INFO:root:Logger initialized at 2025-09-29 11:37:31.853712
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/hot_sauce/observations',
                                    'vive_url': 'http://192.168.1.237:3001/pose'},
                  'env_init_func': <class 'custom_classes.probe_triggered_environment.ProbeTriggeredUltrasoundEnvironment'>,
                  'rng': RandomState(MT19937) at 0x7F9A903B0440,
                  '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/hot_sauce',
                    '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': 'uopwk8e9'},
 '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']
INFO:uvicorn.access:192.168.1.217:64220 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64220 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64221 - "POST /capture HTTP/1.1" 200
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([[ 0.80835156,  0.12779716,  0.57466133],
       [-0.15615655,  0.98773232,  0.        ],
       [-0.56761157, -0.08973713,  0.81839132]]), 'pose_fully_defined': False}}, None]
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.0
INFO:root:current most likely hypothesis: numenta_mug with evidence 0.0
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'tuna_fish_can', 'hot_sauce', 'ramen_pack', 'montys_heart', 'mustard_bottle', 'tomato_soup_can', 'potted_meat_can', 'harissa_oil', 'montys_brain'}
INFO:root:--- Global Matching Step 1 ---
INFO:uvicorn.access:192.168.1.217:64223 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.64272175,  0.23057343,  0.73057829],
       [-0.33767379,  0.9412632 ,  0.        ],
       [-0.68766646, -0.24669714,  0.68282894]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00313811, -0.01221117, -0.0004643 ])}]
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: 0.497
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: 0.499
INFO:root:Testing 17728 out of 17728 hypotheses for tuna_fish_can (evidence > 0.0)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.04 seconds. New max evidence: 0.5
INFO:root:Testing 19024 out of 19024 hypotheses for potted_meat_can (evidence > 0.0)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.04 seconds. New max evidence: 0.5
INFO:root:current most likely hypothesis: numenta_mug with evidence 0.5
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'tuna_fish_can', 'hot_sauce', 'ramen_pack', 'montys_heart', 'mustard_bottle', 'tomato_soup_can', 'potted_meat_can', 'harissa_oil', 'montys_brain'}
INFO:root:--- Global Matching Step 2 ---
INFO:uvicorn.access:192.168.1.217:64224 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.88319776,  0.09148091,  0.45999235],
       [-0.103028  ,  0.99467846,  0.        ],
       [-0.45754448, -0.04739209,  0.88792288]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0018121 , -0.00231255, -0.0060829 ])}]
INFO:root:Testing 13527 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: 0.969
INFO:root:Testing 10863 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: 0.973
INFO:root:Testing 14014 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: 0.979
INFO:root:Testing 21911 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: 0.978
INFO:root:Testing 14467 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: 0.975
INFO:root:Testing 11954 out of 12560 hypotheses for harissa_oil (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.02 seconds. New max evidence: 0.98
INFO:root:Testing 19845 out of 21832 hypotheses for tomato_soup_can (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.04 seconds. New max evidence: 1.0
INFO:root:Testing 16471 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: 0.983
INFO:root:Testing 15944 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: 0.99
INFO:root:Testing 17420 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: 1.0
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: {'numenta_mug', 'tuna_fish_can', 'hot_sauce', 'ramen_pack', 'montys_heart', 'mustard_bottle', 'tomato_soup_can', 'potted_meat_can', 'harissa_oil', 'montys_brain'}
INFO:root:--- Global Matching Step 3 ---
INFO:uvicorn.access:192.168.1.217:64224 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.90588381,  0.06534661,  0.4184547 ],
       [-0.0719488 ,  0.99740833,  0.        ],
       [-0.4173702 , -0.03010732,  0.90823767]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00055393, -0.00511531,  0.00117549])}]
INFO:root:Testing 12611 out of 14424 hypotheses for numenta_mug (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.03 seconds. New max evidence: 1.451
INFO:root:Testing 10804 out of 10992 hypotheses for montys_brain (evidence > 0.19999999999999996)
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: 1.442
INFO:root:Testing 13599 out of 14880 hypotheses for montys_heart (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.03 seconds. New max evidence: 1.465
INFO:root:Testing 20843 out of 23200 hypotheses for ramen_pack (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.04 seconds. New max evidence: 1.46
INFO:root:Testing 14128 out of 14864 hypotheses for hot_sauce (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.03 seconds. New max evidence: 1.457
INFO:root:Testing 11340 out of 12560 hypotheses for harissa_oil (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 1.458
INFO:root:Testing 18162 out of 21832 hypotheses for tomato_soup_can (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.04 seconds. New max evidence: 1.5
INFO:root:Testing 16047 out of 16976 hypotheses for mustard_bottle (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.03 seconds. New max evidence: 1.463
INFO:root:Testing 13970 out of 17728 hypotheses for tuna_fish_can (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.03 seconds. New max evidence: 1.478
INFO:root:Testing 16087 out of 19024 hypotheses for potted_meat_can (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.03 seconds. New max evidence: 1.457
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 1.5
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'tuna_fish_can', 'hot_sauce', 'ramen_pack', 'montys_heart', 'mustard_bottle', 'tomato_soup_can', 'potted_meat_can', 'harissa_oil', 'montys_brain'}
INFO:root:--- Global Matching Step 4 ---
INFO:uvicorn.access:192.168.1.217:64224 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.85635815,  0.07558602,  0.51082039],
       [-0.08792268,  0.9961273 ,  0.        ],
       [-0.50884214, -0.0449127 ,  0.85968746]]), 'pose_fully_defined': False}}, {'patch': array([-0.00278223, -0.01424526,  0.00227745])}]
INFO:root:Testing 11458 out of 14424 hypotheses for numenta_mug (evidence > 0.2999999999999998)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 1.92
INFO:root:Testing 9878 out of 10992 hypotheses for montys_brain (evidence > 0.2999999999999998)
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: 1.851
INFO:root:Testing 12607 out of 14880 hypotheses for montys_heart (evidence > 0.2999999999999998)
DEBUG:root:Calculating evidence for montys_heart using input 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: 1.93
INFO:root:Testing 18106 out of 23200 hypotheses for ramen_pack (evidence > 0.2999999999999998)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.04 seconds. New max evidence: 1.932
INFO:root:Testing 12503 out of 14864 hypotheses for hot_sauce (evidence > 0.2999999999999998)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 1.933
INFO:root:Testing 10440 out of 12560 hypotheses for harissa_oil (evidence > 0.2999999999999998)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 1.936
INFO:root:Testing 16604 out of 21832 hypotheses for tomato_soup_can (evidence > 0.2999999999999998)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 1.95
INFO:root:Testing 14348 out of 16976 hypotheses for mustard_bottle (evidence > 0.2999999999999998)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 1.943
INFO:root:Testing 12600 out of 17728 hypotheses for tuna_fish_can (evidence > 0.2999999999999998)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 1.95
INFO:root:Testing 14472 out of 19024 hypotheses for potted_meat_can (evidence > 0.2999999999999998)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.03 seconds. New max evidence: 1.947
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 1.95
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'tuna_fish_can', 'hot_sauce', 'ramen_pack', 'montys_heart', 'mustard_bottle', 'tomato_soup_can', 'potted_meat_can', 'harissa_oil', 'montys_brain'}
INFO:root:--- Global Matching Step 5 ---
INFO:uvicorn.access:192.168.1.217:64226 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.89648261,  0.03548682,  0.44165554],
       [-0.03955353,  0.99921745,  0.        ],
       [-0.44130992, -0.01746904,  0.8971847 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00084105, -0.00533581,  0.00319625])}]
INFO:root:Testing 7393 out of 14424 hypotheses for numenta_mug (evidence > 0.3899833407822195)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 2.403
INFO:root:Testing 2958 out of 10992 hypotheses for montys_brain (evidence > 0.3899833407822195)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 2.155
INFO:root:Testing 6636 out of 14880 hypotheses for montys_heart (evidence > 0.3899833407822195)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 2.403
INFO:root:Testing 12065 out of 23200 hypotheses for ramen_pack (evidence > 0.3899833407822195)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 2.413
INFO:root:Testing 6509 out of 14864 hypotheses for hot_sauce (evidence > 0.3899833407822195)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 2.41
INFO:root:Testing 5514 out of 12560 hypotheses for harissa_oil (evidence > 0.3899833407822195)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 2.407
INFO:root:Testing 9908 out of 21832 hypotheses for tomato_soup_can (evidence > 0.3899833407822195)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 2.424
INFO:root:Testing 10283 out of 16976 hypotheses for mustard_bottle (evidence > 0.3899833407822195)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 2.427
INFO:root:Testing 7751 out of 17728 hypotheses for tuna_fish_can (evidence > 0.3899833407822195)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 2.414
INFO:root:Testing 9558 out of 19024 hypotheses for potted_meat_can (evidence > 0.3899833407822195)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 2.423
INFO:root:current most likely hypothesis: mustard_bottle with evidence 2.43
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'tuna_fish_can', 'hot_sauce', 'ramen_pack', 'montys_heart', 'mustard_bottle', 'tomato_soup_can', 'potted_meat_can', 'harissa_oil', 'montys_brain'}
INFO:root:--- Global Matching Step 6 ---
INFO:uvicorn.access:192.168.1.217:64226 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.89146028,  0.08090693,  0.44581681],
       [-0.09038626,  0.99590678,  0.        ],
       [-0.44399199, -0.04029571,  0.89512422]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00506453,  0.00910446, -0.00741477])}]
INFO:root:Testing 5379 out of 14424 hypotheses for numenta_mug (evidence > 0.4854492478711925)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 2.881
INFO:root:Testing 1321 out of 10992 hypotheses for montys_brain (evidence > 0.4854492478711925)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.598
INFO:root:Testing 4682 out of 14880 hypotheses for montys_heart (evidence > 0.4854492478711925)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 2.88
INFO:root:Testing 10241 out of 23200 hypotheses for ramen_pack (evidence > 0.4854492478711925)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 2.854
INFO:root:Testing 4828 out of 14864 hypotheses for hot_sauce (evidence > 0.4854492478711925)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 2.893
INFO:root:Testing 4015 out of 12560 hypotheses for harissa_oil (evidence > 0.4854492478711925)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 2.895
INFO:root:Testing 7313 out of 21832 hypotheses for tomato_soup_can (evidence > 0.4854492478711925)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 2.914
INFO:root:Testing 8792 out of 16976 hypotheses for mustard_bottle (evidence > 0.4854492478711925)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 2.907
INFO:root:Testing 4917 out of 17728 hypotheses for tuna_fish_can (evidence > 0.4854492478711925)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 2.887
INFO:root:Testing 8068 out of 19024 hypotheses for potted_meat_can (evidence > 0.4854492478711925)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 2.92
INFO:root:current most likely hypothesis: potted_meat_can with evidence 2.92
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'tuna_fish_can', 'hot_sauce', 'ramen_pack', 'montys_heart', 'mustard_bottle', 'tomato_soup_can', 'potted_meat_can', 'harissa_oil', 'montys_brain'}
INFO:root:--- Global Matching Step 7 ---
INFO:uvicorn.access:192.168.1.217:64226 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.94221735,  0.06304868,  0.32901569],
       [-0.06676591,  0.99776867,  0.        ],
       [-0.32828155, -0.02196703,  0.94432445]]), 'pose_fully_defined': False}}, {'patch': array([-0.0010825 ,  0.01053069,  0.0022704 ])}]
INFO:root:Testing 5234 out of 14424 hypotheses for numenta_mug (evidence > 0.5839576709806371)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 3.371
INFO:root:Testing 1316 out of 10992 hypotheses for montys_brain (evidence > 0.5839576709806371)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.048
INFO:root:Testing 4573 out of 14880 hypotheses for montys_heart (evidence > 0.5839576709806371)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 3.355
INFO:root:Testing 9933 out of 23200 hypotheses for ramen_pack (evidence > 0.5839576709806371)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 3.315
INFO:root:Testing 4431 out of 14864 hypotheses for hot_sauce (evidence > 0.5839576709806371)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 3.385
INFO:root:Testing 3913 out of 12560 hypotheses for harissa_oil (evidence > 0.5839576709806371)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 3.369
INFO:root:Testing 7036 out of 21832 hypotheses for tomato_soup_can (evidence > 0.5839576709806371)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 3.39
INFO:root:Testing 8595 out of 16976 hypotheses for mustard_bottle (evidence > 0.5839576709806371)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 3.375
INFO:root:Testing 4810 out of 17728 hypotheses for tuna_fish_can (evidence > 0.5839576709806371)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 3.356
INFO:root:Testing 7814 out of 19024 hypotheses for potted_meat_can (evidence > 0.5839576709806371)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 3.405
INFO:root:current most likely hypothesis: potted_meat_can with evidence 3.41
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'tuna_fish_can', 'hot_sauce', 'ramen_pack', 'montys_heart', 'mustard_bottle', 'tomato_soup_can', 'potted_meat_can', 'harissa_oil', 'montys_brain'}
INFO:root:--- Global Matching Step 8 ---
INFO:uvicorn.access:192.168.1.217:64226 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.88424691,  0.03911162,  0.46537908],
       [-0.04418835,  0.99902322,  0.        ],
       [-0.46492451, -0.02056433,  0.88511147]]), 'pose_fully_defined': False}}, {'patch': array([-0.0006162 ,  0.01872394,  0.01047327])}]
INFO:root:Testing 5232 out of 14424 hypotheses for numenta_mug (evidence > 0.6810298059130617)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 3.824
INFO:root:Testing 1316 out of 10992 hypotheses for montys_brain (evidence > 0.6810298059130617)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.468
INFO:root:Testing 4572 out of 14880 hypotheses for montys_heart (evidence > 0.6810298059130617)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 3.785
INFO:root:Testing 9931 out of 23200 hypotheses for ramen_pack (evidence > 0.6810298059130617)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 3.763
INFO:root:Testing 4431 out of 14864 hypotheses for hot_sauce (evidence > 0.6810298059130617)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 3.821
INFO:root:Testing 3943 out of 12560 hypotheses for harissa_oil (evidence > 0.6810298059130617)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 3.83
INFO:root:Testing 7033 out of 21832 hypotheses for tomato_soup_can (evidence > 0.6810298059130617)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 3.848
INFO:root:Testing 8593 out of 16976 hypotheses for mustard_bottle (evidence > 0.6810298059130617)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 3.839
INFO:root:Testing 4809 out of 17728 hypotheses for tuna_fish_can (evidence > 0.6810298059130617)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 3.831
INFO:root:Testing 7811 out of 19024 hypotheses for potted_meat_can (evidence > 0.6810298059130617)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 3.89
DEBUG:root:evidences for each object: [3.82360899 3.46758454 3.78542437 3.76298799 3.82094219 3.8300081
 3.84772185 3.83896429 3.83148297 3.8904202 ]
DEBUG:root:mean evidence: 3.79, std: 0.112 -> th=3.1123361577743176
INFO:root:current most likely hypothesis: potted_meat_can with evidence 3.89
DEBUG:root:evidences for each object: [3.82360899 3.46758454 3.78542437 3.76298799 3.82094219 3.8300081
 3.84772185 3.83896429 3.83148297 3.8904202 ]
DEBUG:root:mean evidence: 3.79, std: 0.112 -> th=3.1123361577743176
DEBUG:root:evidences for each object: [3.82360899 3.46758454 3.78542437 3.76298799 3.82094219 3.8300081
 3.84772185 3.83896429 3.83148297 3.8904202 ]
DEBUG:root:mean evidence: 3.79, std: 0.112 -> th=3.3068571676352123
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'tuna_fish_can', 'hot_sauce', 'ramen_pack', 'montys_heart', 'mustard_bottle', 'tomato_soup_can', 'potted_meat_can', 'harissa_oil', 'montys_brain'}
INFO:root:--- Global Matching Step 9 ---
INFO:uvicorn.access:192.168.1.217:64226 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.89179784,  0.02902922,  0.45150185],
       [-0.03253411,  0.99947063,  0.        ],
       [-0.45126283, -0.01468921,  0.89227019]]), 'pose_fully_defined': False}}, {'patch': array([ 4.28419650e-05,  1.32246124e-02, -1.27338350e-03])}]
INFO:root:Testing 5232 out of 14424 hypotheses for numenta_mug (evidence > 0.7780840394435793)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 4.276
INFO:root:Testing 1316 out of 10992 hypotheses for montys_brain (evidence > 0.7780840394435793)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.62
INFO:root:Testing 4572 out of 14880 hypotheses for montys_heart (evidence > 0.7780840394435793)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 4.17
INFO:root:Testing 9931 out of 23200 hypotheses for ramen_pack (evidence > 0.7780840394435793)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 4.229
INFO:root:Testing 4833 out of 14864 hypotheses for hot_sauce (evidence > 0.7780840394435793)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 4.304
INFO:root:Testing 4870 out of 12560 hypotheses for harissa_oil (evidence > 0.7780840394435793)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 4.284
INFO:root:Testing 7033 out of 21832 hypotheses for tomato_soup_can (evidence > 0.7780840394435793)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 4.275
INFO:root:Testing 8593 out of 16976 hypotheses for mustard_bottle (evidence > 0.7780840394435793)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 4.228
INFO:root:Testing 4809 out of 17728 hypotheses for tuna_fish_can (evidence > 0.7780840394435793)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 4.221
INFO:root:Testing 7811 out of 19024 hypotheses for potted_meat_can (evidence > 0.7780840394435793)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 4.385
DEBUG:root:evidences for each object: [4.27576227 3.62021494 4.17024668 4.22928629 4.30418162 4.28375137
 4.27463498 4.22820573 4.22081434 4.38478707]
DEBUG:root:mean evidence: 4.199, std: 0.201 -> th=3.5078296555840667
INFO:root:current most likely hypothesis: potted_meat_can with evidence 4.38
DEBUG:root:evidences for each object: [4.27576227 3.62021494 4.17024668 4.22928629 4.30418162 4.28375137
 4.27463498 4.22820573 4.22081434 4.38478707]
DEBUG:root:mean evidence: 4.199, std: 0.201 -> th=3.5078296555840667
DEBUG:root:evidences for each object: [4.27576227 3.62021494 4.17024668 4.22928629 4.30418162 4.28375137
 4.27463498 4.22820573 4.22081434 4.38478707]
DEBUG:root:mean evidence: 4.199, std: 0.201 -> th=3.727069009058071
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'tuna_fish_can', 'hot_sauce', 'ramen_pack', 'montys_heart', 'mustard_bottle', 'tomato_soup_can', 'potted_meat_can', 'harissa_oil', 'montys_brain'}
INFO:root:--- Global Matching Step 10 ---
INFO:uvicorn.access:192.168.1.217:64226 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.90150644,  0.06939152,  0.4271662 ],
       [-0.07674583,  0.99705069,  0.        ],
       [-0.42590635, -0.03278323,  0.90417312]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00084371,  0.00068612, -0.00080959])}]
INFO:root:Testing 5077 out of 14424 hypotheses for numenta_mug (evidence > 0.8769574138960166)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 4.757
INFO:root:Testing 1098 out of 10992 hypotheses for montys_brain (evidence > 0.8769574138960166)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 4.063
INFO:root:Testing 4139 out of 14880 hypotheses for montys_heart (evidence > 0.8769574138960166)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 4.639
INFO:root:Testing 9666 out of 23200 hypotheses for ramen_pack (evidence > 0.8769574138960166)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 4.69
INFO:root:Testing 4432 out of 14864 hypotheses for hot_sauce (evidence > 0.8769574138960166)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 4.751
INFO:root:Testing 4179 out of 12560 hypotheses for harissa_oil (evidence > 0.8769574138960166)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 4.754
INFO:root:Testing 6883 out of 21832 hypotheses for tomato_soup_can (evidence > 0.8769574138960166)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 4.753
INFO:root:Testing 8286 out of 16976 hypotheses for mustard_bottle (evidence > 0.8769574138960166)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 4.682
INFO:root:Testing 4635 out of 17728 hypotheses for tuna_fish_can (evidence > 0.8769574138960166)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 4.689
INFO:root:Testing 7660 out of 19024 hypotheses for potted_meat_can (evidence > 0.8769574138960166)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 4.875
DEBUG:root:evidences for each object: [4.75697057 4.06314059 4.63859258 4.69005034 4.75107519 4.75428958
 4.75324831 4.68243048 4.68927572 4.87525968]
DEBUG:root:mean evidence: 4.665, std: 0.21 -> th=3.900207744370385
INFO:root:current most likely hypothesis: potted_meat_can with evidence 4.88
DEBUG:root:evidences for each object: [4.75697057 4.06314059 4.63859258 4.69005034 4.75107519 4.75428958
 4.75324831 4.68243048 4.68927572 4.87525968]
DEBUG:root:mean evidence: 4.665, std: 0.21 -> th=3.900207744370385
DEBUG:root:evidences for each object: [4.75697057 4.06314059 4.63859258 4.69005034 4.75107519 4.75428958
 4.75324831 4.68243048 4.68927572 4.87525968]
DEBUG:root:mean evidence: 4.665, std: 0.21 -> th=4.143970728393533
DEBUG:root:Hypothesis jump indicated: sufficient steps elapsed with no jump
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'tuna_fish_can', 'hot_sauce', 'ramen_pack', 'montys_heart', 'mustard_bottle', 'tomato_soup_can', 'potted_meat_can', 'harissa_oil', 'montys_brain'}
INFO:root:--- Global Matching Step 11 ---
INFO:uvicorn.access:192.168.1.217:64228 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.93371766,  0.06635841,  0.35180662],
       [-0.07089023,  0.99748412,  0.        ],
       [-0.35092152, -0.02493965,  0.9360727 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.0056524 ,  0.01794294, -0.00887807])}]
INFO:root:Testing 4086 out of 14424 hypotheses for numenta_mug (evidence > 0.975051936092596)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 5.236
INFO:root:Testing 473 out of 10992 hypotheses for montys_brain (evidence > 0.975051936092596)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.957
INFO:root:Testing 3224 out of 14880 hypotheses for montys_heart (evidence > 0.975051936092596)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 4.966
INFO:root:Testing 8657 out of 23200 hypotheses for ramen_pack (evidence > 0.975051936092596)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 5.145
INFO:root:Testing 3660 out of 14864 hypotheses for hot_sauce (evidence > 0.975051936092596)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 5.206
INFO:root:Testing 3401 out of 12560 hypotheses for harissa_oil (evidence > 0.975051936092596)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 5.196
INFO:root:Testing 5589 out of 21832 hypotheses for tomato_soup_can (evidence > 0.975051936092596)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 5.199
INFO:root:Testing 7466 out of 16976 hypotheses for mustard_bottle (evidence > 0.975051936092596)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 5.156
INFO:root:Testing 3736 out of 17728 hypotheses for tuna_fish_can (evidence > 0.975051936092596)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 5.025
INFO:root:Testing 7064 out of 19024 hypotheses for potted_meat_can (evidence > 0.975051936092596)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 5.109
DEBUG:root:evidences for each object: [5.23576988 3.95747802 4.9655084  5.14485223 5.20625645 5.19561599
 5.19942442 5.15561685 5.02453386 5.10929858]
DEBUG:root:mean evidence: 5.019, std: 0.363 -> th=4.18861590484968
INFO:root:current most likely hypothesis: numenta_mug with evidence 5.24
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'tuna_fish_can', 'hot_sauce', 'ramen_pack', 'montys_heart', 'mustard_bottle', 'tomato_soup_can', 'potted_meat_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 12 ---
INFO:uvicorn.access:192.168.1.217:64229 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 9.99525400e-01,  3.08023307e-02,  4.36964428e-04],
       [-3.08023337e-02,  9.99525496e-01,  0.00000000e+00],
       [-4.36757087e-04, -1.34595241e-05,  9.99999905e-01]]), 'pose_fully_defined': False}}, {'patch': array([0.0081876 , 0.01443987, 0.01052452])}]
INFO:root:Testing 3113 out of 14424 hypotheses for numenta_mug (evidence > 1.04715397621242)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 4.977
INFO:root:Testing 167 out of 10992 hypotheses for montys_brain (evidence > 1.04715397621242)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.957
INFO:root:Testing 1911 out of 14880 hypotheses for montys_heart (evidence > 1.04715397621242)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 4.085
INFO:root:Testing 6964 out of 23200 hypotheses for ramen_pack (evidence > 1.04715397621242)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 5.264
INFO:root:Testing 3149 out of 14864 hypotheses for hot_sauce (evidence > 1.04715397621242)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 5.361
INFO:root:Testing 2183 out of 12560 hypotheses for harissa_oil (evidence > 1.04715397621242)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 4.196
INFO:root:Testing 4842 out of 21832 hypotheses for tomato_soup_can (evidence > 1.04715397621242)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 5.02
INFO:root:Testing 5919 out of 16976 hypotheses for mustard_bottle (evidence > 1.04715397621242)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 5.3
INFO:root:Testing 3182 out of 17728 hypotheses for tuna_fish_can (evidence > 1.04715397621242)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 5.063
INFO:root:Testing 5829 out of 19024 hypotheses for potted_meat_can (evidence > 1.04715397621242)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 5.016
DEBUG:root:evidences for each object: [4.97656505 2.95747802 4.08467241 5.26397293 5.36062381 4.19561599
 5.01970927 5.29981461 5.06318233 5.01591621]
DEBUG:root:mean evidence: 4.724, std: 0.72 -> th=4.288499045218018
INFO:root:current most likely hypothesis: hot_sauce with evidence 5.36
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'tuna_fish_can', 'hot_sauce', 'ramen_pack', 'mustard_bottle', 'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 13 ---
INFO:uvicorn.access:192.168.1.217:64229 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.89098884,  0.05162224,  0.45108097],
       [-0.05784114,  0.9983258 ,  0.        ],
       [-0.45032577, -0.02609104,  0.89248303]]), 'pose_fully_defined': False}}, {'patch': array([-0.01602553,  0.01538734, -0.01610294])}]
INFO:root:Testing 2494 out of 14424 hypotheses for numenta_mug (evidence > 1.0721247613045044)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 5.063
INFO:root:Testing 97 out of 10992 hypotheses for montys_brain (evidence > 1.0721247613045044)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.957
INFO:root:Testing 1247 out of 14880 hypotheses for montys_heart (evidence > 1.0721247613045044)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.364
INFO:root:Testing 5904 out of 23200 hypotheses for ramen_pack (evidence > 1.0721247613045044)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 5.662
INFO:root:Testing 2626 out of 14864 hypotheses for hot_sauce (evidence > 1.0721247613045044)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 5.544
INFO:root:Testing 1694 out of 12560 hypotheses for harissa_oil (evidence > 1.0721247613045044)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.196
INFO:root:Testing 4136 out of 21832 hypotheses for tomato_soup_can (evidence > 1.0721247613045044)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 5.318
INFO:root:Testing 4652 out of 16976 hypotheses for mustard_bottle (evidence > 1.0721247613045044)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 5.268
INFO:root:Testing 2868 out of 17728 hypotheses for tuna_fish_can (evidence > 1.0721247613045044)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 4.063
INFO:root:Testing 5110 out of 19024 hypotheses for potted_meat_can (evidence > 1.0721247613045044)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 4.903
DEBUG:root:evidences for each object: [5.06281146 1.95747802 4.36392625 5.66151609 5.54373411 3.19561599
 5.31846149 5.26841329 4.06318233 4.9025384 ]
DEBUG:root:mean evidence: 4.534, std: 1.12 -> th=4.5292128691692675
INFO:root:current most likely hypothesis: ramen_pack with evidence 5.66
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'hot_sauce', 'ramen_pack', 'mustard_bottle', 'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 14 ---
INFO:uvicorn.access:192.168.1.217:64229 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64229 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.91082779,  0.0424617 ,  0.41059682],
       [-0.04656823,  0.99891511,  0.        ],
       [-0.41015137, -0.01912077,  0.91181701]]), 'pose_fully_defined': False}}, {'patch': array([-0.00133831,  0.0116792 , -0.00111557])}]
INFO:root:Testing 1904 out of 14424 hypotheses for numenta_mug (evidence > 1.1323032172923169)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 4.063
INFO:root:Testing 5 out of 10992 hypotheses for montys_brain (evidence > 1.1323032172923169)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 762 out of 14880 hypotheses for montys_heart (evidence > 1.1323032172923169)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.302
INFO:root:Testing 5170 out of 23200 hypotheses for ramen_pack (evidence > 1.1323032172923169)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 5.614
INFO:root:Testing 2325 out of 14864 hypotheses for hot_sauce (evidence > 1.1323032172923169)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 5.729
INFO:root:Testing 1154 out of 12560 hypotheses for harissa_oil (evidence > 1.1323032172923169)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.196
INFO:root:Testing 2582 out of 21832 hypotheses for tomato_soup_can (evidence > 1.1323032172923169)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 4.697
INFO:root:Testing 3583 out of 16976 hypotheses for mustard_bottle (evidence > 1.1323032172923169)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 5.418
INFO:root:Testing 1852 out of 17728 hypotheses for tuna_fish_can (evidence > 1.1323032172923169)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 3.063
INFO:root:Testing 3793 out of 19024 hypotheses for potted_meat_can (evidence > 1.1323032172923169)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 4.793
DEBUG:root:evidences for each object: [4.06281146 1.09490436 4.3022498  5.61359219 5.72872439 2.19561599
 4.69682911 5.41822276 3.06318233 4.79297183]
DEBUG:root:mean evidence: 4.097, std: 1.459 -> th=4.58297950991002
INFO:root:current most likely hypothesis: hot_sauce with evidence 5.73
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack', 'mustard_bottle', 'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 15 ---
INFO:uvicorn.access:192.168.1.217:64229 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.85878972, -0.01326848,  0.51215639],
       [ 0.01544836,  0.99988067, -0.        ],
       [-0.51209528,  0.00791198,  0.85889221]]), 'pose_fully_defined': False}}, {'patch': array([0.00069891, 0.01206621, 0.0019817 ])}]
INFO:root:Testing 1279 out of 14424 hypotheses for numenta_mug (evidence > 1.1457448774775045)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.264
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 475 out of 14880 hypotheses for montys_heart (evidence > 1.1457448774775045)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.084
INFO:root:Testing 4457 out of 23200 hypotheses for ramen_pack (evidence > 1.1457448774775045)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 5.343
INFO:root:Testing 1864 out of 14864 hypotheses for hot_sauce (evidence > 1.1457448774775045)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.885
INFO:root:Testing 576 out of 12560 hypotheses for harissa_oil (evidence > 1.1457448774775045)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 1.196
INFO:root:Testing 1555 out of 21832 hypotheses for tomato_soup_can (evidence > 1.1457448774775045)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.697
INFO:root:Testing 2828 out of 16976 hypotheses for mustard_bottle (evidence > 1.1457448774775045)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 5.482
INFO:root:Testing 729 out of 17728 hypotheses for tuna_fish_can (evidence > 1.1457448774775045)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.063
INFO:root:Testing 2548 out of 19024 hypotheses for potted_meat_can (evidence > 1.1457448774775045)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 4.173
DEBUG:root:evidences for each object: [3.26385035 1.09490436 4.0840997  5.34292047 5.88494393 1.19561599
 3.69682911 5.48191589 2.06318233 4.17326488]
DEBUG:root:mean evidence: 3.628, std: 1.64 -> th=4.707955145464791
INFO:root:current most likely hypothesis: hot_sauce with evidence 5.88
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 16 ---
INFO:uvicorn.access:192.168.1.217:64229 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.95792491,  0.03205612,  0.2852232 ],
       [-0.03344541,  0.99944055,  0.        ],
       [-0.28506363, -0.00953941,  0.95846112]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00255957, -0.00813642, -0.00265963])}]
INFO:root:Testing 370 out of 14424 hypotheses for numenta_mug (evidence > 1.1769887863661976)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.311
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 80 out of 14880 hypotheses for montys_heart (evidence > 1.1769887863661976)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.363
INFO:root:Testing 2745 out of 23200 hypotheses for ramen_pack (evidence > 1.1769887863661976)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 5.801
INFO:root:Testing 1217 out of 14864 hypotheses for hot_sauce (evidence > 1.1769887863661976)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.212
INFO:root:Testing 2 out of 12560 hypotheses for harissa_oil (evidence > 1.1769887863661976)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 1.166
INFO:root:Testing 620 out of 21832 hypotheses for tomato_soup_can (evidence > 1.1769887863661976)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.987
INFO:root:Testing 1739 out of 16976 hypotheses for mustard_bottle (evidence > 1.1769887863661976)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.922
INFO:root:Testing 30 out of 17728 hypotheses for tuna_fish_can (evidence > 1.1769887863661976)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 360 out of 19024 hypotheses for potted_meat_can (evidence > 1.1769887863661976)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.462
DEBUG:root:evidences for each object: [3.31100062 1.09490436 4.36337405 5.80142166 6.21154066 1.16589006
 3.98732259 5.92153308 1.16372623 4.4622547 ]
DEBUG:root:mean evidence: 3.748, std: 1.911 -> th=4.969232529489597
INFO:root:current most likely hypothesis: hot_sauce with evidence 6.21
DEBUG:root:evidences for each object: [3.31100062 1.09490436 4.36337405 5.80142166 6.21154066 1.16589006
 3.98732259 5.92153308 1.16372623 4.4622547 ]
DEBUG:root:mean evidence: 3.748, std: 1.911 -> th=4.969232529489597
DEBUG:root:evidences for each object: [3.31100062 1.09490436 4.36337405 5.80142166 6.21154066 1.16589006
 3.98732259 5.92153308 1.16372623 4.4622547 ]
DEBUG:root:mean evidence: 3.748, std: 1.911 -> th=5.279809562582697
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 17 ---
INFO:uvicorn.access:192.168.1.217:64229 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.91451042,  0.07566386,  0.39742379],
       [-0.08245528,  0.99659477,  0.        ],
       [-0.39607047, -0.03276969,  0.91763519]]), 'pose_fully_defined': False}}, {'patch': array([-0.00011779, -0.02703888,  0.00102342])}]
INFO:root:Testing 51 out of 14424 hypotheses for numenta_mug (evidence > 1.2423081323723988)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.521
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 24 out of 14880 hypotheses for montys_heart (evidence > 1.2423081323723988)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.164
INFO:root:Testing 2048 out of 23200 hypotheses for ramen_pack (evidence > 1.2423081323723988)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 6.26
INFO:root:Testing 886 out of 14864 hypotheses for hot_sauce (evidence > 1.2423081323723988)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.393
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 320 out of 21832 hypotheses for tomato_soup_can (evidence > 1.2423081323723988)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.447
INFO:root:Testing 1356 out of 16976 hypotheses for mustard_bottle (evidence > 1.2423081323723988)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.385
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 136 out of 19024 hypotheses for potted_meat_can (evidence > 1.2423081323723988)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.875
DEBUG:root:evidences for each object: [3.5210392  1.09490436 4.16421449 6.26009299 6.39291387 1.16589006
 4.44677167 6.38459315 1.16372623 4.87524662]
DEBUG:root:mean evidence: 3.947, std: 2.055 -> th=5.1143310969683355
INFO:root:current most likely hypothesis: hot_sauce with evidence 6.39
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 18 ---
INFO:uvicorn.access:192.168.1.217:64229 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.91527898,  0.08544302,  0.39365452],
       [-0.09294777,  0.99567099,  0.        ],
       [-0.39195038, -0.03658931,  0.91925846]]), 'pose_fully_defined': False}}, {'patch': array([-0.00058517, -0.00918936, -0.00149558])}]
INFO:root:Testing 48 out of 14424 hypotheses for numenta_mug (evidence > 1.2785827742420839)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.934
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 24 out of 14880 hypotheses for montys_heart (evidence > 1.2785827742420839)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.598
INFO:root:Testing 2041 out of 23200 hypotheses for ramen_pack (evidence > 1.2785827742420839)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 6.718
INFO:root:Testing 871 out of 14864 hypotheses for hot_sauce (evidence > 1.2785827742420839)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.592
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 314 out of 21832 hypotheses for tomato_soup_can (evidence > 1.2785827742420839)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.914
INFO:root:Testing 1342 out of 16976 hypotheses for mustard_bottle (evidence > 1.2785827742420839)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.775
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 133 out of 19024 hypotheses for potted_meat_can (evidence > 1.2785827742420839)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.283
DEBUG:root:evidences for each object: [3.93373303 1.09490436 4.59849082 6.71756702 6.59155093 1.16589006
 4.91397814 6.77516725 1.16372623 5.28292449]
DEBUG:root:mean evidence: 4.224, std: 2.206 -> th=5.42013379802363
INFO:root:current most likely hypothesis: mustard_bottle with evidence 6.78
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 19 ---
INFO:uvicorn.access:192.168.1.217:64229 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.95986056,  0.08247014,  0.26807907],
       [-0.08560349,  0.99632928,  0.        ],
       [-0.26709503, -0.0229485 ,  0.96339691]]), 'pose_fully_defined': False}}, {'patch': array([-4.81647533e-05, -8.01677893e-03, -1.31040633e-03])}]
INFO:root:Testing 44 out of 14424 hypotheses for numenta_mug (evidence > 1.3550334495059069)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.25
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 23 out of 14880 hypotheses for montys_heart (evidence > 1.3550334495059069)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.815
INFO:root:Testing 2017 out of 23200 hypotheses for ramen_pack (evidence > 1.3550334495059069)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 7.194
INFO:root:Testing 845 out of 14864 hypotheses for hot_sauce (evidence > 1.3550334495059069)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.051
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 305 out of 21832 hypotheses for tomato_soup_can (evidence > 1.3550334495059069)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.382
INFO:root:Testing 1287 out of 16976 hypotheses for mustard_bottle (evidence > 1.3550334495059069)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.157
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 124 out of 19024 hypotheses for potted_meat_can (evidence > 1.3550334495059069)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.623
DEBUG:root:evidences for each object: [4.25031202 1.09490436 4.81538238 7.19379241 7.05137444 1.16589006
 5.38165908 7.15734912 1.16372623 5.62325988]
DEBUG:root:mean evidence: 4.49, std: 2.385 -> th=5.755033931162077
INFO:root:current most likely hypothesis: ramen_pack with evidence 7.19
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 20 ---
INFO:uvicorn.access:192.168.1.217:64229 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98098581,  0.08361903,  0.17514193],
       [-0.08493181,  0.99638677,  0.        ],
       [-0.1745091 , -0.01487512,  0.9845432 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00120993, -0.00720443,  0.00111697])}]
INFO:root:Testing 39 out of 14424 hypotheses for numenta_mug (evidence > 1.4387584827905187)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.588
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 20 out of 14880 hypotheses for montys_heart (evidence > 1.4387584827905187)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.222
INFO:root:Testing 1964 out of 23200 hypotheses for ramen_pack (evidence > 1.4387584827905187)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 7.623
INFO:root:Testing 807 out of 14864 hypotheses for hot_sauce (evidence > 1.4387584827905187)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.532
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 289 out of 21832 hypotheses for tomato_soup_can (evidence > 1.4387584827905187)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.856
INFO:root:Testing 1205 out of 16976 hypotheses for mustard_bottle (evidence > 1.4387584827905187)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.61
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 97 out of 19024 hypotheses for potted_meat_can (evidence > 1.4387584827905187)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.923
DEBUG:root:evidences for each object: [4.58751172 1.09490436 5.22237056 7.62324838 7.53172413 1.16589006
 5.85560629 7.60991285 1.16372623 5.92320701]
DEBUG:root:mean evidence: 4.778, std: 2.571 -> th=6.0985987072765635
INFO:root:current most likely hypothesis: ramen_pack with evidence 7.62
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 21 ---
INFO:uvicorn.access:192.168.1.217:64229 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64229 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.71615079,  0.08506304,  0.69274261],
       [-0.11794901,  0.99301965,  0.        ],
       [-0.68790703, -0.0817083 ,  0.72118491]]), 'pose_fully_defined': False}}, {'patch': array([-0.0002846 , -0.00214004,  0.00171702])}]
INFO:root:Testing 38 out of 14424 hypotheses for numenta_mug (evidence > 1.5246496768191404)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.846
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 18 out of 14880 hypotheses for montys_heart (evidence > 1.5246496768191404)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.321
INFO:root:Testing 1871 out of 23200 hypotheses for ramen_pack (evidence > 1.5246496768191404)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 7.902
INFO:root:Testing 777 out of 14864 hypotheses for hot_sauce (evidence > 1.5246496768191404)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.766
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 280 out of 21832 hypotheses for tomato_soup_can (evidence > 1.5246496768191404)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.178
INFO:root:Testing 1145 out of 16976 hypotheses for mustard_bottle (evidence > 1.5246496768191404)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.983
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 79 out of 19024 hypotheses for potted_meat_can (evidence > 1.5246496768191404)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.329
DEBUG:root:evidences for each object: [4.84630498 1.09490436 5.32065485 7.90164098 7.76587635 1.16589006
 6.17752192 7.98279617 1.16372623 6.32869406]
DEBUG:root:mean evidence: 4.975, std: 2.7 -> th=6.386236939876065
INFO:root:current most likely hypothesis: mustard_bottle with evidence 7.98
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 22 ---
INFO:uvicorn.access:192.168.1.217:64229 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.28265016, -0.01025135, -0.95916828],
       [ 0.03624486,  0.99934294, -0.        ],
       [ 0.95853805, -0.03476492,  0.282836  ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00305945, -0.00924373,  0.00273907])}]
INFO:root:Testing 38 out of 14424 hypotheses for numenta_mug (evidence > 1.5965592349690159)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.549
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 17 out of 14880 hypotheses for montys_heart (evidence > 1.5965592349690159)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.297
INFO:root:Testing 1809 out of 23200 hypotheses for ramen_pack (evidence > 1.5965592349690159)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 7.684
INFO:root:Testing 756 out of 14864 hypotheses for hot_sauce (evidence > 1.5965592349690159)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.692
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 278 out of 21832 hypotheses for tomato_soup_can (evidence > 1.5965592349690159)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.988
INFO:root:Testing 1103 out of 16976 hypotheses for mustard_bottle (evidence > 1.5965592349690159)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.083
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 71 out of 19024 hypotheses for potted_meat_can (evidence > 1.5965592349690159)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.026
DEBUG:root:evidences for each object: [4.54894102 1.09490436 5.29677517 7.68383325 7.69214336 1.16589006
 5.98813061 8.0833259  1.16372623 6.02573277]
DEBUG:root:mean evidence: 4.874, std: 2.661 -> th=6.466660717105673
INFO:root:current most likely hypothesis: mustard_bottle with evidence 8.08
DEBUG:root:evidences for each object: [4.54894102 1.09490436 5.29677517 7.68383325 7.69214336 1.16589006
 5.98813061 8.0833259  1.16372623 6.02573277]
DEBUG:root:mean evidence: 4.874, std: 2.661 -> th=6.466660717105673
DEBUG:root:evidences for each object: [4.54894102 1.09490436 5.29677517 7.68383325 7.69214336 1.16589006
 5.98813061 8.0833259  1.16372623 6.02573277]
DEBUG:root:mean evidence: 4.874, std: 2.661 -> th=6.870827011924777
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 23 ---
INFO:uvicorn.access:192.168.1.217:64229 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.93083484,  0.079033  ,  0.35679166],
       [-0.08460111,  0.9964149 ,  0.        ],
       [-0.35551253, -0.03018497,  0.93418398]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00347346, -0.00609536,  0.00068544])}]
INFO:root:Testing 38 out of 14424 hypotheses for numenta_mug (evidence > 1.616665179276418)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.966
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 1.616665179276418)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.712
INFO:root:Testing 1796 out of 23200 hypotheses for ramen_pack (evidence > 1.616665179276418)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 8.175
INFO:root:Testing 754 out of 14864 hypotheses for hot_sauce (evidence > 1.616665179276418)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.167
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 278 out of 21832 hypotheses for tomato_soup_can (evidence > 1.616665179276418)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.453
INFO:root:Testing 1092 out of 16976 hypotheses for mustard_bottle (evidence > 1.616665179276418)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.542
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 69 out of 19024 hypotheses for potted_meat_can (evidence > 1.616665179276418)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.414
DEBUG:root:evidences for each object: [4.96649537 1.09490436 5.71179196 8.17477186 8.16737711 1.16589006
 6.45250144 8.54223466 1.16372623 6.41378393]
DEBUG:root:mean evidence: 5.185, std: 2.857 -> th=6.833787730752553
INFO:root:current most likely hypothesis: mustard_bottle with evidence 8.54
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 24 ---
INFO:uvicorn.access:192.168.1.217:64229 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.92732886,  0.08522224,  0.36441509],
       [-0.09151513,  0.99580369,  0.        ],
       [-0.36288589, -0.03334949,  0.93123662]]), 'pose_fully_defined': False}}, {'patch': array([0.00113034, 0.00771018, 0.00146536])}]
INFO:root:Testing 54 out of 14424 hypotheses for numenta_mug (evidence > 1.7084469326881377)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.363
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 17 out of 14880 hypotheses for montys_heart (evidence > 1.7084469326881377)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.148
INFO:root:Testing 1796 out of 23200 hypotheses for ramen_pack (evidence > 1.7084469326881377)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 8.663
INFO:root:Testing 755 out of 14864 hypotheses for hot_sauce (evidence > 1.7084469326881377)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.6
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 282 out of 21832 hypotheses for tomato_soup_can (evidence > 1.7084469326881377)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.919
INFO:root:Testing 1113 out of 16976 hypotheses for mustard_bottle (evidence > 1.7084469326881377)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.999
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 76 out of 19024 hypotheses for potted_meat_can (evidence > 1.7084469326881377)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.807
DEBUG:root:evidences for each object: [5.36272278 1.09490436 6.14808566 8.66262036 8.59970934 1.16589006
 6.91919637 8.99907126 1.16372623 6.80668236]
DEBUG:root:mean evidence: 5.492, std: 3.05 -> th=7.199257007656456
INFO:root:current most likely hypothesis: mustard_bottle with evidence 9.0
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 25 ---
INFO:uvicorn.access:192.168.1.217:64229 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.69671246,  0.10193883,  0.71007057],
       [-0.14477264,  0.98946495,  0.        ],
       [-0.70258994, -0.10279879,  0.70413051]]), 'pose_fully_defined': False}}, {'patch': array([-0.0075715 ,  0.00236968,  0.00433788])}]
INFO:root:Testing 881 out of 14424 hypotheses for numenta_mug (evidence > 1.799814251914114)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.781
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 84 out of 14880 hypotheses for montys_heart (evidence > 1.799814251914114)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.539
INFO:root:Testing 1804 out of 23200 hypotheses for ramen_pack (evidence > 1.799814251914114)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 9.116
INFO:root:Testing 764 out of 14864 hypotheses for hot_sauce (evidence > 1.799814251914114)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.092
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 830 out of 21832 hypotheses for tomato_soup_can (evidence > 1.799814251914114)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.404
INFO:root:Testing 1183 out of 16976 hypotheses for mustard_bottle (evidence > 1.799814251914114)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.444
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 373 out of 19024 hypotheses for potted_meat_can (evidence > 1.799814251914114)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.202
DEBUG:root:evidences for each object: [5.78117954 1.09490436 6.53932434 9.11553547 9.09178979 1.16589006
 7.40360376 9.44352387 1.16372623 7.20232894]
DEBUG:root:mean evidence: 5.8, std: 3.245 -> th=7.554819095411131
INFO:root:current most likely hypothesis: mustard_bottle with evidence 9.44
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 26 ---
INFO:uvicorn.access:192.168.1.217:64229 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.63735472,  0.10951215,  0.762749  ],
       [-0.16934136,  0.98555746,  0.        ],
       [-0.75173297, -0.12916495,  0.64669464]]), 'pose_fully_defined': False}}, {'patch': array([-0.007201  ,  0.0110151 , -0.00048181])}]
INFO:root:Testing 842 out of 14424 hypotheses for numenta_mug (evidence > 1.8887047738527825)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.155
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 82 out of 14880 hypotheses for montys_heart (evidence > 1.8887047738527825)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.008
INFO:root:Testing 1803 out of 23200 hypotheses for ramen_pack (evidence > 1.8887047738527825)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 9.286
INFO:root:Testing 763 out of 14864 hypotheses for hot_sauce (evidence > 1.8887047738527825)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.582
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 729 out of 21832 hypotheses for tomato_soup_can (evidence > 1.8887047738527825)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.824
INFO:root:Testing 1181 out of 16976 hypotheses for mustard_bottle (evidence > 1.8887047738527825)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.85
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 335 out of 19024 hypotheses for potted_meat_can (evidence > 1.8887047738527825)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.555
DEBUG:root:evidences for each object: [6.15466663 1.09490436 6.00753554 9.28570641 9.58219591 1.16589006
 7.82440862 9.84968036 1.16372623 7.5549469 ]
DEBUG:root:mean evidence: 5.968, std: 3.392 -> th=7.879744287794682
INFO:root:current most likely hypothesis: mustard_bottle with evidence 9.85
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 27 ---
INFO:uvicorn.access:192.168.1.217:64229 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.42035222,  0.10006126,  0.9018269 ],
       [-0.23157102,  0.972818  ,  0.        ],
       [-0.87731344, -0.20883697,  0.4320975 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00322789,  0.01153719, -0.00098339])}]
INFO:root:Testing 690 out of 14424 hypotheses for numenta_mug (evidence > 1.9699360719486698)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.291
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 76 out of 14880 hypotheses for montys_heart (evidence > 1.9699360719486698)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.327
INFO:root:Testing 1797 out of 23200 hypotheses for ramen_pack (evidence > 1.9699360719486698)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 9.514
INFO:root:Testing 759 out of 14864 hypotheses for hot_sauce (evidence > 1.9699360719486698)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.911
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 640 out of 21832 hypotheses for tomato_soup_can (evidence > 1.9699360719486698)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.105
INFO:root:Testing 1149 out of 16976 hypotheses for mustard_bottle (evidence > 1.9699360719486698)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.094
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 236 out of 19024 hypotheses for potted_meat_can (evidence > 1.9699360719486698)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.555
DEBUG:root:evidences for each object: [ 6.29090867  1.09490436  6.32723785  9.51414928  9.91106922  1.16589006
  8.10514519 10.09394539  1.16372623  6.5549469 ]
DEBUG:root:mean evidence: 6.022, std: 3.466 -> th=8.075156315147563
INFO:root:current most likely hypothesis: mustard_bottle with evidence 10.09
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 28 ---
INFO:uvicorn.access:192.168.1.217:64229 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.79875077,  0.14029468,  0.58507658],
       [-0.17299442,  0.9849228 ,  0.        ],
       [-0.57625527, -0.10121498,  0.81097805]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00728429,  0.002547  , -0.00312159])}]
INFO:root:Testing 477 out of 14424 hypotheses for numenta_mug (evidence > 2.01878907878689)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.773
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 70 out of 14880 hypotheses for montys_heart (evidence > 2.01878907878689)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.741
INFO:root:Testing 1741 out of 23200 hypotheses for ramen_pack (evidence > 2.01878907878689)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 9.994
INFO:root:Testing 736 out of 14864 hypotheses for hot_sauce (evidence > 2.01878907878689)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.394
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 521 out of 21832 hypotheses for tomato_soup_can (evidence > 2.01878907878689)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.583
INFO:root:Testing 1117 out of 16976 hypotheses for mustard_bottle (evidence > 2.01878907878689)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.589
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 141 out of 19024 hypotheses for potted_meat_can (evidence > 2.01878907878689)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.033
DEBUG:root:evidences for each object: [ 6.77333414  1.09490436  6.74060925  9.99428584 10.39364476  1.16589006
  8.58322664 10.58939482  1.16372623  7.03346556]
DEBUG:root:mean evidence: 6.353, std: 3.671 -> th=8.471515857728107
INFO:root:current most likely hypothesis: mustard_bottle with evidence 10.59
DEBUG:root:evidences for each object: [ 6.77333414  1.09490436  6.74060925  9.99428584 10.39364476  1.16589006
  8.58322664 10.58939482  1.16372623  7.03346556]
DEBUG:root:mean evidence: 6.353, std: 3.671 -> th=8.471515857728107
DEBUG:root:evidences for each object: [ 6.77333414  1.09490436  6.74060925  9.99428584 10.39364476  1.16589006
  8.58322664 10.58939482  1.16372623  7.03346556]
DEBUG:root:mean evidence: 6.353, std: 3.671 -> th=9.000985598836113
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 29 ---
INFO:uvicorn.access:192.168.1.217:64229 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64229 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.86578189,  0.10831637,  0.48855837],
       [-0.1241404 ,  0.99226466,  0.        ],
       [-0.4847792 , -0.06064983,  0.87253122]]), 'pose_fully_defined': False}}, {'patch': array([-0.00149649,  0.019736  , -0.00198855])}]
INFO:root:Testing 425 out of 14424 hypotheses for numenta_mug (evidence > 2.117878964432027)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.051
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 56 out of 14880 hypotheses for montys_heart (evidence > 2.117878964432027)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.085
INFO:root:Testing 1737 out of 23200 hypotheses for ramen_pack (evidence > 2.117878964432027)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 10.447
INFO:root:Testing 726 out of 14864 hypotheses for hot_sauce (evidence > 2.117878964432027)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.84
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 505 out of 21832 hypotheses for tomato_soup_can (evidence > 2.117878964432027)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.056
INFO:root:Testing 1103 out of 16976 hypotheses for mustard_bottle (evidence > 2.117878964432027)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.076
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 130 out of 19024 hypotheses for potted_meat_can (evidence > 2.117878964432027)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.517
DEBUG:root:evidences for each object: [ 7.05073168  1.09490436  7.08502996 10.44712484 10.84046504  1.16589006
  9.05554264 11.07621535  1.16372623  7.51717561]
DEBUG:root:mean evidence: 6.65, std: 3.866 -> th=8.860972278649125
INFO:root:current most likely hypothesis: mustard_bottle with evidence 11.08
DEBUG:root:evidences for each object: [ 7.05073168  1.09490436  7.08502996 10.44712484 10.84046504  1.16589006
  9.05554264 11.07621535  1.16372623  7.51717561]
DEBUG:root:mean evidence: 6.65, std: 3.866 -> th=8.860972278649125
DEBUG:root:evidences for each object: [ 7.05073168  1.09490436  7.08502996 10.44712484 10.84046504  1.16589006
  9.05554264 11.07621535  1.16372623  7.51717561]
DEBUG:root:mean evidence: 6.65, std: 3.866 -> th=9.414783046064697
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 30 ---
INFO:uvicorn.access:192.168.1.217:64229 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.77834261,  0.10542305,  0.61892549],
       [-0.13421998,  0.99095156,  0.        ],
       [-0.61332518, -0.08307217,  0.78544971]]), 'pose_fully_defined': False}}, {'patch': array([-0.00058067,  0.01149051, -0.00081447])}]
INFO:root:Testing 263 out of 14424 hypotheses for numenta_mug (evidence > 2.2152430696622805)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.887
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 36 out of 14880 hypotheses for montys_heart (evidence > 2.2152430696622805)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.479
INFO:root:Testing 1737 out of 23200 hypotheses for ramen_pack (evidence > 2.2152430696622805)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 10.878
INFO:root:Testing 711 out of 14864 hypotheses for hot_sauce (evidence > 2.2152430696622805)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.263
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 388 out of 21832 hypotheses for tomato_soup_can (evidence > 2.2152430696622805)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.408
INFO:root:Testing 1094 out of 16976 hypotheses for mustard_bottle (evidence > 2.2152430696622805)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.552
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 86 out of 19024 hypotheses for potted_meat_can (evidence > 2.2152430696622805)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.949
DEBUG:root:evidences for each object: [ 6.88735067  1.09490436  7.47948266 10.8779391  11.26260646  1.16589006
  9.40758691 11.55242315  1.16372623  7.94918262]
DEBUG:root:mean evidence: 6.884, std: 4.046 -> th=9.241938522136397
INFO:root:current most likely hypothesis: mustard_bottle with evidence 11.55
DEBUG:root:evidences for each object: [ 6.88735067  1.09490436  7.47948266 10.8779391  11.26260646  1.16589006
  9.40758691 11.55242315  1.16372623  7.94918262]
DEBUG:root:mean evidence: 6.884, std: 4.046 -> th=9.241938522136397
DEBUG:root:evidences for each object: [ 6.88735067  1.09490436  7.47948266 10.8779391  11.26260646  1.16589006
  9.40758691 11.55242315  1.16372623  7.94918262]
DEBUG:root:mean evidence: 6.884, std: 4.046 -> th=9.819559679769924
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 31 ---
INFO:uvicorn.access:192.168.1.217:64229 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.83375293,  0.08556917,  0.54546674],
       [-0.10209504,  0.99477465,  0.        ],
       [-0.54261648, -0.05568945,  0.83813247]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0012845 ,  0.0101414 , -0.00117624])}]
INFO:root:Testing 111 out of 14424 hypotheses for numenta_mug (evidence > 2.3104846305340985)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.739
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 28 out of 14880 hypotheses for montys_heart (evidence > 2.3104846305340985)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.479
INFO:root:Testing 1722 out of 23200 hypotheses for ramen_pack (evidence > 2.3104846305340985)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 11.265
INFO:root:Testing 690 out of 14864 hypotheses for hot_sauce (evidence > 2.3104846305340985)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.725
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 340 out of 21832 hypotheses for tomato_soup_can (evidence > 2.3104846305340985)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.744
INFO:root:Testing 1083 out of 16976 hypotheses for mustard_bottle (evidence > 2.3104846305340985)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.02
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 62 out of 19024 hypotheses for potted_meat_can (evidence > 2.3104846305340985)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.206
DEBUG:root:evidences for each object: [ 6.73855587  1.09490436  6.47948266 11.26464866 11.72529276  1.16589006
  9.74406645 12.01984496  1.16372623  8.20563528]
DEBUG:root:mean evidence: 6.96, std: 4.219 -> th=9.6158759708381
INFO:root:current most likely hypothesis: mustard_bottle with evidence 12.02
DEBUG:root:evidences for each object: [ 6.73855587  1.09490436  6.47948266 11.26464866 11.72529276  1.16589006
  9.74406645 12.01984496  1.16372623  8.20563528]
DEBUG:root:mean evidence: 6.96, std: 4.219 -> th=9.6158759708381
DEBUG:root:evidences for each object: [ 6.73855587  1.09490436  6.47948266 11.26464866 11.72529276  1.16589006
  9.74406645 12.01984496  1.16372623  8.20563528]
DEBUG:root:mean evidence: 6.96, std: 4.219 -> th=10.216868219015481
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 32 ---
INFO:uvicorn.access:192.168.1.217:64229 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.87161983,  0.07267579,  0.48476499],
       [-0.08309181,  0.9965419 ,  0.        ],
       [-0.48308862, -0.04028   ,  0.87464444]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00988326, -0.01956907,  0.00557297])}]
INFO:root:Testing 44 out of 14424 hypotheses for numenta_mug (evidence > 2.4039689927095242)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.944
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 2.4039689927095242)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.479
INFO:root:Testing 1680 out of 23200 hypotheses for ramen_pack (evidence > 2.4039689927095242)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 11.729
INFO:root:Testing 680 out of 14864 hypotheses for hot_sauce (evidence > 2.4039689927095242)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.077
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 287 out of 21832 hypotheses for tomato_soup_can (evidence > 2.4039689927095242)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.203
INFO:root:Testing 1059 out of 16976 hypotheses for mustard_bottle (evidence > 2.4039689927095242)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.517
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 50 out of 19024 hypotheses for potted_meat_can (evidence > 2.4039689927095242)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.679
DEBUG:root:evidences for each object: [ 6.94427286  1.09490436  5.47948266 11.72852687 12.07655338  1.16589006
 10.20273501 12.51699371  1.16372623  8.67938507]
DEBUG:root:mean evidence: 7.105, std: 4.436 -> th=10.01359496959694
INFO:root:current most likely hypothesis: mustard_bottle with evidence 12.52
DEBUG:root:evidences for each object: [ 6.94427286  1.09490436  5.47948266 11.72852687 12.07655338  1.16589006
 10.20273501 12.51699371  1.16372623  8.67938507]
DEBUG:root:mean evidence: 7.105, std: 4.436 -> th=10.01359496959694
DEBUG:root:evidences for each object: [ 6.94427286  1.09490436  5.47948266 11.72852687 12.07655338  1.16589006
 10.20273501 12.51699371  1.16372623  8.67938507]
DEBUG:root:mean evidence: 7.105, std: 4.436 -> th=10.639444655196751
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: {'tomato_soup_can', 'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 33 ---
INFO:uvicorn.access:192.168.1.217:64232 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.56632492,  0.1186471 ,  0.8155973 ],
       [-0.20505187,  0.97875111,  0.        ],
       [-0.79826676, -0.16723975,  0.57861995]]), 'pose_fully_defined': False}}, {'patch': array([-0.00572708, -0.08364452,  0.00922221])}]
INFO:root:Testing 29 out of 14424 hypotheses for numenta_mug (evidence > 2.5033987423992343)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.319
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 12 out of 14880 hypotheses for montys_heart (evidence > 2.5033987423992343)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.904
INFO:root:Testing 1645 out of 23200 hypotheses for ramen_pack (evidence > 2.5033987423992343)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 12.108
INFO:root:Testing 659 out of 14864 hypotheses for hot_sauce (evidence > 2.5033987423992343)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.55
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 263 out of 21832 hypotheses for tomato_soup_can (evidence > 2.5033987423992343)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.665
INFO:root:Testing 1017 out of 16976 hypotheses for mustard_bottle (evidence > 2.5033987423992343)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.876
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 49 out of 19024 hypotheses for potted_meat_can (evidence > 2.5033987423992343)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.816
DEBUG:root:evidences for each object: [ 7.31875833  1.09490436  5.90389349 12.10759954 12.55004805  1.16589006
 10.66504177 12.87598901  1.16372623  8.81580328]
DEBUG:root:mean evidence: 7.366, std: 4.594 -> th=10.300791211873333
INFO:root:current most likely hypothesis: mustard_bottle with evidence 12.88
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 34 ---
INFO:uvicorn.access:192.168.1.217:64232 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.65743526,  0.11094127,  0.74529922],
       [-0.16639606,  0.986059  ,  0.        ],
       [-0.734909  , -0.12401485,  0.66673014]]), 'pose_fully_defined': False}}, {'patch': array([-0.00210201, -0.01863737,  0.0034983 ])}]
INFO:root:Testing 35 out of 14424 hypotheses for numenta_mug (evidence > 2.575197802968333)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.319
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 14 out of 14880 hypotheses for montys_heart (evidence > 2.575197802968333)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.355
INFO:root:Testing 1645 out of 23200 hypotheses for ramen_pack (evidence > 2.575197802968333)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 12.303
INFO:root:Testing 661 out of 14864 hypotheses for hot_sauce (evidence > 2.575197802968333)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.93
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 263 out of 21832 hypotheses for tomato_soup_can (evidence > 2.575197802968333)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.665
INFO:root:Testing 1030 out of 16976 hypotheses for mustard_bottle (evidence > 2.575197802968333)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.273
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 49 out of 19024 hypotheses for potted_meat_can (evidence > 2.575197802968333)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.816
DEBUG:root:evidences for each object: [ 6.31875833  1.09490436  6.35496257 12.30327738 12.93013817  1.16589006
  9.66504177 13.27285862  1.16372623  7.81580328]
DEBUG:root:mean evidence: 7.209, std: 4.624 -> th=10.618286897794487
INFO:root:current most likely hypothesis: mustard_bottle with evidence 13.27
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 35 ---
INFO:uvicorn.access:192.168.1.217:64232 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.56501131,  0.10540992,  0.81832205],
       [-0.18339815,  0.98303872,  0.        ],
       [-0.80444225, -0.15007875,  0.57475998]]), 'pose_fully_defined': False}}, {'patch': array([-0.00160024, -0.00271405, -0.00012713])}]
INFO:root:Testing 31 out of 14424 hypotheses for numenta_mug (evidence > 2.654571724448621)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.317
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 13 out of 14880 hypotheses for montys_heart (evidence > 2.654571724448621)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.749
INFO:root:Testing 1642 out of 23200 hypotheses for ramen_pack (evidence > 2.654571724448621)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 12.537
INFO:root:Testing 660 out of 14864 hypotheses for hot_sauce (evidence > 2.654571724448621)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.349
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 258 out of 21832 hypotheses for tomato_soup_can (evidence > 2.654571724448621)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.665
INFO:root:Testing 1023 out of 16976 hypotheses for mustard_bottle (evidence > 2.654571724448621)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.104
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 48 out of 19024 hypotheses for potted_meat_can (evidence > 2.654571724448621)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.954
DEBUG:root:evidences for each object: [ 6.31728244  1.09490436  6.74884981 12.53736933 13.34897009  1.16589006
  8.66504177 13.10354182  1.16372623  6.95429924]
DEBUG:root:mean evidence: 7.11, std: 4.63 -> th=10.679176069865283
INFO:root:current most likely hypothesis: hot_sauce with evidence 13.35
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 36 ---
INFO:uvicorn.access:192.168.1.217:64232 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.64412029,  0.11838931,  0.75570697],
       [-0.1807719 ,  0.98352505,  0.        ],
       [-0.74325674, -0.13661059,  0.6549099 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00085972, -0.00705986, -0.00166479])}]
INFO:root:Testing 25 out of 14424 hypotheses for numenta_mug (evidence > 2.6697940174663195)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.415
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 13 out of 14880 hypotheses for montys_heart (evidence > 2.6697940174663195)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.938
INFO:root:Testing 1625 out of 23200 hypotheses for ramen_pack (evidence > 2.6697940174663195)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 12.846
INFO:root:Testing 656 out of 14864 hypotheses for hot_sauce (evidence > 2.6697940174663195)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.81
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 238 out of 21832 hypotheses for tomato_soup_can (evidence > 2.6697940174663195)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.665
INFO:root:Testing 1000 out of 16976 hypotheses for mustard_bottle (evidence > 2.6697940174663195)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.243
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 44 out of 19024 hypotheses for potted_meat_can (evidence > 2.6697940174663195)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.844
DEBUG:root:evidences for each object: [ 6.41463426  1.09490436  6.93763624 12.84619914 13.8097016   1.16589006
  7.66504177 13.243114    1.16372623  6.84422868]
DEBUG:root:mean evidence: 7.119, std: 4.724 -> th=11.04776127921394
INFO:root:current most likely hypothesis: hot_sauce with evidence 13.81
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 37 ---
INFO:uvicorn.access:192.168.1.217:64232 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.53622439,  0.1020429 ,  0.83788463],
       [-0.18694402,  0.98237057,  0.        ],
       [-0.8231132 , -0.15663752,  0.54584737]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0006782 ,  0.05584193, -0.00396506])}]
INFO:root:Testing 17 out of 14424 hypotheses for numenta_mug (evidence > 2.761940319803484)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.776
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 11 out of 14880 hypotheses for montys_heart (evidence > 2.761940319803484)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.367
INFO:root:Testing 1597 out of 23200 hypotheses for ramen_pack (evidence > 2.761940319803484)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 13.241
INFO:root:Testing 646 out of 14864 hypotheses for hot_sauce (evidence > 2.761940319803484)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.304
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 217 out of 21832 hypotheses for tomato_soup_can (evidence > 2.761940319803484)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.155
INFO:root:Testing 982 out of 16976 hypotheses for mustard_bottle (evidence > 2.761940319803484)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.662
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 32 out of 19024 hypotheses for potted_meat_can (evidence > 2.761940319803484)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.145
DEBUG:root:evidences for each object: [ 6.77590056  1.09490436  7.36677446 13.24142291 14.3039032   1.16589006
  8.15482922 13.66156901  1.16372623  7.14482827]
DEBUG:root:mean evidence: 7.407, std: 4.894 -> th=11.443122559127193
INFO:root:current most likely hypothesis: hot_sauce with evidence 14.3
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 38 ---
INFO:uvicorn.access:192.168.1.217:64232 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.68773102,  0.10560106,  0.71824401],
       [-0.15177117,  0.98841566,  0.        ],
       [-0.70992363, -0.10900873,  0.69579131]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00299926,  0.00740854, -0.00202062])}]
INFO:root:Testing 27 out of 14424 hypotheses for numenta_mug (evidence > 2.8607806397817974)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.233
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 11 out of 14880 hypotheses for montys_heart (evidence > 2.8607806397817974)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.867
INFO:root:Testing 1596 out of 23200 hypotheses for ramen_pack (evidence > 2.8607806397817974)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.673
INFO:root:Testing 648 out of 14864 hypotheses for hot_sauce (evidence > 2.8607806397817974)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.775
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 229 out of 21832 hypotheses for tomato_soup_can (evidence > 2.8607806397817974)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.646
INFO:root:Testing 992 out of 16976 hypotheses for mustard_bottle (evidence > 2.8607806397817974)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.143
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 35 out of 19024 hypotheses for potted_meat_can (evidence > 2.8607806397817974)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.539
DEBUG:root:evidences for each object: [ 7.23275387  1.09490436  7.86677446 13.67324908 14.77549291  1.16589006
  8.64557041 14.14298983  1.16372623  7.538564  ]
DEBUG:root:mean evidence: 7.73, std: 5.074 -> th=11.820394324479222
INFO:root:current most likely hypothesis: hot_sauce with evidence 14.78
DEBUG:root:evidences for each object: [ 7.23275387  1.09490436  7.86677446 13.67324908 14.77549291  1.16589006
  8.64557041 14.14298983  1.16372623  7.538564  ]
DEBUG:root:mean evidence: 7.73, std: 5.074 -> th=11.820394324479222
DEBUG:root:evidences for each object: [ 7.23275387  1.09490436  7.86677446 13.67324908 14.77549291  1.16589006
  8.64557041 14.14298983  1.16372623  7.538564  ]
DEBUG:root:mean evidence: 7.73, std: 5.074 -> th=12.559168969759174
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 39 ---
INFO:uvicorn.access:192.168.1.217:64234 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.28734804,  0.01513825,  0.9577066 ],
       [-0.05260967, -0.99861515,  0.        ],
       [ 0.95638032, -0.05038462,  0.28774653]]), 'pose_fully_defined': False}}, {'patch': array([-0.023549  , -0.01416126,  0.06378945])}]
INFO:root:Testing 129 out of 14424 hypotheses for numenta_mug (evidence > 2.9550985811198043)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.233
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 23 out of 14880 hypotheses for montys_heart (evidence > 2.9550985811198043)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.867
INFO:root:Testing 1596 out of 23200 hypotheses for ramen_pack (evidence > 2.9550985811198043)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 12.673
INFO:root:Testing 654 out of 14864 hypotheses for hot_sauce (evidence > 2.9550985811198043)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.775
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 251 out of 21832 hypotheses for tomato_soup_can (evidence > 2.9550985811198043)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.646
INFO:root:Testing 1006 out of 16976 hypotheses for mustard_bottle (evidence > 2.9550985811198043)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.143
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 42 out of 19024 hypotheses for potted_meat_can (evidence > 2.9550985811198043)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.539
DEBUG:root:evidences for each object: [ 6.23275387  1.09490436  6.86677446 12.67324908 13.77549291  1.16589006
  7.64557041 13.14298983  1.16372623  6.538564  ]
DEBUG:root:mean evidence: 7.03, std: 4.691 -> th=11.020394324479224
INFO:root:current most likely hypothesis: hot_sauce with evidence 13.78
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 40 ---
INFO:uvicorn.access:192.168.1.217:64236 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.17415317, -0.04445958,  0.9837144 ],
       [ 0.24735684,  0.96892445, -0.        ],
       [-0.95314494,  0.24332848,  0.17973865]]), 'pose_fully_defined': False}}, {'patch': array([ 0.02726528, -0.04962242, -0.05733623])}]
INFO:root:Testing 380 out of 14424 hypotheses for numenta_mug (evidence > 2.755098581119805)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.366
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 25 out of 14880 hypotheses for montys_heart (evidence > 2.755098581119805)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.746
INFO:root:Testing 1592 out of 23200 hypotheses for ramen_pack (evidence > 2.755098581119805)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.108
INFO:root:Testing 661 out of 14864 hypotheses for hot_sauce (evidence > 2.755098581119805)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.118
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 275 out of 21832 hypotheses for tomato_soup_can (evidence > 2.755098581119805)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.646
INFO:root:Testing 1008 out of 16976 hypotheses for mustard_bottle (evidence > 2.755098581119805)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.361
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 46 out of 19024 hypotheses for potted_meat_can (evidence > 2.755098581119805)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.4
DEBUG:root:evidences for each object: [ 6.36649825  1.09490436  6.74649822 13.10787777 14.11796543  1.16589006
  6.64557041 13.36073973  1.16372623  6.40001561]
DEBUG:root:mean evidence: 7.017, std: 4.82 -> th=11.294372344603502
INFO:root:current most likely hypothesis: hot_sauce with evidence 14.12
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 41 ---
INFO:uvicorn.access:192.168.1.217:64236 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.22112092, -0.03500756,  0.97461788],
       [ 0.15637103,  0.98769839, -0.        ],
       [-0.96262851,  0.152402  ,  0.22387494]]), 'pose_fully_defined': False}}, {'patch': array([-0.00481119,  0.0191236 ,  0.00269534])}]
INFO:root:Testing 156 out of 14424 hypotheses for numenta_mug (evidence > 2.8235930861508756)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.79
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 17 out of 14880 hypotheses for montys_heart (evidence > 2.8235930861508756)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.144
INFO:root:Testing 1547 out of 23200 hypotheses for ramen_pack (evidence > 2.8235930861508756)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.531
INFO:root:Testing 629 out of 14864 hypotheses for hot_sauce (evidence > 2.8235930861508756)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.561
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 218 out of 21832 hypotheses for tomato_soup_can (evidence > 2.8235930861508756)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.988
INFO:root:Testing 976 out of 16976 hypotheses for mustard_bottle (evidence > 2.8235930861508756)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.749
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 29 out of 19024 hypotheses for potted_meat_can (evidence > 2.8235930861508756)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.816
DEBUG:root:evidences for each object: [ 6.78971692  1.09490436  7.14403834 13.53110956 14.56141918  1.16589006
  6.98822208 13.74863777  1.16372623  6.81552597]
DEBUG:root:mean evidence: 7.3, std: 4.975 -> th=11.649135346663895
INFO:root:current most likely hypothesis: hot_sauce with evidence 14.56
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 42 ---
INFO:uvicorn.access:192.168.1.217:64236 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.20905602, -0.06216284,  0.9759259 ],
       [ 0.28501683,  0.95852251, -0.        ],
       [-0.93544695,  0.27815531,  0.21810235]]), 'pose_fully_defined': False}}, {'patch': array([-0.00075912,  0.01084469,  0.00023059])}]
INFO:root:Testing 154 out of 14424 hypotheses for numenta_mug (evidence > 2.9122838366659725)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.215
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 17 out of 14880 hypotheses for montys_heart (evidence > 2.9122838366659725)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.49
INFO:root:Testing 1539 out of 23200 hypotheses for ramen_pack (evidence > 2.9122838366659725)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.92
INFO:root:Testing 627 out of 14864 hypotheses for hot_sauce (evidence > 2.9122838366659725)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.994
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 217 out of 21832 hypotheses for tomato_soup_can (evidence > 2.9122838366659725)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.37
INFO:root:Testing 970 out of 16976 hypotheses for mustard_bottle (evidence > 2.9122838366659725)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.114
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 28 out of 19024 hypotheses for potted_meat_can (evidence > 2.9122838366659725)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.133
DEBUG:root:evidences for each object: [ 7.21457739  1.09490436  7.49033872 13.92038751 14.9941177   1.16589006
  7.3703345  14.1136208   1.16372623  7.13292478]
DEBUG:root:mean evidence: 7.566, std: 5.125 -> th=11.99529415740677
INFO:root:current most likely hypothesis: hot_sauce with evidence 14.99
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 43 ---
INFO:uvicorn.access:192.168.1.217:64236 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.02700842, -0.08342914,  0.99614764],
       [ 0.95138895, -0.30799199,  0.        ],
       [ 0.3068055 ,  0.94772386,  0.08769194]]), 'pose_fully_defined': False}}, {'patch': array([-0.00879149,  0.02151915,  0.00431923])}]
INFO:root:Testing 152 out of 14424 hypotheses for numenta_mug (evidence > 2.998823539351692)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 128 out of 14880 hypotheses for montys_heart (evidence > 2.998823539351692)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.875
INFO:root:Testing 1538 out of 23200 hypotheses for ramen_pack (evidence > 2.998823539351692)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.645
INFO:root:Testing 627 out of 14864 hypotheses for hot_sauce (evidence > 2.998823539351692)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 15.422
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 218 out of 21832 hypotheses for tomato_soup_can (evidence > 2.998823539351692)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.778
INFO:root:Testing 970 out of 16976 hypotheses for mustard_bottle (evidence > 2.998823539351692)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.499
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 28 out of 19024 hypotheses for potted_meat_can (evidence > 2.998823539351692)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.286
DEBUG:root:evidences for each object: [ 7.40535308  1.09490436  7.87518412 13.64470621 15.42191553  1.16589006
  7.77790677 14.49883248  1.16372623  7.28554536]
DEBUG:root:mean evidence: 7.733, std: 5.201 -> th=12.337532423024578
INFO:root:current most likely hypothesis: hot_sauce with evidence 15.42
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 44 ---
INFO:uvicorn.access:192.168.1.217:64236 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.12369354, -0.07873873,  0.98919165],
       [ 0.5369952 , -0.8435853 ,  0.        ],
       [ 0.83446754,  0.53119117,  0.14662837]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00691957,  0.01092153, -0.00733673])}]
INFO:root:Testing 150 out of 14424 hypotheses for numenta_mug (evidence > 3.084383105756144)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.43
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 122 out of 14880 hypotheses for montys_heart (evidence > 3.084383105756144)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.903
INFO:root:Testing 1529 out of 23200 hypotheses for ramen_pack (evidence > 3.084383105756144)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.061
INFO:root:Testing 626 out of 14864 hypotheses for hot_sauce (evidence > 3.084383105756144)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 15.734
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 218 out of 21832 hypotheses for tomato_soup_can (evidence > 3.084383105756144)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.014
INFO:root:Testing 968 out of 16976 hypotheses for mustard_bottle (evidence > 3.084383105756144)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.966
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 27 out of 19024 hypotheses for potted_meat_can (evidence > 3.084383105756144)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.264
DEBUG:root:evidences for each object: [ 7.42951397  1.09490436  7.90343781 14.06111484 15.73437063  1.16589006
  8.01437937 14.96627849  1.16372623  7.26422629]
DEBUG:root:mean evidence: 7.88, std: 5.357 -> th=12.587496506168332
INFO:root:current most likely hypothesis: hot_sauce with evidence 15.73
DEBUG:root:evidences for each object: [ 7.42951397  1.09490436  7.90343781 14.06111484 15.73437063  1.16589006
  8.01437937 14.96627849  1.16372623  7.26422629]
DEBUG:root:mean evidence: 7.88, std: 5.357 -> th=12.587496506168332
DEBUG:root:evidences for each object: [ 7.42951397  1.09490436  7.90343781 14.06111484 15.73437063  1.16589006
  8.01437937 14.96627849  1.16372623  7.26422629]
DEBUG:root:mean evidence: 7.88, std: 5.357 -> th=13.374215037803852
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 45 ---
INFO:uvicorn.access:192.168.1.217:64236 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.02462012,  0.0305125 ,  0.99923112],
       [-0.77824764, -0.62795749,  0.        ],
       [ 0.62747467, -0.77764927,  0.03920667]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00051935, -0.00476139, -0.00189309])}]
INFO:root:Testing 149 out of 14424 hypotheses for numenta_mug (evidence > 3.146874126542082)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.506
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 120 out of 14880 hypotheses for montys_heart (evidence > 3.146874126542082)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.989
INFO:root:Testing 1529 out of 23200 hypotheses for ramen_pack (evidence > 3.146874126542082)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.528
INFO:root:Testing 626 out of 14864 hypotheses for hot_sauce (evidence > 3.146874126542082)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 16.015
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 218 out of 21832 hypotheses for tomato_soup_can (evidence > 3.146874126542082)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.307
INFO:root:Testing 968 out of 16976 hypotheses for mustard_bottle (evidence > 3.146874126542082)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.435
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 27 out of 19024 hypotheses for potted_meat_can (evidence > 3.146874126542082)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.292
DEBUG:root:evidences for each object: [ 7.50578901  1.09490436  7.98851669 14.52824362 16.01541665  1.16589006
  8.30695903 15.43513599  1.16372623  7.29218886]
DEBUG:root:mean evidence: 8.05, std: 5.514 -> th=12.812333321992233
INFO:root:current most likely hypothesis: hot_sauce with evidence 16.02
DEBUG:root:evidences for each object: [ 7.50578901  1.09490436  7.98851669 14.52824362 16.01541665  1.16589006
  8.30695903 15.43513599  1.16372623  7.29218886]
DEBUG:root:mean evidence: 8.05, std: 5.514 -> th=12.812333321992233
DEBUG:root:evidences for each object: [ 7.50578901  1.09490436  7.98851669 14.52824362 16.01541665  1.16589006
  8.30695903 15.43513599  1.16372623  7.29218886]
DEBUG:root:mean evidence: 8.05, std: 5.514 -> th=13.613104154616748
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 46 ---
INFO:uvicorn.access:192.168.1.217:64236 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.29821145,  0.01499141,  0.9543821 ],
       [-0.05020766,  0.9987388 ,  0.        ],
       [-0.95317843, -0.04791729,  0.29858803]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00520465,  0.01418836, -0.00152181])}]
INFO:root:Testing 148 out of 14424 hypotheses for numenta_mug (evidence > 3.203083330498057)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.724
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 119 out of 14880 hypotheses for montys_heart (evidence > 3.203083330498057)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.217
INFO:root:Testing 1527 out of 23200 hypotheses for ramen_pack (evidence > 3.203083330498057)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 14.999
INFO:root:Testing 626 out of 14864 hypotheses for hot_sauce (evidence > 3.203083330498057)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 16.38
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 218 out of 21832 hypotheses for tomato_soup_can (evidence > 3.203083330498057)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.598
INFO:root:Testing 968 out of 16976 hypotheses for mustard_bottle (evidence > 3.203083330498057)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.734
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 26 out of 19024 hypotheses for potted_meat_can (evidence > 3.203083330498057)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.472
DEBUG:root:evidences for each object: [ 7.72428377  1.09490436  8.21717664 14.99868873 16.37975344  1.16589006
  8.59783134 15.73363524  1.16372623  7.47223696]
DEBUG:root:mean evidence: 8.255, std: 5.659 -> th=13.103802754003812
INFO:root:current most likely hypothesis: hot_sauce with evidence 16.38
DEBUG:root:evidences for each object: [ 7.72428377  1.09490436  8.21717664 14.99868873 16.37975344  1.16589006
  8.59783134 15.73363524  1.16372623  7.47223696]
DEBUG:root:mean evidence: 8.255, std: 5.659 -> th=13.103802754003812
DEBUG:root:evidences for each object: [ 7.72428377  1.09490436  8.21717664 14.99868873 16.37975344  1.16589006
  8.59783134 15.73363524  1.16372623  7.47223696]
DEBUG:root:mean evidence: 8.255, std: 5.659 -> th=13.92279042612905
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 47 ---
INFO:uvicorn.access:192.168.1.217:64238 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.48820419,  0.01733511,  0.87255726],
       [-0.03548555,  0.99937019,  0.        ],
       [-0.87200771, -0.03096317,  0.48851186]]), 'pose_fully_defined': False}}, {'patch': array([-0.00585962,  0.00626368, -0.0119152 ])}]
INFO:root:Testing 143 out of 14424 hypotheses for numenta_mug (evidence > 3.275950688500952)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.803
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 114 out of 14880 hypotheses for montys_heart (evidence > 3.275950688500952)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.504
INFO:root:Testing 1527 out of 23200 hypotheses for ramen_pack (evidence > 3.275950688500952)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 15.065
INFO:root:Testing 626 out of 14864 hypotheses for hot_sauce (evidence > 3.275950688500952)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 16.686
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 218 out of 21832 hypotheses for tomato_soup_can (evidence > 3.275950688500952)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.939
INFO:root:Testing 968 out of 16976 hypotheses for mustard_bottle (evidence > 3.275950688500952)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.978
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 27 out of 19024 hypotheses for potted_meat_can (evidence > 3.275950688500952)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.745
DEBUG:root:evidences for each object: [ 7.80262056  1.09490436  8.50382238 15.06494908 16.68619911  1.16589006
  8.93899256 15.97760861  1.16372623  7.74523596]
DEBUG:root:mean evidence: 8.414, std: 5.741 -> th=13.348959289823636
INFO:root:current most likely hypothesis: hot_sauce with evidence 16.69
DEBUG:root:evidences for each object: [ 7.80262056  1.09490436  8.50382238 15.06494908 16.68619911  1.16589006
  8.93899256 15.97760861  1.16372623  7.74523596]
DEBUG:root:mean evidence: 8.414, std: 5.741 -> th=13.348959289823636
DEBUG:root:evidences for each object: [ 7.80262056  1.09490436  8.50382238 15.06494908 16.68619911  1.16589006
  8.93899256 15.97760861  1.16372623  7.74523596]
DEBUG:root:mean evidence: 8.414, std: 5.741 -> th=14.183269245437614
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 48 ---
INFO:uvicorn.access:192.168.1.217:64238 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.2089277 ,  0.03441304,  0.97732541],
       [-0.16252277, -0.98670479,  0.        ],
       [ 0.96433167, -0.15883764,  0.21174286]]), 'pose_fully_defined': False}}, {'patch': array([-0.00127009,  0.01236187,  0.0001259 ])}]
INFO:root:Testing 135 out of 14424 hypotheses for numenta_mug (evidence > 3.337239822455908)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.746
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 111 out of 14880 hypotheses for montys_heart (evidence > 3.337239822455908)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.466
INFO:root:Testing 1519 out of 23200 hypotheses for ramen_pack (evidence > 3.337239822455908)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 14.967
INFO:root:Testing 626 out of 14864 hypotheses for hot_sauce (evidence > 3.337239822455908)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 16.685
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 218 out of 21832 hypotheses for tomato_soup_can (evidence > 3.337239822455908)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.972
INFO:root:Testing 963 out of 16976 hypotheses for mustard_bottle (evidence > 3.337239822455908)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.905
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 26 out of 19024 hypotheses for potted_meat_can (evidence > 3.337239822455908)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.703
DEBUG:root:evidences for each object: [ 7.74624894  1.09490436  8.46629789 14.96738636 16.68457328  1.16589006
  8.97203133 15.90484085  1.16372623  7.70291519]
DEBUG:root:mean evidence: 8.387, std: 5.722 -> th=13.347658626666023
INFO:root:current most likely hypothesis: hot_sauce with evidence 16.68
DEBUG:root:evidences for each object: [ 7.74624894  1.09490436  8.46629789 14.96738636 16.68457328  1.16589006
  8.97203133 15.90484085  1.16372623  7.70291519]
DEBUG:root:mean evidence: 8.387, std: 5.722 -> th=13.347658626666023
DEBUG:root:evidences for each object: [ 7.74624894  1.09490436  8.46629789 14.96738636 16.68457328  1.16589006
  8.97203133 15.90484085  1.16372623  7.70291519]
DEBUG:root:mean evidence: 8.387, std: 5.722 -> th=14.18188729083265
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 49 ---
INFO:uvicorn.access:192.168.1.217:64238 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.25187836,  0.0541206 ,  0.96624441],
       [-0.21007336, -0.97768563,  0.        ],
       [ 0.94468327, -0.2029822 ,  0.25762715]]), 'pose_fully_defined': False}}, {'patch': array([-0.0016048 ,  0.00739207, -0.00104286])}]
INFO:root:Testing 128 out of 14424 hypotheses for numenta_mug (evidence > 3.3369146566665044)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.822
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 101 out of 14880 hypotheses for montys_heart (evidence > 3.3369146566665044)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.452
INFO:root:Testing 1515 out of 23200 hypotheses for ramen_pack (evidence > 3.3369146566665044)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 14.921
INFO:root:Testing 624 out of 14864 hypotheses for hot_sauce (evidence > 3.3369146566665044)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 16.656
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 218 out of 21832 hypotheses for tomato_soup_can (evidence > 3.3369146566665044)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.794
INFO:root:Testing 958 out of 16976 hypotheses for mustard_bottle (evidence > 3.3369146566665044)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.814
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 26 out of 19024 hypotheses for potted_meat_can (evidence > 3.3369146566665044)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.635
DEBUG:root:evidences for each object: [ 7.82216698  1.09490436  8.45159248 14.92088555 16.65587439  1.16589006
  8.79391476 15.81377018  1.16372623  7.63518682]
DEBUG:root:mean evidence: 8.352, std: 5.699 -> th=13.324699513195768
INFO:root:current most likely hypothesis: hot_sauce with evidence 16.66
DEBUG:root:evidences for each object: [ 7.82216698  1.09490436  8.45159248 14.92088555 16.65587439  1.16589006
  8.79391476 15.81377018  1.16372623  7.63518682]
DEBUG:root:mean evidence: 8.352, std: 5.699 -> th=13.324699513195768
DEBUG:root:evidences for each object: [ 7.82216698  1.09490436  8.45159248 14.92088555 16.65587439  1.16589006
  8.79391476 15.81377018  1.16372623  7.63518682]
DEBUG:root:mean evidence: 8.352, std: 5.699 -> th=14.157493232770502
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 50 ---
INFO:uvicorn.access:192.168.1.217:64240 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.33897444,  0.02807275,  0.94037665],
       [-0.08253417,  0.99658823,  0.        ],
       [-0.93716831, -0.07761321,  0.3401349 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0055065 , -0.08009251,  0.00398015])}]
INFO:root:Testing 103 out of 14424 hypotheses for numenta_mug (evidence > 3.331174878298942)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.801
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 71 out of 14880 hypotheses for montys_heart (evidence > 3.331174878298942)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.674
INFO:root:Testing 1503 out of 23200 hypotheses for ramen_pack (evidence > 3.331174878298942)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 15.146
INFO:root:Testing 620 out of 14864 hypotheses for hot_sauce (evidence > 3.331174878298942)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 16.81
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 217 out of 21832 hypotheses for tomato_soup_can (evidence > 3.331174878298942)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.749
INFO:root:Testing 949 out of 16976 hypotheses for mustard_bottle (evidence > 3.331174878298942)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.814
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 25 out of 19024 hypotheses for potted_meat_can (evidence > 3.331174878298942)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.325
DEBUG:root:evidences for each object: [ 7.80071931  1.09490436  8.67406758 15.14607918 16.80984582  1.16589006
  8.74872905 14.81377018  1.16372623  7.32494588]
DEBUG:root:mean evidence: 8.274, std: 5.63 -> th=13.44787665440494
INFO:root:current most likely hypothesis: hot_sauce with evidence 16.81
DEBUG:root:evidences for each object: [ 7.80071931  1.09490436  8.67406758 15.14607918 16.80984582  1.16589006
  8.74872905 14.81377018  1.16372623  7.32494588]
DEBUG:root:mean evidence: 8.274, std: 5.63 -> th=13.44787665440494
DEBUG:root:evidences for each object: [ 7.80071931  1.09490436  8.67406758 15.14607918 16.80984582  1.16589006
  8.74872905 14.81377018  1.16372623  7.32494588]
DEBUG:root:mean evidence: 8.274, std: 5.63 -> th=14.288368945305248
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 51 ---
INFO:uvicorn.access:192.168.1.217:64241 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.44215014,  0.01581692,  0.89680158],
       [-0.03574987,  0.99936077,  0.        ],
       [-0.89622832, -0.03206054,  0.44243295]]), 'pose_fully_defined': False}}, {'patch': array([0.00361282, 0.03403101, 0.00134772])}]
INFO:root:Testing 64 out of 14424 hypotheses for numenta_mug (evidence > 3.361969163601234)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.132
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 66 out of 14880 hypotheses for montys_heart (evidence > 3.361969163601234)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.96
INFO:root:Testing 1455 out of 23200 hypotheses for ramen_pack (evidence > 3.361969163601234)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.574
INFO:root:Testing 614 out of 14864 hypotheses for hot_sauce (evidence > 3.361969163601234)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 17.16
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 212 out of 21832 hypotheses for tomato_soup_can (evidence > 3.361969163601234)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.999
INFO:root:Testing 918 out of 16976 hypotheses for mustard_bottle (evidence > 3.361969163601234)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.256
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 23 out of 19024 hypotheses for potted_meat_can (evidence > 3.361969163601234)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.576
DEBUG:root:evidences for each object: [ 8.13222478  1.09490436  8.95992647 15.5742083  17.15959303  1.16589006
  8.99852045 15.25613161  1.16372623  7.57602527]
DEBUG:root:mean evidence: 8.508, std: 5.784 -> th=13.727674426896773
INFO:root:current most likely hypothesis: hot_sauce with evidence 17.16
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 52 ---
INFO:uvicorn.access:192.168.1.217:64241 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.75481789, -0.0189559 ,  0.65566045],
       [ 0.02510529,  0.99968481, -0.        ],
       [-0.6554538 ,  0.01646055,  0.75505587]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00536021,  0.01492587, -0.0006494 ])}]
INFO:root:Testing 69 out of 14424 hypotheses for numenta_mug (evidence > 3.4319186067241922)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.528
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 76 out of 14880 hypotheses for montys_heart (evidence > 3.4319186067241922)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.348
INFO:root:Testing 1455 out of 23200 hypotheses for ramen_pack (evidence > 3.4319186067241922)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.981
INFO:root:Testing 614 out of 14864 hypotheses for hot_sauce (evidence > 3.4319186067241922)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 17.583
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 213 out of 21832 hypotheses for tomato_soup_can (evidence > 3.4319186067241922)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.391
INFO:root:Testing 931 out of 16976 hypotheses for mustard_bottle (evidence > 3.4319186067241922)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.632
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 26 out of 19024 hypotheses for potted_meat_can (evidence > 3.4319186067241922)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.99
DEBUG:root:evidences for each object: [ 8.52816072  1.09490436  9.3484789  15.98053597 17.58311833  1.16589006
  9.39136528 15.63153605  1.16372623  7.98956252]
DEBUG:root:mean evidence: 8.788, std: 5.939 -> th=14.066494664593474
INFO:root:current most likely hypothesis: hot_sauce with evidence 17.58
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 53 ---
INFO:uvicorn.access:192.168.1.217:64241 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.53202849, -0.00459247,  0.846714  ],
       [ 0.00863168,  0.99996275, -0.        ],
       [-0.84668246,  0.00730856,  0.53204831]]), 'pose_fully_defined': False}}, {'patch': array([-0.00258345,  0.01674896, -0.01438601])}]
INFO:root:Testing 84 out of 14424 hypotheses for numenta_mug (evidence > 3.5166236661483676)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.456
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 76 out of 14880 hypotheses for montys_heart (evidence > 3.5166236661483676)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.587
INFO:root:Testing 1455 out of 23200 hypotheses for ramen_pack (evidence > 3.5166236661483676)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.882
INFO:root:Testing 614 out of 14864 hypotheses for hot_sauce (evidence > 3.5166236661483676)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 17.675
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 305 out of 21832 hypotheses for tomato_soup_can (evidence > 3.5166236661483676)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.528
INFO:root:Testing 931 out of 16976 hypotheses for mustard_bottle (evidence > 3.5166236661483676)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.842
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 53 out of 19024 hypotheses for potted_meat_can (evidence > 3.5166236661483676)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.295
DEBUG:root:evidences for each object: [ 8.45593611  1.09490436  9.58711355 15.88173769 17.67476789  1.16589006
  9.52838486 15.84232431  1.16372623  8.29498582]
DEBUG:root:mean evidence: 8.869, std: 5.966 -> th=14.139814308962102
INFO:root:current most likely hypothesis: hot_sauce with evidence 17.67
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 54 ---
INFO:uvicorn.access:192.168.1.217:64241 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.50879509, -0.01144215,  0.86081162],
       [ 0.02248304,  0.99974722, -0.        ],
       [-0.86059402,  0.01935366,  0.50892373]]), 'pose_fully_defined': False}}, {'patch': array([-0.00181563,  0.01699662,  0.00133356])}]
INFO:root:Testing 76 out of 14424 hypotheses for numenta_mug (evidence > 3.5349535772405254)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.377
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 70 out of 14880 hypotheses for montys_heart (evidence > 3.5349535772405254)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.77
INFO:root:Testing 1451 out of 23200 hypotheses for ramen_pack (evidence > 3.5349535772405254)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.762
INFO:root:Testing 614 out of 14864 hypotheses for hot_sauce (evidence > 3.5349535772405254)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 17.809
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 284 out of 21832 hypotheses for tomato_soup_can (evidence > 3.5349535772405254)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.639
INFO:root:Testing 927 out of 16976 hypotheses for mustard_bottle (evidence > 3.5349535772405254)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.066
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 46 out of 19024 hypotheses for potted_meat_can (evidence > 3.5349535772405254)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.595
DEBUG:root:evidences for each object: [ 8.37692058  1.09490436  9.76980865 15.76225222 17.8090986   1.16589006
  9.6391497  16.06609416  1.16372623  8.59466765]
DEBUG:root:mean evidence: 8.944, std: 6.0 -> th=14.247278881029402
INFO:root:current most likely hypothesis: hot_sauce with evidence 17.81
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 55 ---
INFO:uvicorn.access:192.168.1.217:64243 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.30399904,  0.1189675 , -0.94521496],
       [-0.36442952,  0.93123097,  0.        ],
       [ 0.88021345,  0.34446423,  0.32644859]]), 'pose_fully_defined': False}}, {'patch': array([-0.01135369, -0.0829729 , -0.01248671])}]
INFO:root:Testing 56 out of 14424 hypotheses for numenta_mug (evidence > 3.5618197202573505)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.284
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 53 out of 14880 hypotheses for montys_heart (evidence > 3.5618197202573505)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.635
INFO:root:Testing 1432 out of 23200 hypotheses for ramen_pack (evidence > 3.5618197202573505)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.135
INFO:root:Testing 613 out of 14864 hypotheses for hot_sauce (evidence > 3.5618197202573505)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 18.04
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 266 out of 21832 hypotheses for tomato_soup_can (evidence > 3.5618197202573505)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.446
INFO:root:Testing 923 out of 16976 hypotheses for mustard_bottle (evidence > 3.5618197202573505)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.742
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 44 out of 19024 hypotheses for potted_meat_can (evidence > 3.5618197202573505)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.62
DEBUG:root:evidences for each object: [ 8.2839813   1.09490436  9.63484487 16.13523704 18.03983484  1.16589006
  9.44619722 15.74152085  1.16372623  8.6197062 ]
DEBUG:root:mean evidence: 8.933, std: 6.038 -> th=14.431867868438294
INFO:root:current most likely hypothesis: hot_sauce with evidence 18.04
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 56 ---
INFO:uvicorn.access:192.168.1.217:64243 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.38900838,  0.06862103, -0.91867493],
       [-0.1737178 ,  0.98479547,  0.        ],
       [ 0.90470692,  0.15959019,  0.39501439]]), 'pose_fully_defined': False}}, {'patch': array([-9.85294916e-05,  2.48115805e-02, -1.70911950e-04])}]
INFO:root:Testing 24 out of 14424 hypotheses for numenta_mug (evidence > 3.607966967109572)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.284
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 43 out of 14880 hypotheses for montys_heart (evidence > 3.607966967109572)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.85
INFO:root:Testing 1426 out of 23200 hypotheses for ramen_pack (evidence > 3.607966967109572)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.575
INFO:root:Testing 609 out of 14864 hypotheses for hot_sauce (evidence > 3.607966967109572)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 18.46
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 235 out of 21832 hypotheses for tomato_soup_can (evidence > 3.607966967109572)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.446
INFO:root:Testing 911 out of 16976 hypotheses for mustard_bottle (evidence > 3.607966967109572)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.199
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 36 out of 19024 hypotheses for potted_meat_can (evidence > 3.607966967109572)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.671
DEBUG:root:evidences for each object: [ 7.2839813   1.09490436  9.8496505  16.5749634  18.45997474  1.16589006
  8.44619722 16.19886213  1.16372623  8.67102567]
DEBUG:root:mean evidence: 8.891, std: 6.228 -> th=14.76797979322809
INFO:root:current most likely hypothesis: hot_sauce with evidence 18.46
DEBUG:root:evidences for each object: [ 7.2839813   1.09490436  9.8496505  16.5749634  18.45997474  1.16589006
  8.44619722 16.19886213  1.16372623  8.67102567]
DEBUG:root:mean evidence: 8.891, std: 6.228 -> th=14.76797979322809
DEBUG:root:evidences for each object: [ 7.2839813   1.09490436  9.8496505  16.5749634  18.45997474  1.16589006
  8.44619722 16.19886213  1.16372623  8.67102567]
DEBUG:root:mean evidence: 8.891, std: 6.228 -> th=15.690978530304847
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 57 ---
INFO:uvicorn.access:192.168.1.217:64243 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64243 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.35761085,  0.08608344, -0.92989468],
       [-0.23403313,  0.97222862,  0.        ],
       [ 0.90407023,  0.21762617,  0.36782588]]), 'pose_fully_defined': False}}, {'patch': array([1.27151657e-03, 7.33584564e-03, 5.05315397e-05])}]
INFO:root:Testing 9 out of 14424 hypotheses for numenta_mug (evidence > 3.6919949483070216)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.284
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 34 out of 14880 hypotheses for montys_heart (evidence > 3.6919949483070216)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.85
INFO:root:Testing 1417 out of 23200 hypotheses for ramen_pack (evidence > 3.6919949483070216)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.006
INFO:root:Testing 596 out of 14864 hypotheses for hot_sauce (evidence > 3.6919949483070216)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 18.87
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 191 out of 21832 hypotheses for tomato_soup_can (evidence > 3.6919949483070216)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.518
INFO:root:Testing 864 out of 16976 hypotheses for mustard_bottle (evidence > 3.6919949483070216)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.646
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 17 out of 19024 hypotheses for potted_meat_can (evidence > 3.6919949483070216)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.671
DEBUG:root:evidences for each object: [ 6.2839813   1.09490436  8.8496505  17.00589356 18.87003017  1.16589006
  7.51752351 16.6456852   1.16372623  7.67102567]
DEBUG:root:mean evidence: 8.627, std: 6.444 -> th=15.09602413389376
INFO:root:current most likely hypothesis: hot_sauce with evidence 18.87
DEBUG:root:evidences for each object: [ 6.2839813   1.09490436  8.8496505  17.00589356 18.87003017  1.16589006
  7.51752351 16.6456852   1.16372623  7.67102567]
DEBUG:root:mean evidence: 8.627, std: 6.444 -> th=15.09602413389376
DEBUG:root:evidences for each object: [ 6.2839813   1.09490436  8.8496505  17.00589356 18.87003017  1.16589006
  7.51752351 16.6456852   1.16372623  7.67102567]
DEBUG:root:mean evidence: 8.627, std: 6.444 -> th=16.03952564226212
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 58 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.35459426,  0.11274528, -0.92819794],
       [-0.30300801,  0.95298801,  0.        ],
       [ 0.8845615 ,  0.28125141,  0.3720868 ]]), 'pose_fully_defined': False}}, {'patch': array([0.00253085, 0.00679442, 0.00325704])}]
INFO:root:Testing 6 out of 14424 hypotheses for numenta_mug (evidence > 3.774006033473439)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.284
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 21 out of 14880 hypotheses for montys_heart (evidence > 3.774006033473439)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.068
INFO:root:Testing 1398 out of 23200 hypotheses for ramen_pack (evidence > 3.774006033473439)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 17.423
INFO:root:Testing 584 out of 14864 hypotheses for hot_sauce (evidence > 3.774006033473439)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 19.25
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 153 out of 21832 hypotheses for tomato_soup_can (evidence > 3.774006033473439)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.759
INFO:root:Testing 783 out of 16976 hypotheses for mustard_bottle (evidence > 3.774006033473439)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.92
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 10 out of 19024 hypotheses for potted_meat_can (evidence > 3.774006033473439)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.671
DEBUG:root:evidences for each object: [ 5.2839813   1.09490436  8.0680703  17.42343043 19.2499627   1.16589006
  7.75878446 16.91973639  1.16372623  6.67102567]
DEBUG:root:mean evidence: 8.48, std: 6.655 -> th=15.399970159813696
INFO:root:current most likely hypothesis: hot_sauce with evidence 19.25
DEBUG:root:evidences for each object: [ 5.2839813   1.09490436  8.0680703  17.42343043 19.2499627   1.16589006
  7.75878446 16.91973639  1.16372623  6.67102567]
DEBUG:root:mean evidence: 8.48, std: 6.655 -> th=15.399970159813696
DEBUG:root:evidences for each object: [ 5.2839813   1.09490436  8.0680703  17.42343043 19.2499627   1.16589006
  7.75878446 16.91973639  1.16372623  6.67102567]
DEBUG:root:mean evidence: 8.48, std: 6.655 -> th=16.362468294802053
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 59 ---
INFO:uvicorn.access:192.168.1.217:64245 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.43351824,  0.1483681 , -0.88884692],
       [-0.32380339,  0.94612439,  0.        ],
       [ 0.84095975,  0.28781165,  0.45820427]]), 'pose_fully_defined': False}}, {'patch': array([-0.00411148,  0.0248555 ,  0.00337153])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 3.8499925399534227)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.506
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 14 out of 14880 hypotheses for montys_heart (evidence > 3.8499925399534227)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.068
INFO:root:Testing 1342 out of 23200 hypotheses for ramen_pack (evidence > 3.8499925399534227)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.423
INFO:root:Testing 579 out of 14864 hypotheses for hot_sauce (evidence > 3.8499925399534227)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 18.291
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 102 out of 21832 hypotheses for tomato_soup_can (evidence > 3.8499925399534227)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.58
INFO:root:Testing 685 out of 16976 hypotheses for mustard_bottle (evidence > 3.8499925399534227)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.036
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 5 out of 19024 hypotheses for potted_meat_can (evidence > 3.8499925399534227)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.671
DEBUG:root:evidences for each object: [ 5.50589829  1.09490436  7.0680703  16.42343043 18.29130824  1.16589006
  7.58012991 17.03583529  1.16372623  5.67102567]
DEBUG:root:mean evidence: 8.1, std: 6.42 -> th=14.633046591755658
INFO:root:current most likely hypothesis: hot_sauce with evidence 18.29
DEBUG:root:evidences for each object: [ 5.50589829  1.09490436  7.0680703  16.42343043 18.29130824  1.16589006
  7.58012991 17.03583529  1.16372623  5.67102567]
DEBUG:root:mean evidence: 8.1, std: 6.42 -> th=14.633046591755658
DEBUG:root:evidences for each object: [ 5.50589829  1.09490436  7.0680703  16.42343043 18.29130824  1.16589006
  7.58012991 17.03583529  1.16372623  5.67102567]
DEBUG:root:mean evidence: 8.1, std: 6.42 -> th=15.547612003740387
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 60 ---
INFO:uvicorn.access:192.168.1.217:64245 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.29924612,  0.17591423, -0.93781978],
       [-0.50677847,  0.86207632,  0.        ],
       [ 0.80847223,  0.47526688,  0.34712254]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00151176,  0.00941658, -0.00424748])}]
INFO:root:Testing 33 out of 14424 hypotheses for numenta_mug (evidence > 3.6582616479389145)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.806
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 3.6582616479389145)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.404
INFO:root:Testing 1253 out of 23200 hypotheses for ramen_pack (evidence > 3.6582616479389145)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.462
INFO:root:Testing 575 out of 14864 hypotheses for hot_sauce (evidence > 3.6582616479389145)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 18.745
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 82 out of 21832 hypotheses for tomato_soup_can (evidence > 3.6582616479389145)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.762
INFO:root:Testing 632 out of 16976 hypotheses for mustard_bottle (evidence > 3.6582616479389145)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.637
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 6 out of 19024 hypotheses for potted_meat_can (evidence > 3.6582616479389145)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.671
DEBUG:root:evidences for each object: [ 5.80633093  1.09490436  7.40438385 16.46188536 18.74543354  1.16589006
  7.76214067 16.63727473  1.16372623  4.67102567]
DEBUG:root:mean evidence: 8.091, std: 6.473 -> th=14.996346830337435
INFO:root:current most likely hypothesis: hot_sauce with evidence 18.75
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 61 ---
INFO:uvicorn.access:192.168.1.217:64245 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.40835574,  0.11393062, -0.90568504],
       [-0.26873523,  0.96321409,  0.        ],
       [ 0.87236859,  0.24338948,  0.42395118]]), 'pose_fully_defined': False}}, {'patch': array([-0.00172228,  0.01225582,  0.0007486 ])}]
INFO:root:Testing 17 out of 14424 hypotheses for numenta_mug (evidence > 3.7490867075843575)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.256
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 13 out of 14880 hypotheses for montys_heart (evidence > 3.7490867075843575)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.787
INFO:root:Testing 1058 out of 23200 hypotheses for ramen_pack (evidence > 3.7490867075843575)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.908
INFO:root:Testing 571 out of 14864 hypotheses for hot_sauce (evidence > 3.7490867075843575)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 19.215
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 56 out of 21832 hypotheses for tomato_soup_can (evidence > 3.7490867075843575)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.641
INFO:root:Testing 476 out of 16976 hypotheses for mustard_bottle (evidence > 3.7490867075843575)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.637
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 2 out of 19024 hypotheses for potted_meat_can (evidence > 3.7490867075843575)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.273
DEBUG:root:evidences for each object: [ 6.25642853  1.09490436  7.78718405 16.90832014 19.21465532  1.16589006
  7.64104342 15.63727473  1.16372623  4.27280209]
DEBUG:root:mean evidence: 8.114, std: 6.493 -> th=15.37172425448141
INFO:root:current most likely hypothesis: hot_sauce with evidence 19.21
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 62 ---
INFO:uvicorn.access:192.168.1.217:64247 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.50861772,  0.07622685, -0.8576115 ],
       [-0.14821531,  0.98895512,  0.        ],
       [ 0.84813928,  0.12711116,  0.51429808]]), 'pose_fully_defined': False}}, {'patch': array([0.00140066, 0.0204085 , 0.00315278])}]
INFO:root:Testing 12 out of 14424 hypotheses for numenta_mug (evidence > 3.8429310636203518)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.256
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 12 out of 14880 hypotheses for montys_heart (evidence > 3.8429310636203518)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.188
INFO:root:Testing 860 out of 23200 hypotheses for ramen_pack (evidence > 3.8429310636203518)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.188
INFO:root:Testing 567 out of 14864 hypotheses for hot_sauce (evidence > 3.8429310636203518)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 19.623
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 52 out of 21832 hypotheses for tomato_soup_can (evidence > 3.8429310636203518)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.726
INFO:root:Testing 385 out of 16976 hypotheses for mustard_bottle (evidence > 3.8429310636203518)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.291
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 1 out of 19024 hypotheses for potted_meat_can (evidence > 3.8429310636203518)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 5.25642853  1.09490436  7.18824507 17.18817706 19.62267662  1.16589006
  7.72603918 15.29104705  1.16372623  3.67102567]
DEBUG:root:mean evidence: 7.937, std: 6.639 -> th=15.698141294010401
INFO:root:current most likely hypothesis: hot_sauce with evidence 19.62
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 63 ---
INFO:uvicorn.access:192.168.1.217:64247 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64247 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.60736537,  0.06661888, -0.79162442],
       [-0.10903111,  0.99403834,  0.        ],
       [ 0.78690503,  0.08631169,  0.611008  ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0012111 , -0.01682086,  0.00086618])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 3.9245353235025995)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.683
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 11 out of 14880 hypotheses for montys_heart (evidence > 3.9245353235025995)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.305
INFO:root:Testing 746 out of 23200 hypotheses for ramen_pack (evidence > 3.9245353235025995)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.512
INFO:root:Testing 563 out of 14864 hypotheses for hot_sauce (evidence > 3.9245353235025995)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.011
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 40 out of 21832 hypotheses for tomato_soup_can (evidence > 3.9245353235025995)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.995
INFO:root:Testing 338 out of 16976 hypotheses for mustard_bottle (evidence > 3.9245353235025995)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.594
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 5.68305044  1.09490436  7.30470355 17.51150893 20.01131013  1.16589006
  7.99468375 15.59383663  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.119, std: 6.767 -> th=16.009048102420696
INFO:root:current most likely hypothesis: hot_sauce with evidence 20.01
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 64 ---
INFO:uvicorn.access:192.168.1.217:64247 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.7846395 ,  0.04283653, -0.61847061],
       [-0.05451272,  0.99851308,  0.        ],
       [ 0.61755099,  0.03371452,  0.78580793]]), 'pose_fully_defined': False}}, {'patch': array([-0.00083251, -0.01505704, -0.00203599])}]
INFO:root:Testing 17 out of 14424 hypotheses for numenta_mug (evidence > 4.002262025605173)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.083
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 8 out of 14880 hypotheses for montys_heart (evidence > 4.002262025605173)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.592
INFO:root:Testing 561 out of 23200 hypotheses for ramen_pack (evidence > 4.002262025605173)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.998
INFO:root:Testing 554 out of 14864 hypotheses for hot_sauce (evidence > 4.002262025605173)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.422
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 38 out of 21832 hypotheses for tomato_soup_can (evidence > 4.002262025605173)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.435
INFO:root:Testing 267 out of 16976 hypotheses for mustard_bottle (evidence > 4.002262025605173)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.002
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 6.08285701  1.09490436  7.59165803 17.99750804 20.42190046  1.16589006
  8.43538057 16.00196768  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.363, std: 6.934 -> th=16.337520370661945
INFO:root:current most likely hypothesis: hot_sauce with evidence 20.42
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 65 ---
INFO:uvicorn.access:192.168.1.217:64247 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.69038751,  0.05216992, -0.72155622],
       [-0.0753513 ,  0.99715705,  0.        ],
       [ 0.71950487,  0.0543702 ,  0.69235584]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00047875, -0.00638625,  0.00418694])}]
INFO:root:Testing 8 out of 14424 hypotheses for numenta_mug (evidence > 4.084380092665487)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.498
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 7 out of 14880 hypotheses for montys_heart (evidence > 4.084380092665487)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.936
INFO:root:Testing 405 out of 23200 hypotheses for ramen_pack (evidence > 4.084380092665487)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 18.364
INFO:root:Testing 542 out of 14864 hypotheses for hot_sauce (evidence > 4.084380092665487)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.796
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 33 out of 21832 hypotheses for tomato_soup_can (evidence > 4.084380092665487)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.714
INFO:root:Testing 212 out of 16976 hypotheses for mustard_bottle (evidence > 4.084380092665487)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.389
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 6.49751818  1.09490436  7.9355548  18.36443995 20.79567396  1.16589006
  8.71437735 16.38915847  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.579, std: 7.077 -> th=16.636539166921736
INFO:root:current most likely hypothesis: hot_sauce with evidence 20.8
DEBUG:root:evidences for each object: [ 6.49751818  1.09490436  7.9355548  18.36443995 20.79567396  1.16589006
  8.71437735 16.38915847  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.579, std: 7.077 -> th=16.636539166921736
DEBUG:root:evidences for each object: [ 6.49751818  1.09490436  7.9355548  18.36443995 20.79567396  1.16589006
  8.71437735 16.38915847  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.579, std: 7.077 -> th=17.676322864854345
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 66 ---
INFO:uvicorn.access:192.168.1.217:64247 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.1087879 ,  0.06866297, -0.99169077],
       [-0.53374191,  0.84564743,  0.        ],
       [ 0.83862076,  0.52930692,  0.12864451]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00398577, -0.00531162,  0.01043708])}]
INFO:root:Testing 4 out of 14424 hypotheses for numenta_mug (evidence > 4.159134791730434)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.428
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 6 out of 14880 hypotheses for montys_heart (evidence > 4.159134791730434)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.045
INFO:root:Testing 320 out of 23200 hypotheses for ramen_pack (evidence > 4.159134791730434)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 18.3
INFO:uvicorn.access:192.168.1.217:64247 - "POST /capture HTTP/1.1" 200
INFO:root:Testing 530 out of 14864 hypotheses for hot_sauce (evidence > 4.159134791730434)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.629
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 27 out of 21832 hypotheses for tomato_soup_can (evidence > 4.159134791730434)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.633
INFO:root:Testing 165 out of 16976 hypotheses for mustard_bottle (evidence > 4.159134791730434)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.408
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 6.42801749  1.09490436  8.04463045 18.29990051 20.62868359  1.16589006
  8.63328955 16.40809545  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.554, std: 7.042 -> th=16.50294686955251
INFO:root:current most likely hypothesis: hot_sauce with evidence 20.63
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 67 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.769714  ,  0.01370973, -0.63824165],
       [-0.01780863,  0.99984141,  0.        ],
       [ 0.63814043,  0.01136621,  0.76983608]]), 'pose_fully_defined': False}}, {'patch': array([-0.00754762, -0.01476589, -0.00650508])}]
INFO:root:Testing 4 out of 14424 hypotheses for numenta_mug (evidence > 4.125736717388126)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.428
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 6 out of 14880 hypotheses for montys_heart (evidence > 4.125736717388126)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.045
INFO:root:Testing 309 out of 23200 hypotheses for ramen_pack (evidence > 4.125736717388126)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 18.166
INFO:root:Testing 519 out of 14864 hypotheses for hot_sauce (evidence > 4.125736717388126)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 19.629
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 25 out of 21832 hypotheses for tomato_soup_can (evidence > 4.125736717388126)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.633
INFO:root:Testing 158 out of 16976 hypotheses for mustard_bottle (evidence > 4.125736717388126)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.878
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 5.42801749  1.09490436  7.04463045 18.1655502  19.62868359  1.16589006
  7.63328955 16.87849809  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.187, std: 6.961 -> th=15.702946869552509
INFO:root:current most likely hypothesis: hot_sauce with evidence 19.63
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 68 ---
INFO:uvicorn.access:192.168.1.217:64249 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.70831337,  0.07620954, -0.70177224],
       [-0.10697556, -0.99426165,  0.        ],
       [-0.69774522,  0.07507248,  0.71240138]]), 'pose_fully_defined': False}}, {'patch': array([-0.00872802, -0.04739725, -0.00675864])}]
INFO:root:Testing 29 out of 14424 hypotheses for numenta_mug (evidence > 3.9257367173881264)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.428
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 4 out of 14880 hypotheses for montys_heart (evidence > 3.9257367173881264)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.045
INFO:root:Testing 324 out of 23200 hypotheses for ramen_pack (evidence > 3.9257367173881264)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.948
INFO:root:Testing 512 out of 14864 hypotheses for hot_sauce (evidence > 3.9257367173881264)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 19.798
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 31 out of 21832 hypotheses for tomato_soup_can (evidence > 3.9257367173881264)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.37
INFO:root:Testing 165 out of 16976 hypotheses for mustard_bottle (evidence > 3.9257367173881264)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.18
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.42801749  1.09490436  6.04463045 17.94793561 19.79816017  1.16589006
  7.36969592 17.17957744  1.16372623  3.67102567]
DEBUG:root:mean evidence: 7.986, std: 7.066 -> th=15.838528137618306
INFO:root:current most likely hypothesis: hot_sauce with evidence 19.8
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 69 ---
INFO:uvicorn.access:192.168.1.217:64249 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.72952663,  0.06969976, -0.68039168],
       [-0.09510798, -0.99546696,  0.        ],
       [-0.67730744,  0.06471068,  0.73284866]]), 'pose_fully_defined': False}}, {'patch': array([-0.0003745 ,  0.02345014,  0.00089706])}]
INFO:root:Testing 2 out of 14424 hypotheses for numenta_mug (evidence > 3.959632034404576)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.919
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 3 out of 14880 hypotheses for montys_heart (evidence > 3.959632034404576)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.045
INFO:root:Testing 315 out of 23200 hypotheses for ramen_pack (evidence > 3.959632034404576)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.715
INFO:root:Testing 500 out of 14864 hypotheses for hot_sauce (evidence > 3.959632034404576)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 18.798
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 19 out of 21832 hypotheses for tomato_soup_can (evidence > 3.959632034404576)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.37
INFO:root:Testing 131 out of 16976 hypotheses for mustard_bottle (evidence > 3.959632034404576)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.49
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 3.91872148  1.09490436  5.04463045 17.71485944 18.79816017  1.16589006
  6.36969592 17.49045485  1.16372623  3.67102567]
DEBUG:root:mean evidence: 7.643, std: 6.983 -> th=15.038528137618306
INFO:root:current most likely hypothesis: hot_sauce with evidence 18.8
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 70 ---
INFO:uvicorn.access:192.168.1.217:64249 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64249 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.72704238,  0.09000515, -0.68066765],
       [-0.12285844, -0.99242421,  0.        ],
       [-0.67551106,  0.08362576,  0.73259235]]), 'pose_fully_defined': False}}, {'patch': array([ 2.34230296e-05,  2.25635681e-02, -5.17389761e-03])}]
INFO:root:Testing 421 out of 14424 hypotheses for numenta_mug (evidence > 3.759632034404575)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.982
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 7 out of 14880 hypotheses for montys_heart (evidence > 3.759632034404575)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.045
INFO:root:Testing 428 out of 23200 hypotheses for ramen_pack (evidence > 3.759632034404575)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.488
INFO:root:Testing 489 out of 14864 hypotheses for hot_sauce (evidence > 3.759632034404575)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 19.124
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 18 out of 21832 hypotheses for tomato_soup_can (evidence > 3.759632034404575)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.37
INFO:root:Testing 154 out of 16976 hypotheses for mustard_bottle (evidence > 3.759632034404575)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.788
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 3.98248883  1.09490436  4.04463045 17.48760563 19.12397385  1.16589006
  5.36969592 17.78825293  1.16372623  3.67102567]
DEBUG:root:mean evidence: 7.489, std: 7.11 -> th=15.299179081314728
INFO:root:current most likely hypothesis: hot_sauce with evidence 19.12
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 71 ---
INFO:uvicorn.access:192.168.1.217:64249 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.59568344,  0.1138142 , -0.79511482],
       [-0.18767009, -0.98223212,  0.        ],
       [-0.78098731,  0.14921927,  0.60645893]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00090159,  0.00332685, -0.00261165])}]
INFO:root:Testing 4 out of 14424 hypotheses for numenta_mug (evidence > 3.8247947703286815)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.25
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 2 out of 14880 hypotheses for montys_heart (evidence > 3.8247947703286815)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.234
INFO:root:Testing 417 out of 23200 hypotheses for ramen_pack (evidence > 3.8247947703286815)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.547
INFO:root:Testing 458 out of 14864 hypotheses for hot_sauce (evidence > 3.8247947703286815)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 19.473
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 5 out of 21832 hypotheses for tomato_soup_can (evidence > 3.8247947703286815)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.37
INFO:root:Testing 100 out of 16976 hypotheses for mustard_bottle (evidence > 3.8247947703286815)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.147
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.2498348   1.09490436  4.2336202  17.54722418 19.4728964   1.16589006
  4.36969592 18.14679345  1.16372623  3.67102567]
DEBUG:root:mean evidence: 7.512, std: 7.243 -> th=15.578317122650375
INFO:root:current most likely hypothesis: hot_sauce with evidence 19.47
DEBUG:root:evidences for each object: [ 4.2498348   1.09490436  4.2336202  17.54722418 19.4728964   1.16589006
  4.36969592 18.14679345  1.16372623  3.67102567]
DEBUG:root:mean evidence: 7.512, std: 7.243 -> th=15.578317122650375
DEBUG:root:evidences for each object: [ 4.2498348   1.09490436  4.2336202  17.54722418 19.4728964   1.16589006
  4.36969592 18.14679345  1.16372623  3.67102567]
DEBUG:root:mean evidence: 7.512, std: 7.243 -> th=16.551961942816025
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 72 ---
INFO:uvicorn.access:192.168.1.217:64249 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.70586798,  0.13041637, -0.69623413],
       [-0.18168526, -0.98335673,  0.        ],
       [-0.68464652,  0.12649548,  0.71781476]]), 'pose_fully_defined': False}}, {'patch': array([-0.00092378,  0.00363408,  0.00123977])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 3.894579280662594)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.536
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 1 out of 14880 hypotheses for montys_heart (evidence > 3.894579280662594)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.454
INFO:root:Testing 407 out of 23200 hypotheses for ramen_pack (evidence > 3.894579280662594)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.815
INFO:root:Testing 444 out of 14864 hypotheses for hot_sauce (evidence > 3.894579280662594)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 19.922
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 3.894579280662594)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 90 out of 16976 hypotheses for mustard_bottle (evidence > 3.894579280662594)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.445
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.53559804  1.09490436  4.45408283 17.81537629 19.92244424  1.16589006
  3.74784733 18.44511424  1.16372623  3.67102567]
DEBUG:root:mean evidence: 7.602, std: 7.406 -> th=15.93795539349949
INFO:root:current most likely hypothesis: hot_sauce with evidence 19.92
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 73 ---
INFO:uvicorn.access:192.168.1.217:64249 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.30222424,  0.14567715, -0.94203964],
       [-0.43420702, -0.90081311,  0.        ],
       [-0.84860166,  0.40904022,  0.3355016 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00101862,  0.0034668 , -0.00025964])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 3.9844888483748715)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.864
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 1 out of 14880 hypotheses for montys_heart (evidence > 3.9844888483748715)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.688
INFO:root:Testing 389 out of 23200 hypotheses for ramen_pack (evidence > 3.9844888483748715)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 18.221
INFO:root:Testing 431 out of 14864 hypotheses for hot_sauce (evidence > 3.9844888483748715)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.39
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 85 out of 16976 hypotheses for mustard_bottle (evidence > 3.9844888483748715)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.807
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.86372753  1.09490436  4.68817961 18.22142038 20.38982918  1.16589006
  3.74784733 18.80650006  1.16372623  3.67102567]
DEBUG:root:mean evidence: 7.781, std: 7.57 -> th=16.311863345244465
INFO:root:current most likely hypothesis: hot_sauce with evidence 20.39
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 74 ---
INFO:uvicorn.access:192.168.1.217:64249 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.14192085,  0.14425574, -0.97931035],
       [-0.71285229, -0.70131421,  0.        ],
       [-0.68680426,  0.69810362,  0.20236414]]), 'pose_fully_defined': False}}, {'patch': array([0.00345445, 0.00011675, 0.00443979])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 4.077965836311115)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.006
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 5 out of 14880 hypotheses for montys_heart (evidence > 4.077965836311115)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.906
INFO:root:Testing 380 out of 23200 hypotheses for ramen_pack (evidence > 4.077965836311115)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 18.645
INFO:root:Testing 410 out of 14864 hypotheses for hot_sauce (evidence > 4.077965836311115)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.866
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 75 out of 16976 hypotheses for mustard_bottle (evidence > 4.077965836311115)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.852
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 5.00603037  1.09490436  4.90586193 18.64491738 20.86566899  1.16589006
  3.74784733 18.85245107  1.16372623  3.67102567]
DEBUG:root:mean evidence: 7.912, std: 7.701 -> th=16.692535194020785
INFO:root:current most likely hypothesis: hot_sauce with evidence 20.87
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 75 ---
INFO:uvicorn.access:192.168.1.217:64251 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.63924858,  0.1439773 , -0.75540174],
       [-0.21972481, -0.97556189,  0.        ],
       [-0.73694115,  0.1659805 ,  0.65526194]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00352928,  0.01906461, -0.00012877])}]
INFO:root:Testing 2 out of 14424 hypotheses for numenta_mug (evidence > 4.173133798505194)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.243
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 1 out of 14880 hypotheses for montys_heart (evidence > 4.173133798505194)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 371 out of 23200 hypotheses for ramen_pack (evidence > 4.173133798505194)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 18.942
INFO:root:Testing 384 out of 14864 hypotheses for hot_sauce (evidence > 4.173133798505194)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.099
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 73 out of 16976 hypotheses for mustard_bottle (evidence > 4.173133798505194)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.652
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 5.24309562  1.09490436  4.08978876 18.94215981 21.09917022  1.16589006
  3.74784733 18.65170824  1.16372623  3.67102567]
DEBUG:root:mean evidence: 7.887, std: 7.781 -> th=16.87933617599912
INFO:root:current most likely hypothesis: hot_sauce with evidence 21.1
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 76 ---
INFO:uvicorn.access:192.168.1.217:64251 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.44509173,  0.16233959, -0.88064704],
       [-0.34265273, -0.93946214,  0.        ],
       [-0.82733455,  0.30175611,  0.47377294]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00098756, -0.00192743, -0.00066085])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 4.219834043999779)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.5
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 297 out of 23200 hypotheses for ramen_pack (evidence > 4.219834043999779)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 19.323
INFO:root:Testing 361 out of 14864 hypotheses for hot_sauce (evidence > 4.219834043999779)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.29
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 71 out of 16976 hypotheses for mustard_bottle (evidence > 4.219834043999779)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.537
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 5.49972702  1.09490436  4.08978876 19.32284029 21.28964895  1.16589006
  3.74784733 18.53729733  1.16372623  3.67102567]
DEBUG:root:mean evidence: 7.958, std: 7.844 -> th=17.031719159911525
INFO:root:current most likely hypothesis: hot_sauce with evidence 21.29
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 77 ---
INFO:uvicorn.access:192.168.1.217:64251 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.52621672,  0.16232243, -0.83471396],
       [-0.29476524, -0.9555697 ,  0.        ],
       [-0.79762737,  0.24604466,  0.55068377]]), 'pose_fully_defined': False}}, {'patch': array([-0.00201734, -0.0061841 ,  0.00212208])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 4.257929789977879)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.814
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 262 out of 23200 hypotheses for ramen_pack (evidence > 4.257929789977879)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 19.676
INFO:root:Testing 347 out of 14864 hypotheses for hot_sauce (evidence > 4.257929789977879)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.436
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 68 out of 16976 hypotheses for mustard_bottle (evidence > 4.257929789977879)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.208
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 5.81405994  1.09490436  4.08978876 19.67643689 21.43562576  1.16589006
  3.74784733 18.20835243  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.007, std: 7.868 -> th=17.148500611098104
INFO:root:current most likely hypothesis: hot_sauce with evidence 21.44
DEBUG:root:evidences for each object: [ 5.81405994  1.09490436  4.08978876 19.67643689 21.43562576  1.16589006
  3.74784733 18.20835243  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.007, std: 7.868 -> th=17.148500611098104
DEBUG:root:evidences for each object: [ 5.81405994  1.09490436  4.08978876 19.67643689 21.43562576  1.16589006
  3.74784733 18.20835243  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.007, std: 7.868 -> th=18.220281899291734
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 78 ---
INFO:uvicorn.access:192.168.1.217:64251 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.59781928,  0.1253138 , -0.79177558],
       [-0.20515932, -0.97872859,  0.        ],
       [-0.77493339,  0.16244014,  0.61081211]]), 'pose_fully_defined': False}}, {'patch': array([ 4.00957697e-05, -6.48102587e-03,  1.41226437e-04])}]
INFO:root:Testing 1641 out of 14424 hypotheses for numenta_mug (evidence > 4.287125152774525)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 6.051
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 253 out of 23200 hypotheses for ramen_pack (evidence > 4.287125152774525)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 20.008
INFO:root:Testing 333 out of 14864 hypotheses for hot_sauce (evidence > 4.287125152774525)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.542
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 67 out of 16976 hypotheses for mustard_bottle (evidence > 4.287125152774525)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.068
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 6.05054208  1.09490436  4.08978876 20.00774213 21.54159917  1.16589006
  3.74784733 18.06815217  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.06, std: 7.912 -> th=17.233279334399846
INFO:root:current most likely hypothesis: hot_sauce with evidence 21.54
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 79 ---
INFO:uvicorn.access:192.168.1.217:64251 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.93945679,  0.03866707,  0.34047877],
       [-0.04112415, -0.99915404,  0.        ],
       [ 0.34019074, -0.0140019 ,  0.9402522 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00055027, -0.00287092,  0.00212639])}]
INFO:root:Testing 243 out of 14424 hypotheses for numenta_mug (evidence > 4.30831983359996)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.372
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 249 out of 23200 hypotheses for ramen_pack (evidence > 4.30831983359996)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 19.802
INFO:root:Testing 315 out of 14864 hypotheses for hot_sauce (evidence > 4.30831983359996)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.542
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 62 out of 16976 hypotheses for mustard_bottle (evidence > 4.30831983359996)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.598
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 6.37163668  1.09490436  4.08978876 19.80232134 20.54159917  1.16589006
  3.74784733 17.59779373  1.16372623  3.67102567]
DEBUG:root:mean evidence: 7.925, std: 7.645 -> th=16.43327933439985
INFO:root:current most likely hypothesis: hot_sauce with evidence 20.54
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 80 ---
INFO:uvicorn.access:192.168.1.217:64251 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.42782031,  0.11001571, -0.89714343],
       [-0.24905117, -0.96849033,  0.        ],
       [-0.86887473,  0.22343462,  0.44173937]]), 'pose_fully_defined': False}}, {'patch': array([-0.00739913, -0.017906  , -0.0074832 ])}]
INFO:root:Testing 1862 out of 14424 hypotheses for numenta_mug (evidence > 4.1083198335999604)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 6.441
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 275 out of 23200 hypotheses for ramen_pack (evidence > 4.1083198335999604)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 20.22
INFO:root:Testing 307 out of 14864 hypotheses for hot_sauce (evidence > 4.1083198335999604)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.025
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 63 out of 16976 hypotheses for mustard_bottle (evidence > 4.1083198335999604)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.948
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 6.44091539  1.09490436  4.08978876 20.21975493 21.02537563  1.16589006
  3.74784733 17.94845626  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.057, std: 7.833 -> th=16.820300506625017
INFO:root:current most likely hypothesis: hot_sauce with evidence 21.03
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 81 ---
INFO:uvicorn.access:192.168.1.217:64251 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64251 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.70505463,  0.11287148, -0.70011285],
       [-0.15807618, -0.98742692,  0.        ],
       [-0.69131027,  0.11067116,  0.71403221]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00133503, -0.00830222, -0.00240623])}]
INFO:root:Testing 59 out of 14424 hypotheses for numenta_mug (evidence > 4.205075126656254)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.441
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 266 out of 23200 hypotheses for ramen_pack (evidence > 4.205075126656254)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 20.427
INFO:root:Testing 295 out of 14864 hypotheses for hot_sauce (evidence > 4.205075126656254)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.281
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 62 out of 16976 hypotheses for mustard_bottle (evidence > 4.205075126656254)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.175
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 5.44091539  1.09490436  4.08978876 20.42698489 21.28141982  1.16589006
  3.74784733 18.17520465  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.026, std: 7.963 -> th=17.02513585820632
INFO:root:current most likely hypothesis: hot_sauce with evidence 21.28
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 82 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.70198891,  0.13096015, -0.70004357],
       [-0.18339185, -0.98303989,  0.        ],
       [-0.68817076,  0.12838229,  0.71410013]]), 'pose_fully_defined': False}}, {'patch': array([-0.00394615, -0.00119858,  0.00181348])}]
INFO:root:Testing 12 out of 14424 hypotheses for numenta_mug (evidence > 4.256283964551578)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.767
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 262 out of 23200 hypotheses for ramen_pack (evidence > 4.256283964551578)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 19.623
INFO:root:Testing 294 out of 14864 hypotheses for hot_sauce (evidence > 4.256283964551578)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.622
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 62 out of 16976 hypotheses for mustard_bottle (evidence > 4.256283964551578)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.417
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.76677322  1.09490436  4.08978876 19.62286917 21.62202459  1.16589006
  3.74784733 18.41685643  1.16372623  3.67102567]
DEBUG:root:mean evidence: 7.936, std: 7.955 -> th=17.297619672464034
INFO:root:current most likely hypothesis: hot_sauce with evidence 21.62
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 83 ---
INFO:uvicorn.access:192.168.1.217:64251 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.71874732,  0.10311871, -0.68758187],
       [-0.14201589, -0.98986438,  0.        ],
       [-0.6806128 ,  0.09764755,  0.72610686]]), 'pose_fully_defined': False}}, {'patch': array([ 4.72307364e-03, -1.39102834e-02,  2.10406979e-05])}]
INFO:root:Testing 4 out of 14424 hypotheses for numenta_mug (evidence > 4.324404918116009)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.575
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 244 out of 23200 hypotheses for ramen_pack (evidence > 4.324404918116009)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 19.993
INFO:root:Testing 292 out of 14864 hypotheses for hot_sauce (evidence > 4.324404918116009)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.944
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 61 out of 16976 hypotheses for mustard_bottle (evidence > 4.324404918116009)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.652
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.57525397  1.09490436  4.08978876 19.99322767 21.94423074  1.16589006
  3.74784733 18.65176053  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.01, std: 8.104 -> th=17.55538458976978
INFO:root:current most likely hypothesis: hot_sauce with evidence 21.94
DEBUG:root:evidences for each object: [ 4.57525397  1.09490436  4.08978876 19.99322767 21.94423074  1.16589006
  3.74784733 18.65176053  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.01, std: 8.104 -> th=17.55538458976978
DEBUG:root:evidences for each object: [ 4.57525397  1.09490436  4.08978876 19.99322767 21.94423074  1.16589006
  3.74784733 18.65176053  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.01, std: 8.104 -> th=18.65259612663039
DEBUG:root:Hypothesis jump indicated: change in most-likely rotation of MLH
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 84 ---
INFO:uvicorn.access:192.168.1.217:64251 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.74211767,  0.12621697, -0.65827855],
       [-0.16766904, -0.98584334,  0.        ],
       [-0.64895952,  0.11037293,  0.75277444]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00085137, -0.01541845,  0.00040353])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 4.388846147442443)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.307
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 239 out of 23200 hypotheses for ramen_pack (evidence > 4.388846147442443)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 20.38
INFO:root:Testing 285 out of 14864 hypotheses for hot_sauce (evidence > 4.388846147442443)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 22.172
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 60 out of 16976 hypotheses for mustard_bottle (evidence > 4.388846147442443)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.882
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 20.38002962 22.17237197  1.16589006
  3.74784733 18.88205831  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.068, std: 8.242 -> th=17.73789757678707
INFO:root:current most likely hypothesis: hot_sauce with evidence 22.17
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 85 ---
INFO:uvicorn.access:192.168.1.217:64251 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.64095547,  0.09385797, -0.76181807],
       [-0.14488926, -0.98944788,  0.        ],
       [-0.75377927,  0.11037926,  0.64779104]]), 'pose_fully_defined': False}}, {'patch': array([-0.01213174,  0.02652269,  0.00583655])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.307
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 232 out of 23200 hypotheses for ramen_pack (evidence > 4.434474394196766)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 20.414
INFO:root:Testing 279 out of 14864 hypotheses for hot_sauce (evidence > 4.434474394196766)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 22.552
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 60 out of 16976 hypotheses for mustard_bottle (evidence > 4.434474394196766)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 19.198
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 20.41362287 22.55217469  1.16589006
  3.74784733 19.19819764  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.14, std: 8.354 -> th=18.04173975422882
INFO:root:current most likely hypothesis: hot_sauce with evidence 22.55
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 86 ---
INFO:uvicorn.access:192.168.1.217:64254 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.81165974,  0.0449715 , -0.58239679],
       [-0.05532199,  0.99846857,  0.        ],
       [ 0.58150489,  0.03221935,  0.81290465]]), 'pose_fully_defined': False}}, {'patch': array([ 0.03492933, -0.04206301, -0.00136528])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.307
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 219 out of 23200 hypotheses for ramen_pack (evidence > 4.510434938557204)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 20.717
INFO:root:Testing 274 out of 14864 hypotheses for hot_sauce (evidence > 4.510434938557204)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 22.965
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 59 out of 16976 hypotheses for mustard_bottle (evidence > 4.510434938557204)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 19.252
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 20.71738385 22.96451391  1.16589006
  3.74784733 19.25165832  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.217, std: 8.477 -> th=18.371611125660202
INFO:root:current most likely hypothesis: hot_sauce with evidence 22.96
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 87 ---
INFO:uvicorn.access:192.168.1.217:64254 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.67936824,  0.02492471, -0.73337409],
       [-0.0366634 ,  0.99932767,  0.        ],
       [ 0.73288102,  0.02688799,  0.67982531]]), 'pose_fully_defined': False}}, {'patch': array([-0.00139326,  0.01607364,  0.00072031])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.307
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 213 out of 23200 hypotheses for ramen_pack (evidence > 4.592902781415049)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 21.126
INFO:root:Testing 273 out of 14864 hypotheses for hot_sauce (evidence > 4.592902781415049)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 23.402
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 59 out of 16976 hypotheses for mustard_bottle (evidence > 4.592902781415049)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 19.731
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 21.12631638 23.40203773  1.16589006
  3.74784733 19.73128598  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.35, std: 8.676 -> th=18.721630183494742
INFO:root:current most likely hypothesis: hot_sauce with evidence 23.4
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 88 ---
INFO:uvicorn.access:192.168.1.217:64254 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64254 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.80521522,  0.02825031, -0.59230936],
       [-0.0350626 ,  0.99938512,  0.        ],
       [ 0.59194516,  0.02076791,  0.80571063]]), 'pose_fully_defined': False}}, {'patch': array([0.00094173, 0.02448744, 0.00201108])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.307
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 199 out of 23200 hypotheses for ramen_pack (evidence > 4.680407545873685)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 21.613
INFO:root:Testing 272 out of 14864 hypotheses for hot_sauce (evidence > 4.680407545873685)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 23.84
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 59 out of 16976 hypotheses for mustard_bottle (evidence > 4.680407545873685)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 20.163
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 21.61304184 23.83984575  1.16589006
  3.74784733 20.16337279  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.486, std: 8.881 -> th=19.07187660233862
INFO:root:current most likely hypothesis: hot_sauce with evidence 23.84
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 89 ---
INFO:uvicorn.access:192.168.1.217:64254 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64254 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.84505047,  0.04014826, -0.5331771 ],
       [-0.04745637,  0.99887331,  0.        ],
       [ 0.53257638,  0.02530265,  0.84600365]]), 'pose_fully_defined': False}}, {'patch': array([-0.00128787,  0.01307941,  0.00016068])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.307
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 185 out of 23200 hypotheses for ramen_pack (evidence > 4.767969150584655)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 22.028
INFO:root:Testing 272 out of 14864 hypotheses for hot_sauce (evidence > 4.767969150584655)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 24.301
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 58 out of 16976 hypotheses for mustard_bottle (evidence > 4.767969150584655)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 20.638
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 22.02841947 24.30093671  1.16589006
  3.74784733 20.63838999  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.621, std: 9.084 -> th=19.440749367682596
INFO:root:current most likely hypothesis: hot_sauce with evidence 24.3
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 22.02841947 24.30093671  1.16589006
  3.74784733 20.63838999  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.621, std: 9.084 -> th=19.440749367682596
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 22.02841947 24.30093671  1.16589006
  3.74784733 20.63838999  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.621, std: 9.084 -> th=20.655796203162758
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 90 ---
INFO:uvicorn.access:192.168.1.217:64254 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.84071736,  0.05441551, -0.53873303],
       [-0.06458994,  0.99791189,  0.        ],
       [ 0.53760809,  0.03479674,  0.84247654]]), 'pose_fully_defined': False}}, {'patch': array([-0.0010227 ,  0.00025552,  0.00049582])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.307
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 172 out of 23200 hypotheses for ramen_pack (evidence > 4.860187341920646)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 22.441
INFO:root:Testing 278 out of 14864 hypotheses for hot_sauce (evidence > 4.860187341920646)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 24.762
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 58 out of 16976 hypotheses for mustard_bottle (evidence > 4.860187341920646)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 21.106
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 22.4407048  24.76168964  1.16589006
  3.74784733 21.10574575  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.755, std: 9.287 -> th=19.809351712697342
INFO:root:current most likely hypothesis: hot_sauce with evidence 24.76
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 22.4407048  24.76168964  1.16589006
  3.74784733 21.10574575  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.755, std: 9.287 -> th=19.809351712697342
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 22.4407048  24.76168964  1.16589006
  3.74784733 21.10574575  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.755, std: 9.287 -> th=21.04743619474093
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 91 ---
INFO:uvicorn.access:192.168.1.217:64254 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64254 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.58986541,  0.04990238, -0.80595816],
       [-0.08429848,  0.99644055,  0.        ],
       [ 0.80308939,  0.06794105,  0.59197251]]), 'pose_fully_defined': False}}, {'patch': array([-0.00366831,  0.01356315, -0.00120275])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.307
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 167 out of 23200 hypotheses for ramen_pack (evidence > 4.952337928174334)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 22.85
INFO:root:Testing 300 out of 14864 hypotheses for hot_sauce (evidence > 4.952337928174334)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 25.136
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 57 out of 16976 hypotheses for mustard_bottle (evidence > 4.952337928174334)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 21.457
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 22.85048219 25.13644417  1.16589006
  3.74784733 21.45702311  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.868, std: 9.458 -> th=20.109155335296272
INFO:root:current most likely hypothesis: hot_sauce with evidence 25.14
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 22.85048219 25.13644417  1.16589006
  3.74784733 21.45702311  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.868, std: 9.458 -> th=20.109155335296272
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 22.85048219 25.13644417  1.16589006
  3.74784733 21.45702311  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.868, std: 9.458 -> th=21.365977543752287
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 92 ---
INFO:uvicorn.access:192.168.1.217:64254 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64254 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.6793854 , -0.0024035 ,  0.73377769],
       [ 0.00353773,  0.99999374, -0.        ],
       [-0.7337731 ,  0.00259591,  0.67938965]]), 'pose_fully_defined': False}}, {'patch': array([-0.00166588,  0.00506725,  0.00333763])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.307
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 163 out of 23200 hypotheses for ramen_pack (evidence > 5.027288833824066)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 22.941
INFO:root:Testing 299 out of 14864 hypotheses for hot_sauce (evidence > 5.027288833824066)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 25.387
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 57 out of 16976 hypotheses for mustard_bottle (evidence > 5.027288833824066)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 21.389
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 22.94140334 25.38700301  1.16589006
  3.74784733 21.3885691   1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.896, std: 9.506 -> th=20.30960241182254
INFO:root:current most likely hypothesis: hot_sauce with evidence 25.39
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 22.94140334 25.38700301  1.16589006
  3.74784733 21.3885691   1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.896, std: 9.506 -> th=20.30960241182254
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 22.94140334 25.38700301  1.16589006
  3.74784733 21.3885691   1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.896, std: 9.506 -> th=21.578952562561447
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 93 ---
INFO:uvicorn.access:192.168.1.217:64254 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.7250548 ,  0.04887099, -0.68695499],
       [-0.06725057,  0.99773612,  0.        ],
       [ 0.6853998 ,  0.04619812,  0.72669997]]), 'pose_fully_defined': False}}, {'patch': array([-0.00598043,  0.0117564 , -0.00024352])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.307
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 160 out of 23200 hypotheses for ramen_pack (evidence > 5.077400602955635)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 23.364
INFO:root:Testing 296 out of 14864 hypotheses for hot_sauce (evidence > 5.077400602955635)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 25.81
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 57 out of 16976 hypotheses for mustard_bottle (evidence > 5.077400602955635)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 21.008
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 23.36422813 25.81025911  1.16589006
  3.74784733 21.00772677  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.942, std: 9.594 -> th=20.648207289768003
INFO:root:current most likely hypothesis: hot_sauce with evidence 25.81
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 23.36422813 25.81025911  1.16589006
  3.74784733 21.00772677  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.942, std: 9.594 -> th=20.648207289768003
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 23.36422813 25.81025911  1.16589006
  3.74784733 21.00772677  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.942, std: 9.594 -> th=21.9387202453785
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 94 ---
INFO:uvicorn.access:192.168.1.217:64254 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64254 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.75984886,  0.04905229, -0.64824655],
       [-0.06442123,  0.9979228 ,  0.        ],
       [ 0.64690001,  0.04176084,  0.76143051]]), 'pose_fully_defined': False}}, {'patch': array([0.00025208, 0.00488692, 0.00084159])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.307
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 155 out of 23200 hypotheses for ramen_pack (evidence > 5.162051822441999)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 23.807
INFO:root:Testing 282 out of 14864 hypotheses for hot_sauce (evidence > 5.162051822441999)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 26.237
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 57 out of 16976 hypotheses for mustard_bottle (evidence > 5.162051822441999)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 21.431
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 23.80665195 26.23699809  1.16589006
  3.74784733 21.4308095   1.16372623  3.67102567]
DEBUG:root:mean evidence: 9.072, std: 9.789 -> th=20.98959847009612
INFO:root:current most likely hypothesis: hot_sauce with evidence 26.24
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 23.80665195 26.23699809  1.16589006
  3.74784733 21.4308095   1.16372623  3.67102567]
DEBUG:root:mean evidence: 9.072, std: 9.789 -> th=20.98959847009612
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 23.80665195 26.23699809  1.16589006
  3.74784733 21.4308095   1.16372623  3.67102567]
DEBUG:root:mean evidence: 9.072, std: 9.789 -> th=22.301448374477125
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 95 ---
INFO:uvicorn.access:192.168.1.217:64254 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.86849872,  0.04860291, -0.49330289],
       [-0.05587456,  0.9984378 ,  0.        ],
       [ 0.49253225,  0.02756308,  0.86985761]]), 'pose_fully_defined': False}}, {'patch': array([0.00117622, 0.00731015, 0.00181061])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.307
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 151 out of 23200 hypotheses for ramen_pack (evidence > 5.247399617524028)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 24.188
INFO:root:Testing 278 out of 14864 hypotheses for hot_sauce (evidence > 5.247399617524028)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 26.492
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 57 out of 16976 hypotheses for mustard_bottle (evidence > 5.247399617524028)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 21.833
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 24.18845995 26.49205752  1.16589006
  3.74784733 21.8327351   1.16372623  3.67102567]
DEBUG:root:mean evidence: 9.175, std: 9.942 -> th=21.193646015442045
INFO:root:current most likely hypothesis: hot_sauce with evidence 26.49
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 24.18845995 26.49205752  1.16589006
  3.74784733 21.8327351   1.16372623  3.67102567]
DEBUG:root:mean evidence: 9.175, std: 9.942 -> th=21.193646015442045
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 24.18845995 26.49205752  1.16589006
  3.74784733 21.8327351   1.16372623  3.67102567]
DEBUG:root:mean evidence: 9.175, std: 9.942 -> th=22.518248891407172
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 96 ---
INFO:uvicorn.access:192.168.1.217:64254 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.77570983,  0.06194454, -0.6280423 ],
       [-0.07960189,  0.99682673,  0.        ],
       [ 0.62604936,  0.04999336,  0.7781792 ]]), 'pose_fully_defined': False}}, {'patch': array([-4.99651439e-04,  6.36689378e-03,  1.66940765e-05])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.307
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 150 out of 23200 hypotheses for ramen_pack (evidence > 5.29841150386051)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 24.493
INFO:root:Testing 276 out of 14864 hypotheses for hot_sauce (evidence > 5.29841150386051)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 26.772
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 53 out of 16976 hypotheses for mustard_bottle (evidence > 5.29841150386051)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 22.261
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 24.49342264 26.77217894  1.16589006
  3.74784733 22.26078027  1.16372623  3.67102567]
DEBUG:root:mean evidence: 9.277, std: 10.091 -> th=21.417743153464436
INFO:root:current most likely hypothesis: hot_sauce with evidence 26.77
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 24.49342264 26.77217894  1.16589006
  3.74784733 22.26078027  1.16372623  3.67102567]
DEBUG:root:mean evidence: 9.277, std: 10.091 -> th=21.417743153464436
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 24.49342264 26.77217894  1.16589006
  3.74784733 22.26078027  1.16372623  3.67102567]
DEBUG:root:mean evidence: 9.277, std: 10.091 -> th=22.756352100555965
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack'}
INFO:root:--- Global Matching Step 97 ---
INFO:uvicorn.access:192.168.1.217:64254 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64254 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.76918713,  0.05764219, -0.63641853],
       [-0.07472956,  0.99720384,  0.        ],
       [ 0.634639  ,  0.04755927,  0.77134393]]), 'pose_fully_defined': False}}, {'patch': array([-0.00216117,  0.0042437 ,  0.000908  ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.307
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 149 out of 23200 hypotheses for ramen_pack (evidence > 5.354435788366107)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 24.789
INFO:root:Testing 275 out of 14864 hypotheses for hot_sauce (evidence > 5.354435788366107)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 26.977
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 51 out of 16976 hypotheses for mustard_bottle (evidence > 5.354435788366107)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 21.261
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 24.78922817 26.97725871  1.16589006
  3.74784733 21.26078027  1.16372623  3.67102567]
DEBUG:root:mean evidence: 9.227, std: 10.048 -> th=21.581806964703393
INFO:root:current most likely hypothesis: hot_sauce with evidence 26.98
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 24.78922817 26.97725871  1.16589006
  3.74784733 21.26078027  1.16372623  3.67102567]
DEBUG:root:mean evidence: 9.227, std: 10.048 -> th=21.581806964703393
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 24.78922817 26.97725871  1.16589006
  3.74784733 21.26078027  1.16372623  3.67102567]
DEBUG:root:mean evidence: 9.227, std: 10.048 -> th=22.930669899997355
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 98 ---
INFO:uvicorn.access:192.168.1.217:64254 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.84873061,  0.02817445, -0.52807438],
       [-0.03317771,  0.99944947,  0.        ],
       [ 0.52778366,  0.0175203 ,  0.84919812]]), 'pose_fully_defined': False}}, {'patch': array([ 2.86540482e-03, -1.04223586e-02,  4.87946260e-05])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.307
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 144 out of 23200 hypotheses for ramen_pack (evidence > 5.395451741175847)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 25.15
INFO:root:Testing 269 out of 14864 hypotheses for hot_sauce (evidence > 5.395451741175847)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 27.213
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 50 out of 16976 hypotheses for mustard_bottle (evidence > 5.395451741175847)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 21.668
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 25.15012193 27.21288194  1.16589006
  3.74784733 21.66837278  1.16372623  3.67102567]
DEBUG:root:mean evidence: 9.327, std: 10.195 -> th=21.77030554845511
INFO:root:current most likely hypothesis: hot_sauce with evidence 27.21
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 25.15012193 27.21288194  1.16589006
  3.74784733 21.66837278  1.16372623  3.67102567]
DEBUG:root:mean evidence: 9.327, std: 10.195 -> th=21.77030554845511
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 25.15012193 27.21288194  1.16589006
  3.74784733 21.66837278  1.16372623  3.67102567]
DEBUG:root:mean evidence: 9.327, std: 10.195 -> th=23.130949645233553
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 99 ---
INFO:uvicorn.access:192.168.1.217:64257 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.98561294, -0.05779966, -0.15882802],
       [ 0.05854278, -0.9982849 ,  0.        ],
       [-0.15855561, -0.00929823,  0.98730626]]), 'pose_fully_defined': False}}, {'patch': array([-0.01905838, -0.08578415,  0.0028117 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.307
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 141 out of 23200 hypotheses for ramen_pack (evidence > 5.442576387113775)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 25.148
INFO:root:Testing 259 out of 14864 hypotheses for hot_sauce (evidence > 5.442576387113775)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 26.213
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 48 out of 16976 hypotheses for mustard_bottle (evidence > 5.442576387113775)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 20.668
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 25.14792759 26.21288194  1.16589006
  3.74784733 20.66837278  1.16372623  3.67102567]
DEBUG:root:mean evidence: 9.127, std: 9.902 -> th=20.97030554845511
INFO:root:current most likely hypothesis: hot_sauce with evidence 26.21
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 25.14792759 26.21288194  1.16589006
  3.74784733 20.66837278  1.16372623  3.67102567]
DEBUG:root:mean evidence: 9.127, std: 9.902 -> th=20.97030554845511
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 25.14792759 26.21288194  1.16589006
  3.74784733 20.66837278  1.16372623  3.67102567]
DEBUG:root:mean evidence: 9.127, std: 9.902 -> th=22.280949645233555
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 100 ---
INFO:uvicorn.access:192.168.1.217:64257 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.99559427, -0.04921622, -0.07981114],
       [ 0.04937372, -0.99878037,  0.        ],
       [-0.0797138 , -0.00394057,  0.99681   ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00328762,  0.02150178, -0.00094945])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.307
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 142 out of 23200 hypotheses for ramen_pack (evidence > 5.242576387113775)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 25.11
INFO:root:Testing 261 out of 14864 hypotheses for hot_sauce (evidence > 5.242576387113775)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 25.213
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 48 out of 16976 hypotheses for mustard_bottle (evidence > 5.242576387113775)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 19.668
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 25.11031377 25.21288194  1.16589006
  3.74784733 19.66837278  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.923, std: 9.61 -> th=20.17030554845511
INFO:root:current most likely hypothesis: hot_sauce with evidence 25.21
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 25.11031377 25.21288194  1.16589006
  3.74784733 19.66837278  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.923, std: 9.61 -> th=20.17030554845511
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 25.11031377 25.21288194  1.16589006
  3.74784733 19.66837278  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.923, std: 9.61 -> th=21.430949645233554
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 101 ---
INFO:uvicorn.access:192.168.1.217:64257 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.98180552, -0.04670525, -0.1840558 ],
       [ 0.04751704, -0.99887043,  0.        ],
       [-0.18384789, -0.00874579,  0.9829158 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00194817,  0.01897894, -0.01039253])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.307
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 149 out of 23200 hypotheses for ramen_pack (evidence > 5.042576387113776)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 25.117
INFO:root:Testing 264 out of 14864 hypotheses for hot_sauce (evidence > 5.042576387113776)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 25.539
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 46 out of 16976 hypotheses for mustard_bottle (evidence > 5.042576387113776)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 19.769
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 25.11674497 25.53945878  1.16589006
  3.74784733 19.76876186  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.967, std: 9.678 -> th=20.43156702797263
INFO:root:current most likely hypothesis: hot_sauce with evidence 25.54
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 25.11674497 25.53945878  1.16589006
  3.74784733 19.76876186  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.967, std: 9.678 -> th=20.43156702797263
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 25.11674497 25.53945878  1.16589006
  3.74784733 19.76876186  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.967, std: 9.678 -> th=21.70853996722092
DEBUG:root:Hypothesis jump indicated: change in most-likely rotation of MLH
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 102 ---
INFO:uvicorn.access:192.168.1.217:64258 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.94764745, -0.07023278, -0.31149907],
       [ 0.07391007, -0.99726491,  0.        ],
       [-0.3106471 , -0.02302292,  0.95024646]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00716271, -0.00258209,  0.00599774])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.307
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 140 out of 23200 hypotheses for ramen_pack (evidence > 5.107891756993155)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 25.183
INFO:root:Testing 258 out of 14864 hypotheses for hot_sauce (evidence > 5.107891756993155)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 24.571
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 46 out of 16976 hypotheses for mustard_bottle (evidence > 5.107891756993155)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.769
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 25.18280076 24.57112991  1.16589006
  3.74784733 18.76876186  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.776, std: 9.416 -> th=20.146240610591175
INFO:root:current most likely hypothesis: ramen_pack with evidence 25.18
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 103 ---
INFO:uvicorn.access:192.168.1.217:64260 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.97126929, -0.00896972, -0.23781405],
       [ 0.00923465, -0.99995736,  0.        ],
       [-0.2378039 , -0.00219613,  0.9713107 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00059364, -0.00923856,  0.00319889])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.307
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 141 out of 23200 hypotheses for ramen_pack (evidence > 5.036560152647791)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 25.213
INFO:root:Testing 250 out of 14864 hypotheses for hot_sauce (evidence > 5.036560152647791)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 23.571
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 44 out of 16976 hypotheses for mustard_bottle (evidence > 5.036560152647791)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.769
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 25.21329097 23.57112991  1.16589006
  3.74784733 17.76876186  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.579, std: 9.153 -> th=20.1706327793731
INFO:root:current most likely hypothesis: ramen_pack with evidence 25.21
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 104 ---
INFO:uvicorn.access:192.168.1.217:64261 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.99424309,  0.09537076,  0.04883739],
       [-0.0954847 , -0.9954309 ,  0.        ],
       [ 0.04861425, -0.00466322,  0.99880674]]), 'pose_fully_defined': False}}, {'patch': array([0.00343265, 0.01550962, 0.00268672])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.307
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 139 out of 23200 hypotheses for ramen_pack (evidence > 5.042658194843273)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 24.213
INFO:root:Testing 243 out of 14864 hypotheses for hot_sauce (evidence > 5.042658194843273)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 22.571
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 44 out of 16976 hypotheses for mustard_bottle (evidence > 5.042658194843273)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.769
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 24.21329097 22.57112991  1.16589006
  3.74784733 16.76876186  1.16372623  3.67102567]
DEBUG:root:mean evidence: 8.279, std: 8.707 -> th=19.370632779373103
INFO:root:current most likely hypothesis: ramen_pack with evidence 24.21
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 105 ---
INFO:uvicorn.access:192.168.1.217:64261 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.98564622,  0.0637739 , -0.15631511],
       [-0.06456761, -0.99791333,  0.        ],
       [-0.15598893,  0.01009289,  0.98770724]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00230089,  0.01072944, -0.00043489])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.307
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 140 out of 23200 hypotheses for ramen_pack (evidence > 4.842658194843274)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 23.213
INFO:root:Testing 264 out of 14864 hypotheses for hot_sauce (evidence > 4.842658194843274)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.571
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 43 out of 16976 hypotheses for mustard_bottle (evidence > 4.842658194843274)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.769
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 23.21329097 21.57112991  1.16589006
  3.74784733 15.76876186  1.16372623  3.67102567]
DEBUG:root:mean evidence: 7.979, std: 8.263 -> th=18.570632779373103
INFO:root:current most likely hypothesis: ramen_pack with evidence 23.21
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 106 ---
INFO:uvicorn.access:192.168.1.217:64261 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.99287141,  0.10752514,  0.05142673],
       [-0.10766761, -0.99418695,  0.        ],
       [ 0.05112778, -0.00553699,  0.99867677]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00690581,  0.01631449, -0.00106395])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.307
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 140 out of 23200 hypotheses for ramen_pack (evidence > 4.642658194843275)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 22.632
INFO:root:Testing 280 out of 14864 hypotheses for hot_sauce (evidence > 4.642658194843275)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.201
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 43 out of 16976 hypotheses for mustard_bottle (evidence > 4.642658194843275)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.305
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 22.63217853 21.20108884  1.16589006
  3.74784733 15.3048195   1.16372623  3.67102567]
DEBUG:root:mean evidence: 7.838, std: 8.052 -> th=18.105742824536453
INFO:root:current most likely hypothesis: ramen_pack with evidence 22.63
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 107 ---
INFO:uvicorn.access:192.168.1.217:64261 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.97616964,  0.11811977,  0.18204545],
       [-0.12012707, -0.99275852,  0.        ],
       [ 0.18072717, -0.02186859,  0.98329012]]), 'pose_fully_defined': False}}, {'patch': array([-0.06331915,  0.02087594,  0.01144107])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.307
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 137 out of 23200 hypotheses for ramen_pack (evidence > 4.526435706134112)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 22.756
INFO:root:Testing 253 out of 14864 hypotheses for hot_sauce (evidence > 4.526435706134112)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.201
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 41 out of 16976 hypotheses for mustard_bottle (evidence > 4.526435706134112)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.389
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 22.7562428  20.20108884  1.16589006
  3.74784733 15.38854504  1.16372623  3.67102567]
DEBUG:root:mean evidence: 7.759, std: 7.921 -> th=18.204994239835653
INFO:root:current most likely hypothesis: ramen_pack with evidence 22.76
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 22.7562428  20.20108884  1.16589006
  3.74784733 15.38854504  1.16372623  3.67102567]
DEBUG:root:mean evidence: 7.759, std: 7.921 -> th=18.204994239835653
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 22.7562428  20.20108884  1.16589006
  3.74784733 15.38854504  1.16372623  3.67102567]
DEBUG:root:mean evidence: 7.759, std: 7.921 -> th=19.342806379825383
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 108 ---
INFO:uvicorn.access:192.168.1.217:64261 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.96825356,  0.11778994,  0.22047807],
       [-0.12076165, -0.99268153,  0.        ],
       [ 0.21886451, -0.0266253 ,  0.97539193]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0684928 , -0.00949534, -0.01344659])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.307
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 119 out of 23200 hypotheses for ramen_pack (evidence > 4.551248559958914)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 22.295
INFO:root:Testing 189 out of 14864 hypotheses for hot_sauce (evidence > 4.551248559958914)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 19.746
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 41 out of 16976 hypotheses for mustard_bottle (evidence > 4.551248559958914)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.918
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 22.29497587 19.74640038  1.16589006
  3.74784733 14.91797963  1.16372623  3.67102567]
DEBUG:root:mean evidence: 7.62, std: 7.718 -> th=17.835980695157726
INFO:root:current most likely hypothesis: ramen_pack with evidence 22.29
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 109 ---
INFO:uvicorn.access:192.168.1.217:64261 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.95648077,  0.1142428 ,  0.26850162],
       [-0.1185978 , -0.99294238,  0.        ],
       [ 0.26660663, -0.0318437 ,  0.96327923]]), 'pose_fully_defined': False}}, {'patch': array([-0.05847762,  0.02004784,  0.006001  ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.307
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 118 out of 23200 hypotheses for ramen_pack (evidence > 4.458995173789432)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 22.228
INFO:root:Testing 214 out of 14864 hypotheses for hot_sauce (evidence > 4.458995173789432)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 18.746
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 41 out of 16976 hypotheses for mustard_bottle (evidence > 4.458995173789432)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.922
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 22.22815173 18.74640038  1.16589006
  3.74784733 14.92180665  1.16372623  3.67102567]
DEBUG:root:mean evidence: 7.514, std: 7.552 -> th=17.782521381532412
INFO:root:current most likely hypothesis: ramen_pack with evidence 22.23
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 110 ---
INFO:uvicorn.access:192.168.1.217:64263 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.96236561,  0.15794874, -0.2211439 ],
       [-0.16195864, -0.98679755,  0.        ],
       [-0.21822426,  0.03581617,  0.97524119]]), 'pose_fully_defined': False}}, {'patch': array([ 0.04462808, -0.08785418, -0.00706095])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.307
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 114 out of 23200 hypotheses for ramen_pack (evidence > 4.445630345383101)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 22.247
INFO:root:Testing 167 out of 14864 hypotheses for hot_sauce (evidence > 4.445630345383101)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 17.746
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 40 out of 16976 hypotheses for mustard_bottle (evidence > 4.445630345383101)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.312
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 22.24657748 17.74640038  1.16589006
  3.74784733 14.3117952   1.16372623  3.67102567]
DEBUG:root:mean evidence: 7.355, std: 7.352 -> th=17.797261980713788
INFO:root:current most likely hypothesis: ramen_pack with evidence 22.25
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 111 ---
INFO:uvicorn.access:192.168.1.217:64263 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64263 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.9589633 ,  0.19528142, -0.20555912],
       [-0.19954271, -0.97988913,  0.        ],
       [-0.20142515,  0.04101782,  0.9786447 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00471447,  0.01941292,  0.0020142 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.307
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 114 out of 23200 hypotheses for ramen_pack (evidence > 4.449315495178446)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 22.256
INFO:root:Testing 142 out of 14864 hypotheses for hot_sauce (evidence > 4.449315495178446)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 16.746
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 34 out of 16976 hypotheses for mustard_bottle (evidence > 4.449315495178446)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.312
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 22.25599285 16.74640038  1.16589006
  3.74784733 13.3117952   1.16372623  3.67102567]
DEBUG:root:mean evidence: 7.155, std: 7.125 -> th=17.80479428108011
INFO:root:current most likely hypothesis: ramen_pack with evidence 22.26
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 112 ---
INFO:uvicorn.access:192.168.1.217:64263 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.95949016,  0.22832406, -0.16506593],
       [-0.23149965, -0.97283499,  0.        ],
       [-0.16058191,  0.0382127 ,  0.98628254]]), 'pose_fully_defined': False}}, {'patch': array([0.00173653, 0.0151766 , 0.00073876])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.307
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 112 out of 23200 hypotheses for ramen_pack (evidence > 4.4511985702700265)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 22.246
INFO:root:Testing 115 out of 14864 hypotheses for hot_sauce (evidence > 4.4511985702700265)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 17.172
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 28 out of 16976 hypotheses for mustard_bottle (evidence > 4.4511985702700265)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.312
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 22.24575786 17.1722761   1.16589006
  3.74784733 12.3117952   1.16372623  3.67102567]
DEBUG:root:mean evidence: 7.097, std: 7.102 -> th=17.79660628480507
INFO:root:current most likely hypothesis: ramen_pack with evidence 22.25
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 113 ---
INFO:uvicorn.access:192.168.1.217:64263 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.9567288 ,  0.24665213, -0.1543785 ],
       [-0.24964493, -0.96833745,  0.        ],
       [-0.14949049,  0.03853981,  0.98801178]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00017782,  0.00283402, -0.00079223])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.307
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 111 out of 23200 hypotheses for ramen_pack (evidence > 4.449151571201266)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 22.23
INFO:root:Testing 91 out of 14864 hypotheses for hot_sauce (evidence > 4.449151571201266)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 17.588
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 26 out of 16976 hypotheses for mustard_bottle (evidence > 4.449151571201266)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.312
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 22.23004189 17.58758814  1.16589006
  3.74784733 11.3117952   1.16372623  3.67102567]
DEBUG:root:mean evidence: 7.037, std: 7.092 -> th=17.784033515138074
INFO:root:current most likely hypothesis: ramen_pack with evidence 22.23
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 22.23004189 17.58758814  1.16589006
  3.74784733 11.3117952   1.16372623  3.67102567]
DEBUG:root:mean evidence: 7.037, std: 7.092 -> th=17.784033515138074
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 22.23004189 17.58758814  1.16589006
  3.74784733 11.3117952   1.16372623  3.67102567]
DEBUG:root:mean evidence: 7.037, std: 7.092 -> th=18.895535609834205
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 114 ---
INFO:uvicorn.access:192.168.1.217:64263 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.92991747,  0.27815197,  0.24059299],
       [-0.28656964, -0.95805941,  0.        ],
       [ 0.23050238, -0.06894665,  0.97062609]]), 'pose_fully_defined': False}}, {'patch': array([-0.00313346,  0.01381814,  0.00253722])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.307
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 108 out of 23200 hypotheses for ramen_pack (evidence > 4.446008378784519)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 22.054
INFO:root:Testing 82 out of 14864 hypotheses for hot_sauce (evidence > 4.446008378784519)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 17.947
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 24 out of 16976 hypotheses for mustard_bottle (evidence > 4.446008378784519)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.312
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 22.05445798 17.94699542  1.16589006
  3.74784733 10.3117952   1.16372623  3.67102567]
DEBUG:root:mean evidence: 6.955, std: 7.055 -> th=17.643566380393498
INFO:root:current most likely hypothesis: ramen_pack with evidence 22.05
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 115 ---
INFO:uvicorn.access:192.168.1.217:64263 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64263 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.95145545,  0.27926302, -0.1294013 ],
       [-0.28163088, -0.95952282,  0.        ],
       [-0.1241635 ,  0.0364434 ,  0.99159231]]), 'pose_fully_defined': False}}, {'patch': array([-0.05780306, -0.0005122 , -0.02596157])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.307
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 111 out of 23200 hypotheses for ramen_pack (evidence > 4.410891595098374)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 21.054
INFO:root:Testing 83 out of 14864 hypotheses for hot_sauce (evidence > 4.410891595098374)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 16.947
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 26 out of 16976 hypotheses for mustard_bottle (evidence > 4.410891595098374)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.312
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.30746179  1.09490436  4.08978876 21.05445798 16.94699542  1.16589006
  3.74784733  9.3117952   1.16372623  3.67102567]
DEBUG:root:mean evidence: 6.655, std: 6.641 -> th=16.843566380393497
INFO:root:current most likely hypothesis: ramen_pack with evidence 21.05
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 116 ---
INFO:uvicorn.access:192.168.1.217:64263 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.95359967,  0.20148571, -0.22372123],
       [-0.20672554, -0.97839897,  0.        ],
       [-0.21888862,  0.04624889,  0.97465317]]), 'pose_fully_defined': False}}, {'patch': array([0.07208293, 0.00672666, 0.01433584])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 4.210891595098374)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.209
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 141 out of 23200 hypotheses for ramen_pack (evidence > 4.210891595098374)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 20.95
INFO:root:Testing 203 out of 14864 hypotheses for hot_sauce (evidence > 4.210891595098374)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 17.006
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 23 out of 16976 hypotheses for mustard_bottle (evidence > 4.210891595098374)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.937
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.20931126  1.09490436  4.08978876 20.9500685  17.0057129   1.16589006
  3.74784733  8.93736263  1.16372623  3.67102567]
DEBUG:root:mean evidence: 6.604, std: 6.617 -> th=16.76005480111243
INFO:root:current most likely hypothesis: ramen_pack with evidence 20.95
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 117 ---
INFO:uvicorn.access:192.168.1.217:64263 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.91270595,  0.18630809, -0.36367175],
       [-0.20000285, -0.97979532,  0.        ],
       [-0.35632388,  0.07273539,  0.93152716]]), 'pose_fully_defined': False}}, {'patch': array([-0.0036132 ,  0.0035333 ,  0.00429444])}]
INFO:root:Testing 16 out of 14424 hypotheses for numenta_mug (evidence > 4.190013700278108)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.189
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 124 out of 23200 hypotheses for ramen_pack (evidence > 4.190013700278108)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 21.025
INFO:root:Testing 77 out of 14864 hypotheses for hot_sauce (evidence > 4.190013700278108)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 17.39
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 16 out of 16976 hypotheses for mustard_bottle (evidence > 4.190013700278108)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.573
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.1894725   1.09490436  4.08978876 21.02488875 17.38999955  1.16589006
  3.74784733  8.57303015  1.16372623  3.67102567]
DEBUG:root:mean evidence: 6.611, std: 6.683 -> th=16.81991100024722
INFO:root:current most likely hypothesis: ramen_pack with evidence 21.02
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 118 ---
INFO:uvicorn.access:192.168.1.217:64266 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.67197855,  0.11892152,  0.73095999],
       [-0.17426433,  0.98469891,  0.        ],
       [-0.7197755 , -0.12738025,  0.68242032]]), 'pose_fully_defined': False}}, {'patch': array([ 0.02079199, -0.05714144,  0.01847446])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.189
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 107 out of 23200 hypotheses for ramen_pack (evidence > 4.204977750061804)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 21.353
INFO:root:Testing 57 out of 14864 hypotheses for hot_sauce (evidence > 4.204977750061804)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 17.846
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 13 out of 16976 hypotheses for mustard_bottle (evidence > 4.204977750061804)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.972
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.1894725   1.09490436  4.08978876 21.35273594 17.84573545  1.16589006
  3.74784733  8.97200334  1.16372623  3.67102567]
DEBUG:root:mean evidence: 6.729, std: 6.839 -> th=17.082188750614943
INFO:root:current most likely hypothesis: ramen_pack with evidence 21.35
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 119 ---
INFO:uvicorn.access:192.168.1.217:64266 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64266 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.71504595,  0.11710134,  0.68919995],
       [-0.16161468,  0.98685394,  0.        ],
       [-0.68013968, -0.11138483,  0.7245712 ]]), 'pose_fully_defined': False}}, {'patch': array([-4.00522527e-05,  3.40137760e-02, -3.35042491e-03])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.189
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 160 out of 23200 hypotheses for ramen_pack (evidence > 4.270547187653737)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 21.799
INFO:root:Testing 213 out of 14864 hypotheses for hot_sauce (evidence > 4.270547187653737)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 18.195
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 35 out of 16976 hypotheses for mustard_bottle (evidence > 4.270547187653737)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.375
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.1894725   1.09490436  4.08978876 21.79903777 18.19507914  1.16589006
  3.74784733  9.37494097  1.16372623  3.67102567]
DEBUG:root:mean evidence: 6.849, std: 7.005 -> th=17.439230212970816
INFO:root:current most likely hypothesis: ramen_pack with evidence 21.8
DEBUG:root:evidences for each object: [ 4.1894725   1.09490436  4.08978876 21.79903777 18.19507914  1.16589006
  3.74784733  9.37494097  1.16372623  3.67102567]
DEBUG:root:mean evidence: 6.849, std: 7.005 -> th=17.439230212970816
DEBUG:root:evidences for each object: [ 4.1894725   1.09490436  4.08978876 21.79903777 18.19507914  1.16589006
  3.74784733  9.37494097  1.16372623  3.67102567]
DEBUG:root:mean evidence: 6.849, std: 7.005 -> th=18.529182101281492
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 120 ---
INFO:uvicorn.access:192.168.1.217:64266 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64266 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.67672754,  0.13177968,  0.72434381],
       [-0.19114047,  0.98156269,  0.        ],
       [-0.71098886, -0.13845142,  0.68943894]]), 'pose_fully_defined': False}}, {'patch': array([-0.00200527,  0.00226938,  0.00045281])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.189
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 206 out of 23200 hypotheses for ramen_pack (evidence > 4.359807553242703)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 22.218
INFO:root:Testing 264 out of 14864 hypotheses for hot_sauce (evidence > 4.359807553242703)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 18.555
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 35 out of 16976 hypotheses for mustard_bottle (evidence > 4.359807553242703)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.817
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.1894725   1.09490436  4.08978876 22.21842375 18.55512873  1.16589006
  3.74784733  9.81714999  1.16372623  3.67102567]
DEBUG:root:mean evidence: 6.971, std: 7.17 -> th=17.774738998507566
INFO:root:current most likely hypothesis: ramen_pack with evidence 22.22
DEBUG:root:evidences for each object: [ 4.1894725   1.09490436  4.08978876 22.21842375 18.55512873  1.16589006
  3.74784733  9.81714999  1.16372623  3.67102567]
DEBUG:root:mean evidence: 6.971, std: 7.17 -> th=17.774738998507566
DEBUG:root:evidences for each object: [ 4.1894725   1.09490436  4.08978876 22.21842375 18.55512873  1.16589006
  3.74784733  9.81714999  1.16372623  3.67102567]
DEBUG:root:mean evidence: 6.971, std: 7.17 -> th=18.88566018591429
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 121 ---
INFO:uvicorn.access:192.168.1.217:64266 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64266 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.19160865,  0.0967481 ,  0.97669132],
       [-0.4507276 ,  0.89266154,  0.        ],
       [-0.87185478, -0.44022173,  0.21464872]]), 'pose_fully_defined': False}}, {'patch': array([-0.00070345,  0.01527529, -0.00325551])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.189
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 230 out of 23200 hypotheses for ramen_pack (evidence > 4.44368474962689)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 22.14
INFO:root:Testing 298 out of 14864 hypotheses for hot_sauce (evidence > 4.44368474962689)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 18.87
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 81 out of 16976 hypotheses for mustard_bottle (evidence > 4.44368474962689)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.967
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.1894725   1.09490436  4.08978876 22.13969692 18.87011276  1.16589006
  3.74784733  9.96706693  1.16372623  3.67102567]
DEBUG:root:mean evidence: 7.01, std: 7.21 -> th=17.711757533390667
INFO:root:current most likely hypothesis: ramen_pack with evidence 22.14
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 122 ---
INFO:uvicorn.access:192.168.1.217:64266 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.78003739,  0.130706  ,  0.61192942],
       [-0.16525978,  0.98625007,  0.        ],
       [-0.60351543, -0.10112732,  0.79091238]]), 'pose_fully_defined': False}}, {'patch': array([-0.00185103,  0.01156611, -0.00299298])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.189
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 232 out of 23200 hypotheses for ramen_pack (evidence > 4.427939383347667)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 22.131
INFO:root:Testing 308 out of 14864 hypotheses for hot_sauce (evidence > 4.427939383347667)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 19.329
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 81 out of 16976 hypotheses for mustard_bottle (evidence > 4.427939383347667)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.447
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.1894725   1.09490436  4.08978876 22.13116535 19.32906667  1.16589006
  3.74784733 10.44739073  1.16372623  3.67102567]
DEBUG:root:mean evidence: 7.103, std: 7.306 -> th=17.704932279565988
INFO:root:current most likely hypothesis: ramen_pack with evidence 22.13
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 123 ---
INFO:uvicorn.access:192.168.1.217:64266 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.71738176,  0.17125341,  0.67530414],
       [-0.23219562,  0.97266911,  0.        ],
       [-0.65684747, -0.15680266,  0.73753937]]), 'pose_fully_defined': False}}, {'patch': array([0.00119472, 0.00287927, 0.00151817])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.189
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 232 out of 23200 hypotheses for ramen_pack (evidence > 4.426233069891495)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 22.188
INFO:root:Testing 308 out of 14864 hypotheses for hot_sauce (evidence > 4.426233069891495)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 19.756
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 95 out of 16976 hypotheses for mustard_bottle (evidence > 4.426233069891495)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.914
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.1894725   1.09490436  4.08978876 22.18793145 19.75595324  1.16589006
  3.74784733 10.91360887  1.16372623  3.67102567]
DEBUG:root:mean evidence: 7.198, std: 7.412 -> th=17.750345161536217
INFO:root:current most likely hypothesis: ramen_pack with evidence 22.19
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 124 ---
INFO:uvicorn.access:192.168.1.217:64267 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.64121869,  0.21372889,  0.73699292],
       [-0.31621356,  0.94868803,  0.        ],
       [-0.69917636, -0.23304715,  0.67590047]]), 'pose_fully_defined': False}}, {'patch': array([-0.00146978,  0.00983613, -0.00177231])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.189
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 232 out of 23200 hypotheses for ramen_pack (evidence > 4.437586290384054)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 22.098
INFO:root:Testing 306 out of 14864 hypotheses for hot_sauce (evidence > 4.437586290384054)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.231
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 95 out of 16976 hypotheses for mustard_bottle (evidence > 4.437586290384054)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.33
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.1894725   1.09490436  4.08978876 22.0979196  20.23070619  1.16589006
  3.74784733 11.32985061  1.16372623  3.67102567]
DEBUG:root:mean evidence: 7.278, std: 7.496 -> th=17.678335681536886
INFO:root:current most likely hypothesis: ramen_pack with evidence 22.1
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 125 ---
INFO:uvicorn.access:192.168.1.217:64267 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.77300069,  0.18375857,  0.60720895],
       [-0.23127604,  0.97288817,  0.        ],
       [-0.59074641, -0.14043288,  0.79454219]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00168888,  0.0195146 , -0.00341515])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.189
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 234 out of 23200 hypotheses for ramen_pack (evidence > 4.41958392038422)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 22.329
INFO:root:Testing 307 out of 14864 hypotheses for hot_sauce (evidence > 4.41958392038422)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.67
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 98 out of 16976 hypotheses for mustard_bottle (evidence > 4.41958392038422)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.782
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.1894725   1.09490436  4.08978876 22.32896278 20.67044394  1.16589006
  3.74784733 11.78150267  1.16372623  3.67102567]
DEBUG:root:mean evidence: 7.39, std: 7.643 -> th=17.863170226191556
INFO:root:current most likely hypothesis: ramen_pack with evidence 22.33
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 126 ---
INFO:uvicorn.access:192.168.1.217:64269 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.51666245,  0.03555934,  0.85545043],
       [-0.06866267, -0.99763993,  0.        ],
       [ 0.85343151, -0.05873751,  0.51788469]]), 'pose_fully_defined': False}}, {'patch': array([-0.01302691, -0.12548307,  0.02184538])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.189
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 229 out of 23200 hypotheses for ramen_pack (evidence > 4.465792556547889)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 22.155
INFO:root:Testing 268 out of 14864 hypotheses for hot_sauce (evidence > 4.465792556547889)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.139
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 92 out of 16976 hypotheses for mustard_bottle (evidence > 4.465792556547889)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.471
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.1894725   1.09490436  4.08978876 22.15523271 21.1390002   1.16589006
  3.74784733 11.47108319  1.16372623  3.67102567]
DEBUG:root:mean evidence: 7.389, std: 7.675 -> th=17.724186169921214
INFO:root:current most likely hypothesis: ramen_pack with evidence 22.16
DEBUG:root:evidences for each object: [ 4.1894725   1.09490436  4.08978876 22.15523271 21.1390002   1.16589006
  3.74784733 11.47108319  1.16372623  3.67102567]
DEBUG:root:mean evidence: 7.389, std: 7.675 -> th=17.724186169921214
DEBUG:root:evidences for each object: [ 4.1894725   1.09490436  4.08978876 22.15523271 21.1390002   1.16589006
  3.74784733 11.47108319  1.16372623  3.67102567]
DEBUG:root:mean evidence: 7.389, std: 7.675 -> th=18.83194780554129
DEBUG:root:Hypothesis jump indicated: change in most-likely rotation of MLH
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 127 ---
INFO:uvicorn.access:192.168.1.217:64269 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64269 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.51721635,  0.06492181,  0.85338877],
       [-0.12454428, -0.99221405,  0.        ],
       [ 0.84674433, -0.10628469,  0.52127497]]), 'pose_fully_defined': False}}, {'patch': array([-0.00312839,  0.01530898, -0.00285326])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.189
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 225 out of 23200 hypotheses for ramen_pack (evidence > 4.431046542480303)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 22.126
INFO:root:Testing 243 out of 14864 hypotheses for hot_sauce (evidence > 4.431046542480303)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.578
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 84 out of 16976 hypotheses for mustard_bottle (evidence > 4.431046542480303)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.471
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.1894725   1.09490436  4.08978876 22.12601576 21.57777756  1.16589006
  3.74784733 10.47108319  1.16372623  3.67102567]
DEBUG:root:mean evidence: 7.33, std: 7.702 -> th=17.70081261035497
INFO:root:current most likely hypothesis: ramen_pack with evidence 22.13
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 128 ---
INFO:uvicorn.access:192.168.1.217:64269 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64269 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.72596578,  0.07823698,  0.68326617],
       [-0.10714908, -0.99424297,  0.        ],
       [ 0.67933259, -0.07321134,  0.73016939]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00096452,  0.02012904, -0.00558835])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.189
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 213 out of 23200 hypotheses for ramen_pack (evidence > 4.425203152588743)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 21.126
INFO:root:Testing 222 out of 14864 hypotheses for hot_sauce (evidence > 4.425203152588743)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.578
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 62 out of 16976 hypotheses for mustard_bottle (evidence > 4.425203152588743)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.471
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.1894725   1.09490436  4.08978876 21.12601576 20.57777756  1.16589006
  3.74784733  9.47108319  1.16372623  3.67102567]
DEBUG:root:mean evidence: 7.03, std: 7.287 -> th=16.90081261035497
INFO:root:current most likely hypothesis: ramen_pack with evidence 21.13
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 129 ---
INFO:uvicorn.access:192.168.1.217:64269 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.69922744,  0.09052579,  0.7091446 ],
       [-0.1283939 , -0.99172325,  0.        ],
       [ 0.70327519, -0.09104984,  0.70506307]]), 'pose_fully_defined': False}}, {'patch': array([-0.00398018,  0.01615375, -0.00237996])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.189
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 323 out of 23200 hypotheses for ramen_pack (evidence > 4.22520315258874)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 20.126
INFO:root:Testing 356 out of 14864 hypotheses for hot_sauce (evidence > 4.22520315258874)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.914
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 228 out of 16976 hypotheses for mustard_bottle (evidence > 4.22520315258874)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.471
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.1894725   1.09490436  4.08978876 20.12601576 20.9139666   1.16589006
  3.74784733  8.47108319  1.16372623  3.67102567]
DEBUG:root:mean evidence: 6.863, std: 7.133 -> th=16.731173283642047
INFO:root:current most likely hypothesis: hot_sauce with evidence 20.91
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 130 ---
INFO:uvicorn.access:192.168.1.217:64269 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64269 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.80540013,  0.1272539 ,  0.57891024],
       [-0.15606483, -0.98774681,  0.        ],
       [ 0.57181675, -0.09034753,  0.81539127]]), 'pose_fully_defined': False}}, {'patch': array([0.00405754, 0.00824502, 0.00229175])}]
INFO:root:Testing 7 out of 14424 hypotheses for numenta_mug (evidence > 4.182793320910513)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.181
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 227 out of 23200 hypotheses for ramen_pack (evidence > 4.182793320910513)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 20.019
INFO:root:Testing 217 out of 14864 hypotheses for hot_sauce (evidence > 4.182793320910513)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.22
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 68 out of 16976 hypotheses for mustard_bottle (evidence > 4.182793320910513)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.471
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.18148031  1.09490436  4.08978876 20.01930961 21.21970763  1.16589006
  3.74784733  7.47108319  1.16372623  3.67102567]
DEBUG:root:mean evidence: 6.782, std: 7.159 -> th=16.97576610266092
INFO:root:current most likely hypothesis: hot_sauce with evidence 21.22
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 131 ---
INFO:uvicorn.access:192.168.1.217:64271 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.94352604,  0.0588501 ,  0.32602958],
       [-0.06225155, -0.99806049,  0.        ],
       [ 0.32539724, -0.02029585,  0.94535957]]), 'pose_fully_defined': False}}, {'patch': array([ 8.89174383e-04,  1.74536876e-03, -9.91561942e-05])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.181
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 157 out of 23200 hypotheses for ramen_pack (evidence > 4.243941525665228)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 19.804
INFO:root:Testing 132 out of 14864 hypotheses for hot_sauce (evidence > 4.243941525665228)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.251
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 24 out of 16976 hypotheses for mustard_bottle (evidence > 4.243941525665228)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.133
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.18148031  1.09490436  4.08978876 19.80381536 21.25050272  1.16589006
  3.74784733  7.13349558  1.16372623  3.67102567]
DEBUG:root:mean evidence: 6.73, std: 7.123 -> th=17.00040217455276
INFO:root:current most likely hypothesis: hot_sauce with evidence 21.25
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 132 ---
INFO:uvicorn.access:192.168.1.217:64271 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.97398409,  0.09297868,  0.20666387],
       [-0.09503019, -0.99547439,  0.        ],
       [ 0.20572859, -0.01963931,  0.978412  ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00584635,  0.01210728, -0.0080357 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.181
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 141 out of 23200 hypotheses for ramen_pack (evidence > 4.25010054363819)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 19.335
INFO:root:Testing 106 out of 14864 hypotheses for hot_sauce (evidence > 4.25010054363819)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.989
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 22 out of 16976 hypotheses for mustard_bottle (evidence > 4.25010054363819)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.133
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.18148031  1.09490436  4.08978876 19.33534088 20.98938922  1.16589006
  3.74784733  6.13349558  1.16372623  3.67102567]
DEBUG:root:mean evidence: 6.557, std: 6.984 -> th=16.791511372829447
INFO:root:current most likely hypothesis: hot_sauce with evidence 20.99
DEBUG:root:evidences for each object: [ 4.18148031  1.09490436  4.08978876 19.33534088 20.98938922  1.16589006
  3.74784733  6.13349558  1.16372623  3.67102567]
DEBUG:root:mean evidence: 6.557, std: 6.984 -> th=16.791511372829447
DEBUG:root:evidences for each object: [ 4.18148031  1.09490436  4.08978876 19.33534088 20.98938922  1.16589006
  3.74784733  6.13349558  1.16372623  3.67102567]
DEBUG:root:mean evidence: 6.557, std: 6.984 -> th=17.84098083363129
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 133 ---
INFO:uvicorn.access:192.168.1.217:64271 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.69174075,  0.03295576,  0.72139354],
       [-0.0475878 , -0.99886706,  0.        ],
       [ 0.72057625, -0.03432954,  0.69252535]]), 'pose_fully_defined': False}}, {'patch': array([-0.04495264,  0.02126363,  0.04216176])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.181
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.09
INFO:root:Testing 122 out of 23200 hypotheses for ramen_pack (evidence > 4.197877843207362)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 18.335
INFO:root:Testing 79 out of 14864 hypotheses for hot_sauce (evidence > 4.197877843207362)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 19.989
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 9 out of 16976 hypotheses for mustard_bottle (evidence > 4.197877843207362)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.028
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.18148031  1.09490436  4.08978876 18.33534088 19.98938922  1.16589006
  3.74784733  6.02846634  1.16372623  3.67102567]
DEBUG:root:mean evidence: 6.347, std: 6.595 -> th=15.991511372829446
INFO:root:current most likely hypothesis: hot_sauce with evidence 19.99
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 134 ---
INFO:uvicorn.access:192.168.1.217:64271 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.69731955,  0.00701314,  0.71672607],
       [-0.01005678, -0.99994943,  0.        ],
       [ 0.71668982, -0.00720795,  0.69735482]]), 'pose_fully_defined': False}}, {'patch': array([-0.00371353,  0.00758941, -0.00042637])}]
INFO:root:Testing 1785 out of 14424 hypotheses for numenta_mug (evidence > 3.9978778432073607)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 4.361
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 5 out of 14880 hypotheses for montys_heart (evidence > 3.9978778432073607)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.971
INFO:root:Testing 382 out of 23200 hypotheses for ramen_pack (evidence > 3.9978778432073607)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.335
INFO:root:Testing 306 out of 14864 hypotheses for hot_sauce (evidence > 3.9978778432073607)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 18.989
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 206 out of 16976 hypotheses for mustard_bottle (evidence > 3.9978778432073607)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.143
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.36079795  1.09490436  3.97094772 17.33534088 18.98938922  1.16589006
  3.74784733  6.14318044  1.16372623  3.67102567]
DEBUG:root:mean evidence: 6.164, std: 6.206 -> th=15.191511372829448
INFO:root:current most likely hypothesis: hot_sauce with evidence 18.99
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 135 ---
INFO:uvicorn.access:192.168.1.217:64271 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.73776407,  0.02797252,  0.67447884],
       [-0.03788805, -0.99928199,  0.        ],
       [ 0.67399456, -0.02555469,  0.73829418]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00324225, -0.00079422,  0.00208978])}]
INFO:root:Testing 2875 out of 14424 hypotheses for numenta_mug (evidence > 3.7978778432073614)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 4.773
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 30 out of 14880 hypotheses for montys_heart (evidence > 3.7978778432073614)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.795
INFO:root:Testing 503 out of 23200 hypotheses for ramen_pack (evidence > 3.7978778432073614)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.335
INFO:root:Testing 708 out of 14864 hypotheses for hot_sauce (evidence > 3.7978778432073614)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 17.989
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.748
INFO:root:Testing 293 out of 16976 hypotheses for mustard_bottle (evidence > 3.7978778432073614)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.163
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.671
DEBUG:root:evidences for each object: [ 4.77345655  1.09490436  3.79521705 16.33534088 17.98938922  1.16589006
  3.74784733  6.16340249  1.16372623  3.67102567]
DEBUG:root:mean evidence: 5.99, std: 5.816 -> th=14.391511372829447
INFO:root:current most likely hypothesis: hot_sauce with evidence 17.99
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 136 ---
INFO:uvicorn.access:192.168.1.217:64271 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.69060416,  0.03025299,  0.72259992],
       [-0.04376459, -0.99904187,  0.        ],
       [ 0.72190758, -0.03162429,  0.69126648]]), 'pose_fully_defined': False}}, {'patch': array([-0.00906397,  0.0003728 , -0.00500452])}]
INFO:root:Testing 3370 out of 14424 hypotheses for numenta_mug (evidence > 3.5978778432073604)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 5.055
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 382 out of 14880 hypotheses for montys_heart (evidence > 3.5978778432073604)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.943
INFO:root:Testing 516 out of 23200 hypotheses for ramen_pack (evidence > 3.5978778432073604)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.304
INFO:root:Testing 1156 out of 14864 hypotheses for hot_sauce (evidence > 3.5978778432073604)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 16.989
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 27 out of 21832 hypotheses for tomato_soup_can (evidence > 3.5978778432073604)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.595
INFO:root:Testing 359 out of 16976 hypotheses for mustard_bottle (evidence > 3.5978778432073604)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.37
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 3.5978778432073604)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.578
DEBUG:root:evidences for each object: [ 5.0548142   1.09490436  3.94257732 16.30380903 16.98938922  1.16589006
  3.59548156  6.3700028   1.16372623  3.5777011 ]
DEBUG:root:mean evidence: 5.926, std: 5.609 -> th=13.591511372829448
INFO:root:current most likely hypothesis: hot_sauce with evidence 16.99
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 137 ---
INFO:uvicorn.access:192.168.1.217:64273 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.13624534,  0.1403224 , -0.98068692],
       [-0.71745275, -0.69660717,  0.        ],
       [-0.68315354,  0.70359653,  0.19558417]]), 'pose_fully_defined': False}}, {'patch': array([ 0.04670339, -0.07311269, -0.05902085])}]
INFO:root:Testing 2655 out of 14424 hypotheses for numenta_mug (evidence > 3.397877843207361)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 4.543
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 937 out of 14880 hypotheses for montys_heart (evidence > 3.397877843207361)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.076
INFO:root:Testing 543 out of 23200 hypotheses for ramen_pack (evidence > 3.397877843207361)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.656
INFO:root:Testing 2545 out of 14864 hypotheses for hot_sauce (evidence > 3.397877843207361)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 17.343
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 239 out of 21832 hypotheses for tomato_soup_can (evidence > 3.397877843207361)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.719
INFO:root:Testing 1047 out of 16976 hypotheses for mustard_bottle (evidence > 3.397877843207361)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.72
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 46 out of 19024 hypotheses for potted_meat_can (evidence > 3.397877843207361)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.873
DEBUG:root:evidences for each object: [ 4.54337383  1.09490436  4.07615361 16.65554569 17.34261079  1.16589006
  3.71870371  6.71996286  1.16372623  3.87336496]
DEBUG:root:mean evidence: 6.035, std: 5.736 -> th=13.87408863315549
INFO:root:current most likely hypothesis: hot_sauce with evidence 17.34
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 138 ---
INFO:uvicorn.access:192.168.1.217:64273 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64273 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.26541515,  0.17041786, -0.9489534 ],
       [-0.54029501, -0.84147567,  0.        ],
       [-0.7985212 ,  0.51271479,  0.31541631]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00181426,  0.00948988, -0.00127384])}]
INFO:root:Testing 249 out of 14424 hypotheses for numenta_mug (evidence > 3.468522158288872)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.591
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 146 out of 14880 hypotheses for montys_heart (evidence > 3.468522158288872)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.424
INFO:root:Testing 510 out of 23200 hypotheses for ramen_pack (evidence > 3.468522158288872)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.046
INFO:root:Testing 1072 out of 14864 hypotheses for hot_sauce (evidence > 3.468522158288872)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 16.343
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 17 out of 21832 hypotheses for tomato_soup_can (evidence > 3.468522158288872)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.916
INFO:root:Testing 253 out of 16976 hypotheses for mustard_bottle (evidence > 3.468522158288872)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.058
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 3.468522158288872)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.787
DEBUG:root:evidences for each object: [ 4.59140697  1.09490436  4.42433291 17.04568704 16.34261079  1.16589006
  3.91646445  7.05755782  1.16372623  3.78652265]
DEBUG:root:mean evidence: 6.059, std: 5.609 -> th=13.636549628261907
INFO:root:current most likely hypothesis: ramen_pack with evidence 17.05
DEBUG:root:evidences for each object: [ 4.59140697  1.09490436  4.42433291 17.04568704 16.34261079  1.16589006
  3.91646445  7.05755782  1.16372623  3.78652265]
DEBUG:root:mean evidence: 6.059, std: 5.609 -> th=13.636549628261907
DEBUG:root:evidences for each object: [ 4.59140697  1.09490436  4.42433291 17.04568704 16.34261079  1.16589006
  3.91646445  7.05755782  1.16372623  3.78652265]
DEBUG:root:mean evidence: 6.059, std: 5.609 -> th=14.488833980028275
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 139 ---
INFO:uvicorn.access:192.168.1.217:64273 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64273 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.04385607,  0.15052137, -0.98763352],
       [-0.96007882, -0.27972962,  0.        ],
       [-0.27627035,  0.94820602,  0.15678022]]), 'pose_fully_defined': False}}, {'patch': array([-0.00338819,  0.00796177, -0.00399079])}]
INFO:root:Testing 218 out of 14424 hypotheses for numenta_mug (evidence > 3.409137407065476)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.783
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 112 out of 14880 hypotheses for montys_heart (evidence > 3.409137407065476)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.834
INFO:root:Testing 513 out of 23200 hypotheses for ramen_pack (evidence > 3.409137407065476)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.046
INFO:root:Testing 907 out of 14864 hypotheses for hot_sauce (evidence > 3.409137407065476)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 16.776
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 16 out of 21832 hypotheses for tomato_soup_can (evidence > 3.409137407065476)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.162
INFO:root:Testing 184 out of 16976 hypotheses for mustard_bottle (evidence > 3.409137407065476)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.441
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 5 out of 19024 hypotheses for potted_meat_can (evidence > 3.409137407065476)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.788
DEBUG:root:evidences for each object: [ 4.78338531  1.09490436  4.83422374 16.04568704 16.77604105  1.16589006
  4.1619572   7.44059564  1.16372623  3.78831647]
DEBUG:root:mean evidence: 6.125, std: 5.485 -> th=13.420832836044221
INFO:root:current most likely hypothesis: hot_sauce with evidence 16.78
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 140 ---
INFO:uvicorn.access:192.168.1.217:64273 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.10866676,  0.16272481, -0.98066925],
       [-0.83161709, -0.55534946,  0.        ],
       [-0.54461414,  0.8155413 ,  0.19567276]]), 'pose_fully_defined': False}}, {'patch': array([0.00562609, 0.00595039, 0.00352604])}]
INFO:root:Testing 551 out of 14424 hypotheses for numenta_mug (evidence > 3.355208209011055)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.163
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 304 out of 14880 hypotheses for montys_heart (evidence > 3.355208209011055)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.313
INFO:root:Testing 553 out of 23200 hypotheses for ramen_pack (evidence > 3.355208209011055)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.459
INFO:root:Testing 1422 out of 14864 hypotheses for hot_sauce (evidence > 3.355208209011055)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 17.243
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 356 out of 21832 hypotheses for tomato_soup_can (evidence > 3.355208209011055)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.36
INFO:root:Testing 541 out of 16976 hypotheses for mustard_bottle (evidence > 3.355208209011055)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.818
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 131 out of 19024 hypotheses for potted_meat_can (evidence > 3.355208209011055)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.946
DEBUG:root:evidences for each object: [ 5.16280365  1.09490436  5.31324176 16.45933467 17.24333182  1.16589006
  4.36015781  7.81808237  1.16372623  3.94575995]
DEBUG:root:mean evidence: 6.373, std: 5.627 -> th=13.794665453558759
INFO:root:current most likely hypothesis: hot_sauce with evidence 17.24
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 141 ---
INFO:uvicorn.access:192.168.1.217:64273 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64273 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.07179705,  0.18780715, -0.97957831],
       [-0.93407102, -0.35708728,  0.        ],
       [-0.34979496,  0.91499571,  0.20106303]]), 'pose_fully_defined': False}}, {'patch': array([-0.00344051,  0.00013189, -0.00586258])}]
INFO:root:Testing 162 out of 14424 hypotheses for numenta_mug (evidence > 3.4486663633896892)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.123
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 145 out of 14880 hypotheses for montys_heart (evidence > 3.4486663633896892)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.665
INFO:root:Testing 515 out of 23200 hypotheses for ramen_pack (evidence > 3.4486663633896892)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.459
INFO:root:Testing 892 out of 14864 hypotheses for hot_sauce (evidence > 3.4486663633896892)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 17.694
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 56 out of 21832 hypotheses for tomato_soup_can (evidence > 3.4486663633896892)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.68
INFO:root:Testing 219 out of 16976 hypotheses for mustard_bottle (evidence > 3.4486663633896892)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.184
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 24 out of 19024 hypotheses for potted_meat_can (evidence > 3.4486663633896892)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.174
DEBUG:root:evidences for each object: [ 5.12336288  1.09490436  5.66501826 15.45933467 17.69399358  1.16589006
  4.67989437  8.18373102  1.16372623  4.17386284]
DEBUG:root:mean evidence: 6.44, std: 5.53 -> th=14.15519486167552
INFO:root:current most likely hypothesis: hot_sauce with evidence 17.69
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 142 ---
INFO:uvicorn.access:192.168.1.217:64273 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.26087399,  0.2254497 , -0.93867843],
       [-0.65386809, -0.75660857,  0.        ],
       [-0.71021214,  0.61377187,  0.34479386]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00191339,  0.01254698, -0.00083954])}]
INFO:root:Testing 133 out of 14424 hypotheses for numenta_mug (evidence > 3.5387987154188796)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.367
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 131 out of 14880 hypotheses for montys_heart (evidence > 3.5387987154188796)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.814
INFO:root:Testing 487 out of 23200 hypotheses for ramen_pack (evidence > 3.5387987154188796)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.459
INFO:root:Testing 804 out of 14864 hypotheses for hot_sauce (evidence > 3.5387987154188796)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 18.18
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 49 out of 21832 hypotheses for tomato_soup_can (evidence > 3.5387987154188796)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.861
INFO:root:Testing 207 out of 16976 hypotheses for mustard_bottle (evidence > 3.5387987154188796)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.398
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 21 out of 19024 hypotheses for potted_meat_can (evidence > 3.5387987154188796)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.395
DEBUG:root:evidences for each object: [ 5.36683237  1.09490436  5.81393371 14.45933467 18.17975446  1.16589006
  4.86142764  8.39772716  1.16372623  4.39455744]
DEBUG:root:mean evidence: 6.49, std: 5.462 -> th=14.543803571723604
INFO:root:current most likely hypothesis: hot_sauce with evidence 18.18
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 143 ---
INFO:uvicorn.access:192.168.1.217:64273 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.30619251,  0.11421549, -0.9450931 ],
       [-0.34949531,  0.93693811,  0.        ],
       [ 0.88549375,  0.33030561,  0.32680122]]), 'pose_fully_defined': False}}, {'patch': array([0.00415306, 0.00609553, 0.0077008 ])}]
INFO:root:Testing 84 out of 14424 hypotheses for numenta_mug (evidence > 3.6359508929309)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.572
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 100 out of 14880 hypotheses for montys_heart (evidence > 3.6359508929309)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.132
INFO:root:Testing 472 out of 23200 hypotheses for ramen_pack (evidence > 3.6359508929309)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.919
INFO:root:Testing 629 out of 14864 hypotheses for hot_sauce (evidence > 3.6359508929309)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 18.652
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 27 out of 21832 hypotheses for tomato_soup_can (evidence > 3.6359508929309)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.228
INFO:root:Testing 172 out of 16976 hypotheses for mustard_bottle (evidence > 3.6359508929309)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.705
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 12 out of 19024 hypotheses for potted_meat_can (evidence > 3.6359508929309)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.726
DEBUG:root:evidences for each object: [ 5.57180818  1.09490436  6.13172144 14.91860665 18.65226381  1.16589006
  5.2281306   8.70487865  1.16372623  4.72572761]
DEBUG:root:mean evidence: 6.736, std: 5.61 -> th=14.921811047152186
INFO:root:current most likely hypothesis: hot_sauce with evidence 18.65
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 144 ---
INFO:uvicorn.access:192.168.1.217:64273 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.85823422,  0.25550011, -0.4451446 ],
       [-0.28532875, -0.95842971,  0.        ],
       [-0.42663981,  0.12701255,  0.8954587 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00680806, -0.00575574,  0.00221825])}]
INFO:root:Testing 72 out of 14424 hypotheses for numenta_mug (evidence > 3.7304527617880456)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.484
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 79 out of 14880 hypotheses for montys_heart (evidence > 3.7304527617880456)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.417
INFO:root:Testing 319 out of 23200 hypotheses for ramen_pack (evidence > 3.7304527617880456)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.051
INFO:root:Testing 470 out of 14864 hypotheses for hot_sauce (evidence > 3.7304527617880456)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 18.935
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 22 out of 21832 hypotheses for tomato_soup_can (evidence > 3.7304527617880456)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.994
INFO:root:Testing 144 out of 16976 hypotheses for mustard_bottle (evidence > 3.7304527617880456)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.583
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 11 out of 19024 hypotheses for potted_meat_can (evidence > 3.7304527617880456)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.685
DEBUG:root:evidences for each object: [ 5.48393084  1.09490436  6.41674655 15.05076852 18.9346392   1.16589006
  4.99390465  8.58341917  1.16372623  4.68520678]
DEBUG:root:mean evidence: 6.757, std: 5.693 -> th=15.147711356619434
INFO:root:current most likely hypothesis: hot_sauce with evidence 18.93
DEBUG:root:evidences for each object: [ 5.48393084  1.09490436  6.41674655 15.05076852 18.9346392   1.16589006
  4.99390465  8.58341917  1.16372623  4.68520678]
DEBUG:root:mean evidence: 6.757, std: 5.693 -> th=15.147711356619434
DEBUG:root:evidences for each object: [ 5.48393084  1.09490436  6.41674655 15.05076852 18.9346392   1.16589006
  4.99390465  8.58341917  1.16372623  4.68520678]
DEBUG:root:mean evidence: 6.757, std: 5.693 -> th=16.094443316408146
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 145 ---
INFO:uvicorn.access:192.168.1.217:64273 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.85470632,  0.24834045, -0.45585538],
       [-0.27901733, -0.96028607,  0.        ],
       [-0.43775157,  0.12719155,  0.89005386]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00886251,  0.01003035, -0.00406859])}]
INFO:root:Testing 59 out of 14424 hypotheses for numenta_mug (evidence > 3.786927839154858)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.309
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 64 out of 14880 hypotheses for montys_heart (evidence > 3.786927839154858)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.717
INFO:root:Testing 315 out of 23200 hypotheses for ramen_pack (evidence > 3.786927839154858)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.014
INFO:root:Testing 414 out of 14864 hypotheses for hot_sauce (evidence > 3.786927839154858)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 18.888
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 15 out of 21832 hypotheses for tomato_soup_can (evidence > 3.786927839154858)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.794
INFO:root:Testing 113 out of 16976 hypotheses for mustard_bottle (evidence > 3.786927839154858)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.303
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 8 out of 19024 hypotheses for potted_meat_can (evidence > 3.786927839154858)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.625
DEBUG:root:evidences for each object: [ 5.30890532  1.09490436  6.71653236 15.01382388 18.88756334  1.16589006
  4.79386512  8.30266969  1.16372623  4.62504962]
DEBUG:root:mean evidence: 6.707, std: 5.681 -> th=15.110050670207197
INFO:root:current most likely hypothesis: hot_sauce with evidence 18.89
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 146 ---
INFO:uvicorn.access:192.168.1.217:64273 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64275 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64273 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.97685185,  0.19524825,  0.08739896],
       [-0.19599825, -0.98060424,  0.        ],
       [ 0.08570379, -0.01713004,  0.99617339]]), 'pose_fully_defined': False}}, {'patch': array([-0.00535669,  0.00607252,  0.00616766])}]
INFO:root:Testing 39 out of 14424 hypotheses for numenta_mug (evidence > 3.7775126675517985)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.966
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 49 out of 14880 hypotheses for montys_heart (evidence > 3.7775126675517985)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.826
INFO:root:Testing 191 out of 23200 hypotheses for ramen_pack (evidence > 3.7775126675517985)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.893
INFO:root:Testing 325 out of 14864 hypotheses for hot_sauce (evidence > 3.7775126675517985)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 18.722
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 5 out of 21832 hypotheses for tomato_soup_can (evidence > 3.7775126675517985)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.965
INFO:root:Testing 91 out of 16976 hypotheses for mustard_bottle (evidence > 3.7775126675517985)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.863
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 5 out of 19024 hypotheses for potted_meat_can (evidence > 3.7775126675517985)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.631
DEBUG:root:evidences for each object: [ 4.96583563  1.09490436  6.82607529 14.89290597 18.72227875  1.16589006
  4.96475726  7.86328512  1.16372623  4.63134936]
DEBUG:root:mean evidence: 6.629, std: 5.621 -> th=14.9778229983604
INFO:root:current most likely hypothesis: hot_sauce with evidence 18.72
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 147 ---
INFO:uvicorn.access:192.168.1.217:64273 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.6794997 ,  0.00546795, -0.73365541],
       [-0.00804677,  0.99996762,  0.        ],
       [ 0.73363165,  0.00590356,  0.6795217 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00370869, -0.00075266,  0.00299672])}]
INFO:root:Testing 27 out of 14424 hypotheses for numenta_mug (evidence > 3.7444557495900987)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.192
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 36 out of 14880 hypotheses for montys_heart (evidence > 3.7444557495900987)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.706
INFO:root:Testing 142 out of 23200 hypotheses for ramen_pack (evidence > 3.7444557495900987)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.039
INFO:root:Testing 268 out of 14864 hypotheses for hot_sauce (evidence > 3.7444557495900987)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 18.482
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 4 out of 21832 hypotheses for tomato_soup_can (evidence > 3.7444557495900987)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.906
INFO:root:Testing 71 out of 16976 hypotheses for mustard_bottle (evidence > 3.7444557495900987)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.335
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 3.7444557495900987)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.467
DEBUG:root:evidences for each object: [ 5.19219855  1.09490436  6.70599666 15.03906046 18.48160439  1.16589006
  4.90631557  8.33466793  1.16372623  4.46666008]
DEBUG:root:mean evidence: 6.655, std: 5.605 -> th=14.785283515971221
INFO:root:current most likely hypothesis: hot_sauce with evidence 18.48
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 148 ---
INFO:uvicorn.access:192.168.1.217:64273 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64273 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.2771793 ,  0.19897589, -0.93998948],
       [-0.58315914, -0.81235794,  0.        ],
       [-0.76360792,  0.54816346,  0.34120341]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00124779,  0.00907632, -0.00268643])}]
INFO:root:Testing 32 out of 14424 hypotheses for numenta_mug (evidence > 3.696320878992804)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.075
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 41 out of 14880 hypotheses for montys_heart (evidence > 3.696320878992804)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.29
INFO:root:Testing 137 out of 23200 hypotheses for ramen_pack (evidence > 3.696320878992804)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.408
INFO:root:Testing 238 out of 14864 hypotheses for hot_sauce (evidence > 3.696320878992804)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 18.838
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 2 out of 21832 hypotheses for tomato_soup_can (evidence > 3.696320878992804)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.906
INFO:root:Testing 66 out of 16976 hypotheses for mustard_bottle (evidence > 3.696320878992804)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.272
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 4 out of 19024 hypotheses for potted_meat_can (evidence > 3.696320878992804)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.408
DEBUG:root:evidences for each object: [ 5.07471597  1.09490436  6.29040243 15.40841373 18.83776331  1.16589006
  3.90631557  8.27215325  1.16372623  4.40805516]
DEBUG:root:mean evidence: 6.562, std: 5.779 -> th=15.070210650280213
INFO:root:current most likely hypothesis: hot_sauce with evidence 18.84
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 149 ---
INFO:uvicorn.access:192.168.1.217:64273 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.05270015,  0.16593875, -0.98472688],
       [-0.95308917, -0.30268966,  0.        ],
       [-0.29806665,  0.93853252,  0.17410622]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00354193,  0.00363968, -0.00336886])}]
INFO:root:Testing 11 out of 14424 hypotheses for numenta_mug (evidence > 3.7675526625700524)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.25
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 23 out of 14880 hypotheses for montys_heart (evidence > 3.7675526625700524)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.848
INFO:root:Testing 116 out of 23200 hypotheses for ramen_pack (evidence > 3.7675526625700524)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.766
INFO:root:Testing 197 out of 14864 hypotheses for hot_sauce (evidence > 3.7675526625700524)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 19.21
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 3.7675526625700524)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.636
INFO:root:Testing 46 out of 16976 hypotheses for mustard_bottle (evidence > 3.7675526625700524)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.306
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 3.7675526625700524)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.507
DEBUG:root:evidences for each object: [ 5.24960159  1.09490436  5.84782064 15.76555673 19.20959093  1.16589006
  3.63620829  8.30576222  1.16372623  4.50705857]
DEBUG:root:mean evidence: 6.595, std: 5.923 -> th=15.367672741303682
INFO:root:current most likely hypothesis: hot_sauce with evidence 19.21
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 150 ---
INFO:uvicorn.access:192.168.1.217:64273 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64273 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.31071171,  0.17789621, -0.93370829],
       [-0.49686867, -0.86782575,  0.        ],
       [-0.8102961 ,  0.46393039,  0.35803467]]), 'pose_fully_defined': False}}, {'patch': array([0.00031422, 0.01435119, 0.00178952])}]
INFO:root:Testing 4 out of 14424 hypotheses for numenta_mug (evidence > 3.8419181853259197)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.072
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 14 out of 14880 hypotheses for montys_heart (evidence > 3.8419181853259197)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.18
INFO:root:Testing 109 out of 23200 hypotheses for ramen_pack (evidence > 3.8419181853259197)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.103
INFO:root:Testing 163 out of 14864 hypotheses for hot_sauce (evidence > 3.8419181853259197)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 19.375
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.636
INFO:root:Testing 40 out of 16976 hypotheses for mustard_bottle (evidence > 3.8419181853259197)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.208
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 2 out of 19024 hypotheses for potted_meat_can (evidence > 3.8419181853259197)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.633
DEBUG:root:evidences for each object: [ 5.07199838  1.09490436  6.17989933 16.10304783 19.37470168  1.16589006
  3.63620829  8.20846879  1.16372623  3.63268014]
DEBUG:root:mean evidence: 6.563, std: 6.046 -> th=15.499761341864211
INFO:root:current most likely hypothesis: hot_sauce with evidence 19.37
DEBUG:root:evidences for each object: [ 5.07199838  1.09490436  6.17989933 16.10304783 19.37470168  1.16589006
  3.63620829  8.20846879  1.16372623  3.63268014]
DEBUG:root:mean evidence: 6.563, std: 6.046 -> th=15.499761341864211
DEBUG:root:evidences for each object: [ 5.07199838  1.09490436  6.17989933 16.10304783 19.37470168  1.16589006
  3.63620829  8.20846879  1.16372623  3.63268014]
DEBUG:root:mean evidence: 6.563, std: 6.046 -> th=16.468496425730727
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 151 ---
INFO:uvicorn.access:192.168.1.217:64273 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.04550248,  0.14244158, -0.98875676],
       [-0.95257705,  0.3042975 ,  0.        ],
       [ 0.30087621,  0.94186699,  0.14953287]]), 'pose_fully_defined': False}}, {'patch': array([-0.00888932, -0.00253949,  0.00049078])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 3.874940335466052)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.461
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 6 out of 14880 hypotheses for montys_heart (evidence > 3.874940335466052)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.611
INFO:root:Testing 89 out of 23200 hypotheses for ramen_pack (evidence > 3.874940335466052)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.532
INFO:root:Testing 128 out of 14864 hypotheses for hot_sauce (evidence > 3.874940335466052)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 19.638
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.636
INFO:root:Testing 28 out of 16976 hypotheses for mustard_bottle (evidence > 3.874940335466052)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.208
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.633
DEBUG:root:evidences for each object: [ 5.4608966   1.09490436  6.61061752 16.53158529 19.63778573  1.16589006
  3.63620829  7.20846879  1.16372623  3.63268014]
DEBUG:root:mean evidence: 6.614, std: 6.142 -> th=15.710228585699141
INFO:root:current most likely hypothesis: hot_sauce with evidence 19.64
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 152 ---
INFO:uvicorn.access:192.168.1.217:64273 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.43662245,  0.19881271, -0.87740204],
       [-0.41440395, -0.91009306,  0.        ],
       [-0.7985175 ,  0.36359887,  0.47975583]]), 'pose_fully_defined': False}}, {'patch': array([0.00157983, 0.00922952, 0.00365953])}]
INFO:root:Testing 2 out of 14424 hypotheses for numenta_mug (evidence > 3.9275571464247854)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.742
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 2 out of 14880 hypotheses for montys_heart (evidence > 3.9275571464247854)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.611
INFO:root:Testing 87 out of 23200 hypotheses for ramen_pack (evidence > 3.9275571464247854)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.878
INFO:root:Testing 113 out of 14864 hypotheses for hot_sauce (evidence > 3.9275571464247854)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 19.855
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.636
INFO:root:Testing 20 out of 16976 hypotheses for mustard_bottle (evidence > 3.9275571464247854)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.786
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.633
DEBUG:root:evidences for each object: [ 5.74191094  1.09490436  5.61061752 16.8784204  19.85458487  1.16589006
  3.63620829  6.78604786  1.16372623  3.63268014]
DEBUG:root:mean evidence: 6.556, std: 6.245 -> th=15.883667898610621
INFO:root:current most likely hypothesis: hot_sauce with evidence 19.85
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 153 ---
INFO:uvicorn.access:192.168.1.217:64273 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64273 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.15945125,  0.16095383, -0.97399649],
       [-0.71041503, -0.70378298,  0.        ],
       [-0.68548216,  0.69194174,  0.2265631 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00674342, -0.01123314, -0.00311013])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 3.9709169746526545)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.071
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 2 out of 14880 hypotheses for montys_heart (evidence > 3.9709169746526545)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.011
INFO:root:Testing 84 out of 23200 hypotheses for ramen_pack (evidence > 3.9709169746526545)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.277
INFO:root:Testing 107 out of 14864 hypotheses for hot_sauce (evidence > 3.9709169746526545)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.158
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.636
INFO:root:Testing 15 out of 16976 hypotheses for mustard_bottle (evidence > 3.9709169746526545)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.82
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.633
DEBUG:root:evidences for each object: [ 6.07134551  1.09490436  6.01148479 17.27666515 20.1575566   1.16589006
  3.63620829  6.82009199  1.16372623  3.63268014]
DEBUG:root:mean evidence: 6.703, std: 6.367 -> th=16.126045278404053
INFO:root:current most likely hypothesis: hot_sauce with evidence 20.16
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 154 ---
INFO:uvicorn.access:192.168.1.217:64273 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.29780295,  0.19077975, -0.93536971],
       [-0.53942646, -0.84203272,  0.        ],
       [-0.7876119 ,  0.50456317,  0.35367148]]), 'pose_fully_defined': False}}, {'patch': array([-0.01816319,  0.00909448, -0.01671985])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 4.031511319601012)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.071
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 14 out of 14880 hypotheses for montys_heart (evidence > 4.031511319601012)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.011
INFO:root:Testing 76 out of 23200 hypotheses for ramen_pack (evidence > 4.031511319601012)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.277
INFO:root:Testing 102 out of 14864 hypotheses for hot_sauce (evidence > 4.031511319601012)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 19.158
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.636
INFO:root:Testing 15 out of 16976 hypotheses for mustard_bottle (evidence > 4.031511319601012)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.472
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.633
DEBUG:root:evidences for each object: [ 5.07134551  1.09490436  5.01148479 16.27666515 19.1575566   1.16589006
  3.63620829  6.4718561   1.16372623  3.63268014]
DEBUG:root:mean evidence: 6.268, std: 6.017 -> th=15.326045278404052
INFO:root:current most likely hypothesis: hot_sauce with evidence 19.16
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 155 ---
INFO:uvicorn.access:192.168.1.217:64277 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.42855262,  0.15290461, -0.8904846 ],
       [-0.33604421, -0.94184621,  0.        ],
       [-0.83869955,  0.2992422 ,  0.45501337]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01475381, -0.0189342 ,  0.01728713])}]
INFO:root:Testing 30 out of 14424 hypotheses for numenta_mug (evidence > 3.831511319601013)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.276
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 28 out of 14880 hypotheses for montys_heart (evidence > 3.831511319601013)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.373
INFO:root:Testing 79 out of 23200 hypotheses for ramen_pack (evidence > 3.831511319601013)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.645
INFO:root:Testing 104 out of 14864 hypotheses for hot_sauce (evidence > 3.831511319601013)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 19.561
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.636
INFO:root:Testing 12 out of 16976 hypotheses for mustard_bottle (evidence > 3.831511319601013)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.355
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.633
DEBUG:root:evidences for each object: [ 5.27636098  1.09490436  5.37279575 16.64531648 19.56092218  1.16589006
  3.63620829  6.35468092  1.16372623  3.63268014]
DEBUG:root:mean evidence: 6.39, std: 6.154 -> th=15.648737742126974
INFO:root:current most likely hypothesis: hot_sauce with evidence 19.56
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 156 ---
INFO:uvicorn.access:192.168.1.217:64278 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.6833357 ,  0.04535116, -0.72869444],
       [-0.06622165, -0.99780494,  0.        ],
       [-0.72709491,  0.04825534,  0.68483896]]), 'pose_fully_defined': False}}, {'patch': array([-0.00409635, -0.05526451, -0.00090591])}]
INFO:root:Testing 2 out of 14424 hypotheses for numenta_mug (evidence > 3.912184435531742)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.319
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 4 out of 14880 hypotheses for montys_heart (evidence > 3.912184435531742)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.338
INFO:root:Testing 79 out of 23200 hypotheses for ramen_pack (evidence > 3.912184435531742)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.941
INFO:root:Testing 100 out of 14864 hypotheses for hot_sauce (evidence > 3.912184435531742)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 18.561
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.636
INFO:root:Testing 12 out of 16976 hypotheses for mustard_bottle (evidence > 3.912184435531742)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.628
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.633
DEBUG:root:evidences for each object: [ 5.3192696   1.09490436  5.33830792 16.94101687 18.56092218  1.16589006
  3.63620829  6.6277353   1.16372623  3.63268014]
DEBUG:root:mean evidence: 6.348, std: 5.996 -> th=14.848737742126975
INFO:root:current most likely hypothesis: hot_sauce with evidence 18.56
DEBUG:root:evidences for each object: [ 5.3192696   1.09490436  5.33830792 16.94101687 18.56092218  1.16589006
  3.63620829  6.6277353   1.16372623  3.63268014]
DEBUG:root:mean evidence: 6.348, std: 5.996 -> th=14.848737742126975
DEBUG:root:evidences for each object: [ 5.3192696   1.09490436  5.33830792 16.94101687 18.56092218  1.16589006
  3.63620829  6.6277353   1.16372623  3.63268014]
DEBUG:root:mean evidence: 6.348, std: 5.996 -> th=15.77678385100991
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 157 ---
INFO:uvicorn.access:192.168.1.217:64278 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64278 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.98304685,  0.09257487, -0.15826809],
       [-0.09375656, -0.99559515,  0.        ],
       [-0.15757094,  0.01483867,  0.98739618]]), 'pose_fully_defined': False}}, {'patch': array([-0.00069754,  0.00351513,  0.00045034])}]
INFO:root:Testing 57 out of 14424 hypotheses for numenta_mug (evidence > 3.712184435531743)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.306
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 180 out of 14880 hypotheses for montys_heart (evidence > 3.712184435531743)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.338
INFO:root:Testing 85 out of 23200 hypotheses for ramen_pack (evidence > 3.712184435531743)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.084
INFO:root:Testing 106 out of 14864 hypotheses for hot_sauce (evidence > 3.712184435531743)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 17.561
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.636
INFO:root:Testing 16 out of 16976 hypotheses for mustard_bottle (evidence > 3.712184435531743)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.624
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.633
DEBUG:root:evidences for each object: [ 5.30640493  1.09490436  4.33830792 17.08411055 17.56092218  1.16589006
  3.63620829  6.62392006  1.16372623  3.63268014]
DEBUG:root:mean evidence: 6.161, std: 5.847 -> th=14.048737742126974
INFO:root:current most likely hypothesis: hot_sauce with evidence 17.56
DEBUG:root:evidences for each object: [ 5.30640493  1.09490436  4.33830792 17.08411055 17.56092218  1.16589006
  3.63620829  6.62392006  1.16372623  3.63268014]
DEBUG:root:mean evidence: 6.161, std: 5.847 -> th=14.048737742126974
DEBUG:root:evidences for each object: [ 5.30640493  1.09490436  4.33830792 17.08411055 17.56092218  1.16589006
  3.63620829  6.62392006  1.16372623  3.63268014]
DEBUG:root:mean evidence: 6.161, std: 5.847 -> th=14.92678385100991
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 158 ---
INFO:uvicorn.access:192.168.1.217:64278 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.18278647, -0.00351716, -0.98314635],
       [ 0.01923835, -0.99981493,  0.        ],
       [-0.98296439, -0.01891412,  0.1828203 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01158641,  0.01523276, -0.006005  ])}]
INFO:root:Testing 1940 out of 14424 hypotheses for numenta_mug (evidence > 3.5121844355317435)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 5.469
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 1462 out of 14880 hypotheses for montys_heart (evidence > 3.5121844355317435)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 4.479
INFO:root:Testing 163 out of 23200 hypotheses for ramen_pack (evidence > 3.5121844355317435)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.403
INFO:root:Testing 197 out of 14864 hypotheses for hot_sauce (evidence > 3.5121844355317435)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 17.999
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 2 out of 21832 hypotheses for tomato_soup_can (evidence > 3.5121844355317435)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.813
INFO:root:Testing 53 out of 16976 hypotheses for mustard_bottle (evidence > 3.5121844355317435)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.896
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 4 out of 19024 hypotheses for potted_meat_can (evidence > 3.5121844355317435)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.765
DEBUG:root:evidences for each object: [ 5.46882665  1.09490436  4.47904294 17.40339711 17.99881052  1.16589006
  3.81285844  6.89629951  1.16372623  3.76509175]
DEBUG:root:mean evidence: 6.325, std: 5.975 -> th=14.399048413233269
INFO:root:current most likely hypothesis: hot_sauce with evidence 18.0
DEBUG:root:evidences for each object: [ 5.46882665  1.09490436  4.47904294 17.40339711 17.99881052  1.16589006
  3.81285844  6.89629951  1.16372623  3.76509175]
DEBUG:root:mean evidence: 6.325, std: 5.975 -> th=14.399048413233269
DEBUG:root:evidences for each object: [ 5.46882665  1.09490436  4.47904294 17.40339711 17.99881052  1.16589006
  3.81285844  6.89629951  1.16372623  3.76509175]
DEBUG:root:mean evidence: 6.325, std: 5.975 -> th=15.298988939060347
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 159 ---
INFO:uvicorn.access:192.168.1.217:64279 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.93405855,  0.03691991,  0.35520633],
       [-0.03949549, -0.99921975,  0.        ],
       [ 0.35492918, -0.01402905,  0.93478792]]), 'pose_fully_defined': False}}, {'patch': array([-0.01308628,  0.0180697 ,  0.00911961])}]
INFO:root:Testing 243 out of 14424 hypotheses for numenta_mug (evidence > 3.5997621033083167)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.123
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 617 out of 14880 hypotheses for montys_heart (evidence > 3.5997621033083167)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.404
INFO:root:Testing 147 out of 23200 hypotheses for ramen_pack (evidence > 3.5997621033083167)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.434
INFO:root:Testing 186 out of 14864 hypotheses for hot_sauce (evidence > 3.5997621033083167)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 18.142
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 3.5997621033083167)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.776
INFO:root:Testing 50 out of 16976 hypotheses for mustard_bottle (evidence > 3.5997621033083167)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.427
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 4 out of 19024 hypotheses for potted_meat_can (evidence > 3.5997621033083167)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.539
DEBUG:root:evidences for each object: [ 5.12284012  1.09490436  4.40385764 17.43358395 18.14213181  1.16589006
  3.77621238  6.42668368  1.16372623  3.5394033 ]
DEBUG:root:mean evidence: 6.227, std: 6.025 -> th=14.513705445220362
INFO:root:current most likely hypothesis: hot_sauce with evidence 18.14
DEBUG:root:evidences for each object: [ 5.12284012  1.09490436  4.40385764 17.43358395 18.14213181  1.16589006
  3.77621238  6.42668368  1.16372623  3.5394033 ]
DEBUG:root:mean evidence: 6.227, std: 6.025 -> th=14.513705445220362
DEBUG:root:evidences for each object: [ 5.12284012  1.09490436  4.40385764 17.43358395 18.14213181  1.16589006
  3.77621238  6.42668368  1.16372623  3.5394033 ]
DEBUG:root:mean evidence: 6.227, std: 6.025 -> th=15.420812035546634
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 160 ---
INFO:uvicorn.access:192.168.1.217:64279 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.8976835 ,  0.03984455,  0.43883567],
       [-0.04434231, -0.9990164 ,  0.        ],
       [ 0.43840403, -0.01945899,  0.89856734]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01155234, -0.00037329, -0.00767666])}]
INFO:root:Testing 15 out of 14424 hypotheses for numenta_mug (evidence > 3.62842636130509)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.721
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 114 out of 14880 hypotheses for montys_heart (evidence > 3.62842636130509)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.426
INFO:root:Testing 144 out of 23200 hypotheses for ramen_pack (evidence > 3.62842636130509)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.051
INFO:root:Testing 74 out of 14864 hypotheses for hot_sauce (evidence > 3.62842636130509)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 17.853
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 3.62842636130509)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.671
INFO:root:Testing 16 out of 16976 hypotheses for mustard_bottle (evidence > 3.62842636130509)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.95
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.539
DEBUG:root:evidences for each object: [ 4.72095959  1.09490436  4.42646991 17.05094084 17.85257142  1.16589006
  3.6711235   5.94956428  1.16372623  3.5394033 ]
DEBUG:root:mean evidence: 6.064, std: 5.907 -> th=14.282057134084548
INFO:root:current most likely hypothesis: hot_sauce with evidence 17.85
DEBUG:root:evidences for each object: [ 4.72095959  1.09490436  4.42646991 17.05094084 17.85257142  1.16589006
  3.6711235   5.94956428  1.16372623  3.5394033 ]
DEBUG:root:mean evidence: 6.064, std: 5.907 -> th=14.282057134084548
DEBUG:root:evidences for each object: [ 4.72095959  1.09490436  4.42646991 17.05094084 17.85257142  1.16589006
  3.6711235   5.94956428  1.16372623  3.5394033 ]
DEBUG:root:mean evidence: 6.064, std: 5.907 -> th=15.174685704964832
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 161 ---
INFO:uvicorn.access:192.168.1.217:64279 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64279 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.11251845, -0.01407118, -0.99355   ],
       [ 0.12409004, -0.99227096,  0.        ],
       [-0.98587081, -0.12328966,  0.11339489]]), 'pose_fully_defined': False}}, {'patch': array([0.00504376, 0.01266468, 0.00369958])}]
INFO:root:Testing 95 out of 14424 hypotheses for numenta_mug (evidence > 3.5705142835211365)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.993
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 148 out of 14880 hypotheses for montys_heart (evidence > 3.5705142835211365)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.534
INFO:root:Testing 127 out of 23200 hypotheses for ramen_pack (evidence > 3.5705142835211365)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.371
INFO:root:Testing 60 out of 14864 hypotheses for hot_sauce (evidence > 3.5705142835211365)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 17.992
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 3.5705142835211365)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.491
INFO:root:Testing 9 out of 16976 hypotheses for mustard_bottle (evidence > 3.5705142835211365)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.972
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.539
DEBUG:root:evidences for each object: [ 4.99298047  1.09490436  4.53426845 17.37083978 17.99170254  1.16589006
  3.49135282  5.97211567  1.16372623  3.5394033 ]
DEBUG:root:mean evidence: 6.132, std: 5.994 -> th=14.39336203372348
INFO:root:current most likely hypothesis: hot_sauce with evidence 17.99
DEBUG:root:evidences for each object: [ 4.99298047  1.09490436  4.53426845 17.37083978 17.99170254  1.16589006
  3.49135282  5.97211567  1.16372623  3.5394033 ]
DEBUG:root:mean evidence: 6.132, std: 5.994 -> th=14.39336203372348
DEBUG:root:evidences for each object: [ 4.99298047  1.09490436  4.53426845 17.37083978 17.99170254  1.16589006
  3.49135282  5.97211567  1.16372623  3.5394033 ]
DEBUG:root:mean evidence: 6.132, std: 5.994 -> th=15.292947160831197
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 162 ---
INFO:uvicorn.access:192.168.1.217:64279 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.6571098 ,  0.05572325, -0.75173242],
       [-0.08449724, -0.99642371,  0.        ],
       [-0.74904401,  0.06351932,  0.65946825]]), 'pose_fully_defined': False}}, {'patch': array([-0.00997189, -0.00532814,  0.00469711])}]
INFO:root:Testing 8 out of 14424 hypotheses for numenta_mug (evidence > 3.5983405084308693)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.053
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 21 out of 14880 hypotheses for montys_heart (evidence > 3.5983405084308693)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.625
INFO:root:Testing 79 out of 23200 hypotheses for ramen_pack (evidence > 3.5983405084308693)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.633
INFO:root:Testing 53 out of 14864 hypotheses for hot_sauce (evidence > 3.5983405084308693)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 16.992
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.491
INFO:root:Testing 7 out of 16976 hypotheses for mustard_bottle (evidence > 3.5983405084308693)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.79
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.539
DEBUG:root:evidences for each object: [ 5.05261761  1.09490436  4.62533669 17.63267825 16.99170254  1.16589006
  3.49135282  5.79040194  1.16372623  3.5394033 ]
DEBUG:root:mean evidence: 6.055, std: 5.849 -> th=14.106142596395125
INFO:root:current most likely hypothesis: ramen_pack with evidence 17.63
DEBUG:root:evidences for each object: [ 5.05261761  1.09490436  4.62533669 17.63267825 16.99170254  1.16589006
  3.49135282  5.79040194  1.16372623  3.5394033 ]
DEBUG:root:mean evidence: 6.055, std: 5.849 -> th=14.106142596395125
DEBUG:root:evidences for each object: [ 5.05261761  1.09490436  4.62533669 17.63267825 16.99170254  1.16589006
  3.49135282  5.79040194  1.16372623  3.5394033 ]
DEBUG:root:mean evidence: 6.055, std: 5.849 -> th=14.987776508669821
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 163 ---
INFO:uvicorn.access:192.168.1.217:64279 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64279 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.9720599 ,  0.04912871, -0.22953412],
       [-0.0504764 , -0.99872525,  0.        ],
       [-0.22924153,  0.01158606,  0.97330061]]), 'pose_fully_defined': False}}, {'patch': array([-0.00228187,  0.01275249,  0.00503825])}]
INFO:root:Testing 142 out of 14424 hypotheses for numenta_mug (evidence > 3.526535649098781)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.919
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 137 out of 14880 hypotheses for montys_heart (evidence > 3.526535649098781)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.943
INFO:root:Testing 77 out of 23200 hypotheses for ramen_pack (evidence > 3.526535649098781)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.722
INFO:root:Testing 57 out of 14864 hypotheses for hot_sauce (evidence > 3.526535649098781)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 17.295
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.491
INFO:root:Testing 8 out of 16976 hypotheses for mustard_bottle (evidence > 3.526535649098781)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.79
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 2 out of 19024 hypotheses for potted_meat_can (evidence > 3.526535649098781)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.503
DEBUG:root:evidences for each object: [ 4.91947698  1.09490436  4.94264901 16.72160793 17.29548137  1.16589006
  3.49135282  4.79040194  1.16372623  3.50265666]
DEBUG:root:mean evidence: 5.909, std: 5.741 -> th=13.836385098703408
INFO:root:current most likely hypothesis: hot_sauce with evidence 17.3
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 164 ---
INFO:uvicorn.access:192.168.1.217:64279 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64279 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.81023173,  0.06700818, -0.58226665],
       [-0.0824211 , -0.99659759,  0.        ],
       [-0.58028554,  0.04799106,  0.81299788]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00532139, -0.00551211, -0.01069575])}]
INFO:root:Testing 928 out of 14424 hypotheses for numenta_mug (evidence > 3.4590962746758507)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.109
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 768 out of 14880 hypotheses for montys_heart (evidence > 3.4590962746758507)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.146
INFO:root:Testing 95 out of 23200 hypotheses for ramen_pack (evidence > 3.4590962746758507)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.704
INFO:root:Testing 101 out of 14864 hypotheses for hot_sauce (evidence > 3.4590962746758507)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 17.372
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 3 out of 21832 hypotheses for tomato_soup_can (evidence > 3.4590962746758507)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.448
INFO:root:Testing 22 out of 16976 hypotheses for mustard_bottle (evidence > 3.4590962746758507)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.512
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 7 out of 19024 hypotheses for potted_meat_can (evidence > 3.4590962746758507)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.454
DEBUG:root:evidences for each object: [ 5.10923662  1.09490436  5.14630121 16.70388193 17.37240616  1.16589006
  3.44781168  4.51175143  1.16372623  3.45421152]
DEBUG:root:mean evidence: 5.917, std: 5.757 -> th=13.89792492605035
INFO:root:current most likely hypothesis: hot_sauce with evidence 17.37
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 165 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.04930068, -0.0404321 , -0.99796527],
       [ 0.63413159, -0.77322515,  0.        ],
       [-0.77165185, -0.6328413 ,  0.0637598 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.04490767,  0.05158299,  0.01237786])}]
INFO:root:Testing 17 out of 14424 hypotheses for numenta_mug (evidence > 3.4744812315125877)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.109
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 31 out of 14880 hypotheses for montys_heart (evidence > 3.4744812315125877)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.146
INFO:root:Testing 73 out of 23200 hypotheses for ramen_pack (evidence > 3.4744812315125877)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.703
INFO:root:Testing 46 out of 14864 hypotheses for hot_sauce (evidence > 3.4744812315125877)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 16.372
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.448
INFO:root:Testing 3 out of 16976 hypotheses for mustard_bottle (evidence > 3.4744812315125877)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.306
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.454
DEBUG:root:evidences for each object: [ 4.10923662  1.09490436  4.14630121 16.7028456  16.37240616  1.16589006
  3.44781168  4.30603681  1.16372623  3.45421152]
DEBUG:root:mean evidence: 5.596, std: 5.605 -> th=13.362276476445833
INFO:root:current most likely hypothesis: ramen_pack with evidence 16.7
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 166 ---
INFO:uvicorn.access:192.168.1.217:64281 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.72051094,  0.12420471,  0.68222957],
       [-0.16987861,  0.985465  ,  0.        ],
       [-0.67231336, -0.11589621,  0.73113803]]), 'pose_fully_defined': False}}, {'patch': array([ 0.05539229, -0.12480008,  0.01502076])}]
INFO:root:Testing 2561 out of 14424 hypotheses for numenta_mug (evidence > 3.340569119111457)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 4.347
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 1608 out of 14880 hypotheses for montys_heart (evidence > 3.340569119111457)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.383
INFO:root:Testing 143 out of 23200 hypotheses for ramen_pack (evidence > 3.340569119111457)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.99
INFO:root:Testing 430 out of 14864 hypotheses for hot_sauce (evidence > 3.340569119111457)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 16.851
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 164 out of 21832 hypotheses for tomato_soup_can (evidence > 3.340569119111457)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.917
INFO:root:Testing 177 out of 16976 hypotheses for mustard_bottle (evidence > 3.340569119111457)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.489
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 282 out of 19024 hypotheses for potted_meat_can (evidence > 3.340569119111457)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.914
DEBUG:root:evidences for each object: [ 4.34712236  1.09490436  4.38268652 16.99019387 16.85132244  1.16589006
  3.91748624  4.48908054  1.16372623  3.9143427 ]
DEBUG:root:mean evidence: 5.832, std: 5.704 -> th=13.592155092632828
INFO:root:current most likely hypothesis: ramen_pack with evidence 16.99
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 167 ---
INFO:uvicorn.access:192.168.1.217:64281 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64281 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.92896312,  0.11643654,  0.35138306],
       [-0.12436722,  0.99223626,  0.        ],
       [-0.34865501, -0.04370053,  0.93623178]]), 'pose_fully_defined': False}}, {'patch': array([-0.00049235,  0.01398311,  0.00105728])}]
INFO:root:Testing 1866 out of 14424 hypotheses for numenta_mug (evidence > 3.3980387731582056)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 4.783
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 1491 out of 14880 hypotheses for montys_heart (evidence > 3.3980387731582056)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.689
INFO:root:Testing 132 out of 23200 hypotheses for ramen_pack (evidence > 3.3980387731582056)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.453
INFO:root:Testing 339 out of 14864 hypotheses for hot_sauce (evidence > 3.3980387731582056)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 17.244
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 144 out of 21832 hypotheses for tomato_soup_can (evidence > 3.3980387731582056)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.375
INFO:root:Testing 159 out of 16976 hypotheses for mustard_bottle (evidence > 3.3980387731582056)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.893
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 199 out of 19024 hypotheses for potted_meat_can (evidence > 3.3980387731582056)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.362
DEBUG:root:evidences for each object: [ 4.78331365  1.09490436  4.68938121 17.45256873 17.24375555  1.16589006
  4.37519325  4.8928753   1.16372623  4.36219452]
DEBUG:root:mean evidence: 6.122, std: 5.814 -> th=13.962054985171687
INFO:root:current most likely hypothesis: ramen_pack with evidence 17.45
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 168 ---
INFO:uvicorn.access:192.168.1.217:64281 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64281 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64281 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.58953729,  0.12882112,  0.7974026 ],
       [-0.21347521,  0.97694848,  0.        ],
       [-0.77902126, -0.17022569,  0.60344767]]), 'pose_fully_defined': False}}, {'patch': array([-0.00284819,  0.00819366,  0.00125134])}]
INFO:root:Testing 1855 out of 14424 hypotheses for numenta_mug (evidence > 3.4905137462929208)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 5.156
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 1478 out of 14880 hypotheses for montys_heart (evidence > 3.4905137462929208)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.159
INFO:root:Testing 132 out of 23200 hypotheses for ramen_pack (evidence > 3.4905137462929208)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.888
INFO:root:Testing 337 out of 14864 hypotheses for hot_sauce (evidence > 3.4905137462929208)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 17.706
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 1079 out of 21832 hypotheses for tomato_soup_can (evidence > 3.4905137462929208)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.855
INFO:root:Testing 159 out of 16976 hypotheses for mustard_bottle (evidence > 3.4905137462929208)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.272
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 197 out of 19024 hypotheses for potted_meat_can (evidence > 3.4905137462929208)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.829
DEBUG:root:evidences for each object: [ 5.15643186  1.09490436  5.15869254 17.88774718 17.70572085  1.16589006
  4.85513386  5.27167077  1.16372623  4.82913119]
DEBUG:root:mean evidence: 6.429, std: 5.933 -> th=14.310197740222288
INFO:root:current most likely hypothesis: ramen_pack with evidence 17.89
DEBUG:root:evidences for each object: [ 5.15643186  1.09490436  5.15869254 17.88774718 17.70572085  1.16589006
  4.85513386  5.27167077  1.16372623  4.82913119]
DEBUG:root:mean evidence: 6.429, std: 5.933 -> th=14.310197740222288
DEBUG:root:evidences for each object: [ 5.15643186  1.09490436  5.15869254 17.88774718 17.70572085  1.16589006
  4.85513386  5.27167077  1.16372623  4.82913119]
DEBUG:root:mean evidence: 6.429, std: 5.933 -> th=15.204585098986179
DEBUG:root:Hypothesis jump indicated: change in most-likely rotation of MLH
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 169 ---
INFO:uvicorn.access:192.168.1.217:64281 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64281 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.88284367,  0.16042967,  0.44141745],
       [-0.17879119,  0.98388704,  0.        ],
       [-0.43430491, -0.07892155,  0.89730186]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00825546, -0.00206691, -0.01017013])}]
INFO:root:Testing 1852 out of 14424 hypotheses for numenta_mug (evidence > 3.5775494350555714)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 5.445
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 1478 out of 14880 hypotheses for montys_heart (evidence > 3.5775494350555714)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.643
INFO:root:Testing 132 out of 23200 hypotheses for ramen_pack (evidence > 3.5775494350555714)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 18.278
INFO:root:Testing 337 out of 14864 hypotheses for hot_sauce (evidence > 3.5775494350555714)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 18.146
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 1065 out of 21832 hypotheses for tomato_soup_can (evidence > 3.5775494350555714)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.335
INFO:root:Testing 158 out of 16976 hypotheses for mustard_bottle (evidence > 3.5775494350555714)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.753
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 197 out of 19024 hypotheses for potted_meat_can (evidence > 3.5775494350555714)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.302
DEBUG:root:evidences for each object: [ 5.44526378  1.09490436  5.64303783 18.27771964 18.14558766  1.16589006
  5.33506952  5.75343154  1.16372623  5.30222074]
DEBUG:root:mean evidence: 6.733, std: 6.043 -> th=14.62217571550866
INFO:root:current most likely hypothesis: ramen_pack with evidence 18.28
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 170 ---
INFO:uvicorn.access:192.168.1.217:64281 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64281 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.95421627,  0.12890373,  0.26991692],
       [-0.13387259,  0.99099855,  0.        ],
       [-0.26748728, -0.03613448,  0.96288361]]), 'pose_fully_defined': False}}, {'patch': array([-0.00100784,  0.01004242, -0.00034189])}]
INFO:root:Testing 1833 out of 14424 hypotheses for numenta_mug (evidence > 3.655543928877165)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 5.881
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 1468 out of 14880 hypotheses for montys_heart (evidence > 3.655543928877165)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.109
INFO:root:Testing 132 out of 23200 hypotheses for ramen_pack (evidence > 3.655543928877165)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 18.732
INFO:root:Testing 336 out of 14864 hypotheses for hot_sauce (evidence > 3.655543928877165)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 18.579
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 1064 out of 21832 hypotheses for tomato_soup_can (evidence > 3.655543928877165)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.823
INFO:root:Testing 157 out of 16976 hypotheses for mustard_bottle (evidence > 3.655543928877165)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.219
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 197 out of 19024 hypotheses for potted_meat_can (evidence > 3.655543928877165)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.777
DEBUG:root:evidences for each object: [ 5.88098873  1.09490436  6.10857538 18.73205717 18.57930227  1.16589006
  5.82327175  6.2194159   1.16372623  5.77699689]
DEBUG:root:mean evidence: 7.055, std: 6.166 -> th=14.98564573636952
INFO:root:current most likely hypothesis: ramen_pack with evidence 18.73
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 171 ---
INFO:uvicorn.access:192.168.1.217:64281 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64281 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64281 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.82498328,  0.14062952,  0.54738096],
       [-0.16803954,  0.98578026,  0.        ],
       [-0.53959735, -0.09198164,  0.83688355]]), 'pose_fully_defined': False}}, {'patch': array([-0.00556782, -0.00485802,  0.01324545])}]
INFO:root:Testing 1830 out of 14424 hypotheses for numenta_mug (evidence > 3.74641143409238)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 6.367
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 1468 out of 14880 hypotheses for montys_heart (evidence > 3.74641143409238)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.591
INFO:root:Testing 134 out of 23200 hypotheses for ramen_pack (evidence > 3.74641143409238)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 19.07
INFO:root:Testing 336 out of 14864 hypotheses for hot_sauce (evidence > 3.74641143409238)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 19.048
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 1064 out of 21832 hypotheses for tomato_soup_can (evidence > 3.74641143409238)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.271
INFO:root:Testing 157 out of 16976 hypotheses for mustard_bottle (evidence > 3.74641143409238)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.703
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 196 out of 19024 hypotheses for potted_meat_can (evidence > 3.74641143409238)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.26
DEBUG:root:evidences for each object: [ 6.36652441  1.09490436  6.59135955 19.07038063 19.04756454  1.16589006
  6.27092671  6.70292961  1.16372623  6.25978151]
DEBUG:root:mean evidence: 7.373, std: 6.278 -> th=15.256304504194507
INFO:root:current most likely hypothesis: ramen_pack with evidence 19.07
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 172 ---
INFO:uvicorn.access:192.168.1.217:64281 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64281 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.36293899,  0.13148825,  0.9224891 ],
       [-0.34062271,  0.94020007,  0.        ],
       [-0.86732431, -0.31422073,  0.38602315]]), 'pose_fully_defined': False}}, {'patch': array([-0.00479406,  0.007896  , -0.00602271])}]
INFO:root:Testing 1831 out of 14424 hypotheses for numenta_mug (evidence > 3.814076126048626)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 6.709
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 1468 out of 14880 hypotheses for montys_heart (evidence > 3.814076126048626)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.948
INFO:root:Testing 134 out of 23200 hypotheses for ramen_pack (evidence > 3.814076126048626)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 19.524
INFO:root:Testing 339 out of 14864 hypotheses for hot_sauce (evidence > 3.814076126048626)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 19.423
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 1064 out of 21832 hypotheses for tomato_soup_can (evidence > 3.814076126048626)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.618
INFO:root:Testing 159 out of 16976 hypotheses for mustard_bottle (evidence > 3.814076126048626)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.631
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 196 out of 19024 hypotheses for potted_meat_can (evidence > 3.814076126048626)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.629
DEBUG:root:evidences for each object: [ 6.7092664   1.09490436  6.94821328 19.52442844 19.42339737  1.16589006
  6.61810453  6.63124533  1.16372623  6.62858729]
DEBUG:root:mean evidence: 7.591, std: 6.412 -> th=15.619542748883783
INFO:root:current most likely hypothesis: ramen_pack with evidence 19.52
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 173 ---
INFO:uvicorn.access:192.168.1.217:64281 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64281 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.92523224,  0.15940054,  0.34429168],
       [-0.16978045,  0.98548191,  0.        ],
       [-0.33929323, -0.058454  ,  0.93886274]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01130467,  0.00212493, -0.00694705])}]
INFO:root:Testing 1830 out of 14424 hypotheses for numenta_mug (evidence > 3.904885687220945)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 7.198
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 1468 out of 14880 hypotheses for montys_heart (evidence > 3.904885687220945)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.404
INFO:root:Testing 134 out of 23200 hypotheses for ramen_pack (evidence > 3.904885687220945)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 19.998
INFO:root:Testing 339 out of 14864 hypotheses for hot_sauce (evidence > 3.904885687220945)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 19.833
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 1062 out of 21832 hypotheses for tomato_soup_can (evidence > 3.904885687220945)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.08
INFO:root:Testing 158 out of 16976 hypotheses for mustard_bottle (evidence > 3.904885687220945)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.087
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 196 out of 19024 hypotheses for potted_meat_can (evidence > 3.904885687220945)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.116
DEBUG:root:evidences for each object: [ 7.19769508  1.09490436  7.4036962  19.99809513 19.83278198  1.16589006
  7.08026996  7.08661039  1.16372623  7.11571937]
DEBUG:root:mean evidence: 7.914, std: 6.546 -> th=15.998476107312754
INFO:root:current most likely hypothesis: ramen_pack with evidence 20.0
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 174 ---
INFO:uvicorn.access:192.168.1.217:64283 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.92945187,  0.06346781, -0.36344334],
       [-0.06812655,  0.99767669,  0.        ],
       [ 0.36259895,  0.02476014,  0.9316163 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00263566,  0.01962468, -0.00470462])}]
INFO:root:Testing 1827 out of 14424 hypotheses for numenta_mug (evidence > 3.9996190268281886)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 7.422
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 1468 out of 14880 hypotheses for montys_heart (evidence > 3.9996190268281886)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.495
INFO:root:Testing 184 out of 23200 hypotheses for ramen_pack (evidence > 3.9996190268281886)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 20.36
INFO:root:Testing 339 out of 14864 hypotheses for hot_sauce (evidence > 3.9996190268281886)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.106
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 1057 out of 21832 hypotheses for tomato_soup_can (evidence > 3.9996190268281886)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.451
INFO:root:Testing 158 out of 16976 hypotheses for mustard_bottle (evidence > 3.9996190268281886)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.547
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 195 out of 19024 hypotheses for potted_meat_can (evidence > 3.9996190268281886)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.532
DEBUG:root:evidences for each object: [ 7.42185964  1.09490436  7.49503888 20.35960985 20.10625055  1.16589006
  7.45109536  7.54742974  1.16372623  7.53242634]
DEBUG:root:mean evidence: 8.134, std: 6.645 -> th=16.287687880377142
INFO:root:current most likely hypothesis: ramen_pack with evidence 20.36
DEBUG:root:evidences for each object: [ 7.42185964  1.09490436  7.49503888 20.35960985 20.10625055  1.16589006
  7.45109536  7.54742974  1.16372623  7.53242634]
DEBUG:root:mean evidence: 8.134, std: 6.645 -> th=16.287687880377142
DEBUG:root:evidences for each object: [ 7.42185964  1.09490436  7.49503888 20.35960985 20.10625055  1.16589006
  7.45109536  7.54742974  1.16372623  7.53242634]
DEBUG:root:mean evidence: 8.134, std: 6.645 -> th=17.305668372900715
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 175 ---
INFO:uvicorn.access:192.168.1.217:64283 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64283 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.58187367,  0.11203331,  0.80552565],
       [-0.18906633,  0.98196432,  0.        ],
       [-0.79099744, -0.15229777,  0.59256091]]), 'pose_fully_defined': False}}, {'patch': array([-0.01122019,  0.00935659,  0.00490563])}]
INFO:root:Testing 1798 out of 14424 hypotheses for numenta_mug (evidence > 4.071921970094284)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 7.746
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 1451 out of 14880 hypotheses for montys_heart (evidence > 4.071921970094284)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.738
INFO:root:Testing 144 out of 23200 hypotheses for ramen_pack (evidence > 4.071921970094284)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 19.36
INFO:root:Testing 332 out of 14864 hypotheses for hot_sauce (evidence > 4.071921970094284)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.514
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 1001 out of 21832 hypotheses for tomato_soup_can (evidence > 4.071921970094284)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.476
INFO:root:Testing 157 out of 16976 hypotheses for mustard_bottle (evidence > 4.071921970094284)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.416
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 192 out of 19024 hypotheses for potted_meat_can (evidence > 4.071921970094284)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.352
DEBUG:root:evidences for each object: [ 7.74628319  1.09490436  7.73846354 19.35960985 20.51360756  1.16589006
  7.47624774  7.41597559  1.16372623  7.3519242 ]
DEBUG:root:mean evidence: 8.103, std: 6.541 -> th=16.410886048808724
INFO:root:current most likely hypothesis: hot_sauce with evidence 20.51
DEBUG:root:evidences for each object: [ 7.74628319  1.09490436  7.73846354 19.35960985 20.51360756  1.16589006
  7.47624774  7.41597559  1.16372623  7.3519242 ]
DEBUG:root:mean evidence: 8.103, std: 6.541 -> th=16.410886048808724
DEBUG:root:evidences for each object: [ 7.74628319  1.09490436  7.73846354 19.35960985 20.51360756  1.16589006
  7.47624774  7.41597559  1.16372623  7.3519242 ]
DEBUG:root:mean evidence: 8.103, std: 6.541 -> th=17.43656642685927
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 176 ---
INFO:uvicorn.access:192.168.1.217:64283 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.944323  ,  0.17950385,  0.27573982],
       [-0.18674346,  0.98240871,  0.        ],
       [-0.2708892 , -0.05149261,  0.96123231]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0087047 , -0.00866124, -0.0078089 ])}]
INFO:root:Testing 1636 out of 14424 hypotheses for numenta_mug (evidence > 4.10272151220218)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.217
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 1381 out of 14880 hypotheses for montys_heart (evidence > 4.10272151220218)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.207
INFO:root:Testing 135 out of 23200 hypotheses for ramen_pack (evidence > 4.10272151220218)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 19.726
INFO:root:Testing 277 out of 14864 hypotheses for hot_sauce (evidence > 4.10272151220218)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.999
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 780 out of 21832 hypotheses for tomato_soup_can (evidence > 4.10272151220218)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.937
INFO:root:Testing 148 out of 16976 hypotheses for mustard_bottle (evidence > 4.10272151220218)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.768
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 152 out of 19024 hypotheses for potted_meat_can (evidence > 4.10272151220218)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.656
DEBUG:root:evidences for each object: [ 8.21728713  1.09490436  8.20692108 19.72560384 20.9987441   1.16589006
  7.93686498  7.76816414  1.16372623  7.65585729]
DEBUG:root:mean evidence: 8.393, std: 6.681 -> th=16.798995276828503
INFO:root:current most likely hypothesis: hot_sauce with evidence 21.0
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 177 ---
INFO:uvicorn.access:192.168.1.217:64283 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64283 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.97579351,  0.12130789, -0.18196546],
       [-0.12336752,  0.99236105,  0.        ],
       [ 0.18057543,  0.02244863,  0.98330492]]), 'pose_fully_defined': False}}, {'patch': array([-0.00300699,  0.0107496 , -0.00758239])}]
INFO:root:Testing 1392 out of 14424 hypotheses for numenta_mug (evidence > 4.199748819207127)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.443
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 1229 out of 14880 hypotheses for montys_heart (evidence > 4.199748819207127)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.632
INFO:root:Testing 112 out of 23200 hypotheses for ramen_pack (evidence > 4.199748819207127)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 20.18
INFO:root:Testing 243 out of 14864 hypotheses for hot_sauce (evidence > 4.199748819207127)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.238
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 724 out of 21832 hypotheses for tomato_soup_can (evidence > 4.199748819207127)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.275
INFO:root:Testing 126 out of 16976 hypotheses for mustard_bottle (evidence > 4.199748819207127)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.099
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 106 out of 19024 hypotheses for potted_meat_can (evidence > 4.199748819207127)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.967
DEBUG:root:evidences for each object: [ 8.44274882  1.09490436  8.63164622 20.17981015 21.23762937  1.16589006
  8.27539255  8.09910865  1.16372623  7.96694959]
DEBUG:root:mean evidence: 8.626, std: 6.793 -> th=16.990103494448697
INFO:root:current most likely hypothesis: hot_sauce with evidence 21.24
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 178 ---
INFO:uvicorn.access:192.168.1.217:64283 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98414469,  0.17200658,  0.04327785],
       [-0.17216789,  0.98506762,  0.        ],
       [-0.04263161, -0.00745106,  0.99906308]]), 'pose_fully_defined': False}}, {'patch': array([-1.60858505e-05, -9.42834668e-04,  7.90456050e-03])}]
INFO:root:Testing 1231 out of 14424 hypotheses for numenta_mug (evidence > 4.247525873612172)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.921
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 1138 out of 14880 hypotheses for montys_heart (evidence > 4.247525873612172)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.053
INFO:root:Testing 81 out of 23200 hypotheses for ramen_pack (evidence > 4.247525873612172)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 20.677
INFO:root:Testing 216 out of 14864 hypotheses for hot_sauce (evidence > 4.247525873612172)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.709
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 611 out of 21832 hypotheses for tomato_soup_can (evidence > 4.247525873612172)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.701
INFO:root:Testing 103 out of 16976 hypotheses for mustard_bottle (evidence > 4.247525873612172)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.5
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 76 out of 19024 hypotheses for potted_meat_can (evidence > 4.247525873612172)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.347
DEBUG:root:evidences for each object: [ 8.92119458  1.09490436  9.05254629 20.67724564 21.70939312  1.16589006
  8.70050446  8.50007069  1.16372623  8.34710691]
DEBUG:root:mean evidence: 8.933, std: 6.956 -> th=17.367514498012543
INFO:root:current most likely hypothesis: hot_sauce with evidence 21.71
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 179 ---
INFO:uvicorn.access:192.168.1.217:64283 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64283 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.82196423,  0.14383183,  0.55107823],
       [-0.17236648,  0.98503289,  0.        ],
       [-0.54283018, -0.09498741,  0.83445358]]), 'pose_fully_defined': False}}, {'patch': array([-0.00236743,  0.00767114,  0.00320449])}]
INFO:root:Testing 968 out of 14424 hypotheses for numenta_mug (evidence > 4.341878624503135)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.287
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 907 out of 14880 hypotheses for montys_heart (evidence > 4.341878624503135)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.31
INFO:root:Testing 72 out of 23200 hypotheses for ramen_pack (evidence > 4.341878624503135)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 20.932
INFO:root:Testing 172 out of 14864 hypotheses for hot_sauce (evidence > 4.341878624503135)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 22.054
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 498 out of 21832 hypotheses for tomato_soup_can (evidence > 4.341878624503135)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.974
INFO:root:Testing 89 out of 16976 hypotheses for mustard_bottle (evidence > 4.341878624503135)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.97
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 60 out of 19024 hypotheses for potted_meat_can (evidence > 4.341878624503135)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.425
DEBUG:root:evidences for each object: [ 9.28651736  1.09490436  9.30999109 20.93247841 22.05429226  1.16589006
  8.97403294  8.96984404  1.16372623  8.42504937]
DEBUG:root:mean evidence: 9.138, std: 7.06 -> th=17.643433810879262
INFO:root:current most likely hypothesis: hot_sauce with evidence 22.05
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 180 ---
INFO:uvicorn.access:192.168.1.217:64283 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64283 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.93231217,  0.16949235,  0.31947826],
       [-0.17886608,  0.98387343,  0.        ],
       [-0.31432617, -0.05714382,  0.94759361]]), 'pose_fully_defined': False}}, {'patch': array([ 3.80697869e-03,  7.14630773e-05, -5.86439365e-03])}]
INFO:root:Testing 739 out of 14424 hypotheses for numenta_mug (evidence > 4.410858452719815)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.7
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 721 out of 14880 hypotheses for montys_heart (evidence > 4.410858452719815)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.701
INFO:root:Testing 67 out of 23200 hypotheses for ramen_pack (evidence > 4.410858452719815)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 21.239
INFO:root:Testing 144 out of 14864 hypotheses for hot_sauce (evidence > 4.410858452719815)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 22.515
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 445 out of 21832 hypotheses for tomato_soup_can (evidence > 4.410858452719815)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.266
INFO:root:Testing 78 out of 16976 hypotheses for mustard_bottle (evidence > 4.410858452719815)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.415
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 45 out of 19024 hypotheses for potted_meat_can (evidence > 4.410858452719815)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.723
DEBUG:root:evidences for each object: [ 9.6999995   1.09490436  9.70071158 21.23923174 22.51508595  1.16589006
  9.26647617  9.41487292  1.16372623  8.72295968]
DEBUG:root:mean evidence: 9.398, std: 7.193 -> th=18.012068763120748
INFO:root:current most likely hypothesis: hot_sauce with evidence 22.52
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 181 ---
INFO:uvicorn.access:192.168.1.217:64283 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98772318,  0.15607859,  0.00651034],
       [-0.1560819 ,  0.98774412,  0.        ],
       [-0.00643055, -0.00101615,  0.99997881]]), 'pose_fully_defined': False}}, {'patch': array([-0.00225857,  0.00989207, -0.00234265])}]
INFO:root:Testing 571 out of 14424 hypotheses for numenta_mug (evidence > 4.503017190780188)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.15
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 620 out of 14880 hypotheses for montys_heart (evidence > 4.503017190780188)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.962
INFO:root:Testing 66 out of 23200 hypotheses for ramen_pack (evidence > 4.503017190780188)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 21.682
INFO:root:Testing 132 out of 14864 hypotheses for hot_sauce (evidence > 4.503017190780188)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 22.973
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 396 out of 21832 hypotheses for tomato_soup_can (evidence > 4.503017190780188)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.629
INFO:root:Testing 73 out of 16976 hypotheses for mustard_bottle (evidence > 4.503017190780188)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.454
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 33 out of 19024 hypotheses for potted_meat_can (evidence > 4.503017190780188)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.107
DEBUG:root:evidences for each object: [10.14976     1.09490436  9.96245578 21.68221241 22.97253376  1.16589006
  9.62907814  9.45429508  1.16372623  9.10721018]
DEBUG:root:mean evidence: 9.638, std: 7.349 -> th=18.37802700807213
INFO:root:current most likely hypothesis: hot_sauce with evidence 22.97
DEBUG:root:evidences for each object: [10.14976     1.09490436  9.96245578 21.68221241 22.97253376  1.16589006
  9.62907814  9.45429508  1.16372623  9.10721018]
DEBUG:root:mean evidence: 9.638, std: 7.349 -> th=18.37802700807213
DEBUG:root:evidences for each object: [10.14976     1.09490436  9.96245578 21.68221241 22.97253376  1.16589006
  9.62907814  9.45429508  1.16372623  9.10721018]
DEBUG:root:mean evidence: 9.638, std: 7.349 -> th=19.526653696076636
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 182 ---
INFO:uvicorn.access:192.168.1.217:64283 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64283 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.94093259,  0.14214301,  0.30731291],
       [-0.14937131,  0.98878117,  0.        ],
       [-0.30386522, -0.04590373,  0.95160852]]), 'pose_fully_defined': False}}, {'patch': array([-0.00077467, -0.00093367,  0.00689205])}]
INFO:root:Testing 446 out of 14424 hypotheses for numenta_mug (evidence > 4.594506752018031)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.589
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 484 out of 14880 hypotheses for montys_heart (evidence > 4.594506752018031)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.308
INFO:root:Testing 65 out of 23200 hypotheses for ramen_pack (evidence > 4.594506752018031)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 22.045
INFO:root:Testing 121 out of 14864 hypotheses for hot_sauce (evidence > 4.594506752018031)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 23.268
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 339 out of 21832 hypotheses for tomato_soup_can (evidence > 4.594506752018031)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.974
INFO:root:Testing 61 out of 16976 hypotheses for mustard_bottle (evidence > 4.594506752018031)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.868
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 22 out of 19024 hypotheses for potted_meat_can (evidence > 4.594506752018031)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.392
DEBUG:root:evidences for each object: [10.58858102  1.09490436 10.30793234 22.04477659 23.2678452   1.16589006
  9.97384961  9.86775072  1.16372623  9.3922702 ]
DEBUG:root:mean evidence: 9.887, std: 7.465 -> th=18.614276159635786
INFO:root:current most likely hypothesis: hot_sauce with evidence 23.27
DEBUG:root:evidences for each object: [10.58858102  1.09490436 10.30793234 22.04477659 23.2678452   1.16589006
  9.97384961  9.86775072  1.16372623  9.3922702 ]
DEBUG:root:mean evidence: 9.887, std: 7.465 -> th=18.614276159635786
DEBUG:root:evidences for each object: [10.58858102  1.09490436 10.30793234 22.04477659 23.2678452   1.16589006
  9.97384961  9.86775072  1.16372623  9.3922702 ]
DEBUG:root:mean evidence: 9.887, std: 7.465 -> th=19.777668419613025
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 183 ---
INFO:uvicorn.access:192.168.1.217:64283 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.71785942,  0.12139938,  0.68552173],
       [-0.16674544,  0.98599998,  0.        ],
       [-0.67592441, -0.11430762,  0.72805217]]), 'pose_fully_defined': False}}, {'patch': array([-0.00042273,  0.0002571 ,  0.00020598])}]
INFO:root:Testing 363 out of 14424 hypotheses for numenta_mug (evidence > 4.653569039908945)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.994
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 384 out of 14880 hypotheses for montys_heart (evidence > 4.653569039908945)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.694
INFO:root:Testing 65 out of 23200 hypotheses for ramen_pack (evidence > 4.653569039908945)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 22.217
INFO:root:Testing 113 out of 14864 hypotheses for hot_sauce (evidence > 4.653569039908945)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 23.756
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 282 out of 21832 hypotheses for tomato_soup_can (evidence > 4.653569039908945)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.109
INFO:root:Testing 53 out of 16976 hypotheses for mustard_bottle (evidence > 4.653569039908945)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.265
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 12 out of 19024 hypotheses for potted_meat_can (evidence > 4.653569039908945)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.469
DEBUG:root:evidences for each object: [10.99368099  1.09490436 10.69434101 22.21653605 23.75599792  1.16589006
 10.1091797  10.26535338  1.16372623  9.46854013]
DEBUG:root:mean evidence: 10.093, std: 7.587 -> th=19.00479833301658
INFO:root:current most likely hypothesis: hot_sauce with evidence 23.76
DEBUG:root:evidences for each object: [10.99368099  1.09490436 10.69434101 22.21653605 23.75599792  1.16589006
 10.1091797  10.26535338  1.16372623  9.46854013]
DEBUG:root:mean evidence: 10.093, std: 7.587 -> th=19.00479833301658
DEBUG:root:evidences for each object: [10.99368099  1.09490436 10.69434101 22.21653605 23.75599792  1.16589006
 10.1091797  10.26535338  1.16372623  9.46854013]
DEBUG:root:mean evidence: 10.093, std: 7.587 -> th=20.192598228830118
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 184 ---
INFO:uvicorn.access:192.168.1.217:64283 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.66979212,  0.13308013,  0.73052597],
       [-0.19487929,  0.98082723,  0.        ],
       [-0.71651976, -0.14236438,  0.68288492]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00069102,  0.00843286, -0.00401414])}]
INFO:root:Testing 299 out of 14424 hypotheses for numenta_mug (evidence > 4.751199583254145)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.208
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 282 out of 14880 hypotheses for montys_heart (evidence > 4.751199583254145)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 11.129
INFO:root:Testing 65 out of 23200 hypotheses for ramen_pack (evidence > 4.751199583254145)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 22.344
INFO:root:Testing 104 out of 14864 hypotheses for hot_sauce (evidence > 4.751199583254145)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 24.216
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 207 out of 21832 hypotheses for tomato_soup_can (evidence > 4.751199583254145)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.17
INFO:root:Testing 44 out of 16976 hypotheses for mustard_bottle (evidence > 4.751199583254145)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.395
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 10 out of 19024 hypotheses for potted_meat_can (evidence > 4.751199583254145)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.469
DEBUG:root:evidences for each object: [11.20831361  1.09490436 11.12883797 22.34374036 24.21579883  1.16589006
 10.17044439 10.3953277   1.16372623  8.46854013]
DEBUG:root:mean evidence: 10.136, std: 7.713 -> th=19.372639060109545
INFO:root:current most likely hypothesis: hot_sauce with evidence 24.22
DEBUG:root:evidences for each object: [11.20831361  1.09490436 11.12883797 22.34374036 24.21579883  1.16589006
 10.17044439 10.3953277   1.16372623  8.46854013]
DEBUG:root:mean evidence: 10.136, std: 7.713 -> th=19.372639060109545
DEBUG:root:evidences for each object: [11.20831361  1.09490436 11.12883797 22.34374036 24.21579883  1.16589006
 10.17044439 10.3953277   1.16372623  8.46854013]
DEBUG:root:mean evidence: 10.136, std: 7.713 -> th=20.583429001366394
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 185 ---
INFO:uvicorn.access:192.168.1.217:64283 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64283 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.9867155 ,  0.1478858 , -0.0672482 ],
       [-0.14822133,  0.98895421,  0.        ],
       [ 0.06650539,  0.00996762,  0.99773628]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00210012,  0.00338858, -0.00727354])}]
INFO:root:Testing 246 out of 14424 hypotheses for numenta_mug (evidence > 4.843159765027384)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.52
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 178 out of 14880 hypotheses for montys_heart (evidence > 4.843159765027384)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 11.564
INFO:root:Testing 62 out of 23200 hypotheses for ramen_pack (evidence > 4.843159765027384)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 22.798
INFO:root:Testing 94 out of 14864 hypotheses for hot_sauce (evidence > 4.843159765027384)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 24.66
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 180 out of 21832 hypotheses for tomato_soup_can (evidence > 4.843159765027384)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.634
INFO:root:Testing 36 out of 16976 hypotheses for mustard_bottle (evidence > 4.843159765027384)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.797
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 7 out of 19024 hypotheses for potted_meat_can (evidence > 4.843159765027384)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.469
DEBUG:root:evidences for each object: [11.51997828  1.09490436 11.56369901 22.79821282 24.66034789  1.16589006
 10.63408514 10.79705789  1.16372623  7.46854013]
DEBUG:root:mean evidence: 10.287, std: 7.909 -> th=19.72827831199732
INFO:root:current most likely hypothesis: hot_sauce with evidence 24.66
DEBUG:root:evidences for each object: [11.51997828  1.09490436 11.56369901 22.79821282 24.66034789  1.16589006
 10.63408514 10.79705789  1.16372623  7.46854013]
DEBUG:root:mean evidence: 10.287, std: 7.909 -> th=19.72827831199732
DEBUG:root:evidences for each object: [11.51997828  1.09490436 11.56369901 22.79821282 24.66034789  1.16589006
 10.63408514 10.79705789  1.16372623  7.46854013]
DEBUG:root:mean evidence: 10.287, std: 7.909 -> th=20.961295706497154
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 186 ---
INFO:uvicorn.access:192.168.1.217:64283 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98390591,  0.12998737, -0.12260688],
       [-0.13097554,  0.9913856 ,  0.        ],
       [ 0.12155069,  0.0160585 ,  0.99245532]]), 'pose_fully_defined': False}}, {'patch': array([-0.00044719, -0.00038034,  0.00260592])}]
INFO:root:Testing 210 out of 14424 hypotheses for numenta_mug (evidence > 4.932069577999329)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.811
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 144 out of 14880 hypotheses for montys_heart (evidence > 4.932069577999329)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 11.99
INFO:root:Testing 61 out of 23200 hypotheses for ramen_pack (evidence > 4.932069577999329)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 23.282
INFO:root:Testing 88 out of 14864 hypotheses for hot_sauce (evidence > 4.932069577999329)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 25.089
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 158 out of 21832 hypotheses for tomato_soup_can (evidence > 4.932069577999329)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.122
INFO:root:Testing 33 out of 16976 hypotheses for mustard_bottle (evidence > 4.932069577999329)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.17
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 4.932069577999329)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.469
DEBUG:root:evidences for each object: [11.81108672  1.09490436 11.99014008 23.28188882 25.08935401  1.16589006
 11.12223407 11.1700988   1.16372623  6.46854013]
DEBUG:root:mean evidence: 10.436, std: 8.124 -> th=20.071483206985295
INFO:root:current most likely hypothesis: hot_sauce with evidence 25.09
DEBUG:root:evidences for each object: [11.81108672  1.09490436 11.99014008 23.28188882 25.08935401  1.16589006
 11.12223407 11.1700988   1.16372623  6.46854013]
DEBUG:root:mean evidence: 10.436, std: 8.124 -> th=20.071483206985295
DEBUG:root:evidences for each object: [11.81108672  1.09490436 11.99014008 23.28188882 25.08935401  1.16589006
 11.12223407 11.1700988   1.16372623  6.46854013]
DEBUG:root:mean evidence: 10.436, std: 8.124 -> th=21.325950907421877
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 187 ---
INFO:uvicorn.access:192.168.1.217:64283 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64283 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98711136,  0.05832116,  0.14902957],
       [-0.05897981,  0.99825918,  0.        ],
       [-0.14877013, -0.00878974,  0.98883274]]), 'pose_fully_defined': False}}, {'patch': array([0.01098335, 0.01042408, 0.01895337])}]
INFO:root:Testing 165 out of 14424 hypotheses for numenta_mug (evidence > 5.017870801746323)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.811
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 115 out of 14880 hypotheses for montys_heart (evidence > 5.017870801746323)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.99
INFO:root:Testing 59 out of 23200 hypotheses for ramen_pack (evidence > 5.017870801746323)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 22.282
INFO:root:Testing 81 out of 14864 hypotheses for hot_sauce (evidence > 5.017870801746323)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 24.089
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 127 out of 21832 hypotheses for tomato_soup_can (evidence > 5.017870801746323)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.122
INFO:root:Testing 29 out of 16976 hypotheses for mustard_bottle (evidence > 5.017870801746323)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.17
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 2 out of 19024 hypotheses for potted_meat_can (evidence > 5.017870801746323)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.469
DEBUG:root:evidences for each object: [10.81108672  1.09490436 10.99014008 22.28188882 24.08935401  1.16589006
 10.12223407 10.1700988   1.16372623  5.46854013]
DEBUG:root:mean evidence: 9.736, std: 7.786 -> th=19.271483206985295
INFO:root:current most likely hypothesis: hot_sauce with evidence 24.09
DEBUG:root:evidences for each object: [10.81108672  1.09490436 10.99014008 22.28188882 24.08935401  1.16589006
 10.12223407 10.1700988   1.16372623  5.46854013]
DEBUG:root:mean evidence: 9.736, std: 7.786 -> th=19.271483206985295
DEBUG:root:evidences for each object: [10.81108672  1.09490436 10.99014008 22.28188882 24.08935401  1.16589006
 10.12223407 10.1700988   1.16372623  5.46854013]
DEBUG:root:mean evidence: 9.736, std: 7.786 -> th=20.475950907421876
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 188 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.70686293,  0.09151926,  0.70140504],
       [-0.1284007 ,  0.99172237,  0.        ],
       [-0.69559907, -0.0900609 ,  0.71276291]]), 'pose_fully_defined': False}}, {'patch': array([-0.0105823 , -0.0118682 , -0.00326048])}]
INFO:root:Testing 150 out of 14424 hypotheses for numenta_mug (evidence > 4.817870801746324)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.216
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 99 out of 14880 hypotheses for montys_heart (evidence > 4.817870801746324)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.243
INFO:root:Testing 58 out of 23200 hypotheses for ramen_pack (evidence > 4.817870801746324)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 22.41
INFO:root:Testing 81 out of 14864 hypotheses for hot_sauce (evidence > 4.817870801746324)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 24.579
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 115 out of 21832 hypotheses for tomato_soup_can (evidence > 4.817870801746324)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.465
INFO:root:Testing 27 out of 16976 hypotheses for mustard_bottle (evidence > 4.817870801746324)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.469
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
INFO:root:Testing 1 out of 19024 hypotheses for potted_meat_can (evidence > 4.817870801746324)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.81
DEBUG:root:evidences for each object: [11.21627576  1.09490436 10.24276451 22.40977671 24.57922417  1.16589006
 10.46496428 10.4685768   1.16372623  4.80980897]
DEBUG:root:mean evidence: 9.762, std: 7.939 -> th=19.66337933809427
INFO:root:current most likely hypothesis: hot_sauce with evidence 24.58
DEBUG:root:evidences for each object: [11.21627576  1.09490436 10.24276451 22.40977671 24.57922417  1.16589006
 10.46496428 10.4685768   1.16372623  4.80980897]
DEBUG:root:mean evidence: 9.762, std: 7.939 -> th=19.66337933809427
DEBUG:root:evidences for each object: [11.21627576  1.09490436 10.24276451 22.40977671 24.57922417  1.16589006
 10.46496428 10.4685768   1.16372623  4.80980897]
DEBUG:root:mean evidence: 9.762, std: 7.939 -> th=20.892340546725162
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 189 ---
INFO:uvicorn.access:192.168.1.217:64286 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.67023262,  0.20936825,  0.71200644],
       [-0.29817192,  0.95451218,  0.        ],
       [-0.67961882, -0.21230032,  0.70217294]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00805952, -0.05458384,  0.00924775])}]
INFO:root:Testing 90 out of 14424 hypotheses for numenta_mug (evidence > 4.915844834523565)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.7
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 50 out of 14880 hypotheses for montys_heart (evidence > 4.915844834523565)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.721
INFO:root:Testing 58 out of 23200 hypotheses for ramen_pack (evidence > 4.915844834523565)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 22.804
INFO:root:Testing 75 out of 14864 hypotheses for hot_sauce (evidence > 4.915844834523565)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 25.024
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 66 out of 21832 hypotheses for tomato_soup_can (evidence > 4.915844834523565)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.909
INFO:root:Testing 21 out of 16976 hypotheses for mustard_bottle (evidence > 4.915844834523565)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.897
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.81
DEBUG:root:evidences for each object: [11.69968571  1.09490436 10.72097626 22.8041897  25.02371377  1.16589006
 10.9089576  10.89730137  1.16372623  4.80980897]
DEBUG:root:mean evidence: 10.029, std: 8.106 -> th=20.01897101552438
INFO:root:current most likely hypothesis: hot_sauce with evidence 25.02
DEBUG:root:evidences for each object: [11.69968571  1.09490436 10.72097626 22.8041897  25.02371377  1.16589006
 10.9089576  10.89730137  1.16372623  4.80980897]
DEBUG:root:mean evidence: 10.029, std: 8.106 -> th=20.01897101552438
DEBUG:root:evidences for each object: [11.69968571  1.09490436 10.72097626 22.8041897  25.02371377  1.16589006
 10.9089576  10.89730137  1.16372623  4.80980897]
DEBUG:root:mean evidence: 10.029, std: 8.106 -> th=21.27015670399465
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 190 ---
INFO:uvicorn.access:192.168.1.217:64286 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.86310152,  0.19981841,  0.46381933],
       [-0.22554654,  0.97423239,  0.        ],
       [-0.45186781, -0.10461285,  0.88592981]]), 'pose_fully_defined': False}}, {'patch': array([-0.00270746,  0.00234123,  0.00034747])}]
INFO:root:Testing 133 out of 14424 hypotheses for numenta_mug (evidence > 5.004742753881093)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.128
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 100 out of 14880 hypotheses for montys_heart (evidence > 5.004742753881093)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 11.146
INFO:root:Testing 61 out of 23200 hypotheses for ramen_pack (evidence > 5.004742753881093)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 23.269
INFO:root:Testing 83 out of 14864 hypotheses for hot_sauce (evidence > 5.004742753881093)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 25.422
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 100 out of 21832 hypotheses for tomato_soup_can (evidence > 5.004742753881093)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.381
INFO:root:Testing 24 out of 16976 hypotheses for mustard_bottle (evidence > 5.004742753881093)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.375
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.81
DEBUG:root:evidences for each object: [12.12757166  1.09490436 11.1462924  23.2690921  25.42165272  1.16589006
 11.38141403 11.37461191  1.16372623  4.80980897]
DEBUG:root:mean evidence: 10.295, std: 8.277 -> th=20.33732217466119
INFO:root:current most likely hypothesis: hot_sauce with evidence 25.42
DEBUG:root:evidences for each object: [12.12757166  1.09490436 11.1462924  23.2690921  25.42165272  1.16589006
 11.38141403 11.37461191  1.16372623  4.80980897]
DEBUG:root:mean evidence: 10.295, std: 8.277 -> th=20.33732217466119
DEBUG:root:evidences for each object: [12.12757166  1.09490436 11.1462924  23.2690921  25.42165272  1.16589006
 11.38141403 11.37461191  1.16372623  4.80980897]
DEBUG:root:mean evidence: 10.295, std: 8.277 -> th=21.60840481057751
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 191 ---
INFO:uvicorn.access:192.168.1.217:64286 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.093575  ,  0.05280973,  0.99421067],
       [-0.49148944, -0.87088354,  0.        ],
       [ 0.8658417 , -0.48864404,  0.10744835]]), 'pose_fully_defined': False}}, {'patch': array([-0.00796279,  0.00548122,  0.00144401])}]
INFO:root:Testing 206 out of 14424 hypotheses for numenta_mug (evidence > 5.0843305436652955)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.385
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 235 out of 14880 hypotheses for montys_heart (evidence > 5.0843305436652955)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 11.471
INFO:root:Testing 65 out of 23200 hypotheses for ramen_pack (evidence > 5.0843305436652955)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 23.545
INFO:root:Testing 98 out of 14864 hypotheses for hot_sauce (evidence > 5.0843305436652955)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 25.805
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 182 out of 21832 hypotheses for tomato_soup_can (evidence > 5.0843305436652955)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.569
INFO:root:Testing 34 out of 16976 hypotheses for mustard_bottle (evidence > 5.0843305436652955)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.669
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.81
DEBUG:root:evidences for each object: [12.38471927  1.09490436 11.47120997 23.54510966 25.80531687  1.16589006
 11.56942651 11.66855752  1.16372623  4.80980897]
DEBUG:root:mean evidence: 10.468, std: 8.406 -> th=20.644253494181378
INFO:root:current most likely hypothesis: hot_sauce with evidence 25.81
DEBUG:root:evidences for each object: [12.38471927  1.09490436 11.47120997 23.54510966 25.80531687  1.16589006
 11.56942651 11.66855752  1.16372623  4.80980897]
DEBUG:root:mean evidence: 10.468, std: 8.406 -> th=20.644253494181378
DEBUG:root:evidences for each object: [12.38471927  1.09490436 11.47120997 23.54510966 25.80531687  1.16589006
 11.56942651 11.66855752  1.16372623  4.80980897]
DEBUG:root:mean evidence: 10.468, std: 8.406 -> th=21.934519337567714
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 192 ---
INFO:uvicorn.access:192.168.1.217:64286 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64286 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.46353815,  0.16602904,  0.8703831 ],
       [-0.33720031,  0.94143292,  0.        ],
       [-0.81940731, -0.29349345,  0.49237512]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00287751, -0.00028054, -0.00122625])}]
INFO:root:Testing 190 out of 14424 hypotheses for numenta_mug (evidence > 5.161063373545343)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.852
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 229 out of 14880 hypotheses for montys_heart (evidence > 5.161063373545343)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 11.884
INFO:root:Testing 65 out of 23200 hypotheses for ramen_pack (evidence > 5.161063373545343)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 23.991
INFO:root:Testing 98 out of 14864 hypotheses for hot_sauce (evidence > 5.161063373545343)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 26.231
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 180 out of 21832 hypotheses for tomato_soup_can (evidence > 5.161063373545343)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.993
INFO:root:Testing 33 out of 16976 hypotheses for mustard_bottle (evidence > 5.161063373545343)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.075
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.81
DEBUG:root:evidences for each object: [12.85246484  1.09490436 11.88445185 23.99130129 26.23109972  1.16589006
 11.99251369 12.07496555  1.16372623  4.80980897]
DEBUG:root:mean evidence: 10.726, std: 8.581 -> th=20.98487977739939
INFO:root:current most likely hypothesis: hot_sauce with evidence 26.23
DEBUG:root:evidences for each object: [12.85246484  1.09490436 11.88445185 23.99130129 26.23109972  1.16589006
 11.99251369 12.07496555  1.16372623  4.80980897]
DEBUG:root:mean evidence: 10.726, std: 8.581 -> th=20.98487977739939
DEBUG:root:evidences for each object: [12.85246484  1.09490436 11.88445185 23.99130129 26.23109972  1.16589006
 11.99251369 12.07496555  1.16372623  4.80980897]
DEBUG:root:mean evidence: 10.726, std: 8.581 -> th=22.29643476348685
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 193 ---
INFO:uvicorn.access:192.168.1.217:64286 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.77991316,  0.20957754,  0.58975649],
       [-0.25951267,  0.9657397 ,  0.        ],
       [-0.56955126, -0.15304928,  0.80758113]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00576764,  0.00876743, -0.00343267])}]
INFO:root:Testing 189 out of 14424 hypotheses for numenta_mug (evidence > 5.246219944349846)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 13.338
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 229 out of 14880 hypotheses for montys_heart (evidence > 5.246219944349846)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 12.354
INFO:root:Testing 68 out of 23200 hypotheses for ramen_pack (evidence > 5.246219944349846)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 24.415
INFO:root:Testing 109 out of 14864 hypotheses for hot_sauce (evidence > 5.246219944349846)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 26.619
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 212 out of 21832 hypotheses for tomato_soup_can (evidence > 5.246219944349846)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.446
INFO:root:Testing 38 out of 16976 hypotheses for mustard_bottle (evidence > 5.246219944349846)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.525
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.81
DEBUG:root:evidences for each object: [13.33825611  1.09490436 12.35393373 24.41483535 26.61936724  1.16589006
 12.44609551 12.52512811  1.16372623  4.80980897]
DEBUG:root:mean evidence: 10.993, std: 8.749 -> th=21.29549378879741
INFO:root:current most likely hypothesis: hot_sauce with evidence 26.62
DEBUG:root:evidences for each object: [13.33825611  1.09490436 12.35393373 24.41483535 26.61936724  1.16589006
 12.44609551 12.52512811  1.16372623  4.80980897]
DEBUG:root:mean evidence: 10.993, std: 8.749 -> th=21.29549378879741
DEBUG:root:evidences for each object: [13.33825611  1.09490436 12.35393373 24.41483535 26.61936724  1.16589006
 12.44609551 12.52512811  1.16372623  4.80980897]
DEBUG:root:mean evidence: 10.993, std: 8.749 -> th=22.626462150597245
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 194 ---
INFO:uvicorn.access:192.168.1.217:64286 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64286 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.61848604,  0.24131754,  0.74782409],
       [-0.36348646,  0.93159948,  0.        ],
       [-0.69667253, -0.27182393,  0.66389693]]), 'pose_fully_defined': False}}, {'patch': array([-0.0061314 , -0.00150509, -0.00306016])}]
INFO:root:Testing 183 out of 14424 hypotheses for numenta_mug (evidence > 5.32387344719935)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 13.814
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 213 out of 14880 hypotheses for montys_heart (evidence > 5.32387344719935)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 12.731
INFO:root:Testing 473 out of 23200 hypotheses for ramen_pack (evidence > 5.32387344719935)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 24.726
INFO:root:Testing 122 out of 14864 hypotheses for hot_sauce (evidence > 5.32387344719935)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 27.106
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 258 out of 21832 hypotheses for tomato_soup_can (evidence > 5.32387344719935)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.787
INFO:root:Testing 37 out of 16976 hypotheses for mustard_bottle (evidence > 5.32387344719935)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.862
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.81
DEBUG:root:evidences for each object: [13.81356021  1.09490436 12.73099873 24.72636798 27.10627548  1.16589006
 12.78654105 12.86168498  1.16372623  4.80980897]
DEBUG:root:mean evidence: 11.226, std: 8.915 -> th=21.685020381289604
INFO:root:current most likely hypothesis: hot_sauce with evidence 27.11
DEBUG:root:evidences for each object: [13.81356021  1.09490436 12.73099873 24.72636798 27.10627548  1.16589006
 12.78654105 12.86168498  1.16372623  4.80980897]
DEBUG:root:mean evidence: 11.226, std: 8.915 -> th=21.685020381289604
DEBUG:root:evidences for each object: [13.81356021  1.09490436 12.73099873 24.72636798 27.10627548  1.16589006
 12.78654105 12.86168498  1.16372623  4.80980897]
DEBUG:root:mean evidence: 11.226, std: 8.915 -> th=23.040334155120206
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 195 ---
INFO:uvicorn.access:192.168.1.217:64286 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.28915723,  0.15210542,  0.94512012],
       [-0.46554847,  0.88502239,  0.        ],
       [-0.83645246, -0.43999922,  0.32672307]]), 'pose_fully_defined': False}}, {'patch': array([-0.00859014,  0.00595831,  0.00171298])}]
INFO:root:Testing 183 out of 14424 hypotheses for numenta_mug (evidence > 5.421255095322401)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 14.282
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 212 out of 14880 hypotheses for montys_heart (evidence > 5.421255095322401)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.091
INFO:root:Testing 472 out of 23200 hypotheses for ramen_pack (evidence > 5.421255095322401)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 25.164
INFO:root:Testing 122 out of 14864 hypotheses for hot_sauce (evidence > 5.421255095322401)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 27.483
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 256 out of 21832 hypotheses for tomato_soup_can (evidence > 5.421255095322401)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.824
INFO:root:Testing 37 out of 16976 hypotheses for mustard_bottle (evidence > 5.421255095322401)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.137
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.81
DEBUG:root:evidences for each object: [14.28198571  1.09490436 13.09146893 25.16422218 27.48346044  1.16589006
 12.8238195  12.13735167  1.16372623  4.80980897]
DEBUG:root:mean evidence: 11.322, std: 9.061 -> th=21.986768351446923
INFO:root:current most likely hypothesis: hot_sauce with evidence 27.48
DEBUG:root:evidences for each object: [14.28198571  1.09490436 13.09146893 25.16422218 27.48346044  1.16589006
 12.8238195  12.13735167  1.16372623  4.80980897]
DEBUG:root:mean evidence: 11.322, std: 9.061 -> th=21.986768351446923
DEBUG:root:evidences for each object: [14.28198571  1.09490436 13.09146893 25.16422218 27.48346044  1.16589006
 12.8238195  12.13735167  1.16372623  4.80980897]
DEBUG:root:mean evidence: 11.322, std: 9.061 -> th=23.360941373412356
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: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 196 ---
INFO:uvicorn.access:192.168.1.217:64286 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64286 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.37881025,  0.20457123,  0.90258152],
       [-0.47517355,  0.87989209,  0.        ],
       [-0.79417434, -0.42888287,  0.43051898]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00827523,  0.01134823, -0.00720048])}]
INFO:root:Testing 178 out of 14424 hypotheses for numenta_mug (evidence > 5.496692087861728)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 14.593
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 209 out of 14880 hypotheses for montys_heart (evidence > 5.496692087861728)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.476
INFO:root:Testing 153 out of 23200 hypotheses for ramen_pack (evidence > 5.496692087861728)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 25.154
INFO:root:Testing 113 out of 14864 hypotheses for hot_sauce (evidence > 5.496692087861728)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 27.933
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 248 out of 21832 hypotheses for tomato_soup_can (evidence > 5.496692087861728)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 13.086
INFO:root:Testing 32 out of 16976 hypotheses for mustard_bottle (evidence > 5.496692087861728)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.384
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.81
DEBUG:root:evidences for each object: [14.59270414  1.09490436 13.47644152 25.15386116 27.93315527  1.16589006
 13.0858001  12.38409148  1.16372623  4.80980897]
DEBUG:root:mean evidence: 11.486, std: 9.165 -> th=22.346524213295673
INFO:root:current most likely hypothesis: hot_sauce with evidence 27.93
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 197 ---
INFO:uvicorn.access:192.168.1.217:64286 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.84014039,  0.20795479,  0.50091809],
       [-0.24027275,  0.97070542,  0.        ],
       [-0.4862439 , -0.12035696,  0.8654947 ]]), 'pose_fully_defined': False}}, {'patch': array([0.00403811, 0.00232781, 0.00247915])}]
INFO:root:Testing 172 out of 14424 hypotheses for numenta_mug (evidence > 5.5866310533239165)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 15.073
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 200 out of 14880 hypotheses for montys_heart (evidence > 5.5866310533239165)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.823
INFO:root:Testing 151 out of 23200 hypotheses for ramen_pack (evidence > 5.5866310533239165)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 25.444
INFO:root:Testing 103 out of 14864 hypotheses for hot_sauce (evidence > 5.5866310533239165)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 28.384
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 228 out of 21832 hypotheses for tomato_soup_can (evidence > 5.5866310533239165)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 13.574
INFO:root:Testing 31 out of 16976 hypotheses for mustard_bottle (evidence > 5.5866310533239165)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.858
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.81
DEBUG:root:evidences for each object: [15.07284183  1.09490436 13.82344683 25.44358858 28.384186    1.16589006
 13.57435417 12.85795925  1.16372623  4.80980897]
DEBUG:root:mean evidence: 11.739, std: 9.327 -> th=22.70734880135749
INFO:root:current most likely hypothesis: hot_sauce with evidence 28.38
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 198 ---
INFO:uvicorn.access:192.168.1.217:64288 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.03535717,  0.17779806,  0.9834316 ],
       [-0.98079484, -0.19504225,  0.        ],
       [ 0.19181071, -0.96454464,  0.18127956]]), 'pose_fully_defined': False}}, {'patch': array([-0.01010264, -0.04183636,  0.07636535])}]
INFO:root:Testing 163 out of 14424 hypotheses for numenta_mug (evidence > 5.676837200339371)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 14.073
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 175 out of 14880 hypotheses for montys_heart (evidence > 5.676837200339371)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 12.823
INFO:root:Testing 150 out of 23200 hypotheses for ramen_pack (evidence > 5.676837200339371)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 24.444
INFO:root:Testing 100 out of 14864 hypotheses for hot_sauce (evidence > 5.676837200339371)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 27.384
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 206 out of 21832 hypotheses for tomato_soup_can (evidence > 5.676837200339371)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.574
INFO:root:Testing 29 out of 16976 hypotheses for mustard_bottle (evidence > 5.676837200339371)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.858
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.81
DEBUG:root:evidences for each object: [14.07284183  1.09490436 12.82344683 24.44358858 27.384186    1.16589006
 12.57435417 11.85795925  1.16372623  4.80980897]
DEBUG:root:mean evidence: 11.139, std: 8.915 -> th=21.90734880135749
INFO:root:current most likely hypothesis: hot_sauce with evidence 27.38
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 199 ---
INFO:uvicorn.access:192.168.1.217:64288 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.2097323 ,  0.13220529,  0.96877971],
       [-0.53325116, -0.84595697,  0.        ],
       [ 0.81954595, -0.5166029 ,  0.24792313]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0016039 ,  0.01653443, -0.06560767])}]
INFO:root:Testing 151 out of 14424 hypotheses for numenta_mug (evidence > 5.4768372003393715)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 14.281
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 130 out of 14880 hypotheses for montys_heart (evidence > 5.4768372003393715)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.149
INFO:root:Testing 140 out of 23200 hypotheses for ramen_pack (evidence > 5.4768372003393715)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 24.659
INFO:root:Testing 94 out of 14864 hypotheses for hot_sauce (evidence > 5.4768372003393715)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 27.824
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.166
INFO:root:Testing 172 out of 21832 hypotheses for tomato_soup_can (evidence > 5.4768372003393715)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.699
INFO:root:Testing 27 out of 16976 hypotheses for mustard_bottle (evidence > 5.4768372003393715)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.864
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.164
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.81
DEBUG:root:evidences for each object: [14.28143211  1.09490436 13.14892887 24.6591545  27.82446854  1.16589006
 12.69916927 11.86368652  1.16372623  4.80980897]
DEBUG:root:mean evidence: 11.271, std: 9.043 -> th=22.259574835177652
INFO:root:current most likely hypothesis: hot_sauce with evidence 27.82
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 200 ---
INFO:uvicorn.access:192.168.1.217:64288 - "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/hot_sauce/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/hot_sauce/log.txt (NOTSET)>
