustard_bottle (evidence > 10.053830518551024)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 19.63
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 21 out of 19024 hypotheses for potted_meat_can (evidence > 10.053830518551024)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 25.419
DEBUG:root:evidences for each object: [ 7.13817772 -1.         49.26915259  7.34313673 19.72177125  0.06342889
  6.10650314 19.62989916  0.26971313 25.41886604]
DEBUG:root:mean evidence: 13.396, std: 14.821 -> th=39.41532207420411
INFO:root:current most likely hypothesis: montys_heart with evidence 49.27
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 142 ---
INFO:uvicorn.access:192.168.1.217:49169 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99470775,  0.09821456,  0.0301727 ],
       [-0.0982593 ,  0.99516085,  0.        ],
       [-0.03002669, -0.00296475,  0.9995447 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.01640169,  0.01760029,  0.0223022 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 11 out of 14880 hypotheses for montys_heart (evidence > 9.853830518551028)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 49.664
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 26 out of 14864 hypotheses for hot_sauce (evidence > 9.853830518551028)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.154
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 7 out of 16976 hypotheses for mustard_bottle (evidence > 9.853830518551028)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 20.071
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 21 out of 19024 hypotheses for potted_meat_can (evidence > 9.853830518551028)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 25.756
DEBUG:root:evidences for each object: [ 7.13817772 -1.         49.66442735  7.34313673 20.15354565  0.06342889
  6.10650314 20.07060848  0.26971313 25.75597053]
DEBUG:root:mean evidence: 13.557, std: 14.981 -> th=39.731541878264956
INFO:root:current most likely hypothesis: montys_heart with evidence 49.66
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 143 ---
INFO:uvicorn.access:192.168.1.217:49169 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99623131,  0.050552  ,  0.0704817 ],
       [-0.05067803,  0.99871504,  0.        ],
       [-0.07039113, -0.00357187,  0.99751307]]), 'pose_fully_defined': False}}, {'patch': array([-0.00591623,  0.00997423, -0.0020649 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 13 out of 14880 hypotheses for montys_heart (evidence > 9.932885469566237)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 50.097
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 25 out of 14864 hypotheses for hot_sauce (evidence > 9.932885469566237)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.612
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 7 out of 16976 hypotheses for mustard_bottle (evidence > 9.932885469566237)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 20.561
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 25 out of 19024 hypotheses for potted_meat_can (evidence > 9.932885469566237)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 25.986
DEBUG:root:evidences for each object: [ 7.13817772 -1.         50.09740596  7.34313673 20.61242781  0.06342889
  6.10650314 20.56129969  0.26971313 25.98603928]
DEBUG:root:mean evidence: 13.718, std: 15.146 -> th=40.07792476892889
INFO:root:current most likely hypothesis: montys_heart with evidence 50.1
DEBUG:root:evidences for each object: [ 7.13817772 -1.         50.09740596  7.34313673 20.61242781  0.06342889
  6.10650314 20.56129969  0.26971313 25.98603928]
DEBUG:root:mean evidence: 13.718, std: 15.146 -> th=40.07792476892889
DEBUG:root:evidences for each object: [ 7.13817772 -1.         50.09740596  7.34313673 20.61242781  0.06342889
  6.10650314 20.56129969  0.26971313 25.98603928]
DEBUG:root:mean evidence: 13.718, std: 15.146 -> th=42.58279506698694
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 144 ---
INFO:uvicorn.access:192.168.1.217:49169 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.97200994,  0.18042858,  0.15047329],
       [-0.18250658,  0.98320463,  0.        ],
       [-0.14794603, -0.02746237,  0.98861408]]), 'pose_fully_defined': False}}, {'patch': array([-0.00381076,  0.00813114,  0.00694421])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 10.01948119223222)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 50.52
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 30 out of 14864 hypotheses for hot_sauce (evidence > 10.01948119223222)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.083
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 7 out of 16976 hypotheses for mustard_bottle (evidence > 10.01948119223222)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 20.791
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 25 out of 19024 hypotheses for potted_meat_can (evidence > 10.01948119223222)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 26.169
DEBUG:root:evidences for each object: [ 7.13817772 -1.         50.519529    7.34313673 21.08330061  0.06342889
  6.10650314 20.79134155  0.26971313 26.1686496 ]
DEBUG:root:mean evidence: 13.848, std: 15.295 -> th=40.41562319892445
INFO:root:current most likely hypothesis: montys_heart with evidence 50.52
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 145 ---
INFO:uvicorn.access:192.168.1.217:49169 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.729552  ,  0.06893173,  0.68044272],
       [-0.09406606,  0.99556596,  0.        ],
       [-0.67742561, -0.06400656,  0.73280127]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00126331,  0.0058576 , -0.00496975])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 10.103905799731109)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 50.775
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 29 out of 14864 hypotheses for hot_sauce (evidence > 10.103905799731109)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.439
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 7 out of 16976 hypotheses for mustard_bottle (evidence > 10.103905799731109)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 21.231
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 25 out of 19024 hypotheses for potted_meat_can (evidence > 10.103905799731109)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 26.352
DEBUG:root:evidences for each object: [ 7.13817772 -1.         50.77532273  7.34313673 21.43931408  0.06342889
  6.10650314 21.23070501  0.26971313 26.35225818]
DEBUG:root:mean evidence: 13.972, std: 15.408 -> th=40.62025818746576
INFO:root:current most likely hypothesis: montys_heart with evidence 50.78
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 146 ---
INFO:uvicorn.access:192.168.1.217:49171 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.97850204,  0.0962277 , -0.18241157],
       [-0.09786974,  0.99519923,  0.        ],
       [ 0.18153585,  0.01785257,  0.98322226]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00071482, -0.01573687, -0.00972621])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 12 out of 14880 hypotheses for montys_heart (evidence > 10.155064546866434)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 51.246
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 29 out of 14864 hypotheses for hot_sauce (evidence > 10.155064546866434)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.887
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 7 out of 16976 hypotheses for mustard_bottle (evidence > 10.155064546866434)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 21.684
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 24 out of 19024 hypotheses for potted_meat_can (evidence > 10.155064546866434)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 26.369
DEBUG:root:evidences for each object: [ 7.13817772 -1.         51.24563419  7.34313673 21.88746202  0.06342889
  6.10650314 21.68438985  0.26971313 26.36919962]
DEBUG:root:mean evidence: 14.111, std: 15.565 -> th=40.996507353697396
INFO:root:current most likely hypothesis: montys_heart with evidence 51.25
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 147 ---
INFO:uvicorn.access:192.168.1.217:49173 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.97731326, -0.12514052,  0.17087611],
       [ 0.1270085 ,  0.99190163, -0.        ],
       [-0.16949229,  0.02170272,  0.98529252]]), 'pose_fully_defined': False}}, {'patch': array([-0.00134403, -0.08603137,  0.02776568])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 12 out of 14880 hypotheses for montys_heart (evidence > 10.249126838424345)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 51.588
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 39 out of 14864 hypotheses for hot_sauce (evidence > 10.249126838424345)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 22.259
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 7 out of 16976 hypotheses for mustard_bottle (evidence > 10.249126838424345)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No 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
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 24 out of 19024 hypotheses for potted_meat_can (evidence > 10.249126838424345)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 26.796
DEBUG:root:evidences for each object: [ 7.13817772 -1.         51.58834221  7.34313673 22.25905622  0.06342889
  6.10650314 22.05036615  0.26971313 26.79589135]
DEBUG:root:mean evidence: 14.261, std: 15.718 -> th=41.270673769272165
INFO:root:current most likely hypothesis: montys_heart with evidence 51.59
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 148 ---
INFO:uvicorn.access:192.168.1.217:49173 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98864659, -0.04404838,  0.14365816],
       [ 0.04451007,  0.99900894, -0.        ],
       [-0.14351578,  0.00639423,  0.98962737]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00503036,  0.00446361, -0.00556098])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 13 out of 14880 hypotheses for montys_heart (evidence > 10.317668442318038)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 51.995
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 61 out of 14864 hypotheses for hot_sauce (evidence > 10.317668442318038)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 22.672
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 8 out of 16976 hypotheses for mustard_bottle (evidence > 10.317668442318038)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 22.421
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 24 out of 19024 hypotheses for potted_meat_can (evidence > 10.317668442318038)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 27.19
DEBUG:root:evidences for each object: [ 7.13817772 -1.         51.99529935  7.34313673 22.67156422  0.06342889
  6.10650314 22.42088538  0.26971313 27.19011063]
DEBUG:root:mean evidence: 14.42, std: 15.885 -> th=41.59623947935089
INFO:root:current most likely hypothesis: montys_heart with evidence 52.0
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 149 ---
INFO:uvicorn.access:192.168.1.217:49173 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.97312674,  0.00710169,  0.23016062],
       [-0.00729761,  0.99997337,  0.        ],
       [-0.23015449, -0.00167962,  0.97315265]]), 'pose_fully_defined': False}}, {'patch': array([0.00147648, 0.00904525, 0.00272257])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 14 out of 14880 hypotheses for montys_heart (evidence > 10.399059869837721)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 52.419
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 70 out of 14864 hypotheses for hot_sauce (evidence > 10.399059869837721)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 23.115
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 9 out of 16976 hypotheses for mustard_bottle (evidence > 10.399059869837721)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 22.825
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 24 out of 19024 hypotheses for potted_meat_can (evidence > 10.399059869837721)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 27.615
DEBUG:root:evidences for each object: [ 7.13817772 -1.         52.41915658  7.34313673 23.1147783   0.06342889
  6.10650314 22.82544518  0.26971313 27.61463059]
DEBUG:root:mean evidence: 14.589, std: 16.063 -> th=41.93532526103189
INFO:root:current most likely hypothesis: montys_heart with evidence 52.42
DEBUG:root:evidences for each object: [ 7.13817772 -1.         52.41915658  7.34313673 23.1147783   0.06342889
  6.10650314 22.82544518  0.26971313 27.61463059]
DEBUG:root:mean evidence: 14.589, std: 16.063 -> th=41.93532526103189
DEBUG:root:evidences for each object: [ 7.13817772 -1.         52.41915658  7.34313673 23.1147783   0.06342889
  6.10650314 22.82544518  0.26971313 27.61463059]
DEBUG:root:mean evidence: 14.589, std: 16.063 -> th=44.55628308984639
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 150 ---
INFO:uvicorn.access:192.168.1.217:49173 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.96732614,  0.07684512,  0.24160914],
       [-0.07919127,  0.99685944,  0.        ],
       [-0.24085035, -0.01913333,  0.97037365]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0066934 ,  0.02159323, -0.00234252])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 10.483831315257973)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 52.866
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 79 out of 14864 hypotheses for hot_sauce (evidence > 10.483831315257973)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 22.36
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 9 out of 16976 hypotheses for mustard_bottle (evidence > 10.483831315257973)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 23.221
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 30 out of 19024 hypotheses for potted_meat_can (evidence > 10.483831315257973)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 28.023
DEBUG:root:evidences for each object: [ 7.13817772 -1.         52.86599207  7.34313673 22.36035715  0.06342889
  6.10650314 23.22053664  0.26971313 28.02313246]
DEBUG:root:mean evidence: 14.639, std: 16.185 -> th=42.29279365411355
INFO:root:current most likely hypothesis: montys_heart with evidence 52.87
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 151 ---
INFO:uvicorn.access:192.168.1.217:49173 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.97789887,  0.19458942,  0.07647718],
       [-0.19516098,  0.98077122,  0.        ],
       [-0.07500661, -0.01492536,  0.99707133]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00163126,  0.02847586, -0.01060539])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 17 out of 14880 hypotheses for montys_heart (evidence > 10.573198413528388)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 53.324
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 55 out of 14864 hypotheses for hot_sauce (evidence > 10.573198413528388)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 22.753
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 9 out of 16976 hypotheses for mustard_bottle (evidence > 10.573198413528388)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 23.575
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 30 out of 19024 hypotheses for potted_meat_can (evidence > 10.573198413528388)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 28.335
DEBUG:root:evidences for each object: [ 7.13817772 -1.         53.32363692  7.34313673 22.7534751   0.06342889
  6.10650314 23.57510295  0.26971313 28.33544898]
DEBUG:root:mean evidence: 14.791, std: 16.357 -> th=42.658909532681584
INFO:root:current most likely hypothesis: montys_heart with evidence 53.32
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 152 ---
INFO:uvicorn.access:192.168.1.217:49173 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:49173 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98227458,  0.18732232,  0.006855  ],
       [-0.18732672,  0.98229766,  0.        ],
       [-0.00673365, -0.00128412,  0.9999765 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00047868,  0.00346615, -0.0008639 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 10.664727383170394)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 53.774
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 37 out of 14864 hypotheses for hot_sauce (evidence > 10.664727383170394)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 23.121
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 9 out of 16976 hypotheses for mustard_bottle (evidence > 10.664727383170394)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 23.904
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 33 out of 19024 hypotheses for potted_meat_can (evidence > 10.664727383170394)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 28.619
DEBUG:root:evidences for each object: [ 7.13817772 -1.         53.77372688  7.34313673 23.1209706   0.06342889
  6.10650314 23.90409892  0.26971313 28.61931526]
DEBUG:root:mean evidence: 14.934, std: 16.522 -> th=43.01898150458589
INFO:root:current most likely hypothesis: montys_heart with evidence 53.77
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 153 ---
INFO:uvicorn.access:192.168.1.217:49173 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.90554279,  0.20434657,  0.37179933],
       [-0.22012677,  0.97547127,  0.        ],
       [-0.36267956, -0.08184299,  0.92831313]]), 'pose_fully_defined': False}}, {'patch': array([-0.01202488,  0.00758218,  0.00133243])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 10.754745376146467)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 54.208
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 24 out of 14864 hypotheses for hot_sauce (evidence > 10.754745376146467)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 23.586
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 8 out of 16976 hypotheses for mustard_bottle (evidence > 10.754745376146467)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 24.297
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 43 out of 19024 hypotheses for potted_meat_can (evidence > 10.754745376146467)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 29.028
DEBUG:root:evidences for each object: [ 7.13817772 -1.         54.20777097  7.34313673 23.58589817  0.06342889
  6.10650314 24.29744377  0.26971313 29.02780726]
DEBUG:root:mean evidence: 15.104, std: 16.702 -> th=43.36621677674983
INFO:root:current most likely hypothesis: montys_heart with evidence 54.21
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 154 ---
INFO:uvicorn.access:192.168.1.217:49173 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.8949567 ,  0.21098621,  0.39311235],
       [-0.22945992,  0.97331811,  0.        ],
       [-0.38262337, -0.09020353,  0.91949045]]), 'pose_fully_defined': False}}, {'patch': array([-0.00426511,  0.00422685, -0.00088697])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 17 out of 14880 hypotheses for montys_heart (evidence > 10.841554194187452)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 54.632
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 25 out of 14864 hypotheses for hot_sauce (evidence > 10.841554194187452)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 24.06
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 8 out of 16976 hypotheses for mustard_bottle (evidence > 10.841554194187452)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 24.7
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 44 out of 19024 hypotheses for potted_meat_can (evidence > 10.841554194187452)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 28.028
DEBUG:root:evidences for each object: [ 7.13817772 -1.         54.63155185  7.34313673 24.05971383  0.06342889
  6.10650314 24.700253    0.26971313 28.02780726]
DEBUG:root:mean evidence: 15.134, std: 16.769 -> th=43.70524147856695
INFO:root:current most likely hypothesis: montys_heart with evidence 54.63
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 155 ---
INFO:uvicorn.access:192.168.1.217:49175 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.21234638, -0.73475577,  0.64423829],
       [ 0.96068503, -0.27764054,  0.        ],
       [ 0.17886666,  0.61891008,  0.76482483]]), 'pose_fully_defined': False}}, {'patch': array([-0.01080604, -0.08414845,  0.01731812])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 10.926310369641733)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 54.992
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 26 out of 14864 hypotheses for hot_sauce (evidence > 10.926310369641733)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 23.06
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 8 out of 16976 hypotheses for mustard_bottle (evidence > 10.926310369641733)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 24.904
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 40 out of 19024 hypotheses for potted_meat_can (evidence > 10.926310369641733)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 28.367
DEBUG:root:evidences for each object: [ 7.13817772 -1.         54.99221759  7.34313673 23.05971383  0.06342889
  6.10650314 24.90370262  0.26971313 28.36668538]
DEBUG:root:mean evidence: 15.124, std: 16.842 -> th=43.99377406893549
INFO:root:current most likely hypothesis: montys_heart with evidence 54.99
DEBUG:root:evidences for each object: [ 7.13817772 -1.         54.99221759  7.34313673 23.05971383  0.06342889
  6.10650314 24.90370262  0.26971313 28.36668538]
DEBUG:root:mean evidence: 15.124, std: 16.842 -> th=43.99377406893549
DEBUG:root:evidences for each object: [ 7.13817772 -1.         54.99221759  7.34313673 23.05971383  0.06342889
  6.10650314 24.90370262  0.26971313 28.36668538]
DEBUG:root:mean evidence: 15.124, std: 16.842 -> th=46.74338494824396
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 156 ---
INFO:uvicorn.access:192.168.1.217:49175 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.06043815, -0.71678683,  0.69466817],
       [ 0.99646407,  0.08402002, -0.        ],
       [-0.05836604,  0.69221187,  0.71933034]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0085689 , -0.00094474, -0.00259438])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 10.998443517233866)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 55.364
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 25 out of 14864 hypotheses for hot_sauce (evidence > 10.998443517233866)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 22.991
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 8 out of 16976 hypotheses for mustard_bottle (evidence > 10.998443517233866)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 23.904
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 35 out of 19024 hypotheses for potted_meat_can (evidence > 10.998443517233866)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 28.361
DEBUG:root:evidences for each object: [ 7.13817772 -1.         55.3644812   7.34313673 22.9910894   0.06342889
  6.10650314 23.90370262  0.26971313 28.3614385 ]
DEBUG:root:mean evidence: 15.054, std: 16.872 -> th=44.291584961703364
INFO:root:current most likely hypothesis: montys_heart with evidence 55.36
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 157 ---
INFO:uvicorn.access:192.168.1.217:49175 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.01571916, -0.6720889 ,  0.7403036 ],
       [ 0.9997266 , -0.02338213,  0.        ],
       [ 0.01730987,  0.7401012 ,  0.6722727 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00344144,  0.00258936,  0.00038032])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 11.072896240425841)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 55.692
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 25 out of 14864 hypotheses for hot_sauce (evidence > 11.072896240425841)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.991
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 8 out of 16976 hypotheses for mustard_bottle (evidence > 11.072896240425841)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 22.904
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 35 out of 19024 hypotheses for potted_meat_can (evidence > 11.072896240425841)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 28.55
DEBUG:root:evidences for each object: [ 7.13817772 -1.         55.69232539  7.34313673 21.9910894   0.06342889
  6.10650314 22.90370262  0.26971313 28.55006633]
DEBUG:root:mean evidence: 14.906, std: 16.871 -> th=44.55386031367384
INFO:root:current most likely hypothesis: montys_heart with evidence 55.69
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 158 ---
INFO:uvicorn.access:192.168.1.217:49175 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.51217423, -0.66527523,  0.54321858],
       [ 0.79237984, -0.61002803,  0.        ],
       [ 0.33137856,  0.43043545,  0.83959132]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00029819, -0.00994595, -0.00462808])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 11.138465078418456)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 55.852
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 19 out of 14864 hypotheses for hot_sauce (evidence > 11.138465078418456)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.991
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 8 out of 16976 hypotheses for mustard_bottle (evidence > 11.138465078418456)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 21.904
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 32 out of 19024 hypotheses for potted_meat_can (evidence > 11.138465078418456)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 28.905
DEBUG:root:evidences for each object: [ 7.13817772 -1.         55.85218978  7.34313673 20.9910894   0.06342889
  6.10650314 21.90370262  0.26971313 28.90457124]
DEBUG:root:mean evidence: 14.757, std: 16.855 -> th=44.68175182582176
INFO:root:current most likely hypothesis: montys_heart with evidence 55.85
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 159 ---
INFO:uvicorn.access:192.168.1.217:49175 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.63990447, -0.58045069,  0.5035864 ],
       [ 0.6718608 , -0.74067743,  0.        ],
       [ 0.37299508,  0.33833996,  0.86394487]]), 'pose_fully_defined': False}}, {'patch': array([-0.01043192,  0.0095584 ,  0.00595703])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 11.170437956455437)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 56.112
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 17 out of 14864 hypotheses for hot_sauce (evidence > 11.170437956455437)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 19.991
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 7 out of 16976 hypotheses for mustard_bottle (evidence > 11.170437956455437)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 22.085
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 30 out of 19024 hypotheses for potted_meat_can (evidence > 11.170437956455437)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 29.214
DEBUG:root:evidences for each object: [ 7.13817772 -1.         56.11209827  7.34313673 19.9910894   0.06342889
  6.10650314 22.08473899  0.26971313 29.21426398]
DEBUG:root:mean evidence: 14.732, std: 16.918 -> th=44.88967861868032
INFO:root:current most likely hypothesis: montys_heart with evidence 56.11
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 160 ---
INFO:uvicorn.access:192.168.1.217:49175 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.78535541, -0.55255047,  0.27911443],
       [ 0.57541885, -0.81785888,  0.        ],
       [ 0.22827622,  0.16060771,  0.96025785]]), 'pose_fully_defined': False}}, {'patch': array([-0.01467461,  0.01089468, -0.00563714])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 11.222419654670077)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 56.52
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 15 out of 14864 hypotheses for hot_sauce (evidence > 11.222419654670077)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.052
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 7 out of 16976 hypotheses for mustard_bottle (evidence > 11.222419654670077)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 22.391
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 29 out of 19024 hypotheses for potted_meat_can (evidence > 11.222419654670077)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 29.392
DEBUG:root:evidences for each object: [ 7.13817772 -1.         56.52006806  7.34313673 20.0519868   0.06342889
  6.10650314 22.39104995  0.26971313 29.39216689]
DEBUG:root:mean evidence: 14.828, std: 17.049 -> th=45.21605444482964
INFO:root:current most likely hypothesis: montys_heart with evidence 56.52
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 161 ---
INFO:uvicorn.access:192.168.1.217:49177 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.56243339, -0.46194039, -0.68576946],
       [ 0.63469146, -0.77276565,  0.        ],
       [-0.52993908, -0.43525202,  0.72781883]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01056436,  0.00270732, -0.02674821])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 11.30401361120741)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 56.901
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 14 out of 14864 hypotheses for hot_sauce (evidence > 11.30401361120741)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.347
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 7 out of 16976 hypotheses for mustard_bottle (evidence > 11.30401361120741)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 21.391
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 23 out of 19024 hypotheses for potted_meat_can (evidence > 11.30401361120741)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 28.392
DEBUG:root:evidences for each object: [ 7.13817772 -1.         56.90054547  7.34313673 20.347422    0.06342889
  6.10650314 21.39104995  0.26971313 28.39216689]
DEBUG:root:mean evidence: 14.695, std: 17.027 -> th=45.52043637393376
INFO:root:current most likely hypothesis: montys_heart with evidence 56.9
DEBUG:root:evidences for each object: [ 7.13817772 -1.         56.90054547  7.34313673 20.347422    0.06342889
  6.10650314 21.39104995  0.26971313 28.39216689]
DEBUG:root:mean evidence: 14.695, std: 17.027 -> th=45.52043637393376
DEBUG:root:evidences for each object: [ 7.13817772 -1.         56.90054547  7.34313673 20.347422    0.06342889
  6.10650314 21.39104995  0.26971313 28.39216689]
DEBUG:root:mean evidence: 14.695, std: 17.027 -> th=48.36546364730462
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 162 ---
INFO:uvicorn.access:192.168.1.217:49177 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.78176927, -0.34717181, -0.51798509],
       [ 0.40586393, -0.91393351,  0.        ],
       [-0.47340393, -0.21023146,  0.85538965]]), 'pose_fully_defined': False}}, {'patch': array([-0.00353359, -0.00371112,  0.00698704])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 11.38010909348344)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 57.116
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 14 out of 14864 hypotheses for hot_sauce (evidence > 11.38010909348344)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.507
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 6 out of 16976 hypotheses for mustard_bottle (evidence > 11.38010909348344)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 20.391
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 23 out of 19024 hypotheses for potted_meat_can (evidence > 11.38010909348344)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 27.392
DEBUG:root:evidences for each object: [ 7.13817772 -1.         57.11563276  7.34313673 20.50670233  0.06342889
  6.10650314 20.39104995  0.26971313 27.39216689]
DEBUG:root:mean evidence: 14.533, std: 16.971 -> th=45.69250620689456
INFO:root:current most likely hypothesis: montys_heart with evidence 57.12
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 163 ---
INFO:uvicorn.access:192.168.1.217:49177 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.89474578, -0.28006158, -0.34784409],
       [ 0.29871565, -0.95434216,  0.        ],
       [-0.33196228, -0.10390647,  0.93755239]]), 'pose_fully_defined': False}}, {'patch': array([-0.00676678,  0.0053366 ,  0.00272075])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 11.42312655172364)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 56.116
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 12 out of 14864 hypotheses for hot_sauce (evidence > 11.42312655172364)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.882
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 6 out of 16976 hypotheses for mustard_bottle (evidence > 11.42312655172364)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 20.752
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 23 out of 19024 hypotheses for potted_meat_can (evidence > 11.42312655172364)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 26.392
DEBUG:root:evidences for each object: [ 7.13817772 -1.         56.11563276  7.34313673 20.88208095  0.06342889
  6.10650314 20.75205371  0.26971313 26.39216689]
DEBUG:root:mean evidence: 14.406, std: 16.673 -> th=44.892506206894566
INFO:root:current most likely hypothesis: montys_heart with evidence 56.12
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 164 ---
INFO:uvicorn.access:192.168.1.217:49177 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.58493569, -0.55892703, -0.58775064],
       [ 0.69085033, -0.72299781,  0.        ],
       [-0.42494242, -0.40604772,  0.80904214]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00988382, -0.00113925, -0.01542782])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 11.223126551723638)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 56.464
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 28 out of 14864 hypotheses for hot_sauce (evidence > 11.223126551723638)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.11
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 6 out of 16976 hypotheses for mustard_bottle (evidence > 11.223126551723638)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 19.752
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 20 out of 19024 hypotheses for potted_meat_can (evidence > 11.223126551723638)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 26.76
DEBUG:root:evidences for each object: [ 7.13817772 -1.         56.46443889  7.34313673 21.10965022  0.06342889
  6.10650314 19.75205371  0.26971313 26.75998112]
DEBUG:root:mean evidence: 14.401, std: 16.762 -> th=45.171551112947846
INFO:root:current most likely hypothesis: montys_heart with evidence 56.46
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 165 ---
INFO:uvicorn.access:192.168.1.217:49177 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.66067307, -0.72636787, -0.18947509],
       [ 0.73976838, -0.6728616 ,  0.        ],
       [-0.12749051, -0.14016768,  0.98188553]]), 'pose_fully_defined': False}}, {'patch': array([-0.00565123, -0.00809496,  0.02009296])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 11.29288777823696)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 55.464
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 26 out of 14864 hypotheses for hot_sauce (evidence > 11.29288777823696)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.125
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 6 out of 16976 hypotheses for mustard_bottle (evidence > 11.29288777823696)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.752
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 20 out of 19024 hypotheses for potted_meat_can (evidence > 11.29288777823696)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 26.753
DEBUG:root:evidences for each object: [ 7.13817772 -1.         55.46443889  7.34313673 20.12496693  0.06342889
  6.10650314 18.75205371  0.26971313 26.75349418]
DEBUG:root:mean evidence: 14.102, std: 16.442 -> th=44.37155111294784
INFO:root:current most likely hypothesis: montys_heart with evidence 55.46
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 166 ---
INFO:uvicorn.access:192.168.1.217:49178 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.39439582, -0.6151134 , -0.68270597],
       [ 0.8418217 , -0.5397557 ,  0.        ],
       [-0.36849444, -0.57471671,  0.7306932 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01053931, -0.00061181, -0.00500274])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 11.092887778236957)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 55.714
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 26 out of 14864 hypotheses for hot_sauce (evidence > 11.092887778236957)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.625
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 6 out of 16976 hypotheses for mustard_bottle (evidence > 11.092887778236957)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.752
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 21 out of 19024 hypotheses for potted_meat_can (evidence > 11.092887778236957)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 26.914
DEBUG:root:evidences for each object: [ 7.13817772 -1.         55.71358456  7.34313673 20.62496693  0.06342889
  6.10650314 17.75205371  0.26971313 26.91374427]
DEBUG:root:mean evidence: 14.093, std: 16.511 -> th=44.57086764747416
INFO:root:current most likely hypothesis: montys_heart with evidence 55.71
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 167 ---
INFO:uvicorn.access:192.168.1.217:49178 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.59361376, -0.52103341, -0.61330815],
       [ 0.65966645, -0.7515585 ,  0.        ],
       [-0.46093695, -0.40457881,  0.78984373]]), 'pose_fully_defined': False}}, {'patch': array([-0.00502279,  0.00181679,  0.00287466])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 11.14271691186854)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 54.714
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 21 out of 14864 hypotheses for hot_sauce (evidence > 11.14271691186854)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.081
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 4 out of 16976 hypotheses for mustard_bottle (evidence > 11.14271691186854)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.752
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 20 out of 19024 hypotheses for potted_meat_can (evidence > 11.14271691186854)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 25.914
DEBUG:root:evidences for each object: [ 7.13817772 -1.         54.71358456  7.34313673 21.08072327  0.06342889
  6.10650314 16.75205371  0.26971313 25.91374427]
DEBUG:root:mean evidence: 13.838, std: 16.182 -> th=43.77086764747416
INFO:root:current most likely hypothesis: montys_heart with evidence 54.71
DEBUG:root:evidences for each object: [ 7.13817772 -1.         54.71358456  7.34313673 21.08072327  0.06342889
  6.10650314 16.75205371  0.26971313 25.91374427]
DEBUG:root:mean evidence: 13.838, std: 16.182 -> th=43.77086764747416
DEBUG:root:evidences for each object: [ 7.13817772 -1.         54.71358456  7.34313673 21.08072327  0.06342889
  6.10650314 16.75205371  0.26971313 25.91374427]
DEBUG:root:mean evidence: 13.838, std: 16.182 -> th=46.506546875441295
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 168 ---
INFO:uvicorn.access:192.168.1.217:49178 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.85787091, -0.41231773, -0.30667831],
       [ 0.43319185, -0.90130174,  0.        ],
       [-0.27640969, -0.13285054,  0.95181322]]), 'pose_fully_defined': False}}, {'patch': array([-0.02377039,  0.00979285,  0.00256398])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 10.942716911868537)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 55.09
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 22 out of 14864 hypotheses for hot_sauce (evidence > 10.942716911868537)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.081
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 6 out of 16976 hypotheses for mustard_bottle (evidence > 10.942716911868537)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.039
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 23 out of 19024 hypotheses for potted_meat_can (evidence > 10.942716911868537)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 26.264
DEBUG:root:evidences for each object: [ 7.13817772 -1.         55.08960848  7.34313673 20.08072327  0.06342889
  6.10650314 17.03942288  0.26971313 26.26417582]
DEBUG:root:mean evidence: 13.839, std: 16.267 -> th=44.07168678666121
INFO:root:current most likely hypothesis: montys_heart with evidence 55.09
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 169 ---
INFO:uvicorn.access:192.168.1.217:49180 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.12204457, -0.66641909, -0.73552071],
       [ 0.98364117, -0.18013899,  0.        ],
       [-0.13249596, -0.72348845,  0.67750224]]), 'pose_fully_defined': False}}, {'patch': array([ 0.02062261, -0.01285556, -0.01082915])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 11.017921696665297)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 55.484
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 16 out of 14864 hypotheses for hot_sauce (evidence > 11.017921696665297)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.489
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 6 out of 16976 hypotheses for mustard_bottle (evidence > 11.017921696665297)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.039
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 36 out of 19024 hypotheses for potted_meat_can (evidence > 11.017921696665297)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 26.671
DEBUG:root:evidences for each object: [ 7.13817772 -1.         55.48432187  7.34313673 20.48911871  0.06342889
  6.10650314 16.03942288  0.26971313 26.67128727]
DEBUG:root:mean evidence: 13.861, std: 16.398 -> th=44.38745749323652
INFO:root:current most likely hypothesis: montys_heart with evidence 55.48
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 170 ---
INFO:uvicorn.access:192.168.1.217:49180 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.30012236, -0.79994945, -0.51962241],
       [ 0.93627479, -0.35126845,  0.        ],
       [-0.18252696, -0.48650936,  0.85439602]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00106872, -0.00023996,  0.00204103])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 11.096864373309124)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 55.984
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 18 out of 14864 hypotheses for hot_sauce (evidence > 11.096864373309124)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.891
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 3 out of 16976 hypotheses for mustard_bottle (evidence > 11.096864373309124)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.039
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 28 out of 19024 hypotheses for potted_meat_can (evidence > 11.096864373309124)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 27.074
DEBUG:root:evidences for each object: [ 7.13817772 -1.         55.98432187  7.34313673 20.89099704  0.06342889
  6.10650314 15.03942288  0.26971313 27.0744251 ]
DEBUG:root:mean evidence: 13.891, std: 16.564 -> th=44.787457493236516
INFO:root:current most likely hypothesis: montys_heart with evidence 55.98
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 171 ---
INFO:uvicorn.access:192.168.1.217:49180 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.3261792 , -0.75971267, -0.56253336],
       [ 0.91888731,  0.39452011, -0.        ],
       [ 0.22193072, -0.51690477,  0.82677459]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00641189, -0.00861281,  0.00646339])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 11.196864373309126)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 56.308
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 16 out of 14864 hypotheses for hot_sauce (evidence > 11.196864373309126)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.988
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 2 out of 16976 hypotheses for mustard_bottle (evidence > 11.196864373309126)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.039
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 28 out of 19024 hypotheses for potted_meat_can (evidence > 11.196864373309126)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 27.534
DEBUG:root:evidences for each object: [ 7.13817772 -1.         56.3081498   7.34313673 20.98812246  0.06342889
  6.10650314 14.03942288  0.26971313 27.53366571]
DEBUG:root:mean evidence: 13.879, std: 16.683 -> th=45.04651984203683
INFO:root:current most likely hypothesis: montys_heart with evidence 56.31
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 172 ---
INFO:uvicorn.access:192.168.1.217:49180 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.46821495, -0.62827604, -0.62132437],
       [ 0.8018292 ,  0.59755329, -0.        ],
       [ 0.37127443, -0.49819602,  0.78355346]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0031335 ,  0.00183283, -0.00426062])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 11.261629960509204)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 56.607
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 12 out of 14864 hypotheses for hot_sauce (evidence > 11.261629960509204)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.135
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 2 out of 16976 hypotheses for mustard_bottle (evidence > 11.261629960509204)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.039
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 23 out of 19024 hypotheses for potted_meat_can (evidence > 11.261629960509204)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 27.884
DEBUG:root:evidences for each object: [ 7.13817772 -1.         56.60714196  7.34313673 21.1353301   0.06342889
  6.10650314 13.03942288  0.26971313 27.88375774]
DEBUG:root:mean evidence: 13.859, std: 16.796 -> th=45.285713569723264
INFO:root:current most likely hypothesis: montys_heart with evidence 56.61
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 173 ---
INFO:uvicorn.access:192.168.1.217:49180 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.43202038, -0.60056423, -0.67281572],
       [ 0.81178159,  0.58396117, -0.        ],
       [ 0.39289825, -0.54617941,  0.73981012]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00290857, -0.00508603, -0.00167577])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 11.32142839243081)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 56.901
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 12 out of 14864 hypotheses for hot_sauce (evidence > 11.32142839243081)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.418
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 2 out of 16976 hypotheses for mustard_bottle (evidence > 11.32142839243081)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.039
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 20 out of 19024 hypotheses for potted_meat_can (evidence > 11.32142839243081)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 28.225
DEBUG:root:evidences for each object: [ 7.13817772 -1.         56.9011483   7.34313673 21.41823403  0.06342889
  6.10650314 12.03942288  0.26971313 28.2246073 ]
DEBUG:root:mean evidence: 13.85, std: 16.92 -> th=45.52091864270287
INFO:root:current most likely hypothesis: montys_heart with evidence 56.9
DEBUG:root:evidences for each object: [ 7.13817772 -1.         56.9011483   7.34313673 21.41823403  0.06342889
  6.10650314 12.03942288  0.26971313 28.2246073 ]
DEBUG:root:mean evidence: 13.85, std: 16.92 -> th=45.52091864270287
DEBUG:root:evidences for each object: [ 7.13817772 -1.         56.9011483   7.34313673 21.41823403  0.06342889
  6.10650314 12.03942288  0.26971313 28.2246073 ]
DEBUG:root:mean evidence: 13.85, std: 16.92 -> th=48.3659760578718
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 174 ---
INFO:uvicorn.access:192.168.1.217:49180 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.50703608, -0.79704868, -0.32806678],
       [ 0.84374621,  0.53674234, -0.        ],
       [ 0.17608733, -0.2768051 ,  0.94465453]]), 'pose_fully_defined': False}}, {'patch': array([-0.00521864,  0.00209315,  0.01654173])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 11.380229660675717)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 57.117
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 12 out of 14864 hypotheses for hot_sauce (evidence > 11.380229660675717)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.284
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 2 out of 16976 hypotheses for mustard_bottle (evidence > 11.380229660675717)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.986
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 20 out of 19024 hypotheses for potted_meat_can (evidence > 11.380229660675717)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 28.474
DEBUG:root:evidences for each object: [ 7.13817772 -1.         57.11707089  7.34313673 21.28379505  0.06342889
  6.10650314 11.98623479  0.26971313 28.4736775 ]
DEBUG:root:mean evidence: 13.878, std: 16.991 -> th=45.69365670850675
INFO:root:current most likely hypothesis: montys_heart with evidence 57.12
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 175 ---
INFO:uvicorn.access:192.168.1.217:49180 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.57535956, -0.60623583, -0.54903506],
       [ 0.72533659,  0.68839439, -0.        ],
       [ 0.37795265, -0.39823522,  0.83579932]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00221376,  0.00309128, -0.01025005])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 11.423414177126688)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 57.364
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 11 out of 14864 hypotheses for hot_sauce (evidence > 11.423414177126688)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.327
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 1 out of 16976 hypotheses for mustard_bottle (evidence > 11.423414177126688)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.045
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 20 out of 19024 hypotheses for potted_meat_can (evidence > 11.423414177126688)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 28.788
DEBUG:root:evidences for each object: [ 7.13817772 -1.         57.36432727  7.34313673 21.3273213   0.06342889
  6.10650314 12.04517994  0.26971313 28.78763645]
DEBUG:root:mean evidence: 13.945, std: 17.082 -> th=45.891461819330324
INFO:root:current most likely hypothesis: montys_heart with evidence 57.36
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 176 ---
INFO:uvicorn.access:192.168.1.217:49180 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:49180 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.64070929, -0.42135934, -0.64183169],
       [ 0.54947094,  0.83551283, -0.        ],
       [ 0.53625861, -0.35266786,  0.76684554]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00790583,  0.02599876, -0.01129919])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 11.47286545483258)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 56.364
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 11 out of 14864 hypotheses for hot_sauce (evidence > 11.47286545483258)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.596
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 1 out of 16976 hypotheses for mustard_bottle (evidence > 11.47286545483258)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.418
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 20 out of 19024 hypotheses for potted_meat_can (evidence > 11.47286545483258)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 27.788
DEBUG:root:evidences for each object: [ 7.13817772 -1.         56.36432727  7.34313673 21.59636018  0.06342889
  6.10650314 12.41825421  0.26971313 27.78763645]
DEBUG:root:mean evidence: 13.809, std: 16.752 -> th=45.09146181933032
INFO:root:current most likely hypothesis: montys_heart with evidence 56.36
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 177 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.35015939, -0.8266592 , -0.44048039],
       [ 0.9207997 ,  0.39003577, -0.        ],
       [ 0.17180311, -0.40559422,  0.89776223]]), 'pose_fully_defined': False}}, {'patch': array([ 0.035459  , -0.05629034,  0.09796573])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 11.272865454832576)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 55.364
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 44 out of 14864 hypotheses for hot_sauce (evidence > 11.272865454832576)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.596
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 4 out of 16976 hypotheses for mustard_bottle (evidence > 11.272865454832576)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.418
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 17 out of 19024 hypotheses for potted_meat_can (evidence > 11.272865454832576)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 26.788
DEBUG:root:evidences for each object: [ 7.13817772 -1.         55.36432727  7.34313673 20.59636018  0.06342889
  6.10650314 11.41825421  0.26971313 26.78763645]
DEBUG:root:mean evidence: 13.409, std: 16.379 -> th=44.29146181933032
INFO:root:current most likely hypothesis: montys_heart with evidence 55.36
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 178 ---
INFO:uvicorn.access:192.168.1.217:49182 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.77395982, -0.63273593,  0.02512838],
       [ 0.63293579,  0.77420429, -0.        ],
       [-0.0194545 ,  0.01590465,  0.99968423]]), 'pose_fully_defined': False}}, {'patch': array([-0.04395768,  0.02674455, -0.06715406])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 11.07286545483258)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 55.516
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 36 out of 14864 hypotheses for hot_sauce (evidence > 11.07286545483258)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.274
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 3 out of 16976 hypotheses for mustard_bottle (evidence > 11.07286545483258)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.808
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 20 out of 19024 hypotheses for potted_meat_can (evidence > 11.07286545483258)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 26.621
DEBUG:root:evidences for each object: [ 7.13817772 -1.         55.51634593  7.34313673 20.27399311  0.06342889
  6.10650314 11.80801195  0.26971313 26.62114176]
DEBUG:root:mean evidence: 13.414, std: 16.386 -> th=44.413076744175605
INFO:root:current most likely hypothesis: montys_heart with evidence 55.52
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 179 ---
INFO:uvicorn.access:192.168.1.217:49182 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:49182 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.78926408, -0.60561086, -0.10147758],
       [ 0.60875335,  0.79335954, -0.        ],
       [ 0.08050821, -0.06177482,  0.99483783]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00808437,  0.00763726, -0.00851467])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 11.103269186043896)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 55.779
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 17 out of 14864 hypotheses for hot_sauce (evidence > 11.103269186043896)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 19.274
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 4 out of 16976 hypotheses for mustard_bottle (evidence > 11.103269186043896)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.915
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 20 out of 19024 hypotheses for potted_meat_can (evidence > 11.103269186043896)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 27.083
DEBUG:root:evidences for each object: [ 7.13817772 -1.         55.77941514  7.34313673 19.27399311  0.06342889
  6.10650314 11.91528317  0.26971313 27.08318149]
DEBUG:root:mean evidence: 13.397, std: 16.452 -> th=44.62353211451843
INFO:root:current most likely hypothesis: montys_heart with evidence 55.78
DEBUG:root:evidences for each object: [ 7.13817772 -1.         55.77941514  7.34313673 19.27399311  0.06342889
  6.10650314 11.91528317  0.26971313 27.08318149]
DEBUG:root:mean evidence: 13.397, std: 16.452 -> th=44.62353211451843
DEBUG:root:evidences for each object: [ 7.13817772 -1.         55.77941514  7.34313673 19.27399311  0.06342889
  6.10650314 11.91528317  0.26971313 27.08318149]
DEBUG:root:mean evidence: 13.397, std: 16.452 -> th=47.412502871675834
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 180 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.43862995, -0.89739182, -0.04787158],
       [ 0.89842186,  0.43913342, -0.        ],
       [ 0.02102201, -0.04300887,  0.9988535 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00030927, -0.00489123,  0.02064372])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 11.155883028629603)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 54.779
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 13 out of 14864 hypotheses for hot_sauce (evidence > 11.155883028629603)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 19.098
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 5 out of 16976 hypotheses for mustard_bottle (evidence > 11.155883028629603)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.017
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 20 out of 19024 hypotheses for potted_meat_can (evidence > 11.155883028629603)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 26.083
DEBUG:root:evidences for each object: [ 7.13817772 -1.         54.77941514  7.34313673 19.0982123   0.06342889
  6.10650314 12.01741893  0.26971313 26.08318149]
DEBUG:root:mean evidence: 13.19, std: 16.105 -> th=43.823532114518436
INFO:root:current most likely hypothesis: montys_heart with evidence 54.78
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 181 ---
INFO:uvicorn.access:192.168.1.217:49184 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.79213415, -0.47482171,  0.38349425],
       [ 0.51413044,  0.85771201, -0.        ],
       [-0.32892763,  0.19716607,  0.92354326]]), 'pose_fully_defined': False}}, {'patch': array([-0.00713736,  0.00135399, -0.00623855])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 10.955883028629607)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 54.906
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 25 out of 14864 hypotheses for hot_sauce (evidence > 10.955883028629607)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 18.946
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 10 out of 16976 hypotheses for mustard_bottle (evidence > 10.955883028629607)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.931
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 26 out of 19024 hypotheses for potted_meat_can (evidence > 10.955883028629607)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 25.974
DEBUG:root:evidences for each object: [ 7.13817772 -1.         54.90627931  7.34313673 18.94620758  0.06342889
  6.10650314 11.9314435   0.26971313 25.97418701]
DEBUG:root:mean evidence: 13.168, std: 16.124 -> th=43.9250234446065
INFO:root:current most likely hypothesis: montys_heart with evidence 54.91
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 182 ---
INFO:uvicorn.access:192.168.1.217:49184 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:49184 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.86756503, -0.47268542,  0.15459433],
       [ 0.47843718,  0.87812178, -0.        ],
       [-0.13575265,  0.07396368,  0.98797803]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01513087,  0.01176325, -0.00473015])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 10.981255861151624)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 55.277
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 16 out of 14864 hypotheses for hot_sauce (evidence > 10.981255861151624)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 19.162
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 8 out of 16976 hypotheses for mustard_bottle (evidence > 10.981255861151624)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.333
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 22 out of 19024 hypotheses for potted_meat_can (evidence > 10.981255861151624)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 26.305
DEBUG:root:evidences for each object: [ 7.13817772 -1.         55.27728312  7.34313673 19.16161545  0.06342889
  6.10650314 12.33319808  0.26971313 26.30510855]
DEBUG:root:mean evidence: 13.3, std: 16.252 -> th=44.221826493682485
INFO:root:current most likely hypothesis: montys_heart with evidence 55.28
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 183 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.83946878, -0.52839606, -0.12684544],
       [ 0.53269894, -0.84630481,  0.        ],
       [-0.1073499 , -0.06757043,  0.99192249]]), 'pose_fully_defined': False}}, {'patch': array([0.16512634, 0.17718677, 0.1810739 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 18 out of 14880 hypotheses for montys_heart (evidence > 11.055456623420618)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 54.277
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 25 out of 14864 hypotheses for hot_sauce (evidence > 11.055456623420618)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 18.162
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 10 out of 16976 hypotheses for mustard_bottle (evidence > 11.055456623420618)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.333
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 34 out of 19024 hypotheses for potted_meat_can (evidence > 11.055456623420618)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 25.305
DEBUG:root:evidences for each object: [ 7.13817772 -1.         54.27728312  7.34313673 18.16161545  0.06342889
  6.10650314 11.33319808  0.26971313 25.30510855]
DEBUG:root:mean evidence: 12.9, std: 15.887 -> th=43.42182649368249
INFO:root:current most likely hypothesis: montys_heart with evidence 54.28
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 184 ---
INFO:uvicorn.access:192.168.1.217:49185 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.5439459 ,  0.17619064,  0.82041436],
       [-0.3081498 ,  0.95133785,  0.        ],
       [-0.78049123, -0.25281052,  0.57176943]]), 'pose_fully_defined': False}}, {'patch': array([-0.18152729, -0.07869478, -0.19117793])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 17 out of 14880 hypotheses for montys_heart (evidence > 10.855456623420622)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 54.09
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 28 out of 14864 hypotheses for hot_sauce (evidence > 10.855456623420622)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 18.624
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 9 out of 16976 hypotheses for mustard_bottle (evidence > 10.855456623420622)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.443
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 26 out of 19024 hypotheses for potted_meat_can (evidence > 10.855456623420622)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 25.325
DEBUG:root:evidences for each object: [ 7.13817772 -1.         54.09008361  7.34313673 18.624399    0.06342889
  6.10650314 11.44272467  0.26971313 25.32465347]
DEBUG:root:mean evidence: 12.94, std: 15.854 -> th=43.27206688703633
INFO:root:current most likely hypothesis: montys_heart with evidence 54.09
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 185 ---
INFO:uvicorn.access:192.168.1.217:49185 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.14036352,  0.21946408,  0.96547066],
       [-0.84243431,  0.53879907,  0.        ],
       [-0.5201947 , -0.81334561,  0.2605118 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00233129, -0.00599564,  0.00679546])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 18 out of 14880 hypotheses for montys_heart (evidence > 10.81801672175908)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 54.509
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 18 out of 14864 hypotheses for hot_sauce (evidence > 10.81801672175908)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 19.07
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 3 out of 16976 hypotheses for mustard_bottle (evidence > 10.81801672175908)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.397
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 16 out of 19024 hypotheses for potted_meat_can (evidence > 10.81801672175908)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 25.521
DEBUG:root:evidences for each object: [ 7.13817772 -1.         54.5085906   7.34313673 19.06951521  0.06342889
  6.10650314 11.39736039  0.26971313 25.52087336]
DEBUG:root:mean evidence: 13.042, std: 15.995 -> th=43.6068724821575
INFO:root:current most likely hypothesis: montys_heart with evidence 54.51
DEBUG:root:evidences for each object: [ 7.13817772 -1.         54.5085906   7.34313673 19.06951521  0.06342889
  6.10650314 11.39736039  0.26971313 25.52087336]
DEBUG:root:mean evidence: 13.042, std: 15.995 -> th=43.6068724821575
DEBUG:root:evidences for each object: [ 7.13817772 -1.         54.5085906   7.34313673 19.06951521  0.06342889
  6.10650314 11.39736039  0.26971313 25.52087336]
DEBUG:root:mean evidence: 13.042, std: 15.995 -> th=46.33230201229234
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 186 ---
INFO:uvicorn.access:192.168.1.217:49185 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.9301303 ,  0.03966948,  0.36508075],
       [-0.04261064,  0.99909175,  0.        ],
       [-0.36474916, -0.01555632,  0.93097586]]), 'pose_fully_defined': False}}, {'patch': array([-0.00408803,  0.0095862 , -0.00712812])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 17 out of 14880 hypotheses for montys_heart (evidence > 10.901718120539371)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 54.218
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 16 out of 14864 hypotheses for hot_sauce (evidence > 10.901718120539371)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 19.224
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 2 out of 16976 hypotheses for mustard_bottle (evidence > 10.901718120539371)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.325
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 14 out of 19024 hypotheses for potted_meat_can (evidence > 10.901718120539371)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 25.35
DEBUG:root:evidences for each object: [ 7.13817772 -1.         54.21843773  7.34313673 19.2240145   0.06342889
  6.10650314 11.32523283  0.26971313 25.34971866]
DEBUG:root:mean evidence: 13.004, std: 15.913 -> th=43.3747501816493
INFO:root:current most likely hypothesis: montys_heart with evidence 54.22
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 187 ---
INFO:uvicorn.access:192.168.1.217:49185 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.03334726,  0.18802262,  0.98159842],
       [-0.9846337 ,  0.1746324 ,  0.        ],
       [-0.17141888, -0.96651488,  0.19095692]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00432234, -0.00661952,  0.00568847])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 17 out of 14880 hypotheses for montys_heart (evidence > 10.843687545412322)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 54.691
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 16 out of 14864 hypotheses for hot_sauce (evidence > 10.843687545412322)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 19.684
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 1 out of 16976 hypotheses for mustard_bottle (evidence > 10.843687545412322)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.19
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 11 out of 19024 hypotheses for potted_meat_can (evidence > 10.843687545412322)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 25.519
DEBUG:root:evidences for each object: [ 7.13817772 -1.         54.69064543  7.34313673 19.68438757  0.06342889
  6.10650314 11.18955258  0.26971313 25.51946938]
DEBUG:root:mean evidence: 13.101, std: 16.069 -> th=43.752516342724014
INFO:root:current most likely hypothesis: montys_heart with evidence 54.69
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 188 ---
INFO:uvicorn.access:192.168.1.217:49187 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.05304632,  0.24394329,  0.96833763],
       [-0.97716374, -0.21248768,  0.        ],
       [ 0.20575982, -0.94622442,  0.24964423]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00638775,  0.00393778, -0.00577947])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 17 out of 14880 hypotheses for montys_heart (evidence > 10.938129085680998)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 54.73
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 15 out of 14864 hypotheses for hot_sauce (evidence > 10.938129085680998)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 19.946
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 1 out of 16976 hypotheses for mustard_bottle (evidence > 10.938129085680998)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.027
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 11 out of 19024 hypotheses for potted_meat_can (evidence > 10.938129085680998)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 25.954
DEBUG:root:evidences for each object: [ 7.13817772 -1.         54.72957837  7.34313673 19.94648234  0.06342889
  6.10650314 11.02661278  0.26971313 25.95384473]
DEBUG:root:mean evidence: 13.158, std: 16.126 -> th=43.78366269574498
INFO:root:current most likely hypothesis: montys_heart with evidence 54.73
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 189 ---
INFO:uvicorn.access:192.168.1.217:49188 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.10575761,  0.20541014,  0.97294502],
       [-0.88907979,  0.45775226,  0.        ],
       [-0.44536778, -0.86502575,  0.23103679]]), 'pose_fully_defined': False}}, {'patch': array([0.00648879, 0.00303861, 0.00350904])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 10.945915673936241)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 54.736
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 15 out of 14864 hypotheses for hot_sauce (evidence > 10.945915673936241)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.17
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 1 out of 16976 hypotheses for mustard_bottle (evidence > 10.945915673936241)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.898
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 13 out of 19024 hypotheses for potted_meat_can (evidence > 10.945915673936241)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 26.426
DEBUG:root:evidences for each object: [ 7.13817772 -1.         54.7364203   7.34313673 20.16985136  0.06342889
  6.10650314 10.89783462  0.26971313 26.42608697]
DEBUG:root:mean evidence: 13.215, std: 16.177 -> th=43.78913623859176
INFO:root:current most likely hypothesis: montys_heart with evidence 54.74
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 190 ---
INFO:uvicorn.access:192.168.1.217:49189 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.33396398, -0.0545624 ,  0.94100532],
       [ 0.16124032, -0.98691517,  0.        ],
       [ 0.92869243,  0.151728  ,  0.33839177]]), 'pose_fully_defined': False}}, {'patch': array([-0.01929685, -0.08430565,  0.02013521])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 10.947284059647934)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 55.198
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 15 out of 14864 hypotheses for hot_sauce (evidence > 10.947284059647934)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.616
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.898
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 11 out of 19024 hypotheses for potted_meat_can (evidence > 10.947284059647934)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 26.647
DEBUG:root:evidences for each object: [ 7.13817772 -1.         55.1983146   7.34313673 20.61592457  0.06342889
  6.10650314 10.89783462  0.26971313 26.64717971]
DEBUG:root:mean evidence: 13.328, std: 16.333 -> th=44.15865167656396
INFO:root:current most likely hypothesis: montys_heart with evidence 55.2
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 191 ---
INFO:uvicorn.access:192.168.1.217:49189 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.08870011,  0.15706149,  0.98359747],
       [-0.870738  ,  0.49174722,  0.        ],
       [-0.48368132, -0.85645569,  0.18037744]]), 'pose_fully_defined': False}}, {'patch': array([0.00856172, 0.02634295, 0.00469726])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 11.039662919140987)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 55.634
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 24 out of 14864 hypotheses for hot_sauce (evidence > 11.039662919140987)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 19.616
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.898
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 10 out of 19024 hypotheses for potted_meat_can (evidence > 11.039662919140987)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 26.641
DEBUG:root:evidences for each object: [ 7.13817772 -1.         55.63365799  7.34313673 19.61592457  0.06342889
  6.10650314 10.89783462  0.26971313 26.64080028]
DEBUG:root:mean evidence: 13.271, std: 16.403 -> th=44.506926395848865
INFO:root:current most likely hypothesis: montys_heart with evidence 55.63
DEBUG:root:evidences for each object: [ 7.13817772 -1.         55.63365799  7.34313673 19.61592457  0.06342889
  6.10650314 10.89783462  0.26971313 26.64080028]
DEBUG:root:mean evidence: 13.271, std: 16.403 -> th=44.506926395848865
DEBUG:root:evidences for each object: [ 7.13817772 -1.         55.63365799  7.34313673 19.61592457  0.06342889
  6.10650314 10.89783462  0.26971313 26.64080028]
DEBUG:root:mean evidence: 13.271, std: 16.403 -> th=47.28860929558942
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 192 ---
INFO:uvicorn.access:192.168.1.217:49189 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.20380277,  0.02166464,  0.97877223],
       [-0.10570643,  0.99439738,  0.        ],
       [-0.97328854, -0.10346252,  0.20495103]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00638678, -0.03141939, -0.00663349])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 11.126731598962216)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 56.02
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 21 out of 14864 hypotheses for hot_sauce (evidence > 11.126731598962216)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.046
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.898
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 10 out of 19024 hypotheses for potted_meat_can (evidence > 11.126731598962216)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 26.787
DEBUG:root:evidences for each object: [ 7.13817772 -1.         56.02037055  7.34313673 20.04608877  0.06342889
  6.10650314 10.89783462  0.26971313 26.78673494]
DEBUG:root:mean evidence: 13.367, std: 16.531 -> th=44.816296440783304
INFO:root:current most likely hypothesis: montys_heart with evidence 56.02
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 193 ---
INFO:uvicorn.access:192.168.1.217:49189 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.50764046,  0.06613247,  0.85902716],
       [-0.12918265,  0.99162082,  0.        ],
       [-0.85182921, -0.1109714 ,  0.51193001]]), 'pose_fully_defined': False}}, {'patch': array([0.02754332, 0.01610376, 0.01489331])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 11.204074110195826)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 55.02
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 41 out of 14864 hypotheses for hot_sauce (evidence > 11.204074110195826)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 19.046
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.898
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 10 out of 19024 hypotheses for potted_meat_can (evidence > 11.204074110195826)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 25.787
DEBUG:root:evidences for each object: [ 7.13817772 -1.         55.02037055  7.34313673 19.04608877  0.06342889
  6.10650314 10.89783462  0.26971313 25.78673494]
DEBUG:root:mean evidence: 13.067, std: 16.154 -> th=44.01629644078331
INFO:root:current most likely hypothesis: montys_heart with evidence 55.02
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 194 ---
INFO:uvicorn.access:192.168.1.217:49189 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:49189 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.56686558,  0.18114073,  0.80364883],
       [-0.30438509,  0.95254906,  0.        ],
       [-0.76551494, -0.24461872,  0.59510381]]), 'pose_fully_defined': False}}, {'patch': array([-0.01866656,  0.02275785, -0.0169721 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 11.004074110195823)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 55.502
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 39 out of 14864 hypotheses for hot_sauce (evidence > 11.004074110195823)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 18.046
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.898
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 9 out of 19024 hypotheses for potted_meat_can (evidence > 11.004074110195823)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 26.016
DEBUG:root:evidences for each object: [ 7.13817772 -1.         55.50167016  7.34313673 18.04608877  0.06342889
  6.10650314 10.89783462  0.26971313 26.01643912]
DEBUG:root:mean evidence: 13.038, std: 16.263 -> th=44.40133612580077
INFO:root:current most likely hypothesis: montys_heart with evidence 55.5
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 195 ---
INFO:uvicorn.access:192.168.1.217:49189 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.87537897, -0.03191798,  0.48238252],
       [ 0.03643768,  0.99933593, -0.        ],
       [-0.48206219,  0.0175769 ,  0.87596067]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00592527, -0.02539871, -0.0082108 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 11.100334031450188)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 55.991
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 26 out of 14864 hypotheses for hot_sauce (evidence > 11.100334031450188)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 18.539
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.898
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 21 out of 19024 hypotheses for potted_meat_can (evidence > 11.100334031450188)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 26.484
DEBUG:root:evidences for each object: [ 7.13817772 -1.         55.99085689  7.34313673 18.5388676   0.06342889
  6.10650314 10.89783462  0.26971313 26.48407543]
DEBUG:root:mean evidence: 13.183, std: 16.444 -> th=44.79268550853166
INFO:root:current most likely hypothesis: montys_heart with evidence 55.99
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 196 ---
INFO:uvicorn.access:192.168.1.217:49189 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.89866322, -0.1250287 ,  0.42044291],
       [ 0.13780016,  0.99046005, -0.        ],
       [-0.4164319 ,  0.0579371 ,  0.907319  ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01583847,  0.02492723, -0.00795331])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 11.198171377132915)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 54.991
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 25 out of 14864 hypotheses for hot_sauce (evidence > 11.198171377132915)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 17.539
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.898
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 19 out of 19024 hypotheses for potted_meat_can (evidence > 11.198171377132915)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 25.484
DEBUG:root:evidences for each object: [ 7.13817772 -1.         54.99085689  7.34313673 17.5388676   0.06342889
  6.10650314 10.89783462  0.26971313 25.48407543]
DEBUG:root:mean evidence: 12.883, std: 16.073 -> th=43.992685508531665
INFO:root:current most likely hypothesis: montys_heart with evidence 54.99
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 197 ---
INFO:uvicorn.access:192.168.1.217:49189 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.82308678, -0.2344776 ,  0.51725082],
       [ 0.27397561,  0.96173664, -0.        ],
       [-0.49745907,  0.14171411,  0.85583386]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00656674,  0.02278568, -0.01212934])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 19 out of 14880 hypotheses for montys_heart (evidence > 10.998171377132913)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 53.991
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 11 out of 14864 hypotheses for hot_sauce (evidence > 10.998171377132913)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 16.539
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.898
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 12 out of 19024 hypotheses for potted_meat_can (evidence > 10.998171377132913)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 24.484
DEBUG:root:evidences for each object: [ 7.13817772 -1.         53.99085689  7.34313673 16.5388676   0.06342889
  6.10650314 10.89783462  0.26971313 24.48407543]
DEBUG:root:mean evidence: 12.583, std: 15.706 -> th=43.19268550853166
INFO:root:current most likely hypothesis: montys_heart with evidence 53.99
DEBUG:root:evidences for each object: [ 7.13817772 -1.         53.99085689  7.34313673 16.5388676   0.06342889
  6.10650314 10.89783462  0.26971313 24.48407543]
DEBUG:root:mean evidence: 12.583, std: 15.706 -> th=43.19268550853166
DEBUG:root:evidences for each object: [ 7.13817772 -1.         53.99085689  7.34313673 16.5388676   0.06342889
  6.10650314 10.89783462  0.26971313 24.48407543]
DEBUG:root:mean evidence: 12.583, std: 15.706 -> th=45.89222835281489
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 198 ---
INFO:uvicorn.access:192.168.1.217:49191 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.92810688, -0.34653002,  0.13614171],
       [ 0.34978675, -0.93682935,  0.        ],
       [ 0.12754155,  0.04762057,  0.99068937]]), 'pose_fully_defined': False}}, {'patch': array([-0.06493177, -0.06825236,  0.00135903])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 17 out of 14880 hypotheses for montys_heart (evidence > 10.79817137713291)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 52.991
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 48 out of 14864 hypotheses for hot_sauce (evidence > 10.79817137713291)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 16.969
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 1 out of 16976 hypotheses for mustard_bottle (evidence > 10.79817137713291)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.149
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 21 out of 19024 hypotheses for potted_meat_can (evidence > 10.79817137713291)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 23.484
DEBUG:root:evidences for each object: [ 7.13817772 -1.         52.99085689  7.34313673 16.96873113  0.06342889
  6.10650314 11.14891631  0.26971313 23.48407543]
DEBUG:root:mean evidence: 12.451, std: 15.377 -> th=42.39268550853166
INFO:root:current most likely hypothesis: montys_heart with evidence 52.99
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 199 ---
INFO:uvicorn.access:192.168.1.217:49191 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-9.99744828e-01, -1.66375071e-02,  1.52797783e-02],
       [ 1.66394496e-02, -9.99861555e-01,  0.00000000e+00],
       [ 1.52776629e-02,  2.54247101e-04,  9.99883257e-01]]), 'pose_fully_defined': False}}, {'patch': array([-0.00333104,  0.0054543 , -0.00337575])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: -1.0
INFO:root:Testing 18 out of 14880 hypotheses for montys_heart (evidence > 10.598171377132914)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 53.334
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 44 out of 14864 hypotheses for hot_sauce (evidence > 10.598171377132914)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 17.306
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.107
INFO:root:Testing 14 out of 16976 hypotheses for mustard_bottle (evidence > 10.598171377132914)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.43
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.27
INFO:root:Testing 32 out of 19024 hypotheses for potted_meat_can (evidence > 10.598171377132914)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 23.764
DEBUG:root:evidences for each object: [ 7.13817772 -1.         53.3335214   7.34313673 17.30582253  0.06342889
  6.10650314 11.43016824  0.26971313 23.76365064]
DEBUG:root:mean evidence: 12.575, std: 15.496 -> th=42.666817119856105
INFO:root:current most likely hypothesis: montys_heart with evidence 53.33
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 200 ---
INFO:uvicorn.access:192.168.1.217:49191 - "POST /capture HTTP/1.1" 200
INFO:root:saving model to /Users/nleadholm/tbp/results/monty/projects/evidence_eval_runs/logs/probe_triggered_data_collection_for_learning/montys_heart/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_heart/log.txt (NOTSET)>
