INFO:root:Logger initialized at 2025-09-29 12:24:13.301616
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/ramen_packet/observations',
                                    'vive_url': 'http://192.168.1.237:3001/pose'},
                  'env_init_func': <class 'custom_classes.probe_triggered_environment.ProbeTriggeredUltrasoundEnvironment'>,
                  'rng': RandomState(MT19937) at 0x7FF6F8FE8440,
                  '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/ramen_packet',
                    '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': 'kefyo8m9'},
 '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([[ 0.95595271,  0.1941464 ,  0.22013993],
       [-0.19902891,  0.97999362,  0.        ],
       [-0.21573572, -0.04381421,  0.9754683 ]]), '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: {'tuna_fish_can', 'montys_heart', 'potted_meat_can', 'hot_sauce', 'mustard_bottle', 'tomato_soup_can', 'ramen_pack', 'harissa_oil', 'numenta_mug', 'montys_brain'}
INFO:root:--- Global Matching Step 1 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.94281353,  0.18693121,  0.27596989],
       [-0.19448374,  0.98090574,  0.        ],
       [-0.27070045, -0.05367165,  0.96116628]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00155204,  0.00243415, -0.00504591])}]
INFO:root:Testing 14424 out of 14424 hypotheses for numenta_mug (evidence > 0.0)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 10992 out of 10992 hypotheses for montys_brain (evidence > 0.0)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.02 seconds. New max evidence: 0.5
INFO:root:Testing 14880 out of 14880 hypotheses for montys_heart (evidence > 0.0)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 23200 out of 23200 hypotheses for ramen_pack (evidence > 0.0)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.05 seconds. New max evidence: 0.5
INFO:root:Testing 14864 out of 14864 hypotheses for hot_sauce (evidence > 0.0)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 12560 out of 12560 hypotheses for harissa_oil (evidence > 0.0)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.02 seconds. New max evidence: 0.5
INFO:root:Testing 21832 out of 21832 hypotheses for tomato_soup_can (evidence > 0.0)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.04 seconds. New max evidence: 0.5
INFO:root:Testing 16976 out of 16976 hypotheses for mustard_bottle (evidence > 0.0)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 17728 out of 17728 hypotheses for tuna_fish_can (evidence > 0.0)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.04 seconds. New max evidence: 0.5
INFO:root:Testing 19024 out of 19024 hypotheses for potted_meat_can (evidence > 0.0)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.04 seconds. New max evidence: 0.5
INFO:root:current most likely hypothesis: montys_heart with evidence 0.5
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'montys_heart', 'potted_meat_can', 'hot_sauce', 'mustard_bottle', 'tomato_soup_can', 'ramen_pack', 'harissa_oil', 'numenta_mug', 'montys_brain'}
INFO:root:--- Global Matching Step 2 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.97763686,  0.18092595,  0.1072006 ],
       [-0.18197459,  0.98330323,  0.        ],
       [-0.1054107 , -0.01950779,  0.99423741]]), 'pose_fully_defined': False}}, {'patch': array([-0.00535558, -0.00533607,  0.02189556])}]
INFO:root:Testing 14423 out of 14424 hypotheses for numenta_mug (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.03 seconds. New max evidence: 0.986
INFO:root:Testing 10992 out of 10992 hypotheses for montys_brain (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.02 seconds. New max evidence: 0.978
INFO:root:Testing 14836 out of 14880 hypotheses for montys_heart (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.03 seconds. New max evidence: 0.988
INFO:root:Testing 23196 out of 23200 hypotheses for ramen_pack (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.05 seconds. New max evidence: 0.991
INFO:root:Testing 14860 out of 14864 hypotheses for hot_sauce (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.03 seconds. New max evidence: 0.981
INFO:root:Testing 12558 out of 12560 hypotheses for harissa_oil (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.03 seconds. New max evidence: 0.988
INFO:root:Testing 21670 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 0.05 seconds. New max evidence: 0.996
INFO:root:Testing 16976 out of 16976 hypotheses for mustard_bottle (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.03 seconds. New max evidence: 0.995
INFO:root:Testing 17637 out of 17728 hypotheses for tuna_fish_can (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.04 seconds. New max evidence: 0.992
INFO:root:Testing 18913 out of 19024 hypotheses for potted_meat_can (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.04 seconds. New max evidence: 0.993
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 1.0
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'montys_heart', 'potted_meat_can', 'hot_sauce', 'mustard_bottle', 'tomato_soup_can', 'ramen_pack', 'harissa_oil', 'numenta_mug', 'montys_brain'}
INFO:root:--- Global Matching Step 3 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.94714615,  0.19194479,  0.25704353],
       [-0.19861841,  0.9800769 ,  0.        ],
       [-0.25192242, -0.05105358,  0.96639983]]), 'pose_fully_defined': False}}, {'patch': array([-0.00102202,  0.00648688, -0.00985043])}]
INFO:root:Testing 12886 out of 14424 hypotheses for numenta_mug (evidence > 0.19910698795956228)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.03 seconds. New max evidence: 1.467
INFO:root:Testing 10759 out of 10992 hypotheses for montys_brain (evidence > 0.19910698795956228)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.02 seconds. New max evidence: 1.453
INFO:root:Testing 13840 out of 14880 hypotheses for montys_heart (evidence > 0.19910698795956228)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.03 seconds. New max evidence: 1.476
INFO:root:Testing 20700 out of 23200 hypotheses for ramen_pack (evidence > 0.19910698795956228)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.05 seconds. New max evidence: 1.473
INFO:root:Testing 13917 out of 14864 hypotheses for hot_sauce (evidence > 0.19910698795956228)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.03 seconds. New max evidence: 1.468
INFO:root:Testing 11152 out of 12560 hypotheses for harissa_oil (evidence > 0.19910698795956228)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.02 seconds. New max evidence: 1.483
INFO:root:Testing 18361 out of 21832 hypotheses for tomato_soup_can (evidence > 0.19910698795956228)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.04 seconds. New max evidence: 1.484
INFO:root:Testing 15877 out of 16976 hypotheses for mustard_bottle (evidence > 0.19910698795956228)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.03 seconds. New max evidence: 1.478
INFO:root:Testing 14053 out of 17728 hypotheses for tuna_fish_can (evidence > 0.19910698795956228)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.03 seconds. New max evidence: 1.484
INFO:root:Testing 15995 out of 19024 hypotheses for potted_meat_can (evidence > 0.19910698795956228)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 1.483
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 1.48
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'montys_heart', 'potted_meat_can', 'hot_sauce', 'mustard_bottle', 'tomato_soup_can', 'ramen_pack', 'harissa_oil', 'numenta_mug', 'montys_brain'}
INFO:root:--- Global Matching Step 4 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.91756443,  0.20868679,  0.33841591],
       [-0.22177209,  0.97509853,  0.        ],
       [-0.32998886, -0.07505121,  0.94099664]]), 'pose_fully_defined': False}}, {'patch': array([ 0.02257397,  0.02543566, -0.04053044])}]
INFO:root:Testing 12875 out of 14424 hypotheses for numenta_mug (evidence > 0.29685483054695894)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.03 seconds. New max evidence: 1.904
INFO:root:Testing 10759 out of 10992 hypotheses for montys_brain (evidence > 0.29685483054695894)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.03 seconds. New max evidence: 0.453
INFO:root:Testing 13810 out of 14880 hypotheses for montys_heart (evidence > 0.29685483054695894)
DEBUG:root:Calculating evidence for montys_heart using input 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: 1.675
INFO:root:Testing 20692 out of 23200 hypotheses for ramen_pack (evidence > 0.29685483054695894)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.05 seconds. New max evidence: 1.906
INFO:root:Testing 13914 out of 14864 hypotheses for hot_sauce (evidence > 0.29685483054695894)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.03 seconds. New max evidence: 1.873
INFO:root:Testing 11151 out of 12560 hypotheses for harissa_oil (evidence > 0.29685483054695894)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.02 seconds. New max evidence: 1.729
INFO:root:Testing 18309 out of 21832 hypotheses for tomato_soup_can (evidence > 0.29685483054695894)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.04 seconds. New max evidence: 1.893
INFO:root:Testing 15877 out of 16976 hypotheses for mustard_bottle (evidence > 0.29685483054695894)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 1.912
INFO:root:Testing 13993 out of 17728 hypotheses for tuna_fish_can (evidence > 0.29685483054695894)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.03 seconds. New max evidence: 1.944
INFO:root:Testing 15961 out of 19024 hypotheses for potted_meat_can (evidence > 0.29685483054695894)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 1.894
DEBUG:root:evidences for each object: [1.90354951 0.45275894 1.67468231 1.90646118 1.87340344 1.72914694
 1.89297172 1.91161044 1.94405785 1.89388983]
DEBUG:root:mean evidence: 1.718, std: 0.43 -> th=1.5552462823180278
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 1.94
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'montys_heart', 'potted_meat_can', 'hot_sauce', 'mustard_bottle', 'tomato_soup_can', 'ramen_pack', 'harissa_oil', 'numenta_mug'}
INFO:root:--- Global Matching Step 5 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.97386098,  0.18574822,  0.13073786],
       [-0.18735631,  0.98229202,  0.        ],
       [-0.12842276, -0.02449456,  0.99141697]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00394129,  0.01479569, -0.00736302])}]
INFO:root:Testing 2592 out of 14424 hypotheses for numenta_mug (evidence > 0.38881157057950677)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 2.238
INFO:root:Testing 108 out of 10992 hypotheses for montys_brain (evidence > 0.38881157057950677)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.389
INFO:root:Testing 770 out of 14880 hypotheses for montys_heart (evidence > 0.38881157057950677)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.938
INFO:root:Testing 6680 out of 23200 hypotheses for ramen_pack (evidence > 0.38881157057950677)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.02 seconds. New max evidence: 2.286
INFO:root:Testing 1696 out of 14864 hypotheses for hot_sauce (evidence > 0.38881157057950677)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 2.306
INFO:root:Testing 1703 out of 12560 hypotheses for harissa_oil (evidence > 0.38881157057950677)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.761
INFO:root:Testing 3269 out of 21832 hypotheses for tomato_soup_can (evidence > 0.38881157057950677)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 2.272
INFO:root:Testing 4865 out of 16976 hypotheses for mustard_bottle (evidence > 0.38881157057950677)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 2.302
INFO:root:Testing 3750 out of 17728 hypotheses for tuna_fish_can (evidence > 0.38881157057950677)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 2.362
INFO:root:Testing 6698 out of 19024 hypotheses for potted_meat_can (evidence > 0.38881157057950677)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.02 seconds. New max evidence: 2.303
DEBUG:root:evidences for each object: [2.23772388 0.38875836 1.93765714 2.28569722 2.30593334 1.76135346
 2.27240574 2.30199827 2.3618635  2.30271932]
DEBUG:root:mean evidence: 2.016, std: 0.572 -> th=1.889490797776844
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 2.36
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'montys_heart', 'potted_meat_can', 'hot_sauce', 'mustard_bottle', 'tomato_soup_can', 'ramen_pack', 'numenta_mug'}
INFO:root:--- Global Matching Step 6 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.97724969,  0.18598943,  0.10193615],
       [-0.18696333,  0.98236689,  0.        ],
       [-0.1001387 , -0.01905832,  0.99479094]]), 'pose_fully_defined': False}}, {'patch': array([ 0.02345519,  0.03363611, -0.0203727 ])}]
INFO:root:Testing 370 out of 14424 hypotheses for numenta_mug (evidence > 0.472372699444211)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.238
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.389
INFO:root:Testing 72 out of 14880 hypotheses for montys_heart (evidence > 0.472372699444211)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.938
INFO:root:Testing 218 out of 23200 hypotheses for ramen_pack (evidence > 0.472372699444211)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.076
INFO:root:Testing 176 out of 14864 hypotheses for hot_sauce (evidence > 0.472372699444211)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.306
INFO:root:Testing 8 out of 12560 hypotheses for harissa_oil (evidence > 0.472372699444211)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.761
INFO:root:Testing 321 out of 21832 hypotheses for tomato_soup_can (evidence > 0.472372699444211)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.272
INFO:root:Testing 394 out of 16976 hypotheses for mustard_bottle (evidence > 0.472372699444211)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 1.697
INFO:root:Testing 890 out of 17728 hypotheses for tuna_fish_can (evidence > 0.472372699444211)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.362
INFO:root:Testing 308 out of 19024 hypotheses for potted_meat_can (evidence > 0.472372699444211)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.715
DEBUG:root:evidences for each object: [1.23772388 0.38875836 0.93765714 2.07632508 1.30593334 0.76135346
 1.27240574 1.69687956 1.3618635  1.7151463 ]
DEBUG:root:mean evidence: 1.275, std: 0.468 -> th=1.6610600620801967
INFO:root:current most likely hypothesis: ramen_pack with evidence 2.08
DEBUG:root:evidences for each object: [1.23772388 0.38875836 0.93765714 2.07632508 1.30593334 0.76135346
 1.27240574 1.69687956 1.3618635  1.7151463 ]
DEBUG:root:mean evidence: 1.275, std: 0.468 -> th=1.6610600620801967
DEBUG:root:evidences for each object: [1.23772388 0.38875836 0.93765714 2.07632508 1.30593334 0.76135346
 1.27240574 1.69687956 1.3618635  1.7151463 ]
DEBUG:root:mean evidence: 1.275, std: 0.468 -> th=1.764876315960209
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'mustard_bottle', 'potted_meat_can'}
INFO:root:--- Global Matching Step 7 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98542541,  0.1456575 ,  0.08786727],
       [-0.14622307,  0.98925164,  0.        ],
       [-0.08692284, -0.01284822,  0.99613219]]), 'pose_fully_defined': False}}, {'patch': array([-0.02422944, -0.02920601,  0.05188575])}]
INFO:root:Testing 152 out of 14424 hypotheses for numenta_mug (evidence > 0.415265015520049)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.398
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.389
INFO:root:Testing 28 out of 14880 hypotheses for montys_heart (evidence > 0.415265015520049)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.167
INFO:root:Testing 125 out of 23200 hypotheses for ramen_pack (evidence > 0.415265015520049)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.735
INFO:root:Testing 94 out of 14864 hypotheses for hot_sauce (evidence > 0.415265015520049)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.415
INFO:root:Testing 5 out of 12560 hypotheses for harissa_oil (evidence > 0.415265015520049)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.389
INFO:root:Testing 71 out of 21832 hypotheses for tomato_soup_can (evidence > 0.415265015520049)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.127
INFO:root:Testing 225 out of 16976 hypotheses for mustard_bottle (evidence > 0.415265015520049)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.035
INFO:root:Testing 399 out of 17728 hypotheses for tuna_fish_can (evidence > 0.415265015520049)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.504
INFO:root:Testing 164 out of 19024 hypotheses for potted_meat_can (evidence > 0.415265015520049)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.909
DEBUG:root:evidences for each object: [1.39799644 0.38875836 1.16689324 1.73469973 0.41457691 0.38881018
 1.12650729 2.03479065 1.50397867 1.90880016]
DEBUG:root:mean evidence: 1.207, std: 0.596 -> th=1.6278325197600236
INFO:root:current most likely hypothesis: mustard_bottle with evidence 2.03
DEBUG:root:evidences for each object: [1.39799644 0.38875836 1.16689324 1.73469973 0.41457691 0.38881018
 1.12650729 2.03479065 1.50397867 1.90880016]
DEBUG:root:mean evidence: 1.207, std: 0.596 -> th=1.6278325197600236
DEBUG:root:evidences for each object: [1.39799644 0.38875836 1.16689324 1.73469973 0.41457691 0.38881018
 1.12650729 2.03479065 1.50397867 1.90880016]
DEBUG:root:mean evidence: 1.207, std: 0.596 -> th=1.7295720522450249
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'mustard_bottle', 'potted_meat_can'}
INFO:root:--- Global Matching Step 8 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.97708559,  0.13243224,  0.16662967],
       [-0.13430995,  0.99093937,  0.        ],
       [-0.1651199 , -0.02238002,  0.98601955]]), 'pose_fully_defined': False}}, {'patch': array([-0.01278757,  0.00607409,  0.00695949])}]
INFO:root:Testing 42 out of 14424 hypotheses for numenta_mug (evidence > 0.4069581299400058)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.74
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.389
INFO:root:Testing 4 out of 14880 hypotheses for montys_heart (evidence > 0.4069581299400058)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.402
INFO:root:Testing 18 out of 23200 hypotheses for ramen_pack (evidence > 0.4069581299400058)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.346
INFO:root:Testing 5 out of 14864 hypotheses for hot_sauce (evidence > 0.4069581299400058)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.403
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.389
INFO:root:Testing 29 out of 21832 hypotheses for tomato_soup_can (evidence > 0.4069581299400058)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.463
INFO:root:Testing 28 out of 16976 hypotheses for mustard_bottle (evidence > 0.4069581299400058)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.084
INFO:root:Testing 67 out of 17728 hypotheses for tuna_fish_can (evidence > 0.4069581299400058)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.814
INFO:root:Testing 81 out of 19024 hypotheses for potted_meat_can (evidence > 0.4069581299400058)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.628
DEBUG:root:evidences for each object: [1.73995253 0.38875836 1.40242188 1.34583443 0.4026028  0.38881018
 1.4627394  2.0840114  1.81392058 1.62813386]
DEBUG:root:mean evidence: 1.266, std: 0.606 -> th=1.6672091168767196
INFO:root:current most likely hypothesis: mustard_bottle with evidence 2.08
DEBUG:root:evidences for each object: [1.73995253 0.38875836 1.40242188 1.34583443 0.4026028  0.38881018
 1.4627394  2.0840114  1.81392058 1.62813386]
DEBUG:root:mean evidence: 1.266, std: 0.606 -> th=1.6672091168767196
DEBUG:root:evidences for each object: [1.73995253 0.38875836 1.40242188 1.34583443 0.4026028  0.38881018
 1.4627394  2.0840114  1.81392058 1.62813386]
DEBUG:root:mean evidence: 1.266, std: 0.606 -> th=1.7714096866815146
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'tuna_fish_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 9 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.94958152,  0.16287503,  0.26789299],
       [-0.16905418,  0.98560676,  0.        ],
       [-0.26403714, -0.04528843,  0.96344867]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00093044, -0.00917552,  0.00221681])}]
INFO:root:Testing 27 out of 14424 hypotheses for numenta_mug (evidence > 0.4168022792191799)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.098
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.389
INFO:root:Testing 2 out of 14880 hypotheses for montys_heart (evidence > 0.4168022792191799)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.822
INFO:root:Testing 7 out of 23200 hypotheses for ramen_pack (evidence > 0.4168022792191799)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.013
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.403
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.389
INFO:root:Testing 26 out of 21832 hypotheses for tomato_soup_can (evidence > 0.4168022792191799)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.842
INFO:root:Testing 16 out of 16976 hypotheses for mustard_bottle (evidence > 0.4168022792191799)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.183
INFO:root:Testing 59 out of 17728 hypotheses for tuna_fish_can (evidence > 0.4168022792191799)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.181
INFO:root:Testing 66 out of 19024 hypotheses for potted_meat_can (evidence > 0.4168022792191799)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.97
DEBUG:root:evidences for each object: [2.09833731 0.38875836 1.82200195 1.0127205  0.4026028  0.38881018
 1.84246448 2.18279364 2.181028   1.96991153]
DEBUG:root:mean evidence: 1.429, std: 0.748 -> th=1.7462349108384838
INFO:root:current most likely hypothesis: mustard_bottle with evidence 2.18
DEBUG:root:evidences for each object: [2.09833731 0.38875836 1.82200195 1.0127205  0.4026028  0.38881018
 1.84246448 2.18279364 2.181028   1.96991153]
DEBUG:root:mean evidence: 1.429, std: 0.748 -> th=1.7462349108384838
DEBUG:root:evidences for each object: [2.09833731 0.38875836 1.82200195 1.0127205  0.4026028  0.38881018
 1.84246448 2.18279364 2.181028   1.96991153]
DEBUG:root:mean evidence: 1.429, std: 0.748 -> th=1.8553745927658891
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'montys_heart', 'potted_meat_can', 'mustard_bottle', 'tomato_soup_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 10 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.95267903,  0.21209853,  0.21775418],
       [-0.21731326,  0.97610191,  0.        ],
       [-0.21255027, -0.04732087,  0.97600365]]), 'pose_fully_defined': False}}, {'patch': array([ 0.02020132,  0.02461083, -0.04646084])}]
INFO:root:Testing 22 out of 14424 hypotheses for numenta_mug (evidence > 0.4365587277096208)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.411
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.389
INFO:root:Testing 9890 out of 14880 hypotheses for montys_heart (evidence > 0.4365587277096208)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.03 seconds. New max evidence: 0.998
INFO:root:Testing 5 out of 23200 hypotheses for ramen_pack (evidence > 0.4365587277096208)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.353
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.403
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.389
INFO:root:Testing 24 out of 21832 hypotheses for tomato_soup_can (evidence > 0.4365587277096208)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.524
INFO:root:Testing 16 out of 16976 hypotheses for mustard_bottle (evidence > 0.4365587277096208)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.396
INFO:root:Testing 5876 out of 17728 hypotheses for tuna_fish_can (evidence > 0.4365587277096208)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 1.251
INFO:root:Testing 61 out of 19024 hypotheses for potted_meat_can (evidence > 0.4365587277096208)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 2.267
DEBUG:root:evidences for each object: [1.4105142  0.38875836 0.99796417 1.35310672 0.4026028  0.38881018
 1.52395809 2.39593453 1.2512352  2.26675895]
DEBUG:root:mean evidence: 1.238, std: 0.687 -> th=1.916747624489404
INFO:root:current most likely hypothesis: mustard_bottle with evidence 2.4
DEBUG:root:evidences for each object: [1.4105142  0.38875836 0.99796417 1.35310672 0.4026028  0.38881018
 1.52395809 2.39593453 1.2512352  2.26675895]
DEBUG:root:mean evidence: 1.238, std: 0.687 -> th=1.916747624489404
DEBUG:root:evidences for each object: [1.4105142  0.38875836 0.99796417 1.35310672 0.4026028  0.38881018
 1.52395809 2.39593453 1.2512352  2.26675895]
DEBUG:root:mean evidence: 1.238, std: 0.687 -> th=2.036544351019992
DEBUG:root:Hypothesis jump indicated: sufficient steps elapsed with no jump
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'potted_meat_can'}
INFO:root:--- Global Matching Step 11 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.94987322,  0.19071659,  0.24772577],
       [-0.19685244,  0.98043313,  0.        ],
       [-0.24287855, -0.04876542,  0.96883019]]), 'pose_fully_defined': False}}, {'patch': array([-0.00070468, -0.00155727,  0.00110232])}]
INFO:root:Testing 12 out of 14424 hypotheses for numenta_mug (evidence > 0.4791869061223508)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.79
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.389
INFO:root:Testing 6 out of 14880 hypotheses for montys_heart (evidence > 0.4791869061223508)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.396
INFO:root:Testing 2 out of 23200 hypotheses for ramen_pack (evidence > 0.4791869061223508)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.651
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.403
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.389
INFO:root:Testing 9 out of 21832 hypotheses for tomato_soup_can (evidence > 0.4791869061223508)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.748
INFO:root:Testing 13 out of 16976 hypotheses for mustard_bottle (evidence > 0.4791869061223508)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.613
INFO:root:Testing 45 out of 17728 hypotheses for tuna_fish_can (evidence > 0.4791869061223508)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.185
INFO:root:Testing 35 out of 19024 hypotheses for potted_meat_can (evidence > 0.4791869061223508)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 2.696
DEBUG:root:evidences for each object: [1.78996736 0.38875836 1.39649526 1.65133081 0.4026028  0.38881018
 1.74799939 2.61349889 1.1847556  2.69646099]
DEBUG:root:mean evidence: 1.426, std: 0.811 -> th=2.157168794697035
INFO:root:current most likely hypothesis: potted_meat_can with evidence 2.7
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'potted_meat_can'}
INFO:root:--- Global Matching Step 12 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.9741546 ,  0.17731751,  0.13993324],
       [-0.17907948,  0.98383461,  0.        ],
       [-0.13767117, -0.02505917,  0.99016094]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00265913,  0.00740466, -0.00066664])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 0.5392921986742585)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.094
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.389
INFO:root:Testing 1908 out of 14880 hypotheses for montys_heart (evidence > 0.5392921986742585)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 1.842
INFO:root:Testing 4931 out of 23200 hypotheses for ramen_pack (evidence > 0.5392921986742585)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 2.089
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.403
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.389
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 0.5392921986742585)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.053
INFO:root:Testing 10 out of 16976 hypotheses for mustard_bottle (evidence > 0.5392921986742585)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.954
INFO:root:Testing 10 out of 17728 hypotheses for tuna_fish_can (evidence > 0.5392921986742585)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.518
INFO:root:Testing 20 out of 19024 hypotheses for potted_meat_can (evidence > 0.5392921986742585)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 2.931
DEBUG:root:evidences for each object: [2.09408262 0.38875836 1.84195378 2.0889092  0.4026028  0.38881018
 2.05297124 2.95351831 0.518186   2.93142538]
DEBUG:root:mean evidence: 1.566, std: 0.994 -> th=2.3628146513661585
INFO:root:current most likely hypothesis: mustard_bottle with evidence 2.95
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'potted_meat_can'}
INFO:root:--- Global Matching Step 13 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.9841735 ,  0.17701402, -0.00827943],
       [-0.17702009,  0.98420724,  0.        ],
       [ 0.00814867,  0.00146562,  0.99996572]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00956634,  0.01639727, -0.00616742])}]
INFO:root:Testing 3845 out of 14424 hypotheses for numenta_mug (evidence > 0.5907036628415394)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 1.094
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.389
INFO:root:Testing 8 out of 14880 hypotheses for montys_heart (evidence > 0.5907036628415394)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.76
INFO:root:Testing 4 out of 23200 hypotheses for ramen_pack (evidence > 0.5907036628415394)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.511
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.403
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.389
INFO:root:Testing 4987 out of 21832 hypotheses for tomato_soup_can (evidence > 0.5907036628415394)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 1.053
INFO:root:Testing 8 out of 16976 hypotheses for mustard_bottle (evidence > 0.5907036628415394)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.236
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.518
INFO:root:Testing 16 out of 19024 hypotheses for potted_meat_can (evidence > 0.5907036628415394)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.931
DEBUG:root:evidences for each object: [1.09408262 0.38875836 1.76013487 2.5111071  0.4026028  0.38881018
 1.05297124 3.236178   0.518186   1.93142538]
DEBUG:root:mean evidence: 1.328, std: 0.949 -> th=2.5889423992980154
INFO:root:current most likely hypothesis: mustard_bottle with evidence 3.24
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle'}
INFO:root:--- Global Matching Step 14 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.9734051 ,  0.1398338 ,  0.18146354],
       [-0.14219456,  0.98983873,  0.        ],
       [-0.17961964, -0.02580313,  0.98339767]]), 'pose_fully_defined': False}}, {'patch': array([-0.02044496, -0.01943089,  0.04220281])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 0.6472355998245036)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.585
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.389
INFO:root:Testing 2 out of 14880 hypotheses for montys_heart (evidence > 0.6472355998245036)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.042
INFO:root:Testing 1 out of 23200 hypotheses for ramen_pack (evidence > 0.6472355998245036)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.511
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.403
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.389
INFO:root:Testing 2 out of 21832 hypotheses for tomato_soup_can (evidence > 0.6472355998245036)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.324
INFO:root:Testing 7 out of 16976 hypotheses for mustard_bottle (evidence > 0.6472355998245036)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.45
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.518
INFO:root:Testing 10 out of 19024 hypotheses for potted_meat_can (evidence > 0.6472355998245036)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 2.309
DEBUG:root:evidences for each object: [1.58513806 0.38875836 2.04230002 1.5111071  0.4026028  0.38881018
 1.3244631  3.44990352 0.518186   2.3093652 ]
DEBUG:root:mean evidence: 1.392, std: 0.965 -> th=2.7599228178616677
INFO:root:current most likely hypothesis: mustard_bottle with evidence 3.45
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle'}
INFO:root:--- Global Matching Step 15 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.90473753,  0.15690739,  0.39601778],
       [-0.17087788,  0.98529222,  0.        ],
       [-0.39019323, -0.06767068,  0.91824284]]), 'pose_fully_defined': False}}, {'patch': array([-0.01348277, -0.00587629,  0.01615689])}]
INFO:root:Testing 5895 out of 14424 hypotheses for numenta_mug (evidence > 0.6899807044654169)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.02 seconds. New max evidence: 1.522
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.389
INFO:root:Testing 278 out of 14880 hypotheses for montys_heart (evidence > 0.6899807044654169)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.171
INFO:root:Testing 1 out of 23200 hypotheses for ramen_pack (evidence > 0.6899807044654169)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.582
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.403
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.389
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 0.6899807044654169)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.591
INFO:root:Testing 4 out of 16976 hypotheses for mustard_bottle (evidence > 0.6899807044654169)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.581
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.518
INFO:root:Testing 1406 out of 19024 hypotheses for potted_meat_can (evidence > 0.6899807044654169)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 2.484
DEBUG:root:evidences for each object: [1.52190389 0.38875836 2.17086141 0.58238966 0.4026028  0.38881018
 0.59067955 3.58119517 0.518186   2.48387103]
DEBUG:root:mean evidence: 1.263, std: 1.072 -> th=2.8649561345905505
INFO:root:current most likely hypothesis: mustard_bottle with evidence 3.58
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle'}
INFO:root:--- Global Matching Step 16 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.9210572 ,  0.19207367,  0.33876442],
       [-0.20414448,  0.97894077,  0.        ],
       [-0.3316303 , -0.06915689,  0.94087123]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00747308,  0.02197406, -0.00682138])}]
INFO:root:Testing 134 out of 14424 hypotheses for numenta_mug (evidence > 0.7162390336476374)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.792
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.389
INFO:root:Testing 7 out of 14880 hypotheses for montys_heart (evidence > 0.7162390336476374)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.171
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.582
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.403
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.389
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.591
INFO:root:Testing 2 out of 16976 hypotheses for mustard_bottle (evidence > 0.7162390336476374)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.581
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.518
INFO:root:Testing 33 out of 19024 hypotheses for potted_meat_can (evidence > 0.7162390336476374)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 2.13
DEBUG:root:evidences for each object: [1.79227494 0.38875836 1.17086141 0.58238966 0.4026028  0.38881018
 0.59067955 2.58119517 0.518186   2.12968121]
DEBUG:root:mean evidence: 1.055, std: 0.78 -> th=2.0649561345905507
INFO:root:current most likely hypothesis: mustard_bottle with evidence 2.58
DEBUG:root:evidences for each object: [1.79227494 0.38875836 1.17086141 0.58238966 0.4026028  0.38881018
 0.59067955 2.58119517 0.518186   2.12968121]
DEBUG:root:mean evidence: 1.055, std: 0.78 -> th=2.0649561345905507
DEBUG:root:evidences for each object: [1.79227494 0.38875836 1.17086141 0.58238966 0.4026028  0.38881018
 0.59067955 2.58119517 0.518186   2.12968121]
DEBUG:root:mean evidence: 1.055, std: 0.78 -> th=2.1940158930024602
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'potted_meat_can'}
INFO:root:--- Global Matching Step 17 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.95074471,  0.16891616,  0.25990734],
       [-0.17492781,  0.98458126,  0.        ],
       [-0.25589989, -0.04546502,  0.96563356]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01276354,  0.01597004, -0.03896352])}]
INFO:root:Testing 767 out of 14424 hypotheses for numenta_mug (evidence > 0.5162390336476377)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.562
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.389
INFO:root:Testing 760 out of 14880 hypotheses for montys_heart (evidence > 0.5162390336476377)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.898
INFO:root:Testing 648 out of 23200 hypotheses for ramen_pack (evidence > 0.5162390336476377)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.695
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.403
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.389
INFO:root:Testing 3809 out of 21832 hypotheses for tomato_soup_can (evidence > 0.5162390336476377)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 0.756
INFO:root:Testing 2 out of 16976 hypotheses for mustard_bottle (evidence > 0.5162390336476377)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.653
INFO:root:Testing 1 out of 17728 hypotheses for tuna_fish_can (evidence > 0.5162390336476377)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.482
INFO:root:Testing 4097 out of 19024 hypotheses for potted_meat_can (evidence > 0.5162390336476377)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 1.13
DEBUG:root:evidences for each object: [1.56236129 0.38875836 0.89826382 0.69525175 0.4026028  0.38881018
 0.75589133 2.65315347 0.48175265 1.12968121]
DEBUG:root:mean evidence: 0.936, std: 0.675 -> th=2.1225227768560773
INFO:root:current most likely hypothesis: mustard_bottle with evidence 2.65
DEBUG:root:evidences for each object: [1.56236129 0.38875836 0.89826382 0.69525175 0.4026028  0.38881018
 0.75589133 2.65315347 0.48175265 1.12968121]
DEBUG:root:mean evidence: 0.936, std: 0.675 -> th=2.1225227768560773
DEBUG:root:evidences for each object: [1.56236129 0.38875836 0.89826382 0.69525175 0.4026028  0.38881018
 0.75589133 2.65315347 0.48175265 1.12968121]
DEBUG:root:mean evidence: 0.936, std: 0.675 -> th=2.2551804504095823
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle'}
INFO:root:--- Global Matching Step 18 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.95866621,  0.13321783,  0.25142017],
       [-0.13763906,  0.99048245,  0.        ],
       [-0.24902726, -0.03460524,  0.96787804]]), 'pose_fully_defined': False}}, {'patch': array([-7.75998624e-05, -8.83360997e-03, -6.04757231e-03])}]
INFO:root:Testing 5 out of 14424 hypotheses for numenta_mug (evidence > 0.5306306942140191)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.57
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.389
INFO:root:Testing 1 out of 14880 hypotheses for montys_heart (evidence > 0.5306306942140191)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.015
INFO:root:Testing 3 out of 23200 hypotheses for ramen_pack (evidence > 0.5306306942140191)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.876
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.403
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.389
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 0.5306306942140191)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.594
INFO:root:Testing 3 out of 16976 hypotheses for mustard_bottle (evidence > 0.5306306942140191)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.749
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.482
INFO:root:Testing 4 out of 19024 hypotheses for potted_meat_can (evidence > 0.5306306942140191)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.207
DEBUG:root:evidences for each object: [1.56978213 0.38875836 1.01458546 0.87597152 0.4026028  0.38881018
 0.59434776 2.74882451 0.48175265 1.20743877]
DEBUG:root:mean evidence: 0.967, std: 0.705 -> th=2.199059605213913
INFO:root:current most likely hypothesis: mustard_bottle with evidence 2.75
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle'}
INFO:root:--- Global Matching Step 19 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.97547023,  0.11323751,  0.18877263],
       [-0.1153107 ,  0.99332947,  0.        ],
       [-0.18751341, -0.0217675 ,  0.98202082]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0001122 ,  0.009044  , -0.00921926])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 0.5497649013034782)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.589
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.389
INFO:root:Testing 205 out of 14880 hypotheses for montys_heart (evidence > 0.5497649013034782)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.549
INFO:root:Testing 3 out of 23200 hypotheses for ramen_pack (evidence > 0.5497649013034782)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.045
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.403
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.389
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 0.5497649013034782)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.818
INFO:root:Testing 2 out of 16976 hypotheses for mustard_bottle (evidence > 0.5497649013034782)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 1.749
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.482
INFO:root:Testing 4 out of 19024 hypotheses for potted_meat_can (evidence > 0.5497649013034782)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.964
DEBUG:root:evidences for each object: [1.58924153 0.38875836 0.54945259 1.04528085 0.4026028  0.38881018
 0.81816263 1.74882451 0.48175265 0.96366946]
DEBUG:root:mean evidence: 0.838, std: 0.475 -> th=1.3990596052139128
INFO:root:current most likely hypothesis: mustard_bottle with evidence 1.75
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'mustard_bottle'}
INFO:root:--- Global Matching Step 20 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.95794253,  0.19506264,  0.21046777],
       [-0.19953199,  0.97989131,  0.        ],
       [-0.20623554, -0.04199505,  0.9776008 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00112449, -0.01116047,  0.01517479])}]
INFO:root:Testing 421 out of 14424 hypotheses for numenta_mug (evidence > 0.34976490130347804)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.525
INFO:root:Testing 212 out of 10992 hypotheses for montys_brain (evidence > 0.34976490130347804)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.35
INFO:root:Testing 737 out of 14880 hypotheses for montys_heart (evidence > 0.34976490130347804)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.805
INFO:root:Testing 4263 out of 23200 hypotheses for ramen_pack (evidence > 0.34976490130347804)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 1.033
INFO:root:Testing 1487 out of 14864 hypotheses for hot_sauce (evidence > 0.34976490130347804)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.35
INFO:root:Testing 1151 out of 12560 hypotheses for harissa_oil (evidence > 0.34976490130347804)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.35
INFO:root:Testing 6696 out of 21832 hypotheses for tomato_soup_can (evidence > 0.34976490130347804)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.02 seconds. New max evidence: 1.042
INFO:root:Testing 5950 out of 16976 hypotheses for mustard_bottle (evidence > 0.34976490130347804)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 1.875
INFO:root:Testing 2000 out of 17728 hypotheses for tuna_fish_can (evidence > 0.34976490130347804)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 0.35
INFO:root:Testing 2797 out of 19024 hypotheses for potted_meat_can (evidence > 0.34976490130347804)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 0.854
DEBUG:root:evidences for each object: [1.52517319 0.34975843 0.80506365 1.03329938 0.34976429 0.34974924
 1.0422958  1.87476807 0.34968764 0.8535116 ]
DEBUG:root:mean evidence: 0.853, std: 0.508 -> th=1.499814457308176
INFO:root:current most likely hypothesis: mustard_bottle with evidence 1.87
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'mustard_bottle'}
INFO:root:--- Global Matching Step 21 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.97722835,  0.15741222,  0.14228892],
       [-0.15903033,  0.9872737 ,  0.        ],
       [-0.14047811, -0.02262825,  0.98982517]]), 'pose_fully_defined': False}}, {'patch': array([-0.00288855, -0.00070142,  0.02092828])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 0.374953614327044)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.437
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.35
INFO:root:Testing 2 out of 14880 hypotheses for montys_heart (evidence > 0.374953614327044)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.441
INFO:root:Testing 18 out of 23200 hypotheses for ramen_pack (evidence > 0.374953614327044)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.172
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.35
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.35
INFO:root:Testing 24 out of 21832 hypotheses for tomato_soup_can (evidence > 0.374953614327044)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.4
INFO:root:Testing 1 out of 16976 hypotheses for mustard_bottle (evidence > 0.374953614327044)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.875
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.35
INFO:root:Testing 11 out of 19024 hypotheses for potted_meat_can (evidence > 0.374953614327044)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.29
DEBUG:root:evidences for each object: [1.43699337 0.34975843 0.44094156 1.1722525  0.34976429 0.34974924
 1.40004945 0.87476807 0.34968764 1.29038913]
DEBUG:root:mean evidence: 0.801, std: 0.457 -> th=1.1495946991704291
INFO:root:current most likely hypothesis: numenta_mug with evidence 1.44
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'numenta_mug', 'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 22 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.97816309,  0.11164888,  0.175304  ],
       [-0.11340503,  0.99354884,  0.        ],
       [-0.17417309, -0.01988036,  0.98451435]]), 'pose_fully_defined': False}}, {'patch': array([-0.009338  , -0.00511767,  0.02243123])}]
INFO:root:Testing 398 out of 14424 hypotheses for numenta_mug (evidence > 0.28739867479260717)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.504
INFO:root:Testing 861 out of 10992 hypotheses for montys_brain (evidence > 0.28739867479260717)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
INFO:root:Testing 924 out of 14880 hypotheses for montys_heart (evidence > 0.28739867479260717)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.822
INFO:root:Testing 1200 out of 23200 hypotheses for ramen_pack (evidence > 0.28739867479260717)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.507
INFO:root:Testing 1975 out of 14864 hypotheses for hot_sauce (evidence > 0.28739867479260717)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 0.287
INFO:root:Testing 1625 out of 12560 hypotheses for harissa_oil (evidence > 0.28739867479260717)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
INFO:root:Testing 320 out of 21832 hypotheses for tomato_soup_can (evidence > 0.28739867479260717)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.451
INFO:root:Testing 1441 out of 16976 hypotheses for mustard_bottle (evidence > 0.28739867479260717)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.752
INFO:root:Testing 1047 out of 17728 hypotheses for tuna_fish_can (evidence > 0.28739867479260717)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.543
INFO:root:Testing 645 out of 19024 hypotheses for potted_meat_can (evidence > 0.28739867479260717)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.554
DEBUG:root:evidences for each object: [1.50359198 0.2873388  0.82208398 1.50676714 0.28735591 0.28721876
 1.45054126 0.75180729 0.54274319 1.55443286]
DEBUG:root:mean evidence: 0.899, std: 0.524 -> th=1.2435462849421026
INFO:root:current most likely hypothesis: potted_meat_can with evidence 1.55
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'numenta_mug', 'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 23 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.90510272,  0.13149224,  0.40434992],
       [-0.14376953,  0.9896112 ,  0.        ],
       [-0.40014921, -0.0581332 ,  0.91460436]]), 'pose_fully_defined': False}}, {'patch': array([-0.01166822, -0.00055703,  0.01066672])}]
INFO:root:Testing 4 out of 14424 hypotheses for numenta_mug (evidence > 0.31088657123552554)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.419
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
INFO:root:Testing 6 out of 14880 hypotheses for montys_heart (evidence > 0.31088657123552554)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.215
INFO:root:Testing 16 out of 23200 hypotheses for ramen_pack (evidence > 0.31088657123552554)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.896
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
INFO:root:Testing 20 out of 21832 hypotheses for tomato_soup_can (evidence > 0.31088657123552554)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.577
INFO:root:Testing 8 out of 16976 hypotheses for mustard_bottle (evidence > 0.31088657123552554)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 1.188
INFO:root:Testing 4 out of 17728 hypotheses for tuna_fish_can (evidence > 0.31088657123552554)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.75
INFO:root:Testing 27 out of 19024 hypotheses for potted_meat_can (evidence > 0.31088657123552554)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.732
DEBUG:root:evidences for each object: [1.41871059 0.2873388  1.21460772 1.89597104 0.28735591 0.28721876
 1.57662001 1.18763468 0.74974994 1.73161349]
DEBUG:root:mean evidence: 1.064, std: 0.589 -> th=1.5167768349854533
INFO:root:current most likely hypothesis: ramen_pack with evidence 1.9
DEBUG:root:evidences for each object: [1.41871059 0.2873388  1.21460772 1.89597104 0.28735591 0.28721876
 1.57662001 1.18763468 0.74974994 1.73161349]
DEBUG:root:mean evidence: 1.064, std: 0.589 -> th=1.5167768349854533
DEBUG:root:evidences for each object: [1.41871059 0.2873388  1.21460772 1.89597104 0.28735591 0.28721876
 1.57662001 1.18763468 0.74974994 1.73161349]
DEBUG:root:mean evidence: 1.064, std: 0.589 -> th=1.6115753871720442
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 24 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.9330558 ,  0.12065235,  0.33889511],
       [-0.12824113,  0.99174302,  0.        ],
       [-0.33609685, -0.04346029,  0.94082416]]), 'pose_fully_defined': False}}, {'patch': array([-0.00050515,  0.00241072, -0.01792885])}]
INFO:root:Testing 2 out of 14424 hypotheses for numenta_mug (evidence > 0.37919420874636334)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.32
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
INFO:root:Testing 4 out of 14880 hypotheses for montys_heart (evidence > 0.37919420874636334)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.232
INFO:root:Testing 8 out of 23200 hypotheses for ramen_pack (evidence > 0.37919420874636334)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.292
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
INFO:root:Testing 17 out of 21832 hypotheses for tomato_soup_can (evidence > 0.37919420874636334)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.759
INFO:root:Testing 5 out of 16976 hypotheses for mustard_bottle (evidence > 0.37919420874636334)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 1.593
INFO:root:Testing 1 out of 17728 hypotheses for tuna_fish_can (evidence > 0.37919420874636334)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.955
INFO:root:Testing 15 out of 19024 hypotheses for potted_meat_can (evidence > 0.37919420874636334)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.45
DEBUG:root:evidences for each object: [1.31978972 0.2873388  1.23196411 2.29233025 0.28735591 0.28721876
 1.75937489 1.59303746 0.95540309 1.44998463]
DEBUG:root:mean evidence: 1.146, std: 0.653 -> th=1.8338642002317265
INFO:root:current most likely hypothesis: ramen_pack with evidence 2.29
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 25 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.91145659,  0.12695834,  0.39131633],
       [-0.13795978,  0.99043783,  0.        ],
       [-0.38757449, -0.05398591,  0.92025623]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00146193, -0.00605485, -0.01013323])}]
INFO:root:Testing 2 out of 14424 hypotheses for numenta_mug (evidence > 0.4584660500579316)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.607
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
INFO:root:Testing 2 out of 14880 hypotheses for montys_heart (evidence > 0.4584660500579316)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 6 out of 23200 hypotheses for ramen_pack (evidence > 0.4584660500579316)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.685
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
INFO:root:Testing 12 out of 21832 hypotheses for tomato_soup_can (evidence > 0.4584660500579316)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.144
INFO:root:Testing 5 out of 16976 hypotheses for mustard_bottle (evidence > 0.4584660500579316)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 1.883
INFO:root:Testing 665 out of 17728 hypotheses for tuna_fish_can (evidence > 0.4584660500579316)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.012
INFO:root:Testing 13 out of 19024 hypotheses for potted_meat_can (evidence > 0.4584660500579316)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.766
DEBUG:root:evidences for each object: [0.60718354 0.2873388  0.40717969 2.68532127 0.28735591 0.28721876
 1.14440819 1.88272309 1.01175659 1.76577163]
DEBUG:root:mean evidence: 1.037, std: 0.79 -> th=2.148257013557143
INFO:root:current most likely hypothesis: ramen_pack with evidence 2.69
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 26 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.94457587,  0.14316115,  0.2954341 ],
       [-0.14984998,  0.98870875,  0.        ],
       [-0.29209828, -0.0442708 ,  0.95536312]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00121967, -0.01159007, -0.00254647])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 0.5370642533892855)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.554
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 4 out of 23200 hypotheses for ramen_pack (evidence > 0.5370642533892855)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.069
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
INFO:root:Testing 10 out of 21832 hypotheses for tomato_soup_can (evidence > 0.5370642533892855)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.128
INFO:root:Testing 4 out of 16976 hypotheses for mustard_bottle (evidence > 0.5370642533892855)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.263
INFO:root:Testing 5 out of 17728 hypotheses for tuna_fish_can (evidence > 0.5370642533892855)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.148
INFO:root:Testing 8 out of 19024 hypotheses for potted_meat_can (evidence > 0.5370642533892855)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 2.097
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 3.06904878 0.28735591 0.28721876
 1.12794731 2.26327932 1.14788146 2.09740299]
DEBUG:root:mean evidence: 1.153, std: 0.947 -> th=2.4552390275149762
INFO:root:current most likely hypothesis: ramen_pack with evidence 3.07
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 27 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.9369619 ,  0.16952057,  0.30555716],
       [-0.17803534,  0.98402409,  0.        ],
       [-0.30067561, -0.05439997,  0.95217373]]), 'pose_fully_defined': False}}, {'patch': array([-0.00233852,  0.01052946,  0.00654135])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.554
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 4 out of 23200 hypotheses for ramen_pack (evidence > 0.613809756878744)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.441
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
INFO:root:Testing 5 out of 21832 hypotheses for tomato_soup_can (evidence > 0.613809756878744)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.267
INFO:root:Testing 3 out of 16976 hypotheses for mustard_bottle (evidence > 0.613809756878744)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.631
INFO:root:Testing 4 out of 17728 hypotheses for tuna_fish_can (evidence > 0.613809756878744)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.583
INFO:root:Testing 2 out of 19024 hypotheses for potted_meat_can (evidence > 0.613809756878744)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 2.566
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 3.44112104 0.28735591 0.28721876
 1.26712801 2.63077228 1.58313529 2.56598811]
DEBUG:root:mean evidence: 1.331, std: 1.116 -> th=2.7528968303626113
INFO:root:current most likely hypothesis: ramen_pack with evidence 3.44
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 28 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.9617874 ,  0.14095068,  0.23472942],
       [-0.14500192,  0.98943137,  0.        ],
       [-0.23224865, -0.03403622,  0.97206075]]), 'pose_fully_defined': False}}, {'patch': array([-0.00437576, -0.00232717,  0.0148456 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.554
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 4 out of 23200 hypotheses for ramen_pack (evidence > 0.6882242075906526)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.817
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
INFO:root:Testing 5 out of 21832 hypotheses for tomato_soup_can (evidence > 0.6882242075906526)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.36
INFO:root:Testing 3 out of 16976 hypotheses for mustard_bottle (evidence > 0.6882242075906526)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.983
INFO:root:Testing 5 out of 17728 hypotheses for tuna_fish_can (evidence > 0.6882242075906526)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.038
INFO:root:Testing 2 out of 19024 hypotheses for potted_meat_can (evidence > 0.6882242075906526)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 2.934
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 3.8169879  0.28735591 0.28721876
 1.35971279 2.98307133 2.03751464 2.93442426]
DEBUG:root:mean evidence: 1.495, std: 1.282 -> th=3.0535903162636706
INFO:root:current most likely hypothesis: ramen_pack with evidence 3.82
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 29 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.96269682,  0.11427487,  0.24526739],
       [-0.11787532,  0.9930284 ,  0.        ],
       [-0.24355749, -0.02891097,  0.96945547]]), 'pose_fully_defined': False}}, {'patch': array([-0.00063671,  0.00542012,  0.01122059])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.554
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 4 out of 23200 hypotheses for ramen_pack (evidence > 0.7633975790659173)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.207
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
INFO:root:Testing 2 out of 21832 hypotheses for tomato_soup_can (evidence > 0.7633975790659173)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.535
INFO:root:Testing 2 out of 16976 hypotheses for mustard_bottle (evidence > 0.7633975790659173)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.328
INFO:root:Testing 3 out of 17728 hypotheses for tuna_fish_can (evidence > 0.7633975790659173)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.038
INFO:root:Testing 5 out of 19024 hypotheses for potted_meat_can (evidence > 0.7633975790659173)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.312
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 4.20709451 0.28735591 0.28721876
 1.53464035 3.32766093 1.03751464 3.31198026]
DEBUG:root:mean evidence: 1.524, std: 1.437 -> th=3.365675611475101
INFO:root:current most likely hypothesis: ramen_pack with evidence 4.21
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 4.20709451 0.28735591 0.28721876
 1.53464035 3.32766093 1.03751464 3.31198026]
DEBUG:root:mean evidence: 1.524, std: 1.437 -> th=3.365675611475101
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 4.20709451 0.28735591 0.28721876
 1.53464035 3.32766093 1.03751464 3.31198026]
DEBUG:root:mean evidence: 1.524, std: 1.437 -> th=3.576030337192295
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 30 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.97210716,  0.0910691 ,  0.21613444],
       [-0.09327376,  0.9956405 ,  0.        ],
       [-0.2151922 , -0.02015967,  0.97636361]]), 'pose_fully_defined': False}}, {'patch': array([-0.00261729,  0.00408029,  0.00200332])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.554
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 4 out of 23200 hypotheses for ramen_pack (evidence > 0.8414189028687753)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No 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
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
INFO:root:Testing 2 out of 21832 hypotheses for tomato_soup_can (evidence > 0.8414189028687753)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.701
INFO:root:Testing 3 out of 16976 hypotheses for mustard_bottle (evidence > 0.8414189028687753)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.646
INFO:root:Testing 2 out of 17728 hypotheses for tuna_fish_can (evidence > 0.8414189028687753)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.655
INFO:root:Testing 4 out of 19024 hypotheses for potted_meat_can (evidence > 0.8414189028687753)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.709
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 4.60075485 0.28735591 0.28721876
 1.70054554 3.64551408 0.65461936 3.70923941]
DEBUG:root:mean evidence: 1.613, std: 1.619 -> th=3.6806038786806825
INFO:root:current most likely hypothesis: ramen_pack with evidence 4.6
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 31 ---
INFO:uvicorn.access:192.168.1.217:64368 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.97786393,  0.10312986,  0.18206143],
       [-0.10488275,  0.99448459,  0.        ],
       [-0.18105728, -0.0190951 ,  0.98328716]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00017418, -0.06146745,  0.01843549])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.554
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 4 out of 23200 hypotheses for ramen_pack (evidence > 0.9201509696701704)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.978
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
INFO:root:Testing 2 out of 21832 hypotheses for tomato_soup_can (evidence > 0.9201509696701704)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.435
INFO:root:Testing 2 out of 16976 hypotheses for mustard_bottle (evidence > 0.9201509696701704)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.646
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.655
INFO:root:Testing 6 out of 19024 hypotheses for potted_meat_can (evidence > 0.9201509696701704)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.991
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 4.97779193 0.28735591 0.28721876
 1.43450378 2.64551408 0.65461936 3.99052228]
DEBUG:root:mean evidence: 1.553, std: 1.637 -> th=3.982233540107118
INFO:root:current most likely hypothesis: ramen_pack with evidence 4.98
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 32 ---
INFO:uvicorn.access:192.168.1.217:64368 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64368 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.94655369,  0.08822415,  0.31024605],
       [-0.09280342,  0.99568445,  0.        ],
       [-0.30890717, -0.02879189,  0.95065629]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00160963,  0.00088981, -0.0133795 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.554
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 2 out of 23200 hypotheses for ramen_pack (evidence > 0.9955583850267793)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.389
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
INFO:root:Testing 2 out of 21832 hypotheses for tomato_soup_can (evidence > 0.9955583850267793)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.721
INFO:root:Testing 1 out of 16976 hypotheses for mustard_bottle (evidence > 0.9955583850267793)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.053
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.655
INFO:root:Testing 2 out of 19024 hypotheses for potted_meat_can (evidence > 0.9955583850267793)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.392
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 5.38887183 0.28735591 0.28721876
 0.7213801  3.05325779 0.65461936 4.39160913]
DEBUG:root:mean evidence: 1.603, std: 1.833 -> th=4.311097466511433
INFO:root:current most likely hypothesis: ramen_pack with evidence 5.39
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 33 ---
INFO:uvicorn.access:192.168.1.217:64368 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.92276779,  0.11638174,  0.36736209],
       [-0.12513117,  0.99214021,  0.        ],
       [-0.3644747 , -0.04596845,  0.93007801]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0018302 ,  0.0050492 , -0.01072954])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.554
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 1 out of 23200 hypotheses for ramen_pack (evidence > 1.0777743666278585)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.79
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.721
INFO:root:Testing 3 out of 16976 hypotheses for mustard_bottle (evidence > 1.0777743666278585)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.471
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.655
INFO:root:Testing 532 out of 19024 hypotheses for potted_meat_can (evidence > 1.0777743666278585)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.779
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 5.78969848 0.28735591 0.28721876
 0.7213801  3.4707974  0.65461936 4.77876759]
DEBUG:root:mean evidence: 1.724, std: 2.009 -> th=4.631758783809128
INFO:root:current most likely hypothesis: ramen_pack with evidence 5.79
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 34 ---
INFO:uvicorn.access:192.168.1.217:64368 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64368 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.95104603,  0.12538695,  0.28247046],
       [-0.13070998,  0.99142065,  0.        ],
       [-0.28004704, -0.03692171,  0.959276  ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00031043, -0.00020248,  0.00160041])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.554
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 2 out of 23200 hypotheses for ramen_pack (evidence > 1.1579396959522823)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.181
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.721
INFO:root:Testing 2 out of 16976 hypotheses for mustard_bottle (evidence > 1.1579396959522823)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.873
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.655
INFO:root:Testing 80 out of 19024 hypotheses for potted_meat_can (evidence > 1.1579396959522823)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.186
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 6.18060404 0.28735591 0.28721876
 0.7213801  3.87324993 0.65461936 5.18577588]
DEBUG:root:mean evidence: 1.844, std: 2.186 -> th=4.944483234022035
INFO:root:current most likely hypothesis: ramen_pack with evidence 6.18
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 35 ---
INFO:uvicorn.access:192.168.1.217:64368 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64368 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.85223197,  0.19475157,  0.48556409],
       [-0.22277664,  0.97486951,  0.        ],
       [-0.47336163, -0.10817233,  0.87420107]]), 'pose_fully_defined': False}}, {'patch': array([-0.00458182,  0.00178131,  0.01082818])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.554
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 2 out of 23200 hypotheses for ramen_pack (evidence > 1.2361208085055084)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.517
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.721
INFO:root:Testing 1031 out of 16976 hypotheses for mustard_bottle (evidence > 1.2361208085055084)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.282
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.655
INFO:root:Testing 74 out of 19024 hypotheses for potted_meat_can (evidence > 1.2361208085055084)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.478
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 6.51656416 0.28735591 0.28721876
 0.7213801  4.28169699 0.65461936 5.47810696]
DEBUG:root:mean evidence: 1.948, std: 2.336 -> th=5.213251331028192
INFO:root:current most likely hypothesis: ramen_pack with evidence 6.52
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 6.51656416 0.28735591 0.28721876
 0.7213801  4.28169699 0.65461936 5.47810696]
DEBUG:root:mean evidence: 1.948, std: 2.336 -> th=5.213251331028192
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 6.51656416 0.28735591 0.28721876
 0.7213801  4.28169699 0.65461936 5.47810696]
DEBUG:root:mean evidence: 1.948, std: 2.336 -> th=5.539079539217454
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 36 ---
INFO:uvicorn.access:192.168.1.217:64368 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.90224237,  0.14150701,  0.40735055],
       [-0.1549451 ,  0.98792308,  0.        ],
       [-0.40243101, -0.06311697,  0.91327188]]), 'pose_fully_defined': False}}, {'patch': array([-0.00458747,  0.02136306, -0.00532845])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.554
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 1 out of 23200 hypotheses for ramen_pack (evidence > 1.3033128327570473)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.896
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.721
INFO:root:Testing 129 out of 16976 hypotheses for mustard_bottle (evidence > 1.3033128327570473)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.677
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.655
INFO:root:Testing 43 out of 19024 hypotheses for potted_meat_can (evidence > 1.3033128327570473)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.807
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 6.89616459 0.28735591 0.28721876
 0.7213801  4.67716022 0.65461936 5.80748201]
DEBUG:root:mean evidence: 2.058, std: 2.5 -> th=5.516931674266194
INFO:root:current most likely hypothesis: ramen_pack with evidence 6.9
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 37 ---
INFO:uvicorn.access:192.168.1.217:64368 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64368 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64368 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.8078914 ,  0.15007347,  0.56990301],
       [-0.18263512,  0.98318076,  0.        ],
       [-0.56031768, -0.10408431,  0.82171197]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01179349, -0.00143587, -0.00821142])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.554
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 3 out of 23200 hypotheses for ramen_pack (evidence > 1.3792329185665482)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.227
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.721
INFO:root:Testing 72 out of 16976 hypotheses for mustard_bottle (evidence > 1.3792329185665482)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.099
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.655
INFO:root:Testing 23 out of 19024 hypotheses for potted_meat_can (evidence > 1.3792329185665482)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.106
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 7.22664906 0.28735591 0.28721876
 0.7213801  5.09878444 0.65461936 6.10601145]
DEBUG:root:mean evidence: 2.163, std: 2.653 -> th=5.781319245650515
INFO:root:current most likely hypothesis: ramen_pack with evidence 7.23
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 38 ---
INFO:uvicorn.access:192.168.1.217:64368 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.93682437,  0.1448305 ,  0.31840891],
       [-0.15278229,  0.98825987,  0.        ],
       [-0.31467075, -0.04864724,  0.94795346]]), 'pose_fully_defined': False}}, {'patch': array([-0.00352855,  0.00857219,  0.00105685])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.554
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 3 out of 23200 hypotheses for ramen_pack (evidence > 1.4453298114126287)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.612
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.721
INFO:root:Testing 27 out of 16976 hypotheses for mustard_bottle (evidence > 1.4453298114126287)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.481
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.655
INFO:root:Testing 21 out of 19024 hypotheses for potted_meat_can (evidence > 1.4453298114126287)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.466
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 7.61175445 0.28735591 0.28721876
 0.7213801  5.48079459 0.65461936 6.4658202 ]
DEBUG:root:mean evidence: 2.276, std: 2.822 -> th=6.0894035602609025
INFO:root:current most likely hypothesis: ramen_pack with evidence 7.61
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 39 ---
INFO:uvicorn.access:192.168.1.217:64368 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64368 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64368 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.88438046,  0.1546332 ,  0.44040864],
       [-0.17223618,  0.98505568,  0.        ],
       [-0.43382703, -0.0758543 ,  0.89779743]]), 'pose_fully_defined': False}}, {'patch': array([-0.00492828,  0.00335276,  0.0152698 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.554
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 2 out of 23200 hypotheses for ramen_pack (evidence > 1.5223508900652254)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.984
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.721
INFO:root:Testing 26 out of 16976 hypotheses for mustard_bottle (evidence > 1.5223508900652254)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.874
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.655
INFO:root:Testing 12 out of 19024 hypotheses for potted_meat_can (evidence > 1.5223508900652254)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.773
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 7.98401076 0.28735591 0.28721876
 0.7213801  5.87433943 0.65461936 6.77264313]
DEBUG:root:mean evidence: 2.383, std: 2.983 -> th=6.387208607211336
INFO:root:current most likely hypothesis: ramen_pack with evidence 7.98
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 40 ---
INFO:uvicorn.access:192.168.1.217:64368 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.91132067,  0.16706655,  0.3762757 ],
       [-0.18031857,  0.98360826,  0.        ],
       [-0.37010788, -0.0678495 ,  0.92650774]]), 'pose_fully_defined': False}}, {'patch': array([-0.0049157 ,  0.01292946,  0.00291031])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.554
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 898 out of 23200 hypotheses for ramen_pack (evidence > 1.5968021518028337)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.359
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.721
INFO:root:Testing 21 out of 16976 hypotheses for mustard_bottle (evidence > 1.5968021518028337)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.233
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.655
INFO:root:Testing 8 out of 19024 hypotheses for potted_meat_can (evidence > 1.5968021518028337)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.652
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 8.35870108 0.28735591 0.28721876
 0.7213801  6.23340385 0.65461936 6.65233858]
DEBUG:root:mean evidence: 2.444, std: 3.081 -> th=6.686960862417398
INFO:root:current most likely hypothesis: ramen_pack with evidence 8.36
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 41 ---
INFO:uvicorn.access:192.168.1.217:64368 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64368 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.82197245,  0.13183905,  0.55405754],
       [-0.15836934,  0.98737994,  0.        ],
       [-0.54706531, -0.08774573,  0.83247837]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00968362,  0.01092876, -0.01877261])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.554
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 17 out of 23200 hypotheses for ramen_pack (evidence > 1.6717402156043493)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.702
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.721
INFO:root:Testing 13 out of 16976 hypotheses for mustard_bottle (evidence > 1.6717402156043493)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.683
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.655
INFO:root:Testing 5 out of 19024 hypotheses for potted_meat_can (evidence > 1.6717402156043493)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.996
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 8.70166295 0.28735591 0.28721876
 0.7213801  6.68335482 0.65461936 6.99561243]
DEBUG:root:mean evidence: 2.558, std: 3.249 -> th=6.96133035791992
INFO:root:current most likely hypothesis: ramen_pack with evidence 8.7
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 8.70166295 0.28735591 0.28721876
 0.7213801  6.68335482 0.65461936 6.99561243]
DEBUG:root:mean evidence: 2.558, std: 3.249 -> th=6.96133035791992
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 8.70166295 0.28735591 0.28721876
 0.7213801  6.68335482 0.65461936 6.99561243]
DEBUG:root:mean evidence: 2.558, std: 3.249 -> th=7.396413505289915
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 42 ---
INFO:uvicorn.access:192.168.1.217:64368 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64368 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98128271, -0.07913503,  0.17556166],
       [ 0.08038351,  0.99676401, -0.        ],
       [-0.17499354,  0.01411226,  0.98446844]]), 'pose_fully_defined': False}}, {'patch': array([0.00676505, 0.0026723 , 0.00654253])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.554
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 6 out of 23200 hypotheses for ramen_pack (evidence > 1.74033258947998)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.129
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.721
INFO:root:Testing 8 out of 16976 hypotheses for mustard_bottle (evidence > 1.74033258947998)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.972
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.655
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 1.74033258947998)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.441
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 9.12932955 0.28735591 0.28721876
 0.7213801  6.97168982 0.65461936 7.44063297]
DEBUG:root:mean evidence: 2.674, std: 3.427 -> th=7.303463643400704
INFO:root:current most likely hypothesis: ramen_pack with evidence 9.13
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 43 ---
INFO:uvicorn.access:192.168.1.217:64371 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.93409484,  0.21013936,  0.28863173],
       [-0.21948041,  0.97561691,  0.        ],
       [-0.28159399, -0.06334901,  0.95744019]]), 'pose_fully_defined': False}}, {'patch': array([-0.0011872 , -0.08974137, -0.03235853])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.554
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 5 out of 23200 hypotheses for ramen_pack (evidence > 1.825865910850176)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.482
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.721
INFO:root:Testing 5 out of 16976 hypotheses for mustard_bottle (evidence > 1.825865910850176)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.339
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.655
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 1.825865910850176)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.822
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 9.48209534 0.28735591 0.28721876
 0.7213801  7.3392966  0.65461936 7.82157677]
DEBUG:root:mean evidence: 2.784, std: 3.593 -> th=7.58567627366412
INFO:root:current most likely hypothesis: ramen_pack with evidence 9.48
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 44 ---
INFO:uvicorn.access:192.168.1.217:64371 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.95050982,  0.15600592,  0.26868798],
       [-0.16196169,  0.98679705,  0.        ],
       [-0.26514051, -0.04351716,  0.96322727]]), 'pose_fully_defined': False}}, {'patch': array([-0.00129379,  0.02214397, -0.00189813])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.554
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 5 out of 23200 hypotheses for ramen_pack (evidence > 1.89641906841603)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.857
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.721
INFO:root:Testing 5 out of 16976 hypotheses for mustard_bottle (evidence > 1.89641906841603)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.711
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.655
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 1.89641906841603)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.211
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 9.8569777  0.28735591 0.28721876
 0.7213801  7.71088404 0.65461936 8.21062   ]
DEBUG:root:mean evidence: 2.898, std: 3.765 -> th=7.88558215911966
INFO:root:current most likely hypothesis: ramen_pack with evidence 9.86
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 45 ---
INFO:uvicorn.access:192.168.1.217:64371 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.96436376,  0.04812448,  0.26016644],
       [-0.0498408 ,  0.99875717,  0.        ],
       [-0.25984309, -0.0129669 ,  0.96556379]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0042768 ,  0.01843286, -0.00061761])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.554
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 5 out of 23200 hypotheses for ramen_pack (evidence > 1.9713955397799143)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.289
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.721
INFO:root:Testing 5 out of 16976 hypotheses for mustard_bottle (evidence > 1.9713955397799143)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.134
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.655
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 1.9713955397799143)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.629
DEBUG:root:evidences for each object: [ 0.55369937  0.2873388   0.40717969 10.28885052  0.28735591  0.28721876
  0.7213801   8.13421559  0.65461936  8.62943811]
DEBUG:root:mean evidence: 3.025, std: 3.958 -> th=8.231080415055693
INFO:root:current most likely hypothesis: ramen_pack with evidence 10.29
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 46 ---
INFO:uvicorn.access:192.168.1.217:64371 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64371 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.9949608 ,  0.08095141, -0.05915968],
       [-0.08109344,  0.9967065 ,  0.        ],
       [ 0.05896484,  0.00479746,  0.99824853]]), 'pose_fully_defined': False}}, {'patch': array([-0.01792342,  0.01735026, -0.01874926])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.554
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 5 out of 23200 hypotheses for ramen_pack (evidence > 2.0577701037639233)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.046
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.721
INFO:root:Testing 6 out of 16976 hypotheses for mustard_bottle (evidence > 2.0577701037639233)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.134
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.655
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 2.0577701037639233)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.629
DEBUG:root:evidences for each object: [ 0.55369937  0.2873388   0.40717969 10.04642238  0.28735591  0.28721876
  0.7213801   7.13421559  0.65461936  7.62943811]
DEBUG:root:mean evidence: 2.801, std: 3.65 -> th=8.037137901548244
INFO:root:current most likely hypothesis: ramen_pack with evidence 10.05
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 47 ---
INFO:uvicorn.access:192.168.1.217:64371 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64371 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98555431,  0.16798367, -0.02154529],
       [-0.16802267,  0.98578313,  0.        ],
       [ 0.02123898,  0.0036201 ,  0.99976787]]), 'pose_fully_defined': False}}, {'patch': array([-0.00637578, -0.01988651,  0.01105759])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.554
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 2 out of 23200 hypotheses for ramen_pack (evidence > 2.0092844753870605)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.598
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.721
INFO:root:Testing 5 out of 16976 hypotheses for mustard_bottle (evidence > 2.0092844753870605)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.134
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.655
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 2.0092844753870605)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.514
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 9.59780582 0.28735591 0.28721876
 0.7213801  6.13421559 0.65461936 7.51408213]
DEBUG:root:mean evidence: 2.644, std: 3.434 -> th=7.678244659253934
INFO:root:current most likely hypothesis: ramen_pack with evidence 9.6
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 9.59780582 0.28735591 0.28721876
 0.7213801  6.13421559 0.65461936 7.51408213]
DEBUG:root:mean evidence: 2.644, std: 3.434 -> th=7.678244659253934
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 9.59780582 0.28735591 0.28721876
 0.7213801  6.13421559 0.65461936 7.51408213]
DEBUG:root:mean evidence: 2.644, std: 3.434 -> th=8.158134950457306
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 48 ---
INFO:uvicorn.access:192.168.1.217:64371 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99175757,  0.09253355,  0.08862538],
       [-0.09289911,  0.99567553,  0.        ],
       [-0.08824213, -0.00823322,  0.99606503]]), 'pose_fully_defined': False}}, {'patch': array([ 0.02406047, -0.00485575,  0.00663564])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.554
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 1 out of 23200 hypotheses for ramen_pack (evidence > 1.9195611648134836)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.957
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.721
INFO:root:Testing 6 out of 16976 hypotheses for mustard_bottle (evidence > 1.9195611648134836)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.501
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.655
INFO:root:Testing 2 out of 19024 hypotheses for potted_meat_can (evidence > 1.9195611648134836)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.878
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 9.95650003 0.28735591 0.28721876
 0.7213801  6.50135011 0.65461936 7.87751449]
DEBUG:root:mean evidence: 2.753, std: 3.596 -> th=7.965200020242586
INFO:root:current most likely hypothesis: ramen_pack with evidence 9.96
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 49 ---
INFO:uvicorn.access:192.168.1.217:64373 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.75856329,  0.09101313,  0.64521186],
       [-0.11912655, -0.99287908,  0.        ],
       [ 0.64061736, -0.07686187,  0.7640037 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.01962281, -0.04032477,  0.06742072])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.554
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 1827 out of 23200 hypotheses for ramen_pack (evidence > 1.991300005060646)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 8.957
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.721
INFO:root:Testing 17 out of 16976 hypotheses for mustard_bottle (evidence > 1.991300005060646)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.501
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.655
INFO:root:Testing 5 out of 19024 hypotheses for potted_meat_can (evidence > 1.991300005060646)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.878
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 8.95650003 0.28735591 0.28721876
 0.7213801  5.50135011 0.65461936 6.87751449]
DEBUG:root:mean evidence: 2.453, std: 3.151 -> th=7.165200020242585
INFO:root:current most likely hypothesis: ramen_pack with evidence 8.96
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 50 ---
INFO:uvicorn.access:192.168.1.217:64373 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.28906404,  0.11686974,  0.95014917],
       [-0.37482794, -0.92709439,  0.        ],
       [ 0.88087797, -0.35614245,  0.3117957 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0040543 ,  0.01816085, -0.02521734])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.554
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 586 out of 23200 hypotheses for ramen_pack (evidence > 1.7913000050606458)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.827
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.721
INFO:root:Testing 1337 out of 16976 hypotheses for mustard_bottle (evidence > 1.7913000050606458)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.41
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.655
INFO:root:Testing 8 out of 19024 hypotheses for potted_meat_can (evidence > 1.7913000050606458)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.228
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 8.82709836 0.28735591 0.28721876
 0.7213801  5.40974266 0.65461936 7.22757008]
DEBUG:root:mean evidence: 2.466, std: 3.166 -> th=7.061678688271471
INFO:root:current most likely hypothesis: ramen_pack with evidence 8.83
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 51 ---
INFO:uvicorn.access:192.168.1.217:64373 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.57686758,  0.10449803,  0.81012589],
       [-0.17824643,  0.98398588,  0.        ],
       [-0.79715243, -0.14440205,  0.58625596]]), 'pose_fully_defined': False}}, {'patch': array([0.00278018, 0.00533436, 0.00321427])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.554
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 127 out of 23200 hypotheses for ramen_pack (evidence > 1.7654196720678677)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.023
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.721
INFO:root:Testing 662 out of 16976 hypotheses for mustard_bottle (evidence > 1.7654196720678677)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.737
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.655
INFO:root:Testing 8 out of 19024 hypotheses for potted_meat_can (evidence > 1.7654196720678677)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.349
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 9.02274341 0.28735591 0.28721876
 0.7213801  5.73743796 0.65461936 7.34888385]
DEBUG:root:mean evidence: 2.531, std: 3.255 -> th=7.218194727469206
INFO:root:current most likely hypothesis: ramen_pack with evidence 9.02
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 52 ---
INFO:uvicorn.access:192.168.1.217:64373 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.63046319,  0.15912995,  0.75973274],
       [-0.24472665, -0.96959211,  0.        ],
       [ 0.73663087, -0.18592684,  0.65023547]]), 'pose_fully_defined': False}}, {'patch': array([-0.00437289,  0.01064   ,  0.01294434])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.554
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 51 out of 23200 hypotheses for ramen_pack (evidence > 1.8045486818673009)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.708
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.721
INFO:root:Testing 265 out of 16976 hypotheses for mustard_bottle (evidence > 1.8045486818673009)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.527
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.655
INFO:root:Testing 7 out of 19024 hypotheses for potted_meat_can (evidence > 1.8045486818673009)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.797
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 8.70823236 0.28735591 0.28721876
 0.7213801  5.52743456 0.65461936 7.7969144 ]
DEBUG:root:mean evidence: 2.523, std: 3.243 -> th=6.966585889233758
INFO:root:current most likely hypothesis: ramen_pack with evidence 8.71
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 53 ---
INFO:uvicorn.access:192.168.1.217:64373 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64373 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.45648616,  0.19908585,  0.86717081],
       [-0.39976208, -0.91661894,  0.        ],
       [ 0.79486518, -0.34666201,  0.49801084]]), 'pose_fully_defined': False}}, {'patch': array([-0.01011726,  0.02171572,  0.01960255])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.554
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 192 out of 23200 hypotheses for ramen_pack (evidence > 1.7416464723084388)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.456
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.721
INFO:root:Testing 344 out of 16976 hypotheses for mustard_bottle (evidence > 1.7416464723084388)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.527
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.655
INFO:root:Testing 2 out of 19024 hypotheses for potted_meat_can (evidence > 1.7416464723084388)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.797
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 8.45556667 0.28735591 0.28721876
 0.7213801  4.52743456 0.65461936 6.7969144 ]
DEBUG:root:mean evidence: 2.298, std: 2.951 -> th=6.764453333939342
INFO:root:current most likely hypothesis: ramen_pack with evidence 8.46
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 8.45556667 0.28735591 0.28721876
 0.7213801  4.52743456 0.65461936 6.7969144 ]
DEBUG:root:mean evidence: 2.298, std: 2.951 -> th=6.764453333939342
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 8.45556667 0.28735591 0.28721876
 0.7213801  4.52743456 0.65461936 6.7969144 ]
DEBUG:root:mean evidence: 2.298, std: 2.951 -> th=7.1872316673105505
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 54 ---
INFO:uvicorn.access:192.168.1.217:64373 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.26790891,  0.20582436,  0.94120197],
       [-0.60922824, -0.79299493,  0.        ],
       [ 0.74636839, -0.57340682,  0.33784442]]), 'pose_fully_defined': False}}, {'patch': array([-0.00864348, -0.01509644,  0.0015245 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.554
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 2007 out of 23200 hypotheses for ramen_pack (evidence > 1.691113333484835)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 7.456
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.721
INFO:root:Testing 486 out of 16976 hypotheses for mustard_bottle (evidence > 1.691113333484835)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.527
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.655
INFO:root:Testing 8 out of 19024 hypotheses for potted_meat_can (evidence > 1.691113333484835)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.797
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 7.45556667 0.28735591 0.28721876
 0.7213801  3.52743456 0.65461936 5.7969144 ]
DEBUG:root:mean evidence: 1.998, std: 2.518 -> th=5.964453333939342
INFO:root:current most likely hypothesis: ramen_pack with evidence 7.46
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 7.45556667 0.28735591 0.28721876
 0.7213801  3.52743456 0.65461936 5.7969144 ]
DEBUG:root:mean evidence: 1.998, std: 2.518 -> th=5.964453333939342
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 7.45556667 0.28735591 0.28721876
 0.7213801  3.52743456 0.65461936 5.7969144 ]
DEBUG:root:mean evidence: 1.998, std: 2.518 -> th=6.337231667310551
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 55 ---
INFO:uvicorn.access:192.168.1.217:64373 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64373 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.36345317,  0.21891138,  0.90552725],
       [-0.51594983, -0.8566188 ,  0.        ],
       [ 0.77569167, -0.46720663,  0.42428811]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00501756,  0.02662683, -0.01451669])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.554
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 12060 out of 23200 hypotheses for ramen_pack (evidence > 1.4911133334848348)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.03 seconds. New max evidence: 6.456
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.721
INFO:root:Testing 916 out of 16976 hypotheses for mustard_bottle (evidence > 1.4911133334848348)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.829
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.655
INFO:root:Testing 343 out of 19024 hypotheses for potted_meat_can (evidence > 1.4911133334848348)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.797
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 6.45556667 0.28735591 0.28721876
 0.7213801  3.82890129 0.65461936 4.7969144 ]
DEBUG:root:mean evidence: 1.828, std: 2.182 -> th=5.164453333939342
INFO:root:current most likely hypothesis: ramen_pack with evidence 6.46
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 56 ---
INFO:uvicorn.access:192.168.1.217:64373 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.31759335,  0.21730841,  0.92299053],
       [-0.56469754, -0.82529794,  0.        ],
       [ 0.76174219, -0.52121048,  0.38482266]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00045565,  0.01127228, -0.00176411])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.554
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 7918 out of 23200 hypotheses for ramen_pack (evidence > 1.2911133334848355)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.02 seconds. New max evidence: 5.456
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.721
INFO:root:Testing 387 out of 16976 hypotheses for mustard_bottle (evidence > 1.2911133334848355)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.829
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.655
INFO:root:Testing 552 out of 19024 hypotheses for potted_meat_can (evidence > 1.2911133334848355)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.797
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 5.45556667 0.28735591 0.28721876
 0.7213801  2.82890129 0.65461936 3.7969144 ]
DEBUG:root:mean evidence: 1.528, std: 1.747 -> th=4.364453333939342
INFO:root:current most likely hypothesis: ramen_pack with evidence 5.46
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 57 ---
INFO:uvicorn.access:192.168.1.217:64373 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.43630099,  0.18689712,  0.88017664],
       [-0.39376084, -0.91921292,  0.        ],
       [ 0.80906974, -0.3465791 ,  0.47464628]]), 'pose_fully_defined': False}}, {'patch': array([-0.00485854,  0.00801152,  0.01333302])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.554
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 5221 out of 23200 hypotheses for ramen_pack (evidence > 1.0911133334848353)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 4.456
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.721
INFO:root:Testing 9758 out of 16976 hypotheses for mustard_bottle (evidence > 1.0911133334848353)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 2.954
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.655
INFO:root:Testing 9416 out of 19024 hypotheses for potted_meat_can (evidence > 1.0911133334848353)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.02 seconds. New max evidence: 2.797
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 4.45556667 0.28735591 0.28721876
 0.7213801  2.95400392 0.65461936 2.7969144 ]
DEBUG:root:mean evidence: 1.341, std: 1.418 -> th=3.564453333939342
INFO:root:current most likely hypothesis: ramen_pack with evidence 4.46
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 58 ---
INFO:uvicorn.access:192.168.1.217:64375 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.55756356,  0.16817095, -0.81292153],
       [-0.28876834, -0.957399  ,  0.        ],
       [-0.77829026,  0.234746  ,  0.58237324]]), 'pose_fully_defined': False}}, {'patch': array([ 0.02768346, -0.04950406, -0.09723376])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.554
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 3024 out of 23200 hypotheses for ramen_pack (evidence > 0.8911133334848351)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 4.689
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.721
INFO:root:Testing 4999 out of 16976 hypotheses for mustard_bottle (evidence > 0.8911133334848351)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 1.954
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.655
INFO:root:Testing 5165 out of 19024 hypotheses for potted_meat_can (evidence > 0.8911133334848351)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.02 seconds. New max evidence: 2.746
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 4.68942761 0.28735591 0.28721876
 0.7213801  1.95400392 0.65461936 2.74589984]
DEBUG:root:mean evidence: 1.259, std: 1.385 -> th=3.7515420866677607
INFO:root:current most likely hypothesis: ramen_pack with evidence 4.69
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 59 ---
INFO:uvicorn.access:192.168.1.217:64375 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.37615011,  0.10778801, -0.92026781],
       [-0.27546898, -0.96130996,  0.        ],
       [-0.88466261,  0.25350523,  0.3912891 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00093419,  0.01873794, -0.00455211])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.554
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 679 out of 23200 hypotheses for ramen_pack (evidence > 0.93788552166694)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.087
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.721
INFO:root:Testing 294 out of 16976 hypotheses for mustard_bottle (evidence > 0.93788552166694)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.275
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.655
INFO:root:Testing 552 out of 19024 hypotheses for potted_meat_can (evidence > 0.93788552166694)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 2.959
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 5.08733091 0.28735591 0.28721876
 0.7213801  2.27529281 0.65461936 2.95893063]
DEBUG:root:mean evidence: 1.352, std: 1.523 -> th=4.069864730412972
INFO:root:current most likely hypothesis: ramen_pack with evidence 5.09
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 60 ---
INFO:uvicorn.access:192.168.1.217:64375 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.23454118,  0.06749774, -0.96976002],
       [-0.27656155, -0.96099621,  0.        ],
       [-0.9319357 ,  0.26819834,  0.24406046]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00345076, -0.0009357 , -0.00198266])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.554
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 163 out of 23200 hypotheses for ramen_pack (evidence > 1.0174661826032425)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.433
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.721
INFO:root:Testing 37 out of 16976 hypotheses for mustard_bottle (evidence > 1.0174661826032425)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.715
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.655
INFO:root:Testing 107 out of 19024 hypotheses for potted_meat_can (evidence > 1.0174661826032425)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.232
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 5.43289031 0.28735591 0.28721876
 0.7213801  2.71455198 0.65461936 3.23215795]
DEBUG:root:mean evidence: 1.458, std: 1.666 -> th=4.346312251931874
INFO:root:current most likely hypothesis: ramen_pack with evidence 5.43
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 5.43289031 0.28735591 0.28721876
 0.7213801  2.71455198 0.65461936 3.23215795]
DEBUG:root:mean evidence: 1.458, std: 1.666 -> th=4.346312251931874
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 5.43289031 0.28735591 0.28721876
 0.7213801  2.71455198 0.65461936 3.23215795]
DEBUG:root:mean evidence: 1.458, std: 1.666 -> th=4.617956767677616
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 61 ---
INFO:uvicorn.access:192.168.1.217:64375 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.25607362,  0.09656749, -0.96182172],
       [-0.35285232, -0.93567903,  0.        ],
       [-0.89995641,  0.33938103,  0.27367678]]), 'pose_fully_defined': False}}, {'patch': array([-0.00787267, -0.00355808, -0.03662027])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.554
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 89 out of 23200 hypotheses for ramen_pack (evidence > 1.0865780629829684)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.433
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.721
INFO:root:Testing 29 out of 16976 hypotheses for mustard_bottle (evidence > 1.0865780629829684)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 1.715
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.655
INFO:root:Testing 90 out of 19024 hypotheses for potted_meat_can (evidence > 1.0865780629829684)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 2.232
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 4.43289031 0.28735591 0.28721876
 0.7213801  1.71455198 0.65461936 2.23215795]
DEBUG:root:mean evidence: 1.158, std: 1.258 -> th=3.546312251931874
INFO:root:current most likely hypothesis: ramen_pack with evidence 4.43
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 62 ---
INFO:uvicorn.access:192.168.1.217:64375 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.11311783,  0.07633513, -0.99064489],
       [-0.5593752 , -0.82891458,  0.        ],
       [-0.82116   ,  0.55414219,  0.136465  ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00252716, -0.03535393,  0.03075713])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.554
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 213 out of 23200 hypotheses for ramen_pack (evidence > 0.8865780629829683)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.433
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.721
INFO:root:Testing 132 out of 16976 hypotheses for mustard_bottle (evidence > 0.8865780629829683)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 1.252
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.655
INFO:root:Testing 212 out of 19024 hypotheses for potted_meat_can (evidence > 0.8865780629829683)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 2.21
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 3.43289031 0.28735591 0.28721876
 0.7213801  1.25180226 0.65461936 2.20953404]
DEBUG:root:mean evidence: 1.009, std: 0.986 -> th=2.7463122519318737
INFO:root:current most likely hypothesis: ramen_pack with evidence 3.43
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 63 ---
INFO:uvicorn.access:192.168.1.217:64375 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.2632736 ,  0.1391604 , -0.95463155],
       [-0.46731125, -0.88409287,  0.        ],
       [-0.84398294,  0.44611006,  0.29778953]]), 'pose_fully_defined': False}}, {'patch': array([-0.00456345, -0.0074523 ,  0.00413054])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.554
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 3439 out of 23200 hypotheses for ramen_pack (evidence > 0.6865780629829681)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 2.433
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 0.6865780629829681)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.669
INFO:root:Testing 2325 out of 16976 hypotheses for mustard_bottle (evidence > 0.6865780629829681)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 1.632
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.655
INFO:root:Testing 3391 out of 19024 hypotheses for potted_meat_can (evidence > 0.6865780629829681)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 2.049
DEBUG:root:evidences for each object: [0.55369937 0.2873388  0.40717969 2.43289031 0.28735591 0.28721876
 0.66903616 1.63249171 0.65461936 2.04931214]
DEBUG:root:mean evidence: 0.926, std: 0.762 -> th=1.9463122519318738
INFO:root:current most likely hypothesis: ramen_pack with evidence 2.43
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 64 ---
INFO:uvicorn.access:192.168.1.217:64378 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.93424468,  0.04722354, -0.35349233],
       [-0.05048285, -0.99872493,  0.        ],
       [-0.3530416 ,  0.0178453 ,  0.93543743]]), 'pose_fully_defined': False}}, {'patch': array([-0.01005459, -0.0096871 ,  0.0402509 ])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 0.48657806298296835)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.58
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 11031 out of 23200 hypotheses for ramen_pack (evidence > 0.48657806298296835)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.03 seconds. New max evidence: 2.321
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
INFO:root:Testing 587 out of 21832 hypotheses for tomato_soup_can (evidence > 0.48657806298296835)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.036
INFO:root:Testing 2073 out of 16976 hypotheses for mustard_bottle (evidence > 0.48657806298296835)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 1.532
INFO:root:Testing 962 out of 17728 hypotheses for tuna_fish_can (evidence > 0.48657806298296835)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.085
INFO:root:Testing 2233 out of 19024 hypotheses for potted_meat_can (evidence > 0.48657806298296835)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 1.645
DEBUG:root:evidences for each object: [0.58002724 0.2873388  0.40717969 2.32065327 0.28735591 0.28721876
 1.03560794 1.5319492  1.08514942 1.64496295]
DEBUG:root:mean evidence: 0.947, std: 0.669 -> th=1.856522619978636
INFO:root:current most likely hypothesis: ramen_pack with evidence 2.32
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 65 ---
INFO:uvicorn.access:192.168.1.217:64378 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.93483869,  0.04338184, -0.35241261],
       [-0.04635581, -0.99892499,  0.        ],
       [-0.35203376,  0.01633637,  0.93584473]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01321879,  0.00136946, -0.02834873])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 0.4641306549946589)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.346
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 3028 out of 23200 hypotheses for ramen_pack (evidence > 0.4641306549946589)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 1.646
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
INFO:root:Testing 139 out of 21832 hypotheses for tomato_soup_can (evidence > 0.4641306549946589)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.192
INFO:root:Testing 303 out of 16976 hypotheses for mustard_bottle (evidence > 0.4641306549946589)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 1.463
INFO:root:Testing 398 out of 17728 hypotheses for tuna_fish_can (evidence > 0.4641306549946589)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.486
INFO:root:Testing 679 out of 19024 hypotheses for potted_meat_can (evidence > 0.4641306549946589)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.414
DEBUG:root:evidences for each object: [0.34611759 0.2873388  0.40717969 1.64564497 0.28735591 0.28721876
 1.19208504 1.46338081 1.48594941 1.4142681 ]
DEBUG:root:mean evidence: 0.882, std: 0.569 -> th=1.3165159769741526
INFO:root:current most likely hypothesis: ramen_pack with evidence 1.65
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'tuna_fish_can', 'mustard_bottle', 'potted_meat_can'}
INFO:root:--- Global Matching Step 66 ---
INFO:uvicorn.access:192.168.1.217:64378 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64378 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.86695602,  0.07263115, -0.49306386],
       [-0.08348474, -0.99650906,  0.        ],
       [-0.49134261,  0.04116331,  0.86999312]]), 'pose_fully_defined': False}}, {'patch': array([-0.00640072,  0.00014929,  0.01487691])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 0.32912899424353803)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.428
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
INFO:root:Testing 1 out of 14880 hypotheses for montys_heart (evidence > 0.32912899424353803)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.291
INFO:root:Testing 5437 out of 23200 hypotheses for ramen_pack (evidence > 0.32912899424353803)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 2.025
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
INFO:root:Testing 2834 out of 21832 hypotheses for tomato_soup_can (evidence > 0.32912899424353803)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 1.634
INFO:root:Testing 412 out of 16976 hypotheses for mustard_bottle (evidence > 0.32912899424353803)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 1.51
INFO:root:Testing 914 out of 17728 hypotheses for tuna_fish_can (evidence > 0.32912899424353803)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.915
INFO:root:Testing 968 out of 19024 hypotheses for potted_meat_can (evidence > 0.32912899424353803)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.596
DEBUG:root:evidences for each object: [0.42802749 0.2873388  0.29089257 2.02522563 0.28735591 0.28721876
 1.6344708  1.5104114  1.91461602 1.59596981]
DEBUG:root:mean evidence: 1.026, std: 0.725 -> th=1.6201805006913346
INFO:root:current most likely hypothesis: ramen_pack with evidence 2.03
DEBUG:root:evidences for each object: [0.42802749 0.2873388  0.29089257 2.02522563 0.28735591 0.28721876
 1.6344708  1.5104114  1.91461602 1.59596981]
DEBUG:root:mean evidence: 1.026, std: 0.725 -> th=1.6201805006913346
DEBUG:root:evidences for each object: [0.42802749 0.2873388  0.29089257 2.02522563 0.28735591 0.28721876
 1.6344708  1.5104114  1.91461602 1.59596981]
DEBUG:root:mean evidence: 1.026, std: 0.725 -> th=1.7214417819845431
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 67 ---
INFO:uvicorn.access:192.168.1.217:64378 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.92166067,  0.09742699, -0.37556569],
       [-0.10512239, -0.99445929,  0.        ],
       [-0.37348479,  0.03948036,  0.92679578]]), 'pose_fully_defined': False}}, {'patch': array([-0.01399214,  0.00197077,  0.01420392])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 0.40504512517283353)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.396
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.291
INFO:root:Testing 1125 out of 23200 hypotheses for ramen_pack (evidence > 0.40504512517283353)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.02
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
INFO:root:Testing 305 out of 21832 hypotheses for tomato_soup_can (evidence > 0.40504512517283353)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.024
INFO:root:Testing 56 out of 16976 hypotheses for mustard_bottle (evidence > 0.40504512517283353)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 1.902
INFO:root:Testing 271 out of 17728 hypotheses for tuna_fish_can (evidence > 0.40504512517283353)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.384
INFO:root:Testing 221 out of 19024 hypotheses for potted_meat_can (evidence > 0.40504512517283353)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.54
DEBUG:root:evidences for each object: [0.3956084  0.2873388  0.29089257 2.01999514 0.28735591 0.28721876
 2.02385554 1.90178559 2.38389866 1.54014345]
DEBUG:root:mean evidence: 1.142, std: 0.854 -> th=1.9071189310539338
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 2.38
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 68 ---
INFO:uvicorn.access:192.168.1.217:64378 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64378 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.97454889,  0.07446331, -0.21144662],
       [-0.07618591, -0.99709363,  0.        ],
       [-0.21083208,  0.01610925,  0.97738955]]), 'pose_fully_defined': False}}, {'patch': array([-0.00030066,  0.01597466,  0.00235003])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.396
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.291
INFO:root:Testing 747 out of 23200 hypotheses for ramen_pack (evidence > 0.4767797327634833)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.072
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
INFO:root:Testing 82 out of 21832 hypotheses for tomato_soup_can (evidence > 0.4767797327634833)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.403
INFO:root:Testing 46 out of 16976 hypotheses for mustard_bottle (evidence > 0.4767797327634833)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.093
INFO:root:Testing 152 out of 17728 hypotheses for tuna_fish_can (evidence > 0.4767797327634833)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.79
INFO:root:Testing 85 out of 19024 hypotheses for potted_meat_can (evidence > 0.4767797327634833)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.519
DEBUG:root:evidences for each object: [0.3956084  0.2873388  0.29089257 2.07214769 0.28735591 0.28721876
 2.40322615 2.09268222 2.78963104 1.51858175]
DEBUG:root:mean evidence: 1.242, std: 0.979 -> th=2.231704832578255
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 2.79
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 69 ---
INFO:uvicorn.access:192.168.1.217:64378 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64378 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.96306877,  0.08177045, -0.25653878],
       [-0.08460174, -0.99641485,  0.        ],
       [-0.25561905,  0.02170363,  0.96653394]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00697358, -0.00407439, -0.01706425])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.396
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.291
INFO:root:Testing 328 out of 23200 hypotheses for ramen_pack (evidence > 0.5579262081445635)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.329
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
INFO:root:Testing 60 out of 21832 hypotheses for tomato_soup_can (evidence > 0.5579262081445635)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.742
INFO:root:Testing 25 out of 16976 hypotheses for mustard_bottle (evidence > 0.5579262081445635)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.236
INFO:root:Testing 116 out of 17728 hypotheses for tuna_fish_can (evidence > 0.5579262081445635)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.225
INFO:root:Testing 28 out of 19024 hypotheses for potted_meat_can (evidence > 0.5579262081445635)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.626
DEBUG:root:evidences for each object: [0.3956084  0.2873388  0.29089257 2.32892655 0.28735591 0.28721876
 2.74236548 2.23634554 3.22485162 1.62574357]
DEBUG:root:mean evidence: 1.371, std: 1.126 -> th=2.5798812999905447
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 3.22
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 70 ---
INFO:uvicorn.access:192.168.1.217:64378 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.99391593,  0.0901112 ,  0.06333326],
       [-0.09029247, -0.99591529,  0.        ],
       [ 0.06307456, -0.00571852,  0.99799243]]), 'pose_fully_defined': False}}, {'patch': array([-0.05358366,  0.00577631, -0.02056222])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.396
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.291
INFO:root:Testing 185 out of 23200 hypotheses for ramen_pack (evidence > 0.6449703249976362)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.329
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
INFO:root:Testing 49 out of 21832 hypotheses for tomato_soup_can (evidence > 0.6449703249976362)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.742
INFO:root:Testing 10 out of 16976 hypotheses for mustard_bottle (evidence > 0.6449703249976362)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 1.236
INFO:root:Testing 116 out of 17728 hypotheses for tuna_fish_can (evidence > 0.6449703249976362)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.225
INFO:root:Testing 16 out of 19024 hypotheses for potted_meat_can (evidence > 0.6449703249976362)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.458
DEBUG:root:evidences for each object: [0.3956084  0.2873388  0.29089257 1.32892655 0.28735591 0.28721876
 1.74236548 1.23634554 2.22485162 1.45755792]
DEBUG:root:mean evidence: 0.954, std: 0.692 -> th=1.7798812999905447
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 2.22
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 71 ---
INFO:uvicorn.access:192.168.1.217:64378 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.99701444,  0.05736242, -0.05168907],
       [-0.0574392 , -0.99834901,  0.        ],
       [-0.05160373,  0.00296898,  0.99866323]]), 'pose_fully_defined': False}}, {'patch': array([-0.00251503,  0.01627996,  0.00307816])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.396
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.291
INFO:root:Testing 110 out of 23200 hypotheses for ramen_pack (evidence > 0.444970324997636)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.523
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.287
INFO:root:Testing 48 out of 21832 hypotheses for tomato_soup_can (evidence > 0.444970324997636)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.742
INFO:root:Testing 9 out of 16976 hypotheses for mustard_bottle (evidence > 0.444970324997636)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.842
INFO:root:Testing 86 out of 17728 hypotheses for tuna_fish_can (evidence > 0.444970324997636)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.225
INFO:root:Testing 20 out of 19024 hypotheses for potted_meat_can (evidence > 0.444970324997636)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.87
DEBUG:root:evidences for each object: [0.3956084  0.2873388  0.29089257 0.52308629 0.28735591 0.28721876
 0.74236548 0.8421206  1.22485162 0.87044963]
DEBUG:root:mean evidence: 0.575, std: 0.312 -> th=0.9798812999905447
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 1.22
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 72 ---
INFO:uvicorn.access:192.168.1.217:64378 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.99830007,  0.05018603,  0.02963662],
       [-0.05020808, -0.99873878,  0.        ],
       [ 0.02959925, -0.001488  ,  0.99956074]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00358846, -0.00128687, -0.00049967])}]
INFO:root:Testing 5766 out of 14424 hypotheses for numenta_mug (evidence > 0.24497032499763616)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 0.888
INFO:root:Testing 1070 out of 10992 hypotheses for montys_brain (evidence > 0.24497032499763616)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.245
INFO:root:Testing 1176 out of 14880 hypotheses for montys_heart (evidence > 0.24497032499763616)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.767
INFO:root:Testing 3573 out of 23200 hypotheses for ramen_pack (evidence > 0.24497032499763616)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 0.615
INFO:root:Testing 1441 out of 14864 hypotheses for hot_sauce (evidence > 0.24497032499763616)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.627
INFO:root:Testing 1319 out of 12560 hypotheses for harissa_oil (evidence > 0.24497032499763616)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.756
INFO:root:Testing 5596 out of 21832 hypotheses for tomato_soup_can (evidence > 0.24497032499763616)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 0.811
INFO:root:Testing 359 out of 16976 hypotheses for mustard_bottle (evidence > 0.24497032499763616)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 1.24
INFO:root:Testing 575 out of 17728 hypotheses for tuna_fish_can (evidence > 0.24497032499763616)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.717
INFO:root:Testing 615 out of 19024 hypotheses for potted_meat_can (evidence > 0.24497032499763616)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.851
DEBUG:root:evidences for each object: [0.8879484  0.24494219 0.76728658 0.61519121 0.62692458 0.75596321
 0.81106504 1.24033961 0.71735944 0.85091632]
DEBUG:root:mean evidence: 0.752, std: 0.237 -> th=0.9922716876672668
INFO:root:current most likely hypothesis: mustard_bottle with evidence 1.24
DEBUG:root:evidences for each object: [0.8879484  0.24494219 0.76728658 0.61519121 0.62692458 0.75596321
 0.81106504 1.24033961 0.71735944 0.85091632]
DEBUG:root:mean evidence: 0.752, std: 0.237 -> th=0.9922716876672668
DEBUG:root:evidences for each object: [0.8879484  0.24494219 0.76728658 0.61519121 0.62692458 0.75596321
 0.81106504 1.24033961 0.71735944 0.85091632]
DEBUG:root:mean evidence: 0.752, std: 0.237 -> th=1.054288668146471
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle'}
INFO:root:--- Global Matching Step 73 ---
INFO:uvicorn.access:192.168.1.217:64378 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64378 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.89396091,  0.08093678, -0.4407756 ],
       [-0.09016847, -0.99592653,  0.        ],
       [-0.43898011,  0.03974406,  0.89761733]]), 'pose_fully_defined': False}}, {'patch': array([ 0.05269675, -0.00490585,  0.02108507])}]
INFO:root:Testing 716 out of 14424 hypotheses for numenta_mug (evidence > 0.2480679219168167)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.693
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.245
INFO:root:Testing 68 out of 14880 hypotheses for montys_heart (evidence > 0.2480679219168167)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.454
INFO:root:Testing 191 out of 23200 hypotheses for ramen_pack (evidence > 0.2480679219168167)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.803
INFO:root:Testing 15 out of 14864 hypotheses for hot_sauce (evidence > 0.2480679219168167)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.262
INFO:root:Testing 47 out of 12560 hypotheses for harissa_oil (evidence > 0.2480679219168167)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.245
INFO:root:Testing 229 out of 21832 hypotheses for tomato_soup_can (evidence > 0.2480679219168167)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.808
INFO:root:Testing 41 out of 16976 hypotheses for mustard_bottle (evidence > 0.2480679219168167)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.432
INFO:root:Testing 30 out of 17728 hypotheses for tuna_fish_can (evidence > 0.2480679219168167)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.581
INFO:root:Testing 144 out of 19024 hypotheses for potted_meat_can (evidence > 0.2480679219168167)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.451
DEBUG:root:evidences for each object: [0.69307012 0.24494219 0.45429487 0.80337002 0.2619662  0.24493619
 0.80775848 0.43187131 0.5809118  0.45146107]
DEBUG:root:mean evidence: 0.497, std: 0.206 -> th=0.6462067803041321
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 0.81
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'numenta_mug', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 74 ---
INFO:uvicorn.access:192.168.1.217:64378 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.91501215,  0.09200373, -0.39279521],
       [-0.10004473, -0.99498294,  0.        ],
       [-0.39082453,  0.03929709,  0.91962597]]), 'pose_fully_defined': False}}, {'patch': array([-0.01154282,  0.00215292,  0.0238311 ])}]
INFO:root:Testing 3044 out of 14424 hypotheses for numenta_mug (evidence > 0.16155169507603295)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 0.646
INFO:root:Testing 2928 out of 10992 hypotheses for montys_brain (evidence > 0.16155169507603295)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 0.342
INFO:root:Testing 3187 out of 14880 hypotheses for montys_heart (evidence > 0.16155169507603295)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 0.71
INFO:root:Testing 2366 out of 23200 hypotheses for ramen_pack (evidence > 0.16155169507603295)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 0.658
INFO:root:Testing 2637 out of 14864 hypotheses for hot_sauce (evidence > 0.16155169507603295)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 0.731
INFO:root:Testing 2286 out of 12560 hypotheses for harissa_oil (evidence > 0.16155169507603295)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.01 seconds. New max evidence: 0.222
INFO:root:Testing 4658 out of 21832 hypotheses for tomato_soup_can (evidence > 0.16155169507603295)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 0.63
INFO:root:Testing 3865 out of 16976 hypotheses for mustard_bottle (evidence > 0.16155169507603295)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 0.501
INFO:root:Testing 363 out of 17728 hypotheses for tuna_fish_can (evidence > 0.16155169507603295)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.72
INFO:root:Testing 2897 out of 19024 hypotheses for potted_meat_can (evidence > 0.16155169507603295)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 0.609
DEBUG:root:evidences for each object: [0.64578178 0.3415854  0.71041862 0.65782825 0.73137403 0.22248563
 0.6298305  0.50097953 0.71978071 0.60853351]
DEBUG:root:mean evidence: 0.577, std: 0.162 -> th=0.5850992211646752
INFO:root:current most likely hypothesis: hot_sauce with evidence 0.73
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'montys_heart', 'potted_meat_can', 'hot_sauce', 'tomato_soup_can', 'ramen_pack', 'numenta_mug'}
INFO:root:--- Global Matching Step 75 ---
INFO:uvicorn.access:192.168.1.217:64378 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.90213239,  0.08729936, -0.42253516],
       [-0.09632006, -0.99535041,  0.        ],
       [-0.42057055,  0.04069861,  0.90634653]]), 'pose_fully_defined': False}}, {'patch': array([-0.00447441,  0.00172021,  0.0113762 ])}]
INFO:root:Testing 551 out of 14424 hypotheses for numenta_mug (evidence > 0.14627480529116876)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.798
INFO:root:Testing 706 out of 10992 hypotheses for montys_brain (evidence > 0.14627480529116876)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.495
INFO:root:Testing 922 out of 14880 hypotheses for montys_heart (evidence > 0.14627480529116876)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.981
INFO:root:Testing 633 out of 23200 hypotheses for ramen_pack (evidence > 0.14627480529116876)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.092
INFO:root:Testing 740 out of 14864 hypotheses for hot_sauce (evidence > 0.14627480529116876)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.15
INFO:root:Testing 331 out of 12560 hypotheses for harissa_oil (evidence > 0.14627480529116876)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.199
INFO:root:Testing 1292 out of 21832 hypotheses for tomato_soup_can (evidence > 0.14627480529116876)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.9
INFO:root:Testing 1715 out of 16976 hypotheses for mustard_bottle (evidence > 0.14627480529116876)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 0.81
INFO:root:Testing 179 out of 17728 hypotheses for tuna_fish_can (evidence > 0.14627480529116876)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.194
INFO:root:Testing 1503 out of 19024 hypotheses for potted_meat_can (evidence > 0.14627480529116876)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 0.923
DEBUG:root:evidences for each object: [0.79826159 0.49474151 0.98059538 1.09209199 1.1495186  0.19908787
 0.89998883 0.81024372 1.19406829 0.92345112]
DEBUG:root:mean evidence: 0.854, std: 0.291 -> th=0.9552546347337941
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 1.19
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'tuna_fish_can', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 76 ---
INFO:uvicorn.access:192.168.1.217:64378 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.902456  ,  0.06377595, -0.42603498],
       [-0.07049351, -0.99751224,  0.        ],
       [-0.4249751 ,  0.0300327 ,  0.90470669]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00798829,  0.01497953, -0.01140132])}]
INFO:root:Testing 18 out of 14424 hypotheses for numenta_mug (evidence > 0.2388136586834485)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.233
INFO:root:Testing 22 out of 10992 hypotheses for montys_brain (evidence > 0.2388136586834485)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.332
INFO:root:Testing 99 out of 14880 hypotheses for montys_heart (evidence > 0.2388136586834485)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.131
INFO:root:Testing 126 out of 23200 hypotheses for ramen_pack (evidence > 0.2388136586834485)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.405
INFO:root:Testing 168 out of 14864 hypotheses for hot_sauce (evidence > 0.2388136586834485)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.411
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.199
INFO:root:Testing 134 out of 21832 hypotheses for tomato_soup_can (evidence > 0.2388136586834485)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.041
INFO:root:Testing 72 out of 16976 hypotheses for mustard_bottle (evidence > 0.2388136586834485)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.505
INFO:root:Testing 95 out of 17728 hypotheses for tuna_fish_can (evidence > 0.2388136586834485)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.643
INFO:root:Testing 37 out of 19024 hypotheses for potted_meat_can (evidence > 0.2388136586834485)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.287
DEBUG:root:evidences for each object: [1.23251848 0.33246386 1.13075483 1.40532604 1.41069461 0.19908787
 1.04063672 0.50508517 1.64251724 1.28693579]
DEBUG:root:mean evidence: 1.019, std: 0.472 -> th=1.3140137952668278
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 1.64
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'tuna_fish_can', 'hot_sauce'}
INFO:root:--- Global Matching Step 77 ---
INFO:uvicorn.access:192.168.1.217:64378 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64378 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.95004718,  0.07345412, -0.3033395 ],
       [-0.07708623, -0.99702443,  0.        ],
       [-0.3024369 ,  0.0233833 ,  0.95288255]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00565741, -0.00479521, -0.01562898])}]
INFO:root:Testing 6 out of 14424 hypotheses for numenta_mug (evidence > 0.3285034488167069)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.505
INFO:root:Testing 1 out of 10992 hypotheses for montys_brain (evidence > 0.3285034488167069)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.316
INFO:root:Testing 31 out of 14880 hypotheses for montys_heart (evidence > 0.3285034488167069)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.482
INFO:root:Testing 35 out of 23200 hypotheses for ramen_pack (evidence > 0.3285034488167069)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.748
INFO:root:Testing 57 out of 14864 hypotheses for hot_sauce (evidence > 0.3285034488167069)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.478
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.199
INFO:root:Testing 30 out of 21832 hypotheses for tomato_soup_can (evidence > 0.3285034488167069)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.413
INFO:root:Testing 5 out of 16976 hypotheses for mustard_bottle (evidence > 0.3285034488167069)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.395
INFO:root:Testing 85 out of 17728 hypotheses for tuna_fish_can (evidence > 0.3285034488167069)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.116
INFO:root:Testing 13 out of 19024 hypotheses for potted_meat_can (evidence > 0.3285034488167069)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures 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: [0.50522848 0.31570619 1.48224671 1.74798495 1.47771724 0.19908787
 1.41313075 0.39533019 2.11647748 1.1388174 ]
DEBUG:root:mean evidence: 1.079, std: 0.641 -> th=1.6931819811278825
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 2.12
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 78 ---
INFO:uvicorn.access:192.168.1.217:64378 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.99679816,  0.07495052, -0.02785419],
       [-0.07497961, -0.99718507,  0.        ],
       [-0.02777578,  0.0020885 ,  0.999612  ]]), 'pose_fully_defined': False}}, {'patch': array([-0.05877928,  0.00252743, -0.02465504])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 0.4232954952819705)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.393
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.316
INFO:root:Testing 20 out of 14880 hypotheses for montys_heart (evidence > 0.4232954952819705)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.482
INFO:root:Testing 16 out of 23200 hypotheses for ramen_pack (evidence > 0.4232954952819705)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.748
INFO:root:Testing 15 out of 14864 hypotheses for hot_sauce (evidence > 0.4232954952819705)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.478
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.199
INFO:root:Testing 15 out of 21832 hypotheses for tomato_soup_can (evidence > 0.4232954952819705)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.423
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.395
INFO:root:Testing 3328 out of 17728 hypotheses for tuna_fish_can (evidence > 0.4232954952819705)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 1.116
INFO:root:Testing 4 out of 19024 hypotheses for potted_meat_can (evidence > 0.4232954952819705)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.287
DEBUG:root:evidences for each object: [0.39285679 0.31570619 0.48224671 0.74798495 0.47771724 0.19908787
 0.42284386 0.39533019 1.11647748 0.28693579]
DEBUG:root:mean evidence: 0.484, std: 0.253 -> th=0.8931819811278825
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 1.12
DEBUG:root:evidences for each object: [0.39285679 0.31570619 0.48224671 0.74798495 0.47771724 0.19908787
 0.42284386 0.39533019 1.11647748 0.28693579]
DEBUG:root:mean evidence: 0.484, std: 0.253 -> th=0.8931819811278825
DEBUG:root:evidences for each object: [0.39285679 0.31570619 0.48224671 0.74798495 0.47771724 0.19908787
 0.42284386 0.39533019 1.11647748 0.28693579]
DEBUG:root:mean evidence: 0.484, std: 0.253 -> th=0.9490058549483751
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 79 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.96397195,  0.10921859, -0.24254769],
       [-0.1125803 , -0.99364263,  0.        ],
       [-0.24100572,  0.02730609,  0.97013948]]), 'pose_fully_defined': False}}, {'patch': array([ 0.06498008, -0.00792676, -0.01113193])}]
INFO:root:Testing 4 out of 14424 hypotheses for numenta_mug (evidence > 0.22329549528197057)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.218
INFO:root:Testing 6 out of 10992 hypotheses for montys_brain (evidence > 0.22329549528197057)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.222
INFO:root:Testing 13 out of 14880 hypotheses for montys_heart (evidence > 0.22329549528197057)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.218
INFO:root:Testing 24 out of 23200 hypotheses for ramen_pack (evidence > 0.22329549528197057)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.215
INFO:root:Testing 15 out of 14864 hypotheses for hot_sauce (evidence > 0.22329549528197057)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.22
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.199
INFO:root:Testing 28 out of 21832 hypotheses for tomato_soup_can (evidence > 0.22329549528197057)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.238
INFO:root:Testing 7 out of 16976 hypotheses for mustard_bottle (evidence > 0.22329549528197057)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 8007 out of 17728 hypotheses for tuna_fish_can (evidence > 0.22329549528197057)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.02 seconds. New max evidence: 1.587
INFO:root:Testing 1 out of 19024 hypotheses for potted_meat_can (evidence > 0.22329549528197057)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.222
DEBUG:root:evidences for each object: [0.21813374 0.22235291 0.21759567 0.21507841 0.22041232 0.19908787
 0.23813162 0.40700905 1.58742211 0.2224249 ]
DEBUG:root:mean evidence: 0.375, std: 0.408 -> th=1.269937685952777
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 1.59
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 80 ---
INFO:uvicorn.access:192.168.1.217:64378 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.99552839,  0.07317918, -0.05973296],
       [-0.07331008, -0.9973092 ,  0.        ],
       [-0.05957223,  0.00437903,  0.99821439]]), 'pose_fully_defined': False}}, {'patch': array([-0.06369521,  0.0264888 ,  0.00766223])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.218
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.222
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.218
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.215
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.22
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.199
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.238
INFO:root:Testing 1 out of 16976 hypotheses for mustard_bottle (evidence > 0.3174844214881942)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.223
INFO:root:Testing 348 out of 17728 hypotheses for tuna_fish_can (evidence > 0.3174844214881942)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.587
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.222
DEBUG:root:evidences for each object: [0.21813374 0.22235291 0.21759567 0.21507841 0.22041232 0.19908787
 0.23813162 0.22272476 0.58742211 0.2224249 ]
DEBUG:root:mean evidence: 0.256, std: 0.111 -> th=0.4699376859527769
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 0.59
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 81 ---
INFO:uvicorn.access:192.168.1.217:64378 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64378 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.98404605,  0.04149482, -0.17300738],
       [-0.04213012, -0.99911213,  0.        ],
       [-0.17285377,  0.00728882,  0.98492053]]), 'pose_fully_defined': False}}, {'patch': array([0.004469  , 0.00374184, 0.00460762])}]
INFO:root:Testing 849 out of 14424 hypotheses for numenta_mug (evidence > 0.11748442148819421)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.621
INFO:root:Testing 1045 out of 10992 hypotheses for montys_brain (evidence > 0.11748442148819421)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.117
INFO:root:Testing 1318 out of 14880 hypotheses for montys_heart (evidence > 0.11748442148819421)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.582
INFO:root:Testing 747 out of 23200 hypotheses for ramen_pack (evidence > 0.11748442148819421)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.407
INFO:root:Testing 895 out of 14864 hypotheses for hot_sauce (evidence > 0.11748442148819421)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.505
INFO:root:Testing 616 out of 12560 hypotheses for harissa_oil (evidence > 0.11748442148819421)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.117
INFO:root:Testing 1775 out of 21832 hypotheses for tomato_soup_can (evidence > 0.11748442148819421)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 0.637
INFO:root:Testing 2494 out of 16976 hypotheses for mustard_bottle (evidence > 0.11748442148819421)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 0.629
INFO:root:Testing 3582 out of 17728 hypotheses for tuna_fish_can (evidence > 0.11748442148819421)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 0.117
INFO:root:Testing 4110 out of 19024 hypotheses for potted_meat_can (evidence > 0.11748442148819421)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 0.6
DEBUG:root:evidences for each object: [0.62089436 0.11748241 0.58212884 0.40688679 0.50462716 0.11733902
 0.63730066 0.62855275 0.11745063 0.59962321]
DEBUG:root:mean evidence: 0.433, std: 0.217 -> th=0.509840526066036
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 0.64
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'potted_meat_can', 'mustard_bottle', 'tomato_soup_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 82 ---
INFO:uvicorn.access:192.168.1.217:64378 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64378 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.9162177 ,  0.05495653, -0.39689406],
       [-0.05987434, -0.99820592,  0.        ],
       [-0.39618201,  0.02376377,  0.91786442]]), 'pose_fully_defined': False}}, {'patch': array([0.0493883 , 0.00117345, 0.02805965])}]
INFO:root:Testing 50 out of 14424 hypotheses for numenta_mug (evidence > 0.12746013151650903)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.26
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.117
INFO:root:Testing 26 out of 14880 hypotheses for montys_heart (evidence > 0.12746013151650903)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.251
INFO:root:Testing 29 out of 23200 hypotheses for ramen_pack (evidence > 0.12746013151650903)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.123
INFO:root:Testing 18 out of 14864 hypotheses for hot_sauce (evidence > 0.12746013151650903)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.13
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.117
INFO:root:Testing 134 out of 21832 hypotheses for tomato_soup_can (evidence > 0.12746013151650903)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.798
INFO:root:Testing 64 out of 16976 hypotheses for mustard_bottle (evidence > 0.12746013151650903)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.161
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.117
INFO:root:Testing 34 out of 19024 hypotheses for potted_meat_can (evidence > 0.12746013151650903)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.445
DEBUG:root:evidences for each object: [0.25997551 0.11748241 0.25064405 0.12266874 0.1298483  0.11733902
 0.79786781 0.16084663 0.11745063 0.44475334]
DEBUG:root:mean evidence: 0.252, std: 0.207 -> th=0.6382942485741728
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 0.8
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can'}
INFO:root:--- Global Matching Step 83 ---
INFO:uvicorn.access:192.168.1.217:64378 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.85466496,  0.08469947, -0.51222436],
       [-0.09861944, -0.99512522,  0.        ],
       [-0.50972738,  0.05051528,  0.85885168]]), 'pose_fully_defined': False}}, {'patch': array([-0.00952459,  0.00014253,  0.01633805])}]
INFO:root:Testing 4 out of 14424 hypotheses for numenta_mug (evidence > 0.15957356214354312)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.146
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.117
INFO:root:Testing 1 out of 14880 hypotheses for montys_heart (evidence > 0.15957356214354312)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.117
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.123
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.13
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.117
INFO:root:Testing 56 out of 21832 hypotheses for tomato_soup_can (evidence > 0.15957356214354312)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.865
INFO:root:Testing 1 out of 16976 hypotheses for mustard_bottle (evidence > 0.15957356214354312)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.157
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.117
INFO:root:Testing 9 out of 19024 hypotheses for potted_meat_can (evidence > 0.15957356214354312)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.374
DEBUG:root:evidences for each object: [0.1458394  0.11748241 0.11744685 0.12266874 0.1298483  0.11733902
 0.86485731 0.15737073 0.11745063 0.37379353]
DEBUG:root:mean evidence: 0.226, std: 0.225 -> th=0.6918858503014759
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 0.86
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can'}
INFO:root:--- Global Matching Step 84 ---
INFO:uvicorn.access:192.168.1.217:64378 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64378 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.85854964,  0.07813424, -0.5067421 ],
       [-0.09063269, -0.99588439,  0.        ],
       [-0.50465654,  0.0459274 ,  0.8620977 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00642115,  0.0022167 ,  0.00842958])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.146
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.117
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.117
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.123
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.13
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.117
INFO:root:Testing 31 out of 21832 hypotheses for tomato_soup_can (evidence > 0.17297146257536888)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.021
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.157
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.117
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 0.17297146257536888)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.551
DEBUG:root:evidences for each object: [0.1458394  0.11748241 0.11744685 0.12266874 0.1298483  0.11733902
 1.02063397 0.15737073 0.11745063 0.55099502]
DEBUG:root:mean evidence: 0.26, std: 0.284 -> th=0.8165071777227378
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 1.02
DEBUG:root:evidences for each object: [0.1458394  0.11748241 0.11744685 0.12266874 0.1298483  0.11733902
 1.02063397 0.15737073 0.11745063 0.55099502]
DEBUG:root:mean evidence: 0.26, std: 0.284 -> th=0.8165071777227378
DEBUG:root:evidences for each object: [0.1458394  0.11748241 0.11744685 0.12266874 0.1298483  0.11733902
 1.02063397 0.15737073 0.11745063 0.55099502]
DEBUG:root:mean evidence: 0.26, std: 0.284 -> th=0.867538876330409
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: {'tomato_soup_can'}
INFO:root:--- Global Matching Step 85 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.93134713,  0.08829996, -0.35326427],
       [-0.0943856 , -0.99553571,  0.        ],
       [-0.3516872 ,  0.03334306,  0.93552357]]), 'pose_fully_defined': False}}, {'patch': array([-0.00294087,  0.01068783,  0.00209355])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.146
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.117
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.117
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.123
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.13
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.117
INFO:root:Testing 24 out of 21832 hypotheses for tomato_soup_can (evidence > 0.20412679443068438)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.904
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.157
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.117
INFO:root:Testing 1 out of 19024 hypotheses for potted_meat_can (evidence > 0.20412679443068438)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.52
DEBUG:root:evidences for each object: [0.1458394  0.11748241 0.11744685 0.12266874 0.1298483  0.11733902
 0.9035274  0.15737073 0.11745063 0.51979212]
DEBUG:root:mean evidence: 0.245, std: 0.249 -> th=0.7228219234442351
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 0.9
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can'}
INFO:root:--- Global Matching Step 86 ---
INFO:uvicorn.access:192.168.1.217:64378 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64378 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.94894525,  0.046716  , -0.3119624 ],
       [-0.04916984, -0.99879043,  0.        ],
       [-0.31158506,  0.01533914,  0.95009445]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00963543,  0.00652842, -0.01771011])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.146
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.117
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.117
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.123
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.13
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.117
INFO:root:Testing 5 out of 21832 hypotheses for tomato_soup_can (evidence > 0.18070548086105875)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.15
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.157
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.117
INFO:root:Testing 1 out of 19024 hypotheses for potted_meat_can (evidence > 0.18070548086105875)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.153
INFO:root:current most likely hypothesis: mustard_bottle with evidence 0.16
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'montys_heart', 'potted_meat_can', 'hot_sauce', 'mustard_bottle', 'tomato_soup_can', 'ramen_pack', 'harissa_oil', 'numenta_mug', 'montys_brain'}
INFO:root:--- Global Matching Step 87 ---
INFO:uvicorn.access:192.168.1.217:64378 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64378 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.94525198,  0.07830902, -0.31680656],
       [-0.08256176, -0.99658595,  0.        ],
       [-0.31572497,  0.02615611,  0.94849017]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00509306, -0.00703275, -0.01550548])}]
INFO:root:Testing 1884 out of 14424 hypotheses for numenta_mug (evidence > 0.03147414622099737)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 0.517
INFO:root:Testing 2659 out of 10992 hypotheses for montys_brain (evidence > 0.03147414622099737)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 0.031
INFO:root:Testing 3633 out of 14880 hypotheses for montys_heart (evidence > 0.03147414622099737)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 0.461
INFO:root:Testing 1630 out of 23200 hypotheses for ramen_pack (evidence > 0.03147414622099737)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 0.445
INFO:root:Testing 1964 out of 14864 hypotheses for hot_sauce (evidence > 0.03147414622099737)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 0.467
INFO:root:Testing 1409 out of 12560 hypotheses for harissa_oil (evidence > 0.03147414622099737)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.031
INFO:root:Testing 3736 out of 21832 hypotheses for tomato_soup_can (evidence > 0.03147414622099737)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 0.536
INFO:root:Testing 4060 out of 16976 hypotheses for mustard_bottle (evidence > 0.03147414622099737)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 0.483
INFO:root:Testing 1562 out of 17728 hypotheses for tuna_fish_can (evidence > 0.03147414622099737)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 0.544
INFO:root:Testing 3553 out of 19024 hypotheses for potted_meat_can (evidence > 0.03147414622099737)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 0.577
DEBUG:root:evidences for each object: [0.51715028 0.03136787 0.46104045 0.44496522 0.46664788 0.03129469
 0.53623353 0.4832132  0.5444116  0.57726604]
DEBUG:root:mean evidence: 0.409, std: 0.193 -> th=0.46181283031248227
INFO:root:current most likely hypothesis: potted_meat_can with evidence 0.58
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'potted_meat_can', 'hot_sauce', 'mustard_bottle', 'tomato_soup_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 88 ---
INFO:uvicorn.access:192.168.1.217:64378 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.9479158 ,  0.04958884, -0.31463722],
       [-0.05224211, -0.99863445,  0.        ],
       [-0.31420757,  0.01643731,  0.949212  ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00449915,  0.00242379, -0.01079888])}]
INFO:root:Testing 13 out of 14424 hypotheses for numenta_mug (evidence > 0.11545320757812055)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.522
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.031
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 0.11545320757812055)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.875
INFO:root:Testing 21 out of 23200 hypotheses for ramen_pack (evidence > 0.11545320757812055)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.821
INFO:root:Testing 9 out of 14864 hypotheses for hot_sauce (evidence > 0.11545320757812055)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.809
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.031
INFO:root:Testing 136 out of 21832 hypotheses for tomato_soup_can (evidence > 0.11545320757812055)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.783
INFO:root:Testing 23 out of 16976 hypotheses for mustard_bottle (evidence > 0.11545320757812055)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.846
INFO:root:Testing 12 out of 17728 hypotheses for tuna_fish_can (evidence > 0.11545320757812055)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.726
INFO:root:Testing 69 out of 19024 hypotheses for potted_meat_can (evidence > 0.11545320757812055)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.057
DEBUG:root:evidences for each object: [0.52249999 0.03136787 0.87530997 0.82068554 0.80885665 0.03129469
 0.78292756 0.84561061 0.72611715 1.05708958]
DEBUG:root:mean evidence: 0.65, std: 0.334 -> th=0.8456716622727776
INFO:root:current most likely hypothesis: potted_meat_can with evidence 1.06
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'potted_meat_can'}
INFO:root:--- Global Matching Step 89 ---
INFO:uvicorn.access:192.168.1.217:64378 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.95036043,  0.02115475, -0.31043121],
       [-0.0222542 , -0.99975234,  0.        ],
       [-0.31035433,  0.0069084 ,  0.95059585]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0029758 ,  0.00118218, -0.01248475])}]
INFO:root:Testing 5 out of 14424 hypotheses for numenta_mug (evidence > 0.21141791556819434)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.443
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.031
INFO:root:Testing 7 out of 14880 hypotheses for montys_heart (evidence > 0.21141791556819434)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.741
INFO:root:Testing 6 out of 23200 hypotheses for ramen_pack (evidence > 0.21141791556819434)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.951
INFO:root:Testing 4 out of 14864 hypotheses for hot_sauce (evidence > 0.21141791556819434)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.9
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.031
INFO:root:Testing 75 out of 21832 hypotheses for tomato_soup_can (evidence > 0.21141791556819434)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.097
INFO:root:Testing 4 out of 16976 hypotheses for mustard_bottle (evidence > 0.21141791556819434)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 1.185
INFO:root:Testing 3 out of 17728 hypotheses for tuna_fish_can (evidence > 0.21141791556819434)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.101
INFO:root:Testing 46 out of 19024 hypotheses for potted_meat_can (evidence > 0.21141791556819434)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.454
DEBUG:root:evidences for each object: [0.44278013 0.03136787 0.74089076 0.9507633  0.90048034 0.03129469
 1.09702486 1.18522902 0.10097589 1.45419137]
DEBUG:root:mean evidence: 0.693, std: 0.488 -> th=1.163353095355911
INFO:root:current most likely hypothesis: potted_meat_can with evidence 1.45
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'potted_meat_can'}
INFO:root:--- Global Matching Step 90 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.9915751 ,  0.01471255, -0.12869482],
       [-0.01483592, -0.99988994,  0.        ],
       [-0.12868066,  0.00190931,  0.99168425]]), 'pose_fully_defined': False}}, {'patch': array([-0.05818466,  0.01512492, -0.00343443])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 0.29083827383897765)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.19
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.031
INFO:root:Testing 3 out of 14880 hypotheses for montys_heart (evidence > 0.29083827383897765)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.194
INFO:root:Testing 1 out of 23200 hypotheses for ramen_pack (evidence > 0.29083827383897765)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.195
INFO:root:Testing 1 out of 14864 hypotheses for hot_sauce (evidence > 0.29083827383897765)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.197
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.031
INFO:root:Testing 42 out of 21832 hypotheses for tomato_soup_can (evidence > 0.29083827383897765)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.261
INFO:root:Testing 2 out of 16976 hypotheses for mustard_bottle (evidence > 0.29083827383897765)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.207
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.101
INFO:root:Testing 28 out of 19024 hypotheses for potted_meat_can (evidence > 0.29083827383897765)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.454
DEBUG:root:evidences for each object: [0.18986489 0.03136787 0.1941531  0.19503754 0.19749865 0.03129469
 0.26146033 0.20700933 0.10097589 0.45419137]
DEBUG:root:mean evidence: 0.186, std: 0.116 -> th=0.3633530953559109
INFO:root:current most likely hypothesis: potted_meat_can with evidence 0.45
DEBUG:root:evidences for each object: [0.18986489 0.03136787 0.1941531  0.19503754 0.19749865 0.03129469
 0.26146033 0.20700933 0.10097589 0.45419137]
DEBUG:root:mean evidence: 0.186, std: 0.116 -> th=0.3633530953559109
DEBUG:root:evidences for each object: [0.18986489 0.03136787 0.1941531  0.19503754 0.19749865 0.03129469
 0.26146033 0.20700933 0.10097589 0.45419137]
DEBUG:root:mean evidence: 0.186, std: 0.116 -> th=0.38606266381565535
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 91 ---
INFO:uvicorn.access:192.168.1.217:64378 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.92381271,  0.00241675, -0.3828371 ],
       [-0.00261605, -0.99999658,  0.        ],
       [-0.38283579,  0.00100152,  0.92381587]]), 'pose_fully_defined': False}}, {'patch': array([ 0.04669904, -0.00914991,  0.03904517])}]
INFO:root:Testing 2 out of 14424 hypotheses for numenta_mug (evidence > 0.09083827383897769)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.09
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.031
INFO:root:Testing 2 out of 14880 hypotheses for montys_heart (evidence > 0.09083827383897769)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.085
INFO:root:Testing 9 out of 23200 hypotheses for ramen_pack (evidence > 0.09083827383897769)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.527
INFO:root:Testing 2 out of 14864 hypotheses for hot_sauce (evidence > 0.09083827383897769)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.031
INFO:root:Testing 34 out of 21832 hypotheses for tomato_soup_can (evidence > 0.09083827383897769)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.49
INFO:root:Testing 28 out of 16976 hypotheses for mustard_bottle (evidence > 0.09083827383897769)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.405
INFO:root:Testing 1 out of 17728 hypotheses for tuna_fish_can (evidence > 0.09083827383897769)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.049
INFO:root:Testing 18 out of 19024 hypotheses for potted_meat_can (evidence > 0.09083827383897769)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.655
DEBUG:root:evidences for each object: [0.09004288 0.03136787 0.08520325 0.52705676 0.07821161 0.03129469
 0.48971032 0.40515547 0.04890983 0.6549041 ]
DEBUG:root:mean evidence: 0.244, std: 0.232 -> th=0.5239232791893809
INFO:root:current most likely hypothesis: potted_meat_can with evidence 0.65
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 92 ---
INFO:uvicorn.access:192.168.1.217:64381 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.96357762,  0.04299545, -0.26394993],
       [-0.04457629, -0.99900598,  0.        ],
       [-0.26368756,  0.01176591,  0.96453638]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00998955, -0.08047963,  0.01027298])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.09
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.031
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.085
INFO:root:Testing 6 out of 23200 hypotheses for ramen_pack (evidence > 0.13098081979734522)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.479
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.031
INFO:root:Testing 15 out of 21832 hypotheses for tomato_soup_can (evidence > 0.13098081979734522)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.122
INFO:root:Testing 9 out of 16976 hypotheses for mustard_bottle (evidence > 0.13098081979734522)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.114
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.049
INFO:root:Testing 4 out of 19024 hypotheses for potted_meat_can (evidence > 0.13098081979734522)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.576
DEBUG:root:evidences for each object: [0.09004288 0.03136787 0.08520325 0.47874706 0.07821161 0.03129469
 0.12212765 0.11413928 0.04890983 0.57581535]
DEBUG:root:mean evidence: 0.166, std: 0.184 -> th=0.46065228348965226
INFO:root:current most likely hypothesis: potted_meat_can with evidence 0.58
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 93 ---
INFO:uvicorn.access:192.168.1.217:64381 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.96051488,  0.05767045, -0.27218613],
       [-0.05993326, -0.99820239,  0.        ],
       [-0.27169685,  0.016313  ,  0.96224462]]), 'pose_fully_defined': False}}, {'patch': array([-0.00139923,  0.0128198 ,  0.00604587])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.09
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.031
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.085
INFO:root:Testing 2 out of 23200 hypotheses for ramen_pack (evidence > 0.11516307087241306)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.364
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.031
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 0.11516307087241306)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.091
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.114
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.049
INFO:root:Testing 4 out of 19024 hypotheses for potted_meat_can (evidence > 0.11516307087241306)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.472
DEBUG:root:evidences for each object: [0.09004288 0.03136787 0.08520325 0.36360355 0.07821161 0.03129469
 0.09072582 0.11413928 0.04890983 0.47218176]
DEBUG:root:mean evidence: 0.141, std: 0.143 -> th=0.37774541140853773
INFO:root:current most likely hypothesis: potted_meat_can with evidence 0.47
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 94 ---
INFO:uvicorn.access:192.168.1.217:64381 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.99508559,  0.05310035, -0.08357646],
       [-0.05328678, -0.99857925,  0.        ],
       [-0.08345771,  0.00445352,  0.99650137]]), 'pose_fully_defined': False}}, {'patch': array([-0.00803942,  0.00705877, -0.01976081])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.09
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.031
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.085
INFO:root:Testing 1 out of 23200 hypotheses for ramen_pack (evidence > 0.09443635285213442)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.412
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.031
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.091
INFO:root:Testing 7 out of 16976 hypotheses for mustard_bottle (evidence > 0.09443635285213442)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.09
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.049
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 0.09443635285213442)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.084
DEBUG:root:evidences for each object: [0.09004288 0.03136787 0.08520325 0.41211923 0.07821161 0.03129469
 0.09072582 0.08973886 0.04890983 0.08351029]
DEBUG:root:mean evidence: 0.104, std: 0.105 -> th=0.3296953855826585
INFO:root:current most likely hypothesis: ramen_pack with evidence 0.41
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 95 ---
INFO:uvicorn.access:192.168.1.217:64381 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.98319128,  0.00542406, -0.18249791],
       [-0.00551671, -0.99998478,  0.        ],
       [-0.18249514,  0.00100679,  0.98320624]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01060199, -0.00346795,  0.00520279])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 0.08242384639566458)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.065
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.031
INFO:root:Testing 1 out of 14880 hypotheses for montys_heart (evidence > 0.08242384639566458)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.079
INFO:root:Testing 22 out of 23200 hypotheses for ramen_pack (evidence > 0.08242384639566458)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.149
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.031
INFO:root:Testing 15 out of 21832 hypotheses for tomato_soup_can (evidence > 0.08242384639566458)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.082
INFO:root:Testing 6 out of 16976 hypotheses for mustard_bottle (evidence > 0.08242384639566458)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.049
INFO:root:Testing 1 out of 19024 hypotheses for potted_meat_can (evidence > 0.08242384639566458)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.309
INFO:root:current most likely hypothesis: potted_meat_can with evidence 0.31
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'montys_heart', 'potted_meat_can', 'hot_sauce', 'mustard_bottle', 'tomato_soup_can', 'ramen_pack', 'harissa_oil', 'numenta_mug', 'montys_brain'}
INFO:root:--- Global Matching Step 96 ---
INFO:uvicorn.access:192.168.1.217:64381 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.88736501,  0.009408  , -0.46097162],
       [-0.01060158, -0.9999438 ,  0.        ],
       [-0.46094571,  0.00488703,  0.88741488]]), 'pose_fully_defined': False}}, {'patch': array([-0.00115471,  0.00936265,  0.00842613])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 0.06175266197687168)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.054
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.031
INFO:root:Testing 2 out of 14880 hypotheses for montys_heart (evidence > 0.06175266197687168)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.044
INFO:root:Testing 345 out of 23200 hypotheses for ramen_pack (evidence > 0.06175266197687168)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.249
INFO:root:Testing 2 out of 14864 hypotheses for hot_sauce (evidence > 0.06175266197687168)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.053
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.031
INFO:root:Testing 28 out of 21832 hypotheses for tomato_soup_can (evidence > 0.06175266197687168)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.061
INFO:root:Testing 6 out of 16976 hypotheses for mustard_bottle (evidence > 0.06175266197687168)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.061
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.049
INFO:root:Testing 4523 out of 19024 hypotheses for potted_meat_can (evidence > 0.06175266197687168)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 0.729
DEBUG:root:evidences for each object: [0.05420766 0.03136787 0.04387337 0.24937812 0.05340761 0.03129469
 0.06134263 0.06069879 0.04890983 0.72945497]
DEBUG:root:mean evidence: 0.136, std: 0.207 -> th=0.5835639743493306
INFO:root:current most likely hypothesis: potted_meat_can with evidence 0.73
DEBUG:root:evidences for each object: [0.05420766 0.03136787 0.04387337 0.24937812 0.05340761 0.03129469
 0.06134263 0.06069879 0.04890983 0.72945497]
DEBUG:root:mean evidence: 0.136, std: 0.207 -> th=0.5835639743493306
DEBUG:root:evidences for each object: [0.05420766 0.03136787 0.04387337 0.24937812 0.05340761 0.03129469
 0.06134263 0.06069879 0.04890983 0.72945497]
DEBUG:root:mean evidence: 0.136, std: 0.207 -> th=0.6200367227461638
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 97 ---
INFO:uvicorn.access:192.168.1.217:64381 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64381 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.89426571, -0.00327933, -0.4475244 ],
       [ 0.00366704, -0.99999328,  0.        ],
       [-0.44752139, -0.00164109,  0.89427172]]), 'pose_fully_defined': False}}, {'patch': array([-0.00455623,  0.01362267, -0.00851783])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.054
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.031
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.044
INFO:root:Testing 7 out of 23200 hypotheses for ramen_pack (evidence > 0.1458909935873326)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.424
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.053
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.031
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.061
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.061
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.049
INFO:root:Testing 315 out of 19024 hypotheses for potted_meat_can (evidence > 0.1458909935873326)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.879
DEBUG:root:evidences for each object: [0.05420766 0.03136787 0.04387337 0.42352898 0.05340761 0.03129469
 0.06134263 0.06069879 0.04890983 0.87924398]
DEBUG:root:mean evidence: 0.169, std: 0.262 -> th=0.7033951809158067
INFO:root:current most likely hypothesis: potted_meat_can with evidence 0.88
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 98 ---
INFO:uvicorn.access:192.168.1.217:64381 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.95007755, -0.03499235, -0.31004546],
       [ 0.03680609, -0.99932243,  0.        ],
       [-0.30983538, -0.01141156,  0.95072173]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00734732,  0.00514176, -0.0095189 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.054
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.031
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.044
INFO:root:Testing 2 out of 23200 hypotheses for ramen_pack (evidence > 0.17584879522895158)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.101
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.053
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.031
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.061
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.061
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.049
INFO:root:Testing 91 out of 19024 hypotheses for potted_meat_can (evidence > 0.17584879522895158)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.256
DEBUG:root:evidences for each object: [0.05420766 0.03136787 0.04387337 0.10084997 0.05340761 0.03129469
 0.06134263 0.06069879 0.04890983 1.25557368]
DEBUG:root:mean evidence: 0.174, std: 0.361 -> th=1.0044589450578063
INFO:root:current most likely hypothesis: potted_meat_can with evidence 1.26
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 99 ---
INFO:uvicorn.access:192.168.1.217:64381 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64381 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.98818488,  0.0323239 ,  0.14981922],
       [-0.03269289, -0.99946544,  0.        ],
       [ 0.14973913, -0.00489802,  0.98871341]]), 'pose_fully_defined': False}}, {'patch': array([-0.06036663,  0.00721763,  0.01323774])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.054
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.031
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.044
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.101
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.053
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.031
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.061
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.061
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.049
INFO:root:Testing 38 out of 19024 hypotheses for potted_meat_can (evidence > 0.25111473626445147)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.256
INFO:root:current most likely hypothesis: potted_meat_can with evidence 0.26
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'montys_heart', 'potted_meat_can', 'hot_sauce', 'mustard_bottle', 'tomato_soup_can', 'ramen_pack', 'harissa_oil', 'numenta_mug', 'montys_brain'}
INFO:root:--- Global Matching Step 100 ---
INFO:uvicorn.access:192.168.1.217:64381 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.86546744, -0.00804418, -0.50090059],
       [ 0.0092942 , -0.99995681,  0.        ],
       [-0.50087896, -0.00465547,  0.86550482]]), 'pose_fully_defined': False}}, {'patch': array([ 0.05283856,  0.00308653, -0.00116122])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 0.05111473626445159)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.031
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.031
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.044
INFO:root:Testing 171 out of 23200 hypotheses for ramen_pack (evidence > 0.05111473626445159)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.236
INFO:root:Testing 1 out of 14864 hypotheses for hot_sauce (evidence > 0.05111473626445159)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.045
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.031
INFO:root:Testing 17 out of 21832 hypotheses for tomato_soup_can (evidence > 0.05111473626445159)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.051
INFO:root:Testing 2 out of 16976 hypotheses for mustard_bottle (evidence > 0.05111473626445159)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.05
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.049
INFO:root:Testing 482 out of 19024 hypotheses for potted_meat_can (evidence > 0.05111473626445159)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.527
DEBUG:root:evidences for each object: [0.03145749 0.03136787 0.04387337 0.23599434 0.04545394 0.03129469
 0.05071499 0.0500904  0.04890983 0.52726111]
DEBUG:root:mean evidence: 0.11, std: 0.151 -> th=0.4218088901019591
INFO:root:current most likely hypothesis: potted_meat_can with evidence 0.53
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 101 ---
INFO:uvicorn.access:192.168.1.217:64381 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.84115037, -0.0362795 , -0.53958304],
       [ 0.04309075, -0.99907116,  0.        ],
       [-0.53908185, -0.02325104,  0.84193239]]), 'pose_fully_defined': False}}, {'patch': array([-1.80263789e-06,  1.14770005e-03, -2.04268944e-03])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.031
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.031
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.044
INFO:root:Testing 2 out of 23200 hypotheses for ramen_pack (evidence > 0.10545222252548975)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.418
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.045
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.031
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.051
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.05
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.049
INFO:root:Testing 14 out of 19024 hypotheses for potted_meat_can (evidence > 0.10545222252548975)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.862
DEBUG:root:evidences for each object: [0.03145749 0.03136787 0.04387337 0.41846225 0.04545394 0.03129469
 0.05071499 0.0500904  0.04890983 0.86246427]
DEBUG:root:mean evidence: 0.161, std: 0.259 -> th=0.6899714131220942
INFO:root:current most likely hypothesis: potted_meat_can with evidence 0.86
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 102 ---
INFO:uvicorn.access:192.168.1.217:64381 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64381 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.96480587,  0.05670312,  0.25677692],
       [-0.0586703 , -0.99827741,  0.        ],
       [ 0.2563346 , -0.01506518,  0.9664707 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.05357551,  0.00283008, -0.00202624])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.031
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.031
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.044
INFO:root:Testing 1 out of 23200 hypotheses for ramen_pack (evidence > 0.17249285328052355)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.128
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.045
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.031
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.051
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.05
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.049
INFO:root:Testing 13 out of 19024 hypotheses for potted_meat_can (evidence > 0.17249285328052355)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.155
INFO:root:current most likely hypothesis: potted_meat_can with evidence 0.15
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: {'tuna_fish_can', 'montys_heart', 'potted_meat_can', 'hot_sauce', 'mustard_bottle', 'tomato_soup_can', 'ramen_pack', 'harissa_oil', 'numenta_mug', 'montys_brain'}
INFO:root:--- Global Matching Step 103 ---
INFO:uvicorn.access:192.168.1.217:64381 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.86911841, -0.02818411, -0.49380041],
       [ 0.03241135, -0.99947461,  0.        ],
       [-0.49354097, -0.01600474,  0.86957528]]), 'pose_fully_defined': False}}, {'patch': array([0.05878629, 0.00496973, 0.00207321])}]
INFO:root:Testing 4 out of 14424 hypotheses for numenta_mug (evidence > 0.030959422796689326)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.031
INFO:root:Testing 14 out of 10992 hypotheses for montys_brain (evidence > 0.030959422796689326)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.031
INFO:root:Testing 12 out of 14880 hypotheses for montys_heart (evidence > 0.030959422796689326)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.031
INFO:root:Testing 352 out of 23200 hypotheses for ramen_pack (evidence > 0.030959422796689326)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.254
INFO:root:Testing 13 out of 14864 hypotheses for hot_sauce (evidence > 0.030959422796689326)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.031
INFO:root:Testing 6 out of 12560 hypotheses for harissa_oil (evidence > 0.030959422796689326)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.031
INFO:root:Testing 45 out of 21832 hypotheses for tomato_soup_can (evidence > 0.030959422796689326)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.395
INFO:root:Testing 30 out of 16976 hypotheses for mustard_bottle (evidence > 0.030959422796689326)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.031
INFO:root:Testing 9 out of 17728 hypotheses for tuna_fish_can (evidence > 0.030959422796689326)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.059
INFO:root:Testing 1296 out of 19024 hypotheses for potted_meat_can (evidence > 0.030959422796689326)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.557
DEBUG:root:evidences for each object: [0.03093324 0.03095469 0.03094035 0.25388364 0.0309132  0.03094944
 0.39507373 0.03094752 0.05922565 0.55665959]
DEBUG:root:mean evidence: 0.145, std: 0.181 -> th=0.44532767113480476
INFO:root:current most likely hypothesis: potted_meat_can with evidence 0.56
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 104 ---
INFO:uvicorn.access:192.168.1.217:64381 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.91176187, -0.04172818, -0.40859399],
       [ 0.04571868, -0.99895435,  0.        ],
       [-0.40816674, -0.01868038,  0.91271625]]), 'pose_fully_defined': False}}, {'patch': array([-0.00900631,  0.00020113, -0.00690367])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.031
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.031
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.031
INFO:root:Testing 1 out of 23200 hypotheses for ramen_pack (evidence > 0.11133191778370116)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.106
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.031
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.031
INFO:root:Testing 7 out of 21832 hypotheses for tomato_soup_can (evidence > 0.11133191778370116)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.466
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.031
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.059
INFO:root:Testing 51 out of 19024 hypotheses for potted_meat_can (evidence > 0.11133191778370116)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.809
DEBUG:root:evidences for each object: [0.03093324 0.03095469 0.03094035 0.10628056 0.0309132  0.03094944
 0.46637502 0.03094752 0.05922565 0.80867865]
DEBUG:root:mean evidence: 0.163, std: 0.251 -> th=0.6469429162222685
INFO:root:current most likely hypothesis: potted_meat_can with evidence 0.81
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 105 ---
INFO:uvicorn.access:192.168.1.217:64381 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.70101971, -0.10930292, -0.70471572],
       [ 0.15405848, -0.98806173,  0.        ],
       [-0.69630263, -0.10856743,  0.70948979]]), 'pose_fully_defined': False}}, {'patch': array([-0.00095624, -0.06464869,  0.07966021])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.031
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.031
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.031
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.106
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.031
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.031
INFO:root:Testing 5 out of 21832 hypotheses for tomato_soup_can (evidence > 0.1617357290555671)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.079
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.031
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.059
INFO:root:Testing 28 out of 19024 hypotheses for potted_meat_can (evidence > 0.1617357290555671)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.383
DEBUG:root:evidences for each object: [0.03093324 0.03095469 0.03094035 0.10628056 0.0309132  0.03094944
 0.07884626 0.03094752 0.05922565 0.38333115]
DEBUG:root:mean evidence: 0.081, std: 0.104 -> th=0.3066649212290318
INFO:root:current most likely hypothesis: potted_meat_can with evidence 0.38
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 106 ---
INFO:uvicorn.access:192.168.1.217:64384 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.86912686,  0.01965517, -0.49419851],
       [-0.02260907, -0.99974438,  0.        ],
       [-0.49407219,  0.01117337,  0.86934908]]), 'pose_fully_defined': False}}, {'patch': array([ 0.02722071,  0.00439482, -0.12967039])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.031
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.031
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.031
INFO:root:Testing 1 out of 23200 hypotheses for ramen_pack (evidence > 0.07666623030725794)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.063
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.031
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.031
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 0.07666623030725794)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.059
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.031
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.059
INFO:root:Testing 7 out of 19024 hypotheses for potted_meat_can (evidence > 0.07666623030725794)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.228
INFO:root:current most likely hypothesis: potted_meat_can with evidence 0.23
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'montys_heart', 'potted_meat_can', 'hot_sauce', 'mustard_bottle', 'tomato_soup_can', 'ramen_pack', 'harissa_oil', 'numenta_mug', 'montys_brain'}
INFO:root:--- Global Matching Step 107 ---
INFO:uvicorn.access:192.168.1.217:64384 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64384 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.86755903,  0.06407809, -0.49318894],
       [-0.07365956, -0.99728344,  0.        ],
       [-0.49184917,  0.03632808,  0.86992222]]), 'pose_fully_defined': False}}, {'patch': array([-7.94330678e-03,  2.17675249e-05,  1.35294258e-02])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.031
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.031
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.031
INFO:root:Testing 2 out of 23200 hypotheses for ramen_pack (evidence > 0.0455534760953164)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.035
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.031
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.031
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 0.0455534760953164)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.031
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.031
INFO:root:Testing 1 out of 17728 hypotheses for tuna_fish_can (evidence > 0.0455534760953164)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.031
INFO:root:Testing 8 out of 19024 hypotheses for potted_meat_can (evidence > 0.0455534760953164)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.058
INFO:root:current most likely hypothesis: potted_meat_can with evidence 0.06
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'montys_heart', 'potted_meat_can', 'hot_sauce', 'mustard_bottle', 'tomato_soup_can', 'ramen_pack', 'harissa_oil', 'numenta_mug', 'montys_brain'}
INFO:root:--- Global Matching Step 108 ---
INFO:uvicorn.access:192.168.1.217:64384 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64384 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.8802652 ,  0.03152466, -0.47343361],
       [-0.03578974, -0.99935934,  0.        ],
       [-0.4731303 ,  0.01694407,  0.88082951]]), 'pose_fully_defined': False}}, {'patch': array([-0.0007668 ,  0.02742757,  0.00694937])}]
INFO:root:Testing 382 out of 14424 hypotheses for numenta_mug (evidence > 0.011578549392473332)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.427
INFO:root:Testing 568 out of 10992 hypotheses for montys_brain (evidence > 0.011578549392473332)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 703 out of 14880 hypotheses for montys_heart (evidence > 0.011578549392473332)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.408
INFO:root:Testing 277 out of 23200 hypotheses for ramen_pack (evidence > 0.011578549392473332)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.466
INFO:root:Testing 374 out of 14864 hypotheses for hot_sauce (evidence > 0.011578549392473332)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.495
INFO:root:Testing 274 out of 12560 hypotheses for harissa_oil (evidence > 0.011578549392473332)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 651 out of 21832 hypotheses for tomato_soup_can (evidence > 0.011578549392473332)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.279
INFO:root:Testing 637 out of 16976 hypotheses for mustard_bottle (evidence > 0.011578549392473332)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.298
INFO:root:Testing 419 out of 17728 hypotheses for tuna_fish_can (evidence > 0.011578549392473332)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.496
INFO:root:Testing 404 out of 19024 hypotheses for potted_meat_can (evidence > 0.011578549392473332)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.484
DEBUG:root:evidences for each object: [0.42742893 0.03690978 0.40787869 0.46562024 0.49515878 0.01237922
 0.27940564 0.29761763 0.49580847 0.48420006]
DEBUG:root:mean evidence: 0.34, std: 0.174 -> th=0.3966467746663792
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 0.5
DEBUG:root:evidences for each object: [0.42742893 0.03690978 0.40787869 0.46562024 0.49515878 0.01237922
 0.27940564 0.29761763 0.49580847 0.48420006]
DEBUG:root:mean evidence: 0.34, std: 0.174 -> th=0.3966467746663792
DEBUG:root:evidences for each object: [0.42742893 0.03690978 0.40787869 0.46562024 0.49515878 0.01237922
 0.27940564 0.29761763 0.49580847 0.48420006]
DEBUG:root:mean evidence: 0.34, std: 0.174 -> th=0.42143719808302793
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'montys_heart', 'potted_meat_can', 'hot_sauce', 'ramen_pack', 'numenta_mug'}
INFO:root:--- Global Matching Step 109 ---
INFO:uvicorn.access:192.168.1.217:64384 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.91964548,  0.08370525, -0.38372596],
       [-0.09064435, -0.99588333,  0.        ],
       [-0.38214629,  0.03478259,  0.92344701]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00970749, -0.00486427, -0.02140541])}]
INFO:root:Testing 6 out of 14424 hypotheses for numenta_mug (evidence > 0.09916169366659477)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.432
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 7 out of 14880 hypotheses for montys_heart (evidence > 0.09916169366659477)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.093
INFO:root:Testing 2 out of 23200 hypotheses for ramen_pack (evidence > 0.09916169366659477)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
INFO:root:Testing 8 out of 14864 hypotheses for hot_sauce (evidence > 0.09916169366659477)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.311
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 10 out of 21832 hypotheses for tomato_soup_can (evidence > 0.09916169366659477)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.441
INFO:root:Testing 4 out of 16976 hypotheses for mustard_bottle (evidence > 0.09916169366659477)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 17 out of 17728 hypotheses for tuna_fish_can (evidence > 0.09916169366659477)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.969
INFO:root:Testing 8 out of 19024 hypotheses for potted_meat_can (evidence > 0.09916169366659477)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.413
DEBUG:root:evidences for each object: [0.43208992 0.03690978 0.0928034  0.07767208 0.31103235 0.01237922
 0.44064798 0.07282529 0.96879403 0.41310351]
DEBUG:root:mean evidence: 0.286, std: 0.281 -> th=0.775035221335728
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 0.97
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 110 ---
INFO:uvicorn.access:192.168.1.217:64384 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.93065339,  0.13697878, -0.33929498],
       [-0.14561676, -0.98934107,  0.        ],
       [-0.33567846,  0.04940704,  0.94068003]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00381195,  0.00758844, -0.00617306])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 0.19375880533393197)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.354
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.093
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
INFO:root:Testing 1 out of 14864 hypotheses for hot_sauce (evidence > 0.19375880533393197)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 2 out of 21832 hypotheses for tomato_soup_can (evidence > 0.19375880533393197)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.623
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 8 out of 17728 hypotheses for tuna_fish_can (evidence > 0.19375880533393197)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.408
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 0.19375880533393197)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.137
DEBUG:root:evidences for each object: [0.35409126 0.03690978 0.0928034  0.07767208 0.05673495 0.01237922
 0.62278489 0.07282529 1.40795753 0.13686806]
DEBUG:root:mean evidence: 0.287, std: 0.414 -> th=1.1263660227303864
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 1.41
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 111 ---
INFO:uvicorn.access:192.168.1.217:64384 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.92364105,  0.17335881, -0.3418098 ],
       [-0.18446957, -0.98283823,  0.        ],
       [-0.33594373,  0.06305351,  0.93976915]]), 'pose_fully_defined': False}}, {'patch': array([-0.01741269,  0.00768828,  0.02203176])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 0.2815915056825966)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.774
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.093
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 0.2815915056825966)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.861
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 5 out of 17728 hypotheses for tuna_fish_can (evidence > 0.2815915056825966)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.858
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.137
DEBUG:root:evidences for each object: [0.77424878 0.03690978 0.0928034  0.07767208 0.05673495 0.01237922
 0.86098541 0.07282529 1.85791407 0.13686806]
DEBUG:root:mean evidence: 0.398, std: 0.57 -> th=1.4863312592163416
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 1.86
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 112 ---
INFO:uvicorn.access:192.168.1.217:64384 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.90200648,  0.15795063, -0.40179088],
       [-0.17248575, -0.98501201,  0.        ],
       [-0.39576884,  0.0693032 ,  0.91573145]]), 'pose_fully_defined': False}}, {'patch': array([-0.01020464,  0.00486253,  0.01544551])}]
INFO:root:Testing 985 out of 14424 hypotheses for numenta_mug (evidence > 0.3715828148040854)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.88
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.093
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 0.3715828148040854)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.337
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 541 out of 17728 hypotheses for tuna_fish_can (evidence > 0.3715828148040854)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.983
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.137
DEBUG:root:evidences for each object: [0.87951131 0.03690978 0.0928034  0.07767208 0.05673495 0.01237922
 0.33661402 0.07282529 1.98296325 0.13686806]
DEBUG:root:mean evidence: 0.369, std: 0.592 -> th=1.5863705981200993
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 1.98
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 113 ---
INFO:uvicorn.access:192.168.1.217:64384 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.95501678,  0.15889795, -0.2503885 ],
       [-0.16412611, -0.98643936,  0.        ],
       [-0.24699307,  0.04109529,  0.96814544]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00154385,  0.00026957, -0.00191921])}]
INFO:root:Testing 17 out of 14424 hypotheses for numenta_mug (evidence > 0.3965926495300247)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.306
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.093
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.337
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 20 out of 17728 hypotheses for tuna_fish_can (evidence > 0.3965926495300247)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.395
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.137
DEBUG:root:evidences for each object: [1.30576873 0.03690978 0.0928034  0.07767208 0.05673495 0.01237922
 0.33661402 0.07282529 2.39483105 0.13686806]
DEBUG:root:mean evidence: 0.452, std: 0.745 -> th=1.915864839310189
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 2.39
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 114 ---
INFO:uvicorn.access:192.168.1.217:64385 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.93919614,  0.14244683, -0.31244122],
       [-0.14995396, -0.98869298,  0.        ],
       [-0.30890844,  0.0468518 ,  0.94993709]]), 'pose_fully_defined': False}}, {'patch': array([0.0008588 , 0.01741308, 0.00580995])}]
INFO:root:Testing 10 out of 14424 hypotheses for numenta_mug (evidence > 0.4789662098275471)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.195
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.093
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.337
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 17 out of 17728 hypotheses for tuna_fish_can (evidence > 0.4789662098275471)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.695
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.137
DEBUG:root:evidences for each object: [1.19500209 0.03690978 0.0928034  0.07767208 0.05673495 0.01237922
 0.33661402 0.07282529 2.69533741 0.13686806]
DEBUG:root:mean evidence: 0.471, std: 0.814 -> th=2.15626992965226
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 2.7
DEBUG:root:evidences for each object: [1.19500209 0.03690978 0.0928034  0.07767208 0.05673495 0.01237922
 0.33661402 0.07282529 2.69533741 0.13686806]
DEBUG:root:mean evidence: 0.471, std: 0.814 -> th=2.15626992965226
DEBUG:root:evidences for each object: [1.19500209 0.03690978 0.0928034  0.07767208 0.05673495 0.01237922
 0.33661402 0.07282529 2.69533741 0.13686806]
DEBUG:root:mean evidence: 0.471, std: 0.814 -> th=2.2910368002555264
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 115 ---
INFO:uvicorn.access:192.168.1.217:64385 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.90941878,  0.15397241, -0.38632884],
       [-0.16693289, -0.98596826,  0.        ],
       [-0.38090798,  0.06449099,  0.92236111]]), 'pose_fully_defined': False}}, {'patch': array([-0.00752337,  0.00756946,  0.0154433 ])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 0.5390674824130648)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.407
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.093
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.337
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 15 out of 17728 hypotheses for tuna_fish_can (evidence > 0.5390674824130648)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.912
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.137
DEBUG:root:evidences for each object: [0.40720323 0.03690978 0.0928034  0.07767208 0.05673495 0.01237922
 0.33661402 0.07282529 1.91158597 0.13686806]
DEBUG:root:mean evidence: 0.314, std: 0.547 -> th=1.5292687770209537
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 1.91
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 116 ---
INFO:uvicorn.access:192.168.1.217:64385 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.92619526,  0.17261141, -0.33521283],
       [-0.18321158, -0.9830735 ,  0.        ],
       [-0.32953885,  0.06141487,  0.94214243]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00442363, -0.0186984 , -0.00744803])}]
INFO:root:Testing 4 out of 14424 hypotheses for numenta_mug (evidence > 0.38231719425523836)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.382
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.093
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.337
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 17 out of 17728 hypotheses for tuna_fish_can (evidence > 0.38231719425523836)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.364
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.137
DEBUG:root:evidences for each object: [0.38177556 0.03690978 0.0928034  0.07767208 0.05673495 0.01237922
 0.33661402 0.07282529 2.36430477 0.13686806]
DEBUG:root:mean evidence: 0.357, std: 0.68 -> th=1.8914438180700999
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 2.36
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 117 ---
INFO:uvicorn.access:192.168.1.217:64387 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.9212712 ,  0.17871999, -0.34542517],
       [-0.19044242, -0.98169837,  0.        ],
       [-0.33910332,  0.06578361,  0.9384463 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01083279,  0.00124618, -0.03037329])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.382
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.093
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.337
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 12 out of 17728 hypotheses for tuna_fish_can (evidence > 0.47286095451752486)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.706
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.137
DEBUG:root:evidences for each object: [0.38177556 0.03690978 0.0928034  0.07767208 0.05673495 0.01237922
 0.33661402 0.07282529 2.70607871 0.13686806]
DEBUG:root:mean evidence: 0.391, std: 0.781 -> th=2.1648629699492465
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 2.71
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 118 ---
INFO:uvicorn.access:192.168.1.217:64387 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.92897348,  0.20083699, -0.31092245],
       [-0.21131053, -0.97741898,  0.        ],
       [-0.3039015 ,  0.06570119,  0.95043529]]), 'pose_fully_defined': False}}, {'patch': array([-0.00294811, -0.03096428, -0.0064434 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.382
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.093
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.337
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 12 out of 17728 hypotheses for tuna_fish_can (evidence > 0.5412157424873114)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.136
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.137
DEBUG:root:evidences for each object: [0.38177556 0.03690978 0.0928034  0.07767208 0.05673495 0.01237922
 0.33661402 0.07282529 3.13596575 0.13686806]
DEBUG:root:mean evidence: 0.434, std: 0.908 -> th=2.50877260293575
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 3.14
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 119 ---
INFO:uvicorn.access:192.168.1.217:64387 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64387 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.89409733,  0.19875154, -0.40135742],
       [-0.21699626, -0.97617244,  0.        ],
       [-0.39179405,  0.08709306,  0.91592151]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00692634, -0.01057249, -0.00589431])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.382
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.093
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.337
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 12 out of 17728 hypotheses for tuna_fish_can (evidence > 0.6271931507339374)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.01
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.137
DEBUG:root:evidences for each object: [0.38177556 0.03690978 0.0928034  0.07767208 0.05673495 0.01237922
 0.33661402 0.07282529 3.01036268 0.13686806]
DEBUG:root:mean evidence: 0.421, std: 0.871 -> th=2.4082901455555095
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 3.01
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 120 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.93424674,  0.30646483, -0.18237968],
       [-0.31169248, -0.95018303,  0.        ],
       [-0.17329407,  0.05684637,  0.98322818]]), 'pose_fully_defined': False}}, {'patch': array([-0.0182854 , -0.00411175, -0.02050844])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.382
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.093
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.337
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 6 out of 17728 hypotheses for tuna_fish_can (evidence > 0.602072536388877)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.01
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.137
DEBUG:root:evidences for each object: [0.38177556 0.03690978 0.0928034  0.07767208 0.05673495 0.01237922
 0.33661402 0.07282529 2.01036268 0.13686806]
DEBUG:root:mean evidence: 0.321, std: 0.575 -> th=1.6082901455555096
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 2.01
DEBUG:root:evidences for each object: [0.38177556 0.03690978 0.0928034  0.07767208 0.05673495 0.01237922
 0.33661402 0.07282529 2.01036268 0.13686806]
DEBUG:root:mean evidence: 0.321, std: 0.575 -> th=1.6082901455555096
DEBUG:root:evidences for each object: [0.38177556 0.03690978 0.0928034  0.07767208 0.05673495 0.01237922
 0.33661402 0.07282529 2.01036268 0.13686806]
DEBUG:root:mean evidence: 0.321, std: 0.575 -> th=1.7088082796527289
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 121 ---
INFO:uvicorn.access:192.168.1.217:64388 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.99079073,  0.1326295 , -0.02726062],
       [-0.13267881, -0.99115909,  0.        ],
       [-0.02701961,  0.00361691,  0.99962836]]), 'pose_fully_defined': False}}, {'patch': array([0.04007902, 0.02910041, 0.02523351])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.382
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.093
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.337
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 6 out of 17728 hypotheses for tuna_fish_can (evidence > 0.4020725363888773)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.01
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.137
DEBUG:root:evidences for each object: [0.38177556 0.03690978 0.0928034  0.07767208 0.05673495 0.01237922
 0.33661402 0.07282529 1.01036268 0.13686806]
DEBUG:root:mean evidence: 0.221, std: 0.289 -> th=0.8082901455555096
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 1.01
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 122 ---
INFO:uvicorn.access:192.168.1.217:64388 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.94804371,  0.18514488, -0.25871702],
       [-0.19167066, -0.9814593 ,  0.        ],
       [-0.25392023,  0.04958846,  0.96595316]]), 'pose_fully_defined': False}}, {'patch': array([-0.00305494,  0.00159635, -0.00404742])}]
INFO:root:Testing 1939 out of 14424 hypotheses for numenta_mug (evidence > 0.20207253638887734)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 0.639
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.093
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 1465 out of 21832 hypotheses for tomato_soup_can (evidence > 0.20207253638887734)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 0.712
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 604 out of 17728 hypotheses for tuna_fish_can (evidence > 0.20207253638887734)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.799
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.137
DEBUG:root:evidences for each object: [0.63946504 0.03690978 0.0928034  0.07767208 0.05673495 0.01237922
 0.71198753 0.07282529 0.79887492 0.13686806]
DEBUG:root:mean evidence: 0.264, std: 0.3 -> th=0.6390999371805508
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 0.8
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 123 ---
INFO:uvicorn.access:192.168.1.217:64388 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.09414146, -0.02536663, -0.99523561],
       [ 0.26017284,  0.96556206, -0.        ],
       [ 0.96096175, -0.25893328,  0.09749913]]), 'pose_fully_defined': False}}, {'patch': array([-0.01252661, -0.03655605, -0.00164523])}]
INFO:root:Testing 415 out of 14424 hypotheses for numenta_mug (evidence > 0.1597749842951377)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.663
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.093
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 1263 out of 21832 hypotheses for tomato_soup_can (evidence > 0.1597749842951377)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.818
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 259 out of 17728 hypotheses for tuna_fish_can (evidence > 0.1597749842951377)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.899
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.137
DEBUG:root:evidences for each object: [0.66283425 0.03690978 0.0928034  0.07767208 0.05673495 0.01237922
 0.81791261 0.07282529 0.89947802 0.13686806]
DEBUG:root:mean evidence: 0.287, std: 0.338 -> th=0.7195824195305182
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 0.9
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 124 ---
INFO:uvicorn.access:192.168.1.217:64388 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.55804136,  0.09424997, -0.82444332],
       [-0.16653569, -0.98603543,  0.        ],
       [-0.81293032,  0.13729924,  0.56594453]]), 'pose_fully_defined': False}}, {'patch': array([-0.00492899, -0.01529593,  0.00606363])}]
INFO:root:Testing 129 out of 14424 hypotheses for numenta_mug (evidence > 0.17989560488262946)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.69
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.093
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 293 out of 21832 hypotheses for tomato_soup_can (evidence > 0.17989560488262946)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.99
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 71 out of 17728 hypotheses for tuna_fish_can (evidence > 0.17989560488262946)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.235
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.137
DEBUG:root:evidences for each object: [0.68980888 0.03690978 0.0928034  0.07767208 0.05673495 0.01237922
 0.99018737 0.07282529 1.23534945 0.13686806]
DEBUG:root:mean evidence: 0.34, std: 0.432 -> th=0.9882795626238099
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 1.24
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 125 ---
INFO:uvicorn.access:192.168.1.217:64388 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.32835364,  0.01019959, -0.94449979],
       [-0.03104785, -0.9995179 ,  0.        ],
       [-0.94404445,  0.02932469,  0.32851201]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00253864,  0.02996841, -0.01333518])}]
INFO:root:Testing 48 out of 14424 hypotheses for numenta_mug (evidence > 0.24706989065595242)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.032
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.093
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 160 out of 21832 hypotheses for tomato_soup_can (evidence > 0.24706989065595242)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.909
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 54 out of 17728 hypotheses for tuna_fish_can (evidence > 0.24706989065595242)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.301
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.137
DEBUG:root:evidences for each object: [1.03184641 0.03690978 0.0928034  0.07767208 0.05673495 0.01237922
 0.90851324 0.07282529 1.30085787 0.13686806]
DEBUG:root:mean evidence: 0.373, std: 0.473 -> th=1.0406862969398065
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 1.3
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 126 ---
INFO:uvicorn.access:192.168.1.217:64388 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.83552661,  0.09162286, -0.5417569 ],
       [-0.10900538, -0.99404116,  0.        ],
       [-0.53852866,  0.05905442,  0.84053522]]), 'pose_fully_defined': False}}, {'patch': array([-0.00123962,  0.02811826, -0.00171555])}]
INFO:root:Testing 26 out of 14424 hypotheses for numenta_mug (evidence > 0.2601715742349515)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.035
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.093
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 69 out of 21832 hypotheses for tomato_soup_can (evidence > 0.2601715742349515)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.737
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 37 out of 17728 hypotheses for tuna_fish_can (evidence > 0.2601715742349515)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.244
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.137
DEBUG:root:evidences for each object: [1.03534076 0.03690978 0.0928034  0.07767208 0.05673495 0.01237922
 0.73663342 0.07282529 1.24410665 0.13686806]
DEBUG:root:mean evidence: 0.35, std: 0.445 -> th=0.9952853199400318
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 1.24
DEBUG:root:evidences for each object: [1.03534076 0.03690978 0.0928034  0.07767208 0.05673495 0.01237922
 0.73663342 0.07282529 1.24410665 0.13686806]
DEBUG:root:mean evidence: 0.35, std: 0.445 -> th=0.9952853199400318
DEBUG:root:evidences for each object: [1.03534076 0.03690978 0.0928034  0.07767208 0.05673495 0.01237922
 0.73663342 0.07282529 1.24410665 0.13686806]
DEBUG:root:mean evidence: 0.35, std: 0.445 -> th=1.0574906524362837
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: {'numenta_mug', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 127 ---
INFO:uvicorn.access:192.168.1.217:64388 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.85369693,  0.1860897 , -0.48638686],
       [-0.21297977, -0.97705661,  0.        ],
       [-0.47522749,  0.10359056,  0.87374357]]), 'pose_fully_defined': False}}, {'patch': array([-0.00215057,  0.00040947,  0.00079241])}]
INFO:root:Testing 10 out of 14424 hypotheses for numenta_mug (evidence > 0.24882132998500794)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.299
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.093
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 12 out of 21832 hypotheses for tomato_soup_can (evidence > 0.24882132998500794)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.908
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 13 out of 17728 hypotheses for tuna_fish_can (evidence > 0.24882132998500794)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.544
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.137
DEBUG:root:evidences for each object: [1.29902985 0.03690978 0.0928034  0.07767208 0.05673495 0.01237922
 0.90812947 0.07282529 1.54351404 0.13686806]
DEBUG:root:mean evidence: 0.424, std: 0.561 -> th=1.2348112315296313
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 1.54
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 128 ---
INFO:uvicorn.access:192.168.1.217:64390 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.85224679,  0.19182012,  0.48670365],
       [-0.21958257,  0.97559392,  0.        ],
       [-0.47482512, -0.10687164,  0.87356714]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00858817, -0.04341423,  0.08809578])}]
INFO:root:Testing 9 out of 14424 hypotheses for numenta_mug (evidence > 0.30870280788240767)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.299
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.093
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 10 out of 21832 hypotheses for tomato_soup_can (evidence > 0.30870280788240767)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.247
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 10 out of 17728 hypotheses for tuna_fish_can (evidence > 0.30870280788240767)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.666
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.137
DEBUG:root:evidences for each object: [0.29902985 0.03690978 0.0928034  0.07767208 0.05673495 0.01237922
 0.24695074 0.07282529 1.66555793 0.13686806]
DEBUG:root:mean evidence: 0.27, std: 0.473 -> th=1.3324463446766988
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 1.67
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 129 ---
INFO:uvicorn.access:192.168.1.217:64390 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.97832518,  0.15936623,  0.13222046],
       [-0.16077781,  0.98699063,  0.        ],
       [-0.13050036, -0.02125812,  0.99122033]]), 'pose_fully_defined': False}}, {'patch': array([-0.00767894,  0.01888258,  0.0004525 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.299
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.093
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.247
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 10 out of 17728 hypotheses for tuna_fish_can (evidence > 0.3331115861691747)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.0
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.137
DEBUG:root:evidences for each object: [0.29902985 0.03690978 0.0928034  0.07767208 0.05673495 0.01237922
 0.24695074 0.07282529 2.0004527  0.13686806]
DEBUG:root:mean evidence: 0.303, std: 0.572 -> th=1.6003621603138956
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 2.0
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 130 ---
INFO:uvicorn.access:192.168.1.217:64390 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64390 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.82786069,  0.20830394,  0.52082257],
       [-0.24401135,  0.96977238,  0.        ],
       [-0.50507934, -0.12708662,  0.85366495]]), 'pose_fully_defined': False}}, {'patch': array([-0.00048374,  0.01137747,  0.00451666])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.299
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.093
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.247
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 8 out of 17728 hypotheses for tuna_fish_can (evidence > 0.4000905400784738)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.0
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.137
DEBUG:root:evidences for each object: [0.29902985 0.03690978 0.0928034  0.07767208 0.05673495 0.01237922
 0.24695074 0.07282529 1.0004527  0.13686806]
DEBUG:root:mean evidence: 0.203, std: 0.28 -> th=0.8003621603138956
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 1.0
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 131 ---
INFO:uvicorn.access:192.168.1.217:64390 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.70407496,  0.1705138 ,  0.68935005],
       [-0.23537702,  0.97190414,  0.        ],
       [-0.66998217, -0.16225716,  0.7244284 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00251123,  0.02799525, -0.00646803])}]
INFO:root:Testing 15 out of 14424 hypotheses for numenta_mug (evidence > 0.20009054007847382)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.427
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.093
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 30 out of 21832 hypotheses for tomato_soup_can (evidence > 0.20009054007847382)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.199
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 11 out of 17728 hypotheses for tuna_fish_can (evidence > 0.20009054007847382)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.168
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.137
DEBUG:root:evidences for each object: [0.42690405 0.03690978 0.0928034  0.07767208 0.05673495 0.01237922
 0.19874132 0.07282529 0.16823943 0.13686806]
DEBUG:root:mean evidence: 0.128, std: 0.114 -> th=0.3415232366040383
INFO:root:current most likely hypothesis: numenta_mug with evidence 0.43
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug'}
INFO:root:--- Global Matching Step 132 ---
INFO:uvicorn.access:192.168.1.217:64392 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.93427012,  0.09999788,  0.34225687],
       [-0.10642529,  0.9943207 ,  0.        ],
       [-0.34031309, -0.03642479,  0.93960643]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00962149, -0.05669438, -0.00700694])}]
INFO:root:Testing 624 out of 14424 hypotheses for numenta_mug (evidence > 0.08538080915100954)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.8
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 1 out of 14880 hypotheses for montys_heart (evidence > 0.08538080915100954)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.396
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 1436 out of 21832 hypotheses for tomato_soup_can (evidence > 0.08538080915100954)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.648
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 515 out of 17728 hypotheses for tuna_fish_can (evidence > 0.08538080915100954)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.655
INFO:root:Testing 1 out of 19024 hypotheses for potted_meat_can (evidence > 0.08538080915100954)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.8004385  0.03690978 0.39594959 0.07767208 0.05673495 0.01237922
 0.64760418 0.07282529 0.65465885 0.08223659]
DEBUG:root:mean evidence: 0.284, std: 0.294 -> th=0.6403508032980684
INFO:root:current most likely hypothesis: numenta_mug with evidence 0.8
DEBUG:root:evidences for each object: [0.8004385  0.03690978 0.39594959 0.07767208 0.05673495 0.01237922
 0.64760418 0.07282529 0.65465885 0.08223659]
DEBUG:root:mean evidence: 0.284, std: 0.294 -> th=0.6403508032980684
DEBUG:root:evidences for each object: [0.8004385  0.03690978 0.39594959 0.07767208 0.05673495 0.01237922
 0.64760418 0.07282529 0.65465885 0.08223659]
DEBUG:root:mean evidence: 0.284, std: 0.294 -> th=0.6803727285041976
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 133 ---
INFO:uvicorn.access:192.168.1.217:64392 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64392 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.95505531,  0.10207584,  0.27829819],
       [-0.10627423,  0.99433686,  0.        ],
       [-0.27672214, -0.02957593,  0.96049473]]), 'pose_fully_defined': False}}, {'patch': array([-0.00087282,  0.01693819, -0.00269561])}]
INFO:root:Testing 394 out of 14424 hypotheses for numenta_mug (evidence > 0.16008770082451707)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.058
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 3543 out of 14880 hypotheses for montys_heart (evidence > 0.16008770082451707)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 0.788
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 785 out of 21832 hypotheses for tomato_soup_can (evidence > 0.16008770082451707)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.117
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 296 out of 17728 hypotheses for tuna_fish_can (evidence > 0.16008770082451707)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.124
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [1.05756482 0.03690978 0.78844345 0.07767208 0.05673495 0.01237922
 1.11720605 0.07282529 1.1236652  0.08223659]
DEBUG:root:mean evidence: 0.443, std: 0.481 -> th=0.898932158392799
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 1.12
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 134 ---
INFO:uvicorn.access:192.168.1.217:64392 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64392 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.86452432,  0.11666967,  0.48886183],
       [-0.13374009,  0.99101644,  0.        ],
       [-0.48447011, -0.06538043,  0.87236123]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00089578,  0.02038939, -0.00242026])}]
INFO:root:Testing 102 out of 14424 hypotheses for numenta_mug (evidence > 0.22473303959819968)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.473
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 567 out of 14880 hypotheses for montys_heart (evidence > 0.22473303959819968)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.219
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 219 out of 21832 hypotheses for tomato_soup_can (evidence > 0.22473303959819968)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.496
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 218 out of 17728 hypotheses for tuna_fish_can (evidence > 0.22473303959819968)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.546
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [1.47279374 0.03690978 1.21919721 0.07767208 0.05673495 0.01237922
 1.4959271  0.07282529 1.54566508 0.08223659]
DEBUG:root:mean evidence: 0.607, std: 0.68 -> th=1.2365320644258955
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 1.55
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 135 ---
INFO:uvicorn.access:192.168.1.217:64392 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.85214214,  0.12488524,  0.50819037],
       [-0.14500551,  0.98943085,  0.        ],
       [-0.50281923, -0.07369041,  0.86124477]]), 'pose_fully_defined': False}}, {'patch': array([0.00167072, 0.01415499, 0.00266061])}]
INFO:root:Testing 27 out of 14424 hypotheses for numenta_mug (evidence > 0.3091330161064738)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.74
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 111 out of 14880 hypotheses for montys_heart (evidence > 0.3091330161064738)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.688
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 91 out of 21832 hypotheses for tomato_soup_can (evidence > 0.3091330161064738)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.865
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 145 out of 17728 hypotheses for tuna_fish_can (evidence > 0.3091330161064738)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.869
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [1.74046447 0.03690978 1.68780605 0.07767208 0.05673495 0.01237922
 1.86458533 0.07282529 1.86942453 0.08223659]
DEBUG:root:mean evidence: 0.75, std: 0.851 -> th=1.4955396264289493
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 1.87
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'tuna_fish_can', 'montys_heart', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 136 ---
INFO:uvicorn.access:192.168.1.217:64392 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.8849401 ,  0.19467121,  0.42306517],
       [-0.21484534,  0.97664808,  0.        ],
       [-0.41318579, -0.09089358,  0.90609926]]), 'pose_fully_defined': False}}, {'patch': array([-0.00416388, -0.04159354, -0.00047395])}]
INFO:root:Testing 19 out of 14424 hypotheses for numenta_mug (evidence > 0.37388490660723717)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.103
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 21 out of 14880 hypotheses for montys_heart (evidence > 0.37388490660723717)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.988
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 60 out of 21832 hypotheses for tomato_soup_can (evidence > 0.37388490660723717)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.268
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 90 out of 17728 hypotheses for tuna_fish_can (evidence > 0.37388490660723717)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.247
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [2.10255543 0.03690978 1.98793742 0.07767208 0.05673495 0.01237922
 2.26813987 0.07282529 2.24741494 0.08223659]
DEBUG:root:mean evidence: 0.894, std: 1.029 -> th=1.8145118940417113
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 2.27
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'tuna_fish_can', 'montys_heart', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 137 ---
INFO:uvicorn.access:192.168.1.217:64392 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64392 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.89138164,  0.17462435,  0.41826441],
       [-0.19224869,  0.98134624,  0.        ],
       [-0.4104622 , -0.08041078,  0.90832532]]), 'pose_fully_defined': False}}, {'patch': array([-0.00023448,  0.03353818, -0.00633435])}]
INFO:root:Testing 20 out of 14424 hypotheses for numenta_mug (evidence > 0.45362797351042783)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.469
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 0.45362797351042783)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.213
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 54 out of 21832 hypotheses for tomato_soup_can (evidence > 0.45362797351042783)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.702
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 115 out of 17728 hypotheses for tuna_fish_can (evidence > 0.45362797351042783)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.725
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [2.4690693  0.03690978 2.21340388 0.07767208 0.05673495 0.01237922
 2.70212027 0.07282529 2.72488658 0.08223659]
DEBUG:root:mean evidence: 1.045, std: 1.218 -> th=2.1799092657277184
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 2.72
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'tuna_fish_can', 'montys_heart', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 138 ---
INFO:uvicorn.access:192.168.1.217:64392 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.9242247 ,  0.18923287,  0.33166192],
       [-0.2005864 ,  0.97967602,  0.        ],
       [-0.32492123, -0.06652687,  0.94339831]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00137605,  0.02078142, -0.00592348])}]
INFO:root:Testing 18 out of 14424 hypotheses for numenta_mug (evidence > 0.5449773164319294)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.778
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 14 out of 14880 hypotheses for montys_heart (evidence > 0.5449773164319294)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.486
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 51 out of 21832 hypotheses for tomato_soup_can (evidence > 0.5449773164319294)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.17
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 104 out of 17728 hypotheses for tuna_fish_can (evidence > 0.5449773164319294)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.02
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [2.77805149 0.03690978 2.48623591 0.07767208 0.05673495 0.01237922
 3.17044991 0.07282529 3.01955678 0.08223659]
DEBUG:root:mean evidence: 1.179, std: 1.385 -> th=2.5363599289557093
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 3.17
DEBUG:root:evidences for each object: [2.77805149 0.03690978 2.48623591 0.07767208 0.05673495 0.01237922
 3.17044991 0.07282529 3.01955678 0.08223659]
DEBUG:root:mean evidence: 1.179, std: 1.385 -> th=2.5363599289557093
DEBUG:root:evidences for each object: [2.77805149 0.03690978 2.48623591 0.07767208 0.05673495 0.01237922
 3.17044991 0.07282529 3.01955678 0.08223659]
DEBUG:root:mean evidence: 1.179, std: 1.385 -> th=2.6948824245154412
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 139 ---
INFO:uvicorn.access:192.168.1.217:64392 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.95472723,  0.16179027,  0.24963938],
       [-0.16708022,  0.98594331,  0.        ],
       [-0.24613028, -0.0417098 ,  0.96833888]]), 'pose_fully_defined': False}}, {'patch': array([ 0.02020305, -0.03532973,  0.00409372])}]
INFO:root:Testing 8 out of 14424 hypotheses for numenta_mug (evidence > 0.634089982238927)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.778
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 12 out of 14880 hypotheses for montys_heart (evidence > 0.634089982238927)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.867
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 28 out of 21832 hypotheses for tomato_soup_can (evidence > 0.634089982238927)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.17
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 48 out of 17728 hypotheses for tuna_fish_can (evidence > 0.634089982238927)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.02
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [1.77805149 0.03690978 2.8665029  0.07767208 0.05673495 0.01237922
 2.17044991 0.07282529 2.01955678 0.08223659]
DEBUG:root:mean evidence: 0.917, std: 1.085 -> th=2.29320232187949
INFO:root:current most likely hypothesis: montys_heart with evidence 2.87
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 140 ---
INFO:uvicorn.access:192.168.1.217:64392 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.93650227,  0.12893503,  0.326097  ],
       [-0.13639065,  0.99065513,  0.        ],
       [-0.32304966, -0.04447658,  0.94533631]]), 'pose_fully_defined': False}}, {'patch': array([-0.01991692, -0.0215193 , -0.01338382])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 0.5733005804698723)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.174
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 9 out of 14880 hypotheses for montys_heart (evidence > 0.5733005804698723)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.867
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 16 out of 21832 hypotheses for tomato_soup_can (evidence > 0.5733005804698723)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.58
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 26 out of 17728 hypotheses for tuna_fish_can (evidence > 0.5733005804698723)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.478
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [2.17433316 0.03690978 1.8665029  0.07767208 0.05673495 0.01237922
 2.58024027 0.07282529 2.47758589 0.08223659]
DEBUG:root:mean evidence: 0.944, std: 1.101 -> th=2.0641922189186124
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 2.58
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 141 ---
INFO:uvicorn.access:192.168.1.217:64392 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64392 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.9372683 ,  0.15124228,  0.31409219],
       [-0.15930428,  0.98722953,  0.        ],
       [-0.31008109, -0.05003623,  0.94939249]]), 'pose_fully_defined': False}}, {'patch': array([-0.00117188,  0.02195652,  0.00086307])}]
INFO:root:Testing 15 out of 14424 hypotheses for numenta_mug (evidence > 0.5160480547296529)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.5
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 8 out of 14880 hypotheses for montys_heart (evidence > 0.5160480547296529)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.832
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 15 out of 21832 hypotheses for tomato_soup_can (evidence > 0.5160480547296529)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.92
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 828 out of 17728 hypotheses for tuna_fish_can (evidence > 0.5160480547296529)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.922
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [2.50010105 0.03690978 1.83179825 0.07767208 0.05673495 0.01237922
 2.92049722 0.07282529 2.92158426 0.08223659]
DEBUG:root:mean evidence: 1.051, std: 1.251 -> th=2.3372674094829757
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 2.92
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 142 ---
INFO:uvicorn.access:192.168.1.217:64392 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.92310739,  0.17683862,  0.34146866],
       [-0.18814758,  0.98214077,  0.        ],
       [-0.33537029, -0.0642465 ,  0.93989316]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0033516 ,  0.01954044, -0.00157046])}]
INFO:root:Testing 202 out of 14424 hypotheses for numenta_mug (evidence > 0.584316852370744)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.734
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 5 out of 14880 hypotheses for montys_heart (evidence > 0.584316852370744)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.122
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 15 out of 21832 hypotheses for tomato_soup_can (evidence > 0.584316852370744)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.238
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 243 out of 17728 hypotheses for tuna_fish_can (evidence > 0.584316852370744)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.347
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [2.73369805 0.03690978 2.12235946 0.07767208 0.05673495 0.01237922
 3.23835469 0.07282529 3.34732078 0.08223659]
DEBUG:root:mean evidence: 1.178, std: 1.408 -> th=2.6778566267414545
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 3.35
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 143 ---
INFO:uvicorn.access:192.168.1.217:64392 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64392 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.9706505 ,  0.12314029,  0.20657702],
       [-0.12585494,  0.99204866,  0.        ],
       [-0.20493446, -0.02599874,  0.97843034]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00275787,  0.01049787, -0.00211264])}]
INFO:root:Testing 28 out of 14424 hypotheses for numenta_mug (evidence > 0.6694641566853634)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.991
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 2 out of 14880 hypotheses for montys_heart (evidence > 0.6694641566853634)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.371
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 15 out of 21832 hypotheses for tomato_soup_can (evidence > 0.6694641566853634)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.63
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 146 out of 17728 hypotheses for tuna_fish_can (evidence > 0.6694641566853634)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.842
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [2.99065358 0.03690978 2.37091625 0.07767208 0.05673495 0.01237922
 3.63046936 0.07282529 3.84239085 0.08223659]
DEBUG:root:mean evidence: 1.317, std: 1.587 -> th=3.073912676056996
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 3.84
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 144 ---
INFO:uvicorn.access:192.168.1.217:64394 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64395 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64396 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99675846, -0.01880528, -0.07822357],
       [ 0.01886308,  0.99982208, -0.        ],
       [ 0.07820965, -0.00147554,  0.99693584]]), 'pose_fully_defined': False}}, {'patch': array([-0.00498399, -0.0604786 , -0.02016243])}]
INFO:root:Testing 14 out of 14424 hypotheses for numenta_mug (evidence > 0.7684781690142488)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.268
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 2 out of 14880 hypotheses for montys_heart (evidence > 0.7684781690142488)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.501
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 11 out of 21832 hypotheses for tomato_soup_can (evidence > 0.7684781690142488)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.911
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 78 out of 17728 hypotheses for tuna_fish_can (evidence > 0.7684781690142488)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.764
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [3.26777919 0.03690978 2.50069735 0.07767208 0.05673495 0.01237922
 3.91078951 0.07282529 3.7642665  0.08223659]
DEBUG:root:mean evidence: 1.378, std: 1.656 -> th=3.128631604385824
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 3.91
DEBUG:root:evidences for each object: [3.26777919 0.03690978 2.50069735 0.07767208 0.05673495 0.01237922
 3.91078951 0.07282529 3.7642665  0.08223659]
DEBUG:root:mean evidence: 1.378, std: 1.656 -> th=3.128631604385824
DEBUG:root:evidences for each object: [3.26777919 0.03690978 2.50069735 0.07767208 0.05673495 0.01237922
 3.91078951 0.07282529 3.7642665  0.08223659]
DEBUG:root:mean evidence: 1.378, std: 1.656 -> th=3.324171079659938
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 145 ---
INFO:uvicorn.access:192.168.1.217:64394 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.96460619,  0.02418824,  0.26258299],
       [-0.02506789,  0.99968575,  0.        ],
       [-0.26250048, -0.0065824 ,  0.96490941]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00129686,  0.01653729, -0.00384384])}]
INFO:root:Testing 9 out of 14424 hypotheses for numenta_mug (evidence > 0.7821579010964559)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.327
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 2 out of 14880 hypotheses for montys_heart (evidence > 0.7821579010964559)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.501
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 12 out of 21832 hypotheses for tomato_soup_can (evidence > 0.7821579010964559)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.947
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 50 out of 17728 hypotheses for tuna_fish_can (evidence > 0.7821579010964559)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.166
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [3.32695583 0.03690978 1.50069735 0.07767208 0.05673495 0.01237922
 3.94710249 0.07282529 4.16611014 0.08223659]
DEBUG:root:mean evidence: 1.328, std: 1.692 -> th=3.3328881120181157
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 4.17
DEBUG:root:evidences for each object: [3.32695583 0.03690978 1.50069735 0.07767208 0.05673495 0.01237922
 3.94710249 0.07282529 4.16611014 0.08223659]
DEBUG:root:mean evidence: 1.328, std: 1.692 -> th=3.3328881120181157
DEBUG:root:evidences for each object: [3.32695583 0.03690978 1.50069735 0.07767208 0.05673495 0.01237922
 3.94710249 0.07282529 4.16611014 0.08223659]
DEBUG:root:mean evidence: 1.328, std: 1.692 -> th=3.541193619019248
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 146 ---
INFO:uvicorn.access:192.168.1.217:64394 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99155525,  0.02352454,  0.12753343],
       [-0.02371822,  0.99971868,  0.        ],
       [-0.12749755, -0.00302487,  0.99183427]]), 'pose_fully_defined': False}}, {'patch': array([-0.00157818,  0.00918203,  0.00345385])}]
INFO:root:Testing 6 out of 14424 hypotheses for numenta_mug (evidence > 0.8332220280045286)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.48
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 2 out of 14880 hypotheses for montys_heart (evidence > 0.8332220280045286)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.551
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 10 out of 21832 hypotheses for tomato_soup_can (evidence > 0.8332220280045286)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.145
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 33 out of 17728 hypotheses for tuna_fish_can (evidence > 0.8332220280045286)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.608
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [3.47992368 0.03690978 1.55107662 0.07767208 0.05673495 0.01237922
 4.14479774 0.07282529 4.60810092 0.08223659]
DEBUG:root:mean evidence: 1.412, std: 1.817 -> th=3.686480738705881
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 4.61
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 147 ---
INFO:uvicorn.access:192.168.1.217:64394 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 9.99511926e-01, -1.11601870e-02,  2.91780699e-02],
       [ 1.11649407e-02,  9.99937670e-01, -0.00000000e+00],
       [-2.91762513e-02,  3.25771420e-04,  9.99574229e-01]]), 'pose_fully_defined': False}}, {'patch': array([-0.02049931, -0.06220577,  0.01846954])}]
INFO:root:Testing 5 out of 14424 hypotheses for numenta_mug (evidence > 0.92162018467647)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.48
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 2 out of 14880 hypotheses for montys_heart (evidence > 0.92162018467647)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.52
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 8 out of 21832 hypotheses for tomato_soup_can (evidence > 0.92162018467647)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.145
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 21 out of 17728 hypotheses for tuna_fish_can (evidence > 0.92162018467647)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.608
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [2.47992368 0.03690978 1.51972077 0.07767208 0.05673495 0.01237922
 3.14479774 0.07282529 3.60810092 0.08223659]
DEBUG:root:mean evidence: 1.109, std: 1.382 -> th=2.886480738705881
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 3.61
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 148 ---
INFO:uvicorn.access:192.168.1.217:64394 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.9826112 , -0.07386   , -0.17035235],
       [ 0.07495561,  0.99718687, -0.        ],
       [ 0.16987313, -0.01276886,  0.98538321]]), 'pose_fully_defined': False}}, {'patch': array([0.00298582, 0.01905981, 0.00181259])}]
INFO:root:Testing 5 out of 14424 hypotheses for numenta_mug (evidence > 0.7216201846764703)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.48
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 3 out of 14880 hypotheses for montys_heart (evidence > 0.7216201846764703)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.639
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 10 out of 21832 hypotheses for tomato_soup_can (evidence > 0.7216201846764703)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.485
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 20 out of 17728 hypotheses for tuna_fish_can (evidence > 0.7216201846764703)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.495
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [1.47992368 0.03690978 0.63885326 0.07767208 0.05673495 0.01237922
 3.48533308 0.07282529 3.49480286 0.08223659]
DEBUG:root:mean evidence: 0.944, std: 1.344 -> th=2.795842288142027
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 3.49
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 149 ---
INFO:uvicorn.access:192.168.1.217:64394 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64394 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 9.98313379e-01,  2.70449793e-04,  5.80544855e-02],
       [-2.70906700e-04,  9.99999963e-01,  0.00000000e+00],
       [-5.80544833e-02, -1.57273491e-05,  9.98313416e-01]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01457304,  0.00636153, -0.01590716])}]
INFO:root:Testing 2 out of 14424 hypotheses for numenta_mug (evidence > 0.6989605720355065)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.737
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.639
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 9 out of 21832 hypotheses for tomato_soup_can (evidence > 0.6989605720355065)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.599
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 9 out of 17728 hypotheses for tuna_fish_can (evidence > 0.6989605720355065)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.352
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [1.73749262 0.03690978 0.63885326 0.07767208 0.05673495 0.01237922
 3.59871527 0.07282529 3.352399   0.08223659]
DEBUG:root:mean evidence: 0.967, std: 1.353 -> th=2.878972217789791
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 3.6
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 150 ---
INFO:uvicorn.access:192.168.1.217:64394 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64394 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.73154026,  0.11458292,  0.67210089],
       [-0.15474568,  0.98795434,  0.        ],
       [-0.66400499, -0.10400471,  0.74045958]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0015487 ,  0.01445448, -0.00440343])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 0.7197430544474477)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.642
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.639
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 9 out of 21832 hypotheses for tomato_soup_can (evidence > 0.7197430544474477)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.474
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 8 out of 17728 hypotheses for tuna_fish_can (evidence > 0.7197430544474477)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.022
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [1.64235684 0.03690978 0.63885326 0.07767208 0.05673495 0.01237922
 3.4744411  0.07282529 3.02195628 0.08223659]
DEBUG:root:mean evidence: 0.912, std: 1.266 -> th=2.779552877427828
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 3.47
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 151 ---
INFO:uvicorn.access:192.168.1.217:64394 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.95941196,  0.02370781,  0.28101003],
       [-0.02470323,  0.99969483,  0.        ],
       [-0.28092427, -0.00694185,  0.95970483]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00198285,  0.02075812, -0.00693758])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 0.6948882193569568)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.642
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.639
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 10 out of 21832 hypotheses for tomato_soup_can (evidence > 0.6948882193569568)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.474
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 7 out of 17728 hypotheses for tuna_fish_can (evidence > 0.6948882193569568)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.439
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.64235684 0.03690978 0.63885326 0.07767208 0.05673495 0.01237922
 2.4744411  0.07282529 3.43895724 0.08223659]
DEBUG:root:mean evidence: 0.753, std: 1.145 -> th=2.7511657937224987
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 3.44
DEBUG:root:evidences for each object: [0.64235684 0.03690978 0.63885326 0.07767208 0.05673495 0.01237922
 2.4744411  0.07282529 3.43895724 0.08223659]
DEBUG:root:mean evidence: 0.753, std: 1.145 -> th=2.7511657937224987
DEBUG:root:evidences for each object: [0.64235684 0.03690978 0.63885326 0.07767208 0.05673495 0.01237922
 2.4744411  0.07282529 3.43895724 0.08223659]
DEBUG:root:mean evidence: 0.753, std: 1.145 -> th=2.9231136558301554
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 152 ---
INFO:uvicorn.access:192.168.1.217:64397 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.93758769,  0.04125657,  0.34529295],
       [-0.04396035,  0.99903328,  0.        ],
       [-0.34495914, -0.0151792 ,  0.93849496]]), 'pose_fully_defined': False}}, {'patch': array([-0.00111923, -0.00712014,  0.04148152])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.642
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.639
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 8 out of 21832 hypotheses for tomato_soup_can (evidence > 0.6877914484306245)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.969
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 9 out of 17728 hypotheses for tuna_fish_can (evidence > 0.6877914484306245)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.876
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.64235684 0.03690978 0.63885326 0.07767208 0.05673495 0.01237922
 2.96926108 0.07282529 3.8757709  0.08223659]
DEBUG:root:mean evidence: 0.846, std: 1.323 -> th=3.100616718308097
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 3.88
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 153 ---
INFO:uvicorn.access:192.168.1.217:64397 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 9.65371492e-01,  2.75800387e-03,  2.60864478e-01],
       [-2.85692362e-03,  9.99995919e-01,  0.00000000e+00],
       [-2.60863413e-01, -7.45269888e-04,  9.65375432e-01]]), 'pose_fully_defined': False}}, {'patch': array([-0.00221616,  0.02499944,  0.00595979])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.642
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.639
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 7 out of 21832 hypotheses for tomato_soup_can (evidence > 0.775154179577024)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.399
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 7051 out of 17728 hypotheses for tuna_fish_can (evidence > 0.775154179577024)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.02 seconds. New max evidence: 4.344
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.64235684 0.03690978 0.63885326 0.07767208 0.05673495 0.01237922
 3.39885225 0.07282529 4.34356571 0.08223659]
DEBUG:root:mean evidence: 0.936, std: 1.5 -> th=3.4748525682441374
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 4.34
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 154 ---
INFO:uvicorn.access:192.168.1.217:64397 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64397 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.93926343,  0.0084845 ,  0.34309215],
       [-0.00903277,  0.9999592 ,  0.        ],
       [-0.34307815, -0.00309907,  0.93930175]]), 'pose_fully_defined': False}}, {'patch': array([-0.00051756,  0.01186531, -0.00670534])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.642
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.639
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 27 out of 21832 hypotheses for tomato_soup_can (evidence > 0.8687131420610341)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.854
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 787 out of 17728 hypotheses for tuna_fish_can (evidence > 0.8687131420610341)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.78
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.64235684 0.03690978 0.63885326 0.07767208 0.05673495 0.01237922
 3.85428929 0.07282529 4.77992289 0.08223659]
DEBUG:root:mean evidence: 1.025, std: 1.674 -> th=3.8239383112842917
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 4.78
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 155 ---
INFO:uvicorn.access:192.168.1.217:64397 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.9063399 ,  0.10764232,  0.40860876],
       [-0.1179371 ,  0.99302107,  0.        ],
       [-0.40575711, -0.04819013,  0.91270964]]), 'pose_fully_defined': False}}, {'patch': array([ 2.33337259e-05, -1.19444499e-02,  7.02073908e-03])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.642
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.639
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 15 out of 21832 hypotheses for tomato_soup_can (evidence > 0.9559845778210727)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.329
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 389 out of 17728 hypotheses for tuna_fish_can (evidence > 0.9559845778210727)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.209
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.64235684 0.03690978 0.63885326 0.07767208 0.05673495 0.01237922
 4.32932775 0.07282529 5.20909574 0.08223659]
DEBUG:root:mean evidence: 1.116, std: 1.851 -> th=4.167276591753285
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 5.21
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 156 ---
INFO:uvicorn.access:192.168.1.217:64397 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64397 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.92791611,  0.10296808,  0.35828658],
       [-0.11029005,  0.99389944,  0.        ],
       [-0.35610083, -0.03951545,  0.93361166]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00209036,  0.01587548, -0.00637957])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.642
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.639
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 1145 out of 21832 hypotheses for tomato_soup_can (evidence > 1.0418191479383214)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.817
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 383 out of 17728 hypotheses for tuna_fish_can (evidence > 1.0418191479383214)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.647
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.64235684 0.03690978 0.63885326 0.07767208 0.05673495 0.01237922
 4.81668443 0.07282529 5.64691591 0.08223659]
DEBUG:root:mean evidence: 1.208, std: 2.033 -> th=4.517532728802448
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 5.65
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 157 ---
INFO:uvicorn.access:192.168.1.217:64397 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64397 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.95123802,  0.08673422,  0.29601251],
       [-0.09080367,  0.99586881,  0.        ],
       [-0.29478963, -0.02687902,  0.95518406]]), 'pose_fully_defined': False}}, {'patch': array([-0.00382436, -0.00354167,  0.00976725])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.642
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.639
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 80 out of 21832 hypotheses for tomato_soup_can (evidence > 1.1293831822006117)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.116
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 182 out of 17728 hypotheses for tuna_fish_can (evidence > 1.1293831822006117)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.986
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.64235684 0.03690978 0.63885326 0.07767208 0.05673495 0.01237922
 5.11623481 0.07282529 5.98566521 0.08223659]
DEBUG:root:mean evidence: 1.272, std: 2.16 -> th=4.788532170703421
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 5.99
DEBUG:root:evidences for each object: [0.64235684 0.03690978 0.63885326 0.07767208 0.05673495 0.01237922
 5.11623481 0.07282529 5.98566521 0.08223659]
DEBUG:root:mean evidence: 1.272, std: 2.16 -> th=4.788532170703421
DEBUG:root:evidences for each object: [0.64235684 0.03690978 0.63885326 0.07767208 0.05673495 0.01237922
 5.11623481 0.07282529 5.98566521 0.08223659]
DEBUG:root:mean evidence: 1.272, std: 2.16 -> th=5.087815431372385
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 158 ---
INFO:uvicorn.access:192.168.1.217:64397 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.87751755,  0.14452572,  0.4572475 ],
       [-0.16250905,  0.98670705,  0.        ],
       [-0.45116933, -0.07430686,  0.88933949]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00408931,  0.00761483, -0.00782825])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.642
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.639
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 67 out of 21832 hypotheses for tomato_soup_can (evidence > 1.1971330426758549)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.593
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 148 out of 17728 hypotheses for tuna_fish_can (evidence > 1.1971330426758549)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.369
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.64235684 0.03690978 0.63885326 0.07767208 0.05673495 0.01237922
 5.59314548 0.07282529 6.36884196 0.08223659]
DEBUG:root:mean evidence: 1.358, std: 2.329 -> th=5.0950735693322375
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 6.37
DEBUG:root:evidences for each object: [0.64235684 0.03690978 0.63885326 0.07767208 0.05673495 0.01237922
 5.59314548 0.07282529 6.36884196 0.08223659]
DEBUG:root:mean evidence: 1.358, std: 2.329 -> th=5.0950735693322375
DEBUG:root:evidences for each object: [0.64235684 0.03690978 0.63885326 0.07767208 0.05673495 0.01237922
 5.59314548 0.07282529 6.36884196 0.08223659]
DEBUG:root:mean evidence: 1.358, std: 2.329 -> th=5.413515667415502
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 159 ---
INFO:uvicorn.access:192.168.1.217:64397 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64397 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.88564647,  0.1595974 ,  0.43607225],
       [-0.17734785,  0.98414823,  0.        ],
       [-0.42915973, -0.07733648,  0.89991166]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00109236,  0.00934264, -0.01271522])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.642
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.639
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 45 out of 21832 hypotheses for tomato_soup_can (evidence > 1.273768392333059)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.931
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 90 out of 17728 hypotheses for tuna_fish_can (evidence > 1.273768392333059)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.751
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.64235684 0.03690978 0.63885326 0.07767208 0.05673495 0.01237922
 5.9305398  0.07282529 6.75096311 0.08223659]
DEBUG:root:mean evidence: 1.43, std: 2.473 -> th=5.400770486280097
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 6.75
DEBUG:root:evidences for each object: [0.64235684 0.03690978 0.63885326 0.07767208 0.05673495 0.01237922
 5.9305398  0.07282529 6.75096311 0.08223659]
DEBUG:root:mean evidence: 1.43, std: 2.473 -> th=5.400770486280097
DEBUG:root:evidences for each object: [0.64235684 0.03690978 0.63885326 0.07767208 0.05673495 0.01237922
 5.9305398  0.07282529 6.75096311 0.08223659]
DEBUG:root:mean evidence: 1.43, std: 2.473 -> th=5.738318641672603
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 160 ---
INFO:uvicorn.access:192.168.1.217:64397 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64397 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.96106841,  0.13570568,  0.24068958],
       [-0.13981597,  0.99017751,  0.        ],
       [-0.23832541, -0.03365225,  0.97060215]]), 'pose_fully_defined': False}}, {'patch': array([0.00197117, 0.00779029, 0.00267908])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.642
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.639
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 32 out of 21832 hypotheses for tomato_soup_can (evidence > 1.3501926215700237)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.359
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 44 out of 17728 hypotheses for tuna_fish_can (evidence > 1.3501926215700237)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.751
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.64235684 0.03690978 0.63885326 0.07767208 0.05673495 0.01237922
 6.35870685 0.07282529 5.75096311 0.08223659]
DEBUG:root:mean evidence: 1.373, std: 2.356 -> th=5.086965478845429
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 6.36
DEBUG:root:evidences for each object: [0.64235684 0.03690978 0.63885326 0.07767208 0.05673495 0.01237922
 6.35870685 0.07282529 5.75096311 0.08223659]
DEBUG:root:mean evidence: 1.373, std: 2.356 -> th=5.086965478845429
DEBUG:root:evidences for each object: [0.64235684 0.03690978 0.63885326 0.07767208 0.05673495 0.01237922
 6.35870685 0.07282529 5.75096311 0.08223659]
DEBUG:root:mean evidence: 1.373, std: 2.356 -> th=5.4049008212732685
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 161 ---
INFO:uvicorn.access:192.168.1.217:64397 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64397 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.95257044,  0.09900087,  0.28776448],
       [-0.10337344,  0.99464262,  0.        ],
       [-0.28622281, -0.0297472 ,  0.95770121]]), 'pose_fully_defined': False}}, {'patch': array([-0.00554154, -0.00599446,  0.01354778])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.642
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.639
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 20 out of 21832 hypotheses for tomato_soup_can (evidence > 1.271741369711357)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.849
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 27 out of 17728 hypotheses for tuna_fish_can (evidence > 1.271741369711357)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.125
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.64235684 0.03690978 0.63885326 0.07767208 0.05673495 0.01237922
 6.84876247 0.07282529 6.12477719 0.08223659]
DEBUG:root:mean evidence: 1.459, std: 2.529 -> th=5.479009977756791
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 6.85
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 162 ---
INFO:uvicorn.access:192.168.1.217:64397 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.93377615,  0.10951908,  0.34068705],
       [-0.11648776,  0.99319213,  0.        ],
       [-0.3383677 , -0.03968587,  0.94017676]]), 'pose_fully_defined': False}}, {'patch': array([-0.00088478,  0.00383556,  0.00905883])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.642
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.639
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 15 out of 21832 hypotheses for tomato_soup_can (evidence > 1.3697524944391972)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.203
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 16 out of 17728 hypotheses for tuna_fish_can (evidence > 1.3697524944391972)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.125
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.64235684 0.03690978 0.63885326 0.07767208 0.05673495 0.01237922
 7.20272038 0.07282529 5.12477719 0.08223659]
DEBUG:root:mean evidence: 1.395, std: 2.44 -> th=5.762176301576123
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 7.2
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can'}
INFO:root:--- Global Matching Step 163 ---
INFO:uvicorn.access:192.168.1.217:64397 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.8786393 ,  0.12232565,  0.4615511 ],
       [-0.13789175,  0.99044731,  0.        ],
       [-0.45714204, -0.06364409,  0.88711362]]), 'pose_fully_defined': False}}, {'patch': array([-9.44427007e-05,  1.62584777e-03, -7.14731476e-03])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.642
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.639
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 8 out of 21832 hypotheses for tomato_soup_can (evidence > 1.4405440753940306)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.692
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 10 out of 17728 hypotheses for tuna_fish_can (evidence > 1.4405440753940306)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.125
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.64235684 0.03690978 0.63885326 0.07767208 0.05673495 0.01237922
 7.69215896 0.07282529 4.12477719 0.08223659]
DEBUG:root:mean evidence: 1.344, std: 2.428 -> th=6.1537271712161115
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 7.69
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can'}
INFO:root:--- Global Matching Step 164 ---
INFO:uvicorn.access:192.168.1.217:64397 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.94406442,  0.11117175,  0.31045645],
       [-0.11695055,  0.99313774,  0.        ],
       [-0.30832601, -0.03630805,  0.9505876 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00174201, -0.00128315, -0.00311786])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.642
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.639
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 8 out of 21832 hypotheses for tomato_soup_can (evidence > 1.5384317928040279)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.187
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 5 out of 17728 hypotheses for tuna_fish_can (evidence > 1.5384317928040279)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.125
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.64235684 0.03690978 0.63885326 0.07767208 0.05673495 0.01237922
 8.18705192 0.07282529 3.12477719 0.08223659]
DEBUG:root:mean evidence: 1.293, std: 2.468 -> th=6.549641533478455
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 8.19
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can'}
INFO:root:--- Global Matching Step 165 ---
INFO:uvicorn.access:192.168.1.217:64400 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.93766789,  0.10043084, -0.33270495],
       [-0.10649792, -0.99431293,  0.        ],
       [-0.33081283,  0.03543238,  0.94303097]]), 'pose_fully_defined': False}}, {'patch': array([-0.01897631, -0.07675966, -0.0166007 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.642
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.639
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 8 out of 21832 hypotheses for tomato_soup_can (evidence > 1.6374103833696134)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.187
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 4 out of 17728 hypotheses for tuna_fish_can (evidence > 1.6374103833696134)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.564
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.64235684 0.03690978 0.63885326 0.07767208 0.05673495 0.01237922
 7.18705192 0.07282529 3.56366115 0.08223659]
DEBUG:root:mean evidence: 1.237, std: 2.234 -> th=5.749641533478455
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 7.19
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can'}
INFO:root:--- Global Matching Step 166 ---
INFO:uvicorn.access:192.168.1.217:64400 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64400 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.89849082,  0.12305908, -0.42139139],
       [-0.13569517, -0.99075064,  0.        ],
       [-0.41749379,  0.05718077,  0.90687887]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00824008,  0.0028762 , -0.02052922])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.642
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.639
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 8 out of 21832 hypotheses for tomato_soup_can (evidence > 1.4374103833696132)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.991
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 79 out of 17728 hypotheses for tuna_fish_can (evidence > 1.4374103833696132)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.916
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.64235684 0.03690978 0.63885326 0.07767208 0.05673495 0.01237922
 6.99105294 0.07282529 3.91623849 0.08223659]
DEBUG:root:mean evidence: 1.253, std: 2.222 -> th=5.592842348197115
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 6.99
DEBUG:root:evidences for each object: [0.64235684 0.03690978 0.63885326 0.07767208 0.05673495 0.01237922
 6.99105294 0.07282529 3.91623849 0.08223659]
DEBUG:root:mean evidence: 1.253, std: 2.222 -> th=5.592842348197115
DEBUG:root:evidences for each object: [0.64235684 0.03690978 0.63885326 0.07767208 0.05673495 0.01237922
 6.99105294 0.07282529 3.91623849 0.08223659]
DEBUG:root:mean evidence: 1.253, std: 2.222 -> th=5.942394994959434
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: {'tomato_soup_can'}
INFO:root:--- Global Matching Step 167 ---
INFO:uvicorn.access:192.168.1.217:64400 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64400 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.92156462,  0.13446366, -0.36419523],
       [-0.14437925, -0.98952243,  0.        ],
       [-0.36037935,  0.05258223,  0.93132263]]), 'pose_fully_defined': False}}, {'patch': array([-0.00815901,  0.01432557,  0.0187069 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.642
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.639
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 8 out of 21832 hypotheses for tomato_soup_can (evidence > 1.3982105870492783)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.991
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 83 out of 17728 hypotheses for tuna_fish_can (evidence > 1.3982105870492783)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.29
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.64235684 0.03690978 0.63885326 0.07767208 0.05673495 0.01237922
 5.99105294 0.07282529 4.29030942 0.08223659]
DEBUG:root:mean evidence: 1.19, std: 2.024 -> th=4.792842348197114
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 5.99
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can'}
INFO:root:--- Global Matching Step 168 ---
INFO:uvicorn.access:192.168.1.217:64400 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64400 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.90535284,  0.10908094, -0.41041148],
       [-0.11961935, -0.99281983,  0.        ],
       [-0.40746465,  0.04909316,  0.91190044]]), 'pose_fully_defined': False}}, {'patch': array([-0.00169302,  0.0185845 ,  0.01608383])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.642
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.639
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 14 out of 21832 hypotheses for tomato_soup_can (evidence > 1.198210587049278)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.991
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 9450 out of 17728 hypotheses for tuna_fish_can (evidence > 1.198210587049278)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.02 seconds. New max evidence: 4.653
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.64235684 0.03690978 0.63885326 0.07767208 0.05673495 0.01237922
 4.99105294 0.07282529 4.65258782 0.08223659]
DEBUG:root:mean evidence: 1.126, std: 1.863 -> th=3.9928423481971143
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 4.99
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 169 ---
INFO:uvicorn.access:192.168.1.217:64400 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64400 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.99390672,  0.10093639, -0.0442863 ],
       [-0.10103552, -0.99488282,  0.        ],
       [-0.04405968,  0.00447449,  0.99901888]]), 'pose_fully_defined': False}}, {'patch': array([-0.05639654,  0.01303398, -0.03229619])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.642
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.639
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 637 out of 21832 hypotheses for tomato_soup_can (evidence > 0.9982105870492783)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.991
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 2648 out of 17728 hypotheses for tuna_fish_can (evidence > 0.9982105870492783)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 3.653
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.64235684 0.03690978 0.63885326 0.07767208 0.05673495 0.01237922
 3.99105294 0.07282529 3.65258782 0.08223659]
DEBUG:root:mean evidence: 0.926, std: 1.467 -> th=3.1928423481971144
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 3.99
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 170 ---
INFO:uvicorn.access:192.168.1.217:64400 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-9.98972451e-01,  4.24966000e-02,  1.57505636e-02],
       [-4.25018722e-02, -9.99096387e-01,  0.00000000e+00],
       [ 1.57363312e-02, -6.69428441e-04,  9.99875952e-01]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00356082,  0.00850539, -0.01871049])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.642
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.639
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 1083 out of 21832 hypotheses for tomato_soup_can (evidence > 0.7982105870492786)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.991
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 1220 out of 17728 hypotheses for tuna_fish_can (evidence > 0.7982105870492786)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.653
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.64235684 0.03690978 0.63885326 0.07767208 0.05673495 0.01237922
 2.99105294 0.07282529 2.65258782 0.08223659]
DEBUG:root:mean evidence: 0.726, std: 1.075 -> th=2.3928423481971146
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 2.99
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 171 ---
INFO:uvicorn.access:192.168.1.217:64400 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64400 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.94810566,  0.07640314, -0.3086393 ],
       [-0.08032465, -0.99676875,  0.        ],
       [-0.30764201,  0.02479134,  0.95117915]]), 'pose_fully_defined': False}}, {'patch': array([0.05870382, 0.00351706, 0.02501435])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 0.5982105870492784)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.584
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 1 out of 14880 hypotheses for montys_heart (evidence > 0.5982105870492784)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.583
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 5248 out of 21832 hypotheses for tomato_soup_can (evidence > 0.5982105870492784)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 1.991
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 3988 out of 17728 hypotheses for tuna_fish_can (evidence > 0.5982105870492784)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 2.961
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.58424548 0.03690978 0.58346523 0.07767208 0.05673495 0.01237922
 1.99105294 0.07282529 2.96088405 0.08223659]
DEBUG:root:mean evidence: 0.646, std: 0.963 -> th=2.368707240574402
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 2.96
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 172 ---
INFO:uvicorn.access:192.168.1.217:64400 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.89938643,  0.10188275, -0.42511641],
       [-0.11256038, -0.99364489,  0.        ],
       [-0.42241474,  0.04785126,  0.90513869]]), 'pose_fully_defined': False}}, {'patch': array([-0.00776167,  0.00229433,  0.02769964])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.584
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.583
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 474 out of 21832 hypotheses for tomato_soup_can (evidence > 0.5921768101436005)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.473
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 439 out of 17728 hypotheses for tuna_fish_can (evidence > 0.5921768101436005)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.58424548 0.03690978 0.58346523 0.07767208 0.05673495 0.01237922
 1.47275491 0.07282529 3.40525082 0.08223659]
DEBUG:root:mean evidence: 0.638, std: 1.019 -> th=2.7242006539535932
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 3.41
DEBUG:root:evidences for each object: [0.58424548 0.03690978 0.58346523 0.07767208 0.05673495 0.01237922
 1.47275491 0.07282529 3.40525082 0.08223659]
DEBUG:root:mean evidence: 0.638, std: 1.019 -> th=2.7242006539535932
DEBUG:root:evidences for each object: [0.58424548 0.03690978 0.58346523 0.07767208 0.05673495 0.01237922
 1.47275491 0.07282529 3.40525082 0.08223659]
DEBUG:root:mean evidence: 0.638, std: 1.019 -> th=2.894463194825693
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 173 ---
INFO:uvicorn.access:192.168.1.217:64400 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64400 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.88662885,  0.09099407, -0.4534417 ],
       [-0.10209301, -0.99477486,  0.        ],
       [-0.4510724 ,  0.04629323,  0.89128594]]), 'pose_fully_defined': False}}, {'patch': array([-0.00448127,  0.0091872 ,  0.00275027])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.584
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.583
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 52 out of 21832 hypotheses for tomato_soup_can (evidence > 0.6810501634883983)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.537
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 78 out of 17728 hypotheses for tuna_fish_can (evidence > 0.6810501634883983)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.595
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.58424548 0.03690978 0.58346523 0.07767208 0.05673495 0.01237922
 1.5367595  0.07282529 3.59484989 0.08223659]
DEBUG:root:mean evidence: 0.664, std: 1.076 -> th=2.8758799157235266
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 3.59
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 174 ---
INFO:uvicorn.access:192.168.1.217:64400 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.93142956,  0.06783935, -0.35754272],
       [-0.07264116, -0.99735814,  0.        ],
       [-0.35659814,  0.02597232,  0.93389678]]), 'pose_fully_defined': False}}, {'patch': array([-0.00264016,  0.0187366 , -0.00649505])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.584
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.583
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 27 out of 21832 hypotheses for tomato_soup_can (evidence > 0.7189699789308817)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.681
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 18 out of 17728 hypotheses for tuna_fish_can (evidence > 0.7189699789308817)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.595
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.58424548 0.03690978 0.58346523 0.07767208 0.05673495 0.01237922
 0.6807688  0.07282529 2.59484989 0.08223659]
DEBUG:root:mean evidence: 0.478, std: 0.749 -> th=2.075879915723527
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 2.59
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 175 ---
INFO:uvicorn.access:192.168.1.217:64400 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64400 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.95829984,  0.07074977, -0.27686799],
       [-0.07362804, -0.99728577,  0.        ],
       [-0.27611651,  0.02038525,  0.96090796]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0068385 , -0.00334133, -0.02253966])}]
INFO:root:Testing 313 out of 14424 hypotheses for numenta_mug (evidence > 0.5189699789308815)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.896
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 5 out of 14880 hypotheses for montys_heart (evidence > 0.5189699789308815)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.445
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 2906 out of 21832 hypotheses for tomato_soup_can (evidence > 0.5189699789308815)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 0.943
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 2341 out of 17728 hypotheses for tuna_fish_can (evidence > 0.5189699789308815)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 1.595
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.89564848 0.03690978 0.44500736 0.07767208 0.05673495 0.01237922
 0.94259495 0.07282529 1.59484989 0.08223659]
DEBUG:root:mean evidence: 0.422, std: 0.517 -> th=1.2758799157235265
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 1.59
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 176 ---
INFO:uvicorn.access:192.168.1.217:64400 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.93476736,  0.01869795, -0.35476805],
       [-0.01999878, -0.9998    ,  0.        ],
       [-0.3546971 ,  0.00709493,  0.93495435]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00056689, -0.00319898,  0.00919323])}]
INFO:root:Testing 1726 out of 14424 hypotheses for numenta_mug (evidence > 0.3189699789308815)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 1.177
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 294 out of 14880 hypotheses for montys_heart (evidence > 0.3189699789308815)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.436
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 8342 out of 21832 hypotheses for tomato_soup_can (evidence > 0.3189699789308815)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.02 seconds. New max evidence: 1.441
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 6442 out of 17728 hypotheses for tuna_fish_can (evidence > 0.3189699789308815)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.02 seconds. New max evidence: 0.595
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [1.1774538  0.03690978 0.43570979 0.07767208 0.05673495 0.01237922
 1.44056405 0.07282529 0.59484989 0.08223659]
DEBUG:root:mean evidence: 0.399, std: 0.494 -> th=1.1524512360051835
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 1.44
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 177 ---
INFO:uvicorn.access:192.168.1.217:64400 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.92515342,  0.04986448, -0.37630397],
       [-0.05382049, -0.99855063,  0.        ],
       [-0.37575856,  0.02025286,  0.92649626]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00525411, -0.02025183, -0.00591116])}]
INFO:root:Testing 359 out of 14424 hypotheses for numenta_mug (evidence > 0.2881128090012959)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.446
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 301 out of 14880 hypotheses for montys_heart (evidence > 0.2881128090012959)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.71
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 974 out of 21832 hypotheses for tomato_soup_can (evidence > 0.2881128090012959)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.456
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 644 out of 17728 hypotheses for tuna_fish_can (evidence > 0.2881128090012959)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.055
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [1.44576806 0.03690978 0.70963854 0.07767208 0.05673495 0.01237922
 1.4555413  0.07282529 1.05511237 0.08223659]
DEBUG:root:mean evidence: 0.5, std: 0.578 -> th=1.1644330385753465
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 1.46
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 178 ---
INFO:uvicorn.access:192.168.1.217:64400 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.93635074,  0.07891237, -0.34208205],
       [-0.08397881, -0.99646754,  0.        ],
       [-0.34087366,  0.02872764,  0.93967009]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00021119, -0.02042381,  0.00192889])}]
INFO:root:Testing 17 out of 14424 hypotheses for numenta_mug (evidence > 0.2911082596438366)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.341
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 5 out of 14880 hypotheses for montys_heart (evidence > 0.2911082596438366)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.068
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 48 out of 21832 hypotheses for tomato_soup_can (evidence > 0.2911082596438366)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.744
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 4 out of 17728 hypotheses for tuna_fish_can (evidence > 0.2911082596438366)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.538
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [1.34119419 0.03690978 1.068081   0.07767208 0.05673495 0.01237922
 1.74406961 0.07282529 1.53804068 0.08223659]
DEBUG:root:mean evidence: 0.603, std: 0.688 -> th=1.395255685883701
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 1.74
DEBUG:root:evidences for each object: [1.34119419 0.03690978 1.068081   0.07767208 0.05673495 0.01237922
 1.74406961 0.07282529 1.53804068 0.08223659]
DEBUG:root:mean evidence: 0.603, std: 0.688 -> th=1.395255685883701
DEBUG:root:evidences for each object: [1.34119419 0.03690978 1.068081   0.07767208 0.05673495 0.01237922
 1.74406961 0.07282529 1.53804068 0.08223659]
DEBUG:root:mean evidence: 0.603, std: 0.688 -> th=1.4824591662514324
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 179 ---
INFO:uvicorn.access:192.168.1.217:64400 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.9543532 ,  0.0730801 , -0.28960192],
       [-0.076352  , -0.99708093,  0.        ],
       [-0.28875655,  0.02211169,  0.95714718]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00341332, -0.02326129, -0.01045185])}]
INFO:root:Testing 5 out of 14424 hypotheses for numenta_mug (evidence > 0.34881392147092516)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.309
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 3 out of 14880 hypotheses for montys_heart (evidence > 0.34881392147092516)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.053
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 18 out of 21832 hypotheses for tomato_soup_can (evidence > 0.34881392147092516)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.794
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 3 out of 17728 hypotheses for tuna_fish_can (evidence > 0.34881392147092516)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.001
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [1.30850167 0.03690978 1.05332562 0.07767208 0.05673495 0.01237922
 0.79383617 0.07282529 2.00098831 0.08223659]
DEBUG:root:mean evidence: 0.55, std: 0.668 -> th=1.600790647710209
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 2.0
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 180 ---
INFO:uvicorn.access:192.168.1.217:64400 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64400 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.92542032,  0.07149881, -0.37213594],
       [-0.07703133, -0.99702867,  0.        ],
       [-0.37103021,  0.02866613,  0.92817824]]), 'pose_fully_defined': False}}, {'patch': array([-0.00031582, -0.01531582,  0.00363347])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 0.40019766192755224)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.341
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 1 out of 14880 hypotheses for montys_heart (evidence > 0.40019766192755224)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.447
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 4 out of 21832 hypotheses for tomato_soup_can (evidence > 0.40019766192755224)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.683
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 3290 out of 17728 hypotheses for tuna_fish_can (evidence > 0.40019766192755224)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 2.501
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.34119419 0.03690978 1.44696143 0.07767208 0.05673495 0.01237922
 0.68251809 0.07282529 2.50098831 0.08223659]
DEBUG:root:mean evidence: 0.531, std: 0.783 -> th=2.000790647710209
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 2.5
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 181 ---
INFO:uvicorn.access:192.168.1.217:64400 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64400 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.91281646,  0.09341092, -0.3975431 ],
       [-0.101801  , -0.99480478,  0.        ],
       [-0.39547778,  0.04047029,  0.9175835 ]]), 'pose_fully_defined': False}}, {'patch': array([-2.20588461e-04, -1.91547636e-02,  4.58494004e-05])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.341
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 1043 out of 14880 hypotheses for montys_heart (evidence > 0.5001976619275523)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.777
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 0.5001976619275523)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.385
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 1402 out of 17728 hypotheses for tuna_fish_can (evidence > 0.5001976619275523)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.647
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.34119419 0.03690978 1.77746316 0.07767208 0.05673495 0.01237922
 0.38498734 0.07282529 2.64721804 0.08223659]
DEBUG:root:mean evidence: 0.549, std: 0.863 -> th=2.117774431207613
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 2.65
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 182 ---
INFO:uvicorn.access:192.168.1.217:64400 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.91454157,  0.07353202, -0.39775214],
       [-0.08014452, -0.99678325,  0.        ],
       [-0.39647267,  0.03187765,  0.91749291]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00166125, -0.01026701,  0.00383369])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.341
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 208 out of 14880 hypotheses for montys_heart (evidence > 0.5294436078019031)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.033
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.385
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 1014 out of 17728 hypotheses for tuna_fish_can (evidence > 0.5294436078019031)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.166
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.34119419 0.03690978 2.03332448 0.07767208 0.05673495 0.01237922
 0.38498734 0.07282529 2.16621785 0.08223659]
DEBUG:root:mean evidence: 0.526, std: 0.796 -> th=1.7329742816919431
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 2.17
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', '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([[-0.88070009,  0.09088089, -0.46487419],
       [-0.10264658, -0.99471789,  0.        ],
       [-0.46241867,  0.04771775,  0.88537675]]), 'pose_fully_defined': False}}, {'patch': array([-0.00262336,  0.00060128, -0.00905398])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.341
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 428 out of 14880 hypotheses for montys_heart (evidence > 0.4332435704229858)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.871
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.385
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 1062 out of 17728 hypotheses for tuna_fish_can (evidence > 0.4332435704229858)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.627
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.34119419 0.03690978 1.87116349 0.07767208 0.05673495 0.01237922
 0.38498734 0.07282529 2.62678654 0.08223659]
DEBUG:root:mean evidence: 0.556, std: 0.871 -> th=2.101429234327189
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 2.63
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 184 ---
INFO:uvicorn.access:192.168.1.217:64400 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.81597639,  0.15836414, -0.55597062],
       [-0.19052427, -0.98168249,  0.        ],
       [-0.54578662,  0.1059259 ,  0.83120194]]), 'pose_fully_defined': False}}, {'patch': array([-0.0007031 ,  0.02892622, -0.00818302])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.341
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 113 out of 14880 hypotheses for montys_heart (evidence > 0.5253573085817971)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.149
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.385
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 832 out of 17728 hypotheses for tuna_fish_can (evidence > 0.5253573085817971)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.943
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.34119419 0.03690978 2.14892399 0.07767208 0.05673495 0.01237922
 0.38498734 0.07282529 2.94331544 0.08223659]
DEBUG:root:mean evidence: 0.616, std: 0.989 -> th=2.354652352559132
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 2.94
DEBUG:root:evidences for each object: [0.34119419 0.03690978 2.14892399 0.07767208 0.05673495 0.01237922
 0.38498734 0.07282529 2.94331544 0.08223659]
DEBUG:root:mean evidence: 0.616, std: 0.989 -> th=2.354652352559132
DEBUG:root:evidences for each object: [0.34119419 0.03690978 2.14892399 0.07767208 0.05673495 0.01237922
 0.38498734 0.07282529 2.94331544 0.08223659]
DEBUG:root:mean evidence: 0.616, std: 0.989 -> th=2.5018181245940774
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 185 ---
INFO:uvicorn.access:192.168.1.217:64400 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.89223032,  0.09314244, -0.44187051],
       [-0.1038286 , -0.9945952 ,  0.        ],
       [-0.43948229,  0.0458788 ,  0.89707884]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00512408, -0.00877561, -0.00696364])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.341
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 36 out of 14880 hypotheses for montys_heart (evidence > 0.588663088139783)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.436
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.385
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 796 out of 17728 hypotheses for tuna_fish_can (evidence > 0.588663088139783)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.369
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.34119419 0.03690978 2.43594801 0.07767208 0.05673495 0.01237922
 0.38498734 0.07282529 3.36871877 0.08223659]
DEBUG:root:mean evidence: 0.687, std: 1.134 -> th=2.694975015388528
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 3.37
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 186 ---
INFO:uvicorn.access:192.168.1.217:64400 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64400 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.82852554,  0.10755266, -0.54952511],
       [-0.12873201, -0.99167942,  0.        ],
       [-0.54495274,  0.07074147,  0.8354772 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00018663,  0.02047153, -0.00088429])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.341
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 21 out of 14880 hypotheses for montys_heart (evidence > 0.6737437538471318)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.286
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.385
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 678 out of 17728 hypotheses for tuna_fish_can (evidence > 0.6737437538471318)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.729
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.34119419 0.03690978 2.2855669  0.07767208 0.05673495 0.01237922
 0.38498734 0.07282529 3.72870257 0.08223659]
DEBUG:root:mean evidence: 0.708, std: 1.2 -> th=2.982962055490859
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 3.73
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 187 ---
INFO:uvicorn.access:192.168.1.217:64400 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.87152862,  0.18276607, -0.45501037],
       [-0.20524303, -0.97871104,  0.        ],
       [-0.44532367,  0.0933877 ,  0.89048614]]), 'pose_fully_defined': False}}, {'patch': array([-0.00480386,  0.01578381,  0.01261933])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.341
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 14 out of 14880 hypotheses for montys_heart (evidence > 0.7457405138727147)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.817
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.385
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 588 out of 17728 hypotheses for tuna_fish_can (evidence > 0.7457405138727147)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.109
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.34119419 0.03690978 1.8167466  0.07767208 0.05673495 0.01237922
 0.38498734 0.07282529 4.10915321 0.08223659]
DEBUG:root:mean evidence: 0.699, std: 1.248 -> th=3.28732256714474
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 4.11
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 188 ---
INFO:uvicorn.access:192.168.1.217:64400 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64400 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.92345936,  0.18801857, -0.33447245],
       [-0.1995092 , -0.97989595,  0.        ],
       [-0.3277482 ,  0.06673033,  0.94240553]]), 'pose_fully_defined': False}}, {'patch': array([0.00376802, 0.01059373, 0.00054214])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.341
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 8 out of 14880 hypotheses for montys_heart (evidence > 0.8218306417861849)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.974
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.385
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 435 out of 17728 hypotheses for tuna_fish_can (evidence > 0.8218306417861849)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.541
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.34119419 0.03690978 1.97426382 0.07767208 0.05673495 0.01237922
 0.38498734 0.07282529 4.54061823 0.08223659]
DEBUG:root:mean evidence: 0.758, std: 1.38 -> th=3.632494585466439
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 4.54
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 189 ---
INFO:uvicorn.access:192.168.1.217:64400 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.8993645 ,  0.12554669, -0.41878578],
       [-0.13825433, -0.99039676,  0.        ],
       [-0.41476408,  0.05789895,  0.90808506]]), 'pose_fully_defined': False}}, {'patch': array([-0.00682303, -0.02941033, -0.00491841])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.341
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 5 out of 14880 hypotheses for montys_heart (evidence > 0.9081236463666098)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.248
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.385
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 402 out of 17728 hypotheses for tuna_fish_can (evidence > 0.9081236463666098)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.891
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.34119419 0.03690978 2.24804058 0.07767208 0.05673495 0.01237922
 0.38498734 0.07282529 4.89107064 0.08223659]
DEBUG:root:mean evidence: 0.82, std: 1.501 -> th=3.91285650834217
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 4.89
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 190 ---
INFO:uvicorn.access:192.168.1.217:64400 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.92664537,  0.0890487 , -0.36523785],
       [-0.09565725, -0.99541433,  0.        ],
       [-0.36356299,  0.03493765,  0.93091423]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00200366, -0.03177515,  0.00088994])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.341
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 5 out of 14880 hypotheses for montys_heart (evidence > 0.9782141270855425)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.596
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.385
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 400 out of 17728 hypotheses for tuna_fish_can (evidence > 0.9782141270855425)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.378
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.34119419 0.03690978 2.59567071 0.07767208 0.05673495 0.01237922
 0.38498734 0.07282529 5.37769173 0.08223659]
DEBUG:root:mean evidence: 0.904, std: 1.667 -> th=4.302153387828887
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 5.38
DEBUG:root:evidences for each object: [0.34119419 0.03690978 2.59567071 0.07767208 0.05673495 0.01237922
 0.38498734 0.07282529 5.37769173 0.08223659]
DEBUG:root:mean evidence: 0.904, std: 1.667 -> th=4.302153387828887
DEBUG:root:evidences for each object: [0.34119419 0.03690978 2.59567071 0.07767208 0.05673495 0.01237922
 0.38498734 0.07282529 5.37769173 0.08223659]
DEBUG:root:mean evidence: 0.904, std: 1.667 -> th=4.571037974568193
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 191 ---
INFO:uvicorn.access:192.168.1.217:64403 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.88818675, -0.08484871, -0.45158054],
       [ 0.09509732, -0.99546798,  0.        ],
       [-0.44953397, -0.0429441 ,  0.89223036]]), 'pose_fully_defined': False}}, {'patch': array([ 1.17197611e-02, -7.49313940e-05,  5.22365693e-02])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.341
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 4 out of 14880 hypotheses for montys_heart (evidence > 1.075538346957222)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.464
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.385
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 382 out of 17728 hypotheses for tuna_fish_can (evidence > 1.075538346957222)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.976
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.34119419 0.03690978 2.46386133 0.07767208 0.05673495 0.01237922
 0.38498734 0.07282529 4.97559527 0.08223659]
DEBUG:root:mean evidence: 0.85, std: 1.545 -> th=3.980476216552443
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 4.98
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 192 ---
INFO:uvicorn.access:192.168.1.217:64403 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.98418065, -0.03681516, -0.1733006 ],
       [ 0.03738077, -0.99930109,  0.        ],
       [-0.17317947, -0.00647811,  0.98486898]]), 'pose_fully_defined': False}}, {'patch': array([-0.01430444,  0.01760983, -0.01165752])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.341
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 4 out of 14880 hypotheses for montys_heart (evidence > 0.9951190541381107)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.705
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.385
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 351 out of 17728 hypotheses for tuna_fish_can (evidence > 0.9951190541381107)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.444
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.34119419 0.03690978 1.70487759 0.07767208 0.05673495 0.01237922
 0.38498734 0.07282529 5.44386472 0.08223659]
DEBUG:root:mean evidence: 0.821, std: 1.615 -> th=4.355091774199751
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 5.44
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 193 ---
INFO:uvicorn.access:192.168.1.217:64403 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.99077873, -0.01302749, -0.1348621 ],
       [ 0.0131476 , -0.99991357,  0.        ],
       [-0.13485044, -0.00177311,  0.99086438]]), 'pose_fully_defined': False}}, {'patch': array([-0.0016439 ,  0.01811579,  0.00340436])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.341
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 3 out of 14880 hypotheses for montys_heart (evidence > 1.0887729435499374)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.894
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.385
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 342 out of 17728 hypotheses for tuna_fish_can (evidence > 1.0887729435499374)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.79
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.34119419 0.03690978 1.89392159 0.07767208 0.05673495 0.01237922
 0.38498734 0.07282529 5.78981462 0.08223659]
DEBUG:root:mean evidence: 0.875, std: 1.725 -> th=4.631851695691951
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 5.79
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 194 ---
INFO:uvicorn.access:192.168.1.217:64403 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.97667125, -0.01035817, -0.21449003],
       [ 0.01060499, -0.99994377,  0.        ],
       [-0.21447797, -0.00227466,  0.97672618]]), 'pose_fully_defined': False}}, {'patch': array([-0.00386242,  0.0118847 ,  0.00285772])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.341
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 2 out of 14880 hypotheses for montys_heart (evidence > 1.1579629239229874)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.152
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.385
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 304 out of 17728 hypotheses for tuna_fish_can (evidence > 1.1579629239229874)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.215
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.34119419 0.03690978 2.1522749  0.07767208 0.05673495 0.01237922
 0.38498734 0.07282529 6.2151896  0.08223659]
DEBUG:root:mean evidence: 0.943, std: 1.861 -> th=4.972151677831022
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 6.22
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 195 ---
INFO:uvicorn.access:192.168.1.217:64403 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.9525996 ,  0.04100838, -0.30145036],
       [-0.04300908, -0.99907468,  0.        ],
       [-0.30117143,  0.0129651 ,  0.95348187]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00325203, -0.00403083, -0.01219118])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.341
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 2 out of 14880 hypotheses for montys_heart (evidence > 1.2430379194577554)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.351
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.385
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 270 out of 17728 hypotheses for tuna_fish_can (evidence > 1.2430379194577554)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.678
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.34119419 0.03690978 2.35064262 0.07767208 0.05673495 0.01237922
 0.38498734 0.07282529 6.67825976 0.08223659]
DEBUG:root:mean evidence: 1.009, std: 2.006 -> th=5.342607805863251
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 6.68
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 196 ---
INFO:uvicorn.access:192.168.1.217:64403 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.91740473,  0.02278587, -0.3973026 ],
       [-0.02482966, -0.9996917 ,  0.        ],
       [-0.39718012,  0.00986489,  0.91768766]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00310785,  0.01061975, -0.0079457 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.341
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
INFO:root:Testing 1 out of 14880 hypotheses for montys_heart (evidence > 1.3356519514658123)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.351
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.385
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 264 out of 17728 hypotheses for tuna_fish_can (evidence > 1.3356519514658123)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.094
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.34119419 0.03690978 1.35064262 0.07767208 0.05673495 0.01237922
 0.38498734 0.07282529 7.09439844 0.08223659]
DEBUG:root:mean evidence: 0.951, std: 2.083 -> th=5.675518748181959
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 7.09
DEBUG:root:evidences for each object: [0.34119419 0.03690978 1.35064262 0.07767208 0.05673495 0.01237922
 0.38498734 0.07282529 7.09439844 0.08223659]
DEBUG:root:mean evidence: 0.951, std: 2.083 -> th=5.675518748181959
DEBUG:root:evidences for each object: [0.34119419 0.03690978 1.35064262 0.07767208 0.05673495 0.01237922
 0.38498734 0.07282529 7.09439844 0.08223659]
DEBUG:root:mean evidence: 0.951, std: 2.083 -> th=6.030238669943332
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 197 ---
INFO:uvicorn.access:192.168.1.217:64404 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.91600489,  0.09414374, -0.38996411],
       [-0.10223791, -0.99475998,  0.        ],
       [-0.38792069,  0.03986911,  0.92083006]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00199909, -0.04289451, -0.01431715])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.341
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.351
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.385
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 260 out of 17728 hypotheses for tuna_fish_can (evidence > 1.4188796870454894)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.503
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.34119419 0.03690978 1.35064262 0.07767208 0.05673495 0.01237922
 0.38498734 0.07282529 7.50334943 0.08223659]
DEBUG:root:mean evidence: 0.992, std: 2.204 -> th=6.002679543402486
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 7.5
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 198 ---
INFO:uvicorn.access:192.168.1.217:64404 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.89831914,  0.10187687, -0.42736848],
       [-0.11268599, -0.99363065,  0.        ],
       [-0.42464642,  0.04815844,  0.90407753]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00473847,  0.02315027, -0.01697304])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.341
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.351
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.385
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 263 out of 17728 hypotheses for tuna_fish_can (evidence > 1.5006698858506216)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.968
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.34119419 0.03690978 1.35064262 0.07767208 0.05673495 0.01237922
 0.38498734 0.07282529 7.9679197  0.08223659]
DEBUG:root:mean evidence: 1.038, std: 2.341 -> th=6.3743357595485755
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 7.97
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 199 ---
INFO:uvicorn.access:192.168.1.217:64404 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64404 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.8870542 ,  0.08530414, -0.45371583],
       [-0.09572404, -0.99540791,  0.        ],
       [-0.45163232,  0.04343151,  0.89114642]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00042801,  0.01595371, -0.00022968])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.341
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.037
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.351
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.078
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.057
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.012
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.385
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.073
INFO:root:Testing 263 out of 17728 hypotheses for tuna_fish_can (evidence > 1.5935839398871439)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.43
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.082
DEBUG:root:evidences for each object: [0.34119419 0.03690978 1.35064262 0.07767208 0.05673495 0.01237922
 0.38498734 0.07282529 8.42967188 0.08223659]
DEBUG:root:mean evidence: 1.085, std: 2.478 -> th=6.743737507416154
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 8.43
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 200 ---
INFO:uvicorn.access:192.168.1.217:64404 - "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/ramen_packet/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/ramen_packet/log.txt (NOTSET)>
