INFO:root:Logger initialized at 2025-09-29 16:03:31.622341
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/harissa_oil/observations',
                                    'vive_url': 'http://192.168.1.237:3001/pose'},
                  'env_init_func': <class 'custom_classes.probe_triggered_environment.ProbeTriggeredUltrasoundEnvironment'>,
                  'rng': RandomState(MT19937) at 0x7F9179133440,
                  '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/harissa_oil',
                    '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': '7ipb8ed3'},
 'monty_config': {'learning_module_configs': {'learning_module_0': {'learning_module_args': {'evidence_update_threshold': '80%',
                                                                                             'feature_weights': {},
                                                                                             'gsg_args': {'desired_object_distance': 0.06,
                                                                                                          'elapsed_steps_factor': 5,
                                                                                                          'goal_tolerances': {'location': 0.015},
                                                                                                          'min_post_goal_success_steps': 5,
                                                                                                          'x_percent_scale_factor': 0.75},
                                                                                             'gsg_class': <class 'tbp.monty.frameworks.models.goal_state_generation.EvidenceGoalStateGenerator'>,
                                                                                             'hypotheses_updater_args': {'max_nneighbors': 10},
                                                                                             'max_graph_size': 0.3,
                                                                                             'max_match_distance': 0.01,
                                                                                             'num_model_voxels_per_dim': 100,
                                                                                             'tolerances': {'patch': {'pose_vectors': array([0.87266463, 0.87266463, 0.87266463]),
                                                                                                                      'principal_curvatures_log': array([1., 1.])}},
                                                                                             'use_multithreading': False,
                                                                                             'x_percent_threshold': 20},
                                                                    'learning_module_class': <class 'tbp.monty.frameworks.models.evidence_matching.learning_module.EvidenceGraphLM'>}},
                  'lm_to_lm_matrix': None,
                  'lm_to_lm_vote_matrix': None,
                  'monty_args': {'max_total_steps': 201,
                                 'min_eval_steps': 200,
                                 'min_train_steps': 3,
                                 'num_exploratory_steps': 200},
                  'monty_class': <class 'custom_classes.monty_class.MontyForEvidenceGraphMatchingWithGoalStateServer'>,
                  'motor_system_config': {'motor_system_args': {'policy_args': {'action_sampler_args': {'actions': [<class 'tbp.monty.frameworks.actions.actions.LookUp'>,
                                                                                                                    <class 'tbp.monty.frameworks.actions.actions.LookDown'>,
                                                                                                                    <class 'tbp.monty.frameworks.actions.actions.TurnLeft'>,
                                                                                                                    <class 'tbp.monty.frameworks.actions.actions.TurnRight'>,
                                                                                                                    <class 'tbp.monty.frameworks.actions.actions.SetAgentPose'>,
                                                                                                                    <class 'tbp.monty.frameworks.actions.actions.SetSensorRotation'>],
                                                                                                        'rotation_degrees': 1.0},
                                                                                'action_sampler_class': <class 'tbp.monty.frameworks.actions.action_samplers.ConstantSampler'>,
                                                                                'agent_id': 'agent_id_0',
                                                                                'desired_object_distance': 0.03,
                                                                                'file_name': None,
                                                                                'good_view_percentage': 0.5,
                                                                                'min_perc_on_obj': 0.25,
                                                                                'switch_frequency': 1.0,
                                                                                'use_goal_state_driven_actions': True},
                                                                'policy_class': <class 'custom_classes.motor_policy.UltrasoundMotorPolicy'>},
                                          'motor_system_class': <class 'tbp.monty.frameworks.models.motor_system.MotorSystem'>},
                  'sensor_module_configs': {'sensor_module_0': {'sensor_module_args': {'sensor_module_id': 'patch'},
                                                                'sensor_module_class': <class 'custom_classes.sensor_module.UltrasoundSM'>}},
                  'sm_to_agent_dict': {'patch': 'agent_id_0'},
                  'sm_to_lm_matrix': [[0]]},
 'plotting_config': {'display_mlh_focus_plot': False,
                     'enabled': True,
                     'plot_frequency': 1,
                     'plot_patch_features': True,
                     'save_path': '/Users/nleadholm/tbp/data/ultrasound_data_collection/plots',
                     'show_hypothesis_space': True},
 'print_config': False,
 'quiet_habitat_logs': True}
INFO:root:Running single episode
DEBUG:root:Going into matching mode after 0 steps
DEBUG:root:Models in memory: ['numenta_mug', 'montys_brain', 'montys_heart', 'ramen_pack', 'hot_sauce', 'harissa_oil', 'tomato_soup_can', 'mustard_bottle', 'tuna_fish_can', 'potted_meat_can']
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:we have not moved yet.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.32441544,  0.41723554, -0.84892233],
       [-0.7894449 , -0.61382144,  0.        ],
       [-0.52108672,  0.6701774 ,  0.52851762]]), '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: {'potted_meat_can', 'tuna_fish_can', 'montys_brain', 'harissa_oil', 'ramen_pack', 'numenta_mug', 'mustard_bottle', 'tomato_soup_can', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 1 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.33610855,  0.40098623, -0.8521978 ],
       [-0.76638205, -0.64238505,  0.        ],
       [-0.54743912,  0.65310909,  0.52321976]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00283298,  0.00052117, -0.00128304])}]
INFO:root:Testing 14424 out of 14424 hypotheses for numenta_mug (evidence > 0.0)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 10992 out of 10992 hypotheses for montys_brain (evidence > 0.0)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.02 seconds. New max evidence: 0.5
INFO:root:Testing 14880 out of 14880 hypotheses for montys_heart (evidence > 0.0)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 23200 out of 23200 hypotheses for ramen_pack (evidence > 0.0)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.05 seconds. New max evidence: 0.5
INFO:root:Testing 14864 out of 14864 hypotheses for hot_sauce (evidence > 0.0)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 12560 out of 12560 hypotheses for harissa_oil (evidence > 0.0)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.02 seconds. New max evidence: 0.5
INFO:root:Testing 21832 out of 21832 hypotheses for tomato_soup_can (evidence > 0.0)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.04 seconds. New max evidence: 0.5
INFO:root:Testing 16976 out of 16976 hypotheses for mustard_bottle (evidence > 0.0)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 17728 out of 17728 hypotheses for tuna_fish_can (evidence > 0.0)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.04 seconds. New max evidence: 0.5
INFO:root:Testing 19024 out of 19024 hypotheses for potted_meat_can (evidence > 0.0)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.04 seconds. New max evidence: 0.5
INFO:root:current most likely hypothesis: numenta_mug with evidence 0.5
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tuna_fish_can', 'montys_brain', 'harissa_oil', 'ramen_pack', 'numenta_mug', 'mustard_bottle', 'tomato_soup_can', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 2 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.40797443,  0.18176328, -0.89471726],
       [-0.4069634 , -0.91344446,  0.        ],
       [-0.81727453,  0.36411718,  0.44663299]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01801983, -0.00703217, -0.00832702])}]
INFO:root:Testing 14424 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: 0.997
INFO:root:Testing 10992 out of 10992 hypotheses for montys_brain (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.02 seconds. New max evidence: 0.985
INFO:root:Testing 14880 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: 0.995
INFO:root:Testing 23200 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: 0.992
INFO:root:Testing 14864 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: 0.994
INFO:root:Testing 12560 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: 0.994
INFO:root:Testing 21824 out of 21832 hypotheses for tomato_soup_can (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.05 seconds. New max evidence: 0.996
INFO:root:Testing 16976 out of 16976 hypotheses for mustard_bottle (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.03 seconds. New max evidence: 0.989
INFO:root:Testing 17703 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: 0.996
INFO:root:Testing 19019 out of 19024 hypotheses for potted_meat_can (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.04 seconds. New max evidence: 0.992
INFO:root:current most likely hypothesis: numenta_mug with evidence 1.0
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tuna_fish_can', 'montys_brain', 'harissa_oil', 'ramen_pack', 'numenta_mug', 'mustard_bottle', 'tomato_soup_can', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 3 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.32466706,  0.16910927, -0.93058764],
       [-0.46195988, -0.88690082,  0.        ],
       [-0.82533894,  0.42989415,  0.36606918]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00407815,  0.00109498, -0.00285394])}]
INFO:root:Testing 11210 out of 14424 hypotheses for numenta_mug (evidence > 0.1994361185077308)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 1.473
INFO:root:Testing 8565 out of 10992 hypotheses for montys_brain (evidence > 0.1994361185077308)
DEBUG:root:Calculating evidence for montys_brain using input 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: 1.467
INFO:root:Testing 11824 out of 14880 hypotheses for montys_heart (evidence > 0.1994361185077308)
DEBUG:root:Calculating evidence for montys_heart using input 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: 1.49
INFO:root:Testing 16827 out of 23200 hypotheses for ramen_pack (evidence > 0.1994361185077308)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.03 seconds. New max evidence: 1.49
INFO:root:Testing 11028 out of 14864 hypotheses for hot_sauce (evidence > 0.1994361185077308)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.02 seconds. New max evidence: 1.482
INFO:root:Testing 9722 out of 12560 hypotheses for harissa_oil (evidence > 0.1994361185077308)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 1.486
INFO:root:Testing 16024 out of 21832 hypotheses for tomato_soup_can (evidence > 0.1994361185077308)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.03 seconds. New max evidence: 1.49
INFO:root:Testing 13508 out of 16976 hypotheses for mustard_bottle (evidence > 0.1994361185077308)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 1.476
INFO:root:Testing 11751 out of 17728 hypotheses for tuna_fish_can (evidence > 0.1994361185077308)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 1.469
INFO:root:Testing 13219 out of 19024 hypotheses for potted_meat_can (evidence > 0.1994361185077308)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 1.479
INFO:root:current most likely hypothesis: ramen_pack with evidence 1.49
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tuna_fish_can', 'montys_brain', 'harissa_oil', 'ramen_pack', 'numenta_mug', 'mustard_bottle', 'tomato_soup_can', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 4 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.32014496,  0.17228264, -0.93157173],
       [-0.47387996, -0.88058945,  0.        ],
       [-0.82033225,  0.44145317,  0.36355757]]), 'pose_fully_defined': False}}, {'patch': array([-0.00314599, -0.00041892,  0.0009095 ])}]
INFO:root:Testing 7946 out of 14424 hypotheses for numenta_mug (evidence > 0.29797167862117546)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 1.968
INFO:root:Testing 3506 out of 10992 hypotheses for montys_brain (evidence > 0.29797167862117546)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 1.96
INFO:root:Testing 7206 out of 14880 hypotheses for montys_heart (evidence > 0.29797167862117546)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.02 seconds. New max evidence: 1.99
INFO:root:Testing 13189 out of 23200 hypotheses for ramen_pack (evidence > 0.29797167862117546)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.03 seconds. New max evidence: 1.99
INFO:root:Testing 6974 out of 14864 hypotheses for hot_sauce (evidence > 0.29797167862117546)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 1.976
INFO:root:Testing 6058 out of 12560 hypotheses for harissa_oil (evidence > 0.29797167862117546)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.01 seconds. New max evidence: 1.986
INFO:root:Testing 11202 out of 21832 hypotheses for tomato_soup_can (evidence > 0.29797167862117546)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.02 seconds. New max evidence: 1.99
INFO:root:Testing 11088 out of 16976 hypotheses for mustard_bottle (evidence > 0.29797167862117546)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 1.973
INFO:root:Testing 9194 out of 17728 hypotheses for tuna_fish_can (evidence > 0.29797167862117546)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.02 seconds. New max evidence: 1.958
INFO:root:Testing 10956 out of 19024 hypotheses for potted_meat_can (evidence > 0.29797167862117546)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.02 seconds. New max evidence: 1.975
INFO:root:current most likely hypothesis: ramen_pack with evidence 1.99
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tuna_fish_can', 'montys_brain', 'harissa_oil', 'ramen_pack', 'numenta_mug', 'mustard_bottle', 'tomato_soup_can', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 5 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.30336   , -0.17763903, -0.93617151],
       [ 0.5053115 , -0.86293701,  0.        ],
       [-0.80785704, -0.47305823,  0.35154361]]), 'pose_fully_defined': False}}, {'patch': array([-0.00349712,  0.0111706 ,  0.00370381])}]
INFO:root:Testing 7842 out of 14424 hypotheses for numenta_mug (evidence > 0.39797167862117555)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 2.409
INFO:root:Testing 3505 out of 10992 hypotheses for montys_brain (evidence > 0.39797167862117555)
DEBUG:root:Calculating evidence for montys_brain using input 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: 2.341
INFO:root:Testing 7136 out of 14880 hypotheses for montys_heart (evidence > 0.39797167862117555)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.02 seconds. New max evidence: 2.34
INFO:root:Testing 13117 out of 23200 hypotheses for ramen_pack (evidence > 0.39797167862117555)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 2.455
INFO:root:Testing 6955 out of 14864 hypotheses for hot_sauce (evidence > 0.39797167862117555)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 2.359
INFO:root:Testing 6056 out of 12560 hypotheses for harissa_oil (evidence > 0.39797167862117555)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 2.301
INFO:root:Testing 11096 out of 21832 hypotheses for tomato_soup_can (evidence > 0.39797167862117555)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 2.49
INFO:root:Testing 11048 out of 16976 hypotheses for mustard_bottle (evidence > 0.39797167862117555)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 2.4
INFO:root:Testing 9111 out of 17728 hypotheses for tuna_fish_can (evidence > 0.39797167862117555)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 2.434
INFO:root:Testing 10907 out of 19024 hypotheses for potted_meat_can (evidence > 0.39797167862117555)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 2.417
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 2.49
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tuna_fish_can', 'montys_brain', 'harissa_oil', 'ramen_pack', 'numenta_mug', 'mustard_bottle', 'tomato_soup_can', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 6 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.29449757,  0.54052006, -0.78810484],
       [-0.87812191, -0.47843694,  0.        ],
       [-0.37705847,  0.69205213,  0.61554103]]), 'pose_fully_defined': False}}, {'patch': array([0.00295713, 0.00734622, 0.00160794])}]
INFO:root:Testing 7553 out of 14424 hypotheses for numenta_mug (evidence > 0.4979711745694093)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 2.819
INFO:root:Testing 3400 out of 10992 hypotheses for montys_brain (evidence > 0.4979711745694093)
DEBUG:root:Calculating evidence for montys_brain using input 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: 2.799
INFO:root:Testing 6836 out of 14880 hypotheses for montys_heart (evidence > 0.4979711745694093)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.02 seconds. New max evidence: 2.779
INFO:root:Testing 12527 out of 23200 hypotheses for ramen_pack (evidence > 0.4979711745694093)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 2.877
INFO:root:Testing 6360 out of 14864 hypotheses for hot_sauce (evidence > 0.4979711745694093)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 2.835
INFO:root:Testing 5882 out of 12560 hypotheses for harissa_oil (evidence > 0.4979711745694093)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 2.78
INFO:root:Testing 10823 out of 21832 hypotheses for tomato_soup_can (evidence > 0.4979711745694093)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 2.9
INFO:root:Testing 10719 out of 16976 hypotheses for mustard_bottle (evidence > 0.4979711745694093)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 2.888
INFO:root:Testing 8950 out of 17728 hypotheses for tuna_fish_can (evidence > 0.4979711745694093)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 2.916
INFO:root:Testing 10442 out of 19024 hypotheses for potted_meat_can (evidence > 0.4979711745694093)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 2.863
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 2.92
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tuna_fish_can', 'montys_brain', 'harissa_oil', 'ramen_pack', 'numenta_mug', 'mustard_bottle', 'tomato_soup_can', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 7 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.26865063,  0.64067302, -0.71928084],
       [-0.92220398, -0.38670378,  0.        ],
       [-0.27814862,  0.66332366,  0.69471942]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00123025, -0.00784897, -0.00036126])}]
INFO:root:Testing 5813 out of 14424 hypotheses for numenta_mug (evidence > 0.5832410083696162)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 3.274
INFO:root:Testing 2206 out of 10992 hypotheses for montys_brain (evidence > 0.5832410083696162)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 3.24
INFO:root:Testing 5373 out of 14880 hypotheses for montys_heart (evidence > 0.5832410083696162)
DEBUG:root:Calculating evidence for montys_heart using input 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: 3.227
INFO:root:Testing 11125 out of 23200 hypotheses for ramen_pack (evidence > 0.5832410083696162)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 3.325
INFO:root:Testing 4766 out of 14864 hypotheses for hot_sauce (evidence > 0.5832410083696162)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 3.263
INFO:root:Testing 4341 out of 12560 hypotheses for harissa_oil (evidence > 0.5832410083696162)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 3.263
INFO:root:Testing 8099 out of 21832 hypotheses for tomato_soup_can (evidence > 0.5832410083696162)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 3.4
INFO:root:Testing 9654 out of 16976 hypotheses for mustard_bottle (evidence > 0.5832410083696162)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 3.344
INFO:root:Testing 7327 out of 17728 hypotheses for tuna_fish_can (evidence > 0.5832410083696162)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 3.413
INFO:root:Testing 9498 out of 19024 hypotheses for potted_meat_can (evidence > 0.5832410083696162)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 3.308
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 3.41
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tuna_fish_can', 'montys_brain', 'harissa_oil', 'ramen_pack', 'numenta_mug', 'mustard_bottle', 'tomato_soup_can', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 8 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.33808799,  0.11401634, -0.93418242],
       [-0.31955633, -0.94756728,  0.        ],
       [-0.88520069,  0.2985239 ,  0.35679576]]), 'pose_fully_defined': False}}, {'patch': array([-0.00461183, -0.022424  , -0.00621849])}]
INFO:root:Testing 5774 out of 14424 hypotheses for numenta_mug (evidence > 0.6825913099701819)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 3.717
INFO:root:Testing 2206 out of 10992 hypotheses for montys_brain (evidence > 0.6825913099701819)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 3.624
INFO:root:Testing 5350 out of 14880 hypotheses for montys_heart (evidence > 0.6825913099701819)
DEBUG:root:Calculating evidence for montys_heart using input 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: 3.712
INFO:root:Testing 11073 out of 23200 hypotheses for ramen_pack (evidence > 0.6825913099701819)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 3.713
INFO:root:Testing 4758 out of 14864 hypotheses for hot_sauce (evidence > 0.6825913099701819)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 3.646
INFO:root:Testing 4318 out of 12560 hypotheses for harissa_oil (evidence > 0.6825913099701819)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 3.679
INFO:root:Testing 8034 out of 21832 hypotheses for tomato_soup_can (evidence > 0.6825913099701819)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 3.712
INFO:root:Testing 9627 out of 16976 hypotheses for mustard_bottle (evidence > 0.6825913099701819)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 3.668
INFO:root:Testing 7212 out of 17728 hypotheses for tuna_fish_can (evidence > 0.6825913099701819)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 3.862
INFO:root:Testing 9414 out of 19024 hypotheses for potted_meat_can (evidence > 0.6825913099701819)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 3.693
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 3.86
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tuna_fish_can', 'montys_brain', 'harissa_oil', 'ramen_pack', 'numenta_mug', 'mustard_bottle', 'tomato_soup_can', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 9 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.32666878, -0.33363621, -0.88429315],
       [ 0.71452828, -0.69960656,  0.        ],
       [-0.61865729, -0.63185247,  0.46693213]]), 'pose_fully_defined': False}}, {'patch': array([-1.00385749e-05,  1.51770832e-02,  6.88123286e-03])}]
INFO:root:Testing 5615 out of 14424 hypotheses for numenta_mug (evidence > 0.77239048926976)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 4.045
INFO:root:Testing 2176 out of 10992 hypotheses for montys_brain (evidence > 0.77239048926976)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 3.942
INFO:root:Testing 5243 out of 14880 hypotheses for montys_heart (evidence > 0.77239048926976)
DEBUG:root:Calculating evidence for montys_heart using input 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: 4.094
INFO:root:Testing 10836 out of 23200 hypotheses for ramen_pack (evidence > 0.77239048926976)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 4.038
INFO:root:Testing 4700 out of 14864 hypotheses for hot_sauce (evidence > 0.77239048926976)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 3.999
INFO:root:Testing 4308 out of 12560 hypotheses for harissa_oil (evidence > 0.77239048926976)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 4.006
INFO:root:Testing 7878 out of 21832 hypotheses for tomato_soup_can (evidence > 0.77239048926976)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 4.076
INFO:root:Testing 9464 out of 16976 hypotheses for mustard_bottle (evidence > 0.77239048926976)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 3.976
INFO:root:Testing 6959 out of 17728 hypotheses for tuna_fish_can (evidence > 0.77239048926976)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.02 seconds. New max evidence: 4.202
INFO:root:Testing 9199 out of 19024 hypotheses for potted_meat_can (evidence > 0.77239048926976)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 4.024
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 4.2
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tuna_fish_can', 'montys_brain', 'harissa_oil', 'ramen_pack', 'numenta_mug', 'mustard_bottle', 'tomato_soup_can', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 10 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.25715224,  0.60141428, -0.75642157],
       [-0.91947503, -0.3931484 ,  0.        ],
       [-0.29738593,  0.69551075,  0.6540844 ]]), 'pose_fully_defined': False}}, {'patch': array([0.00022382, 0.01585294, 0.00178698])}]
INFO:root:Testing 5610 out of 14424 hypotheses for numenta_mug (evidence > 0.8404419345414653)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 4.456
INFO:root:Testing 2175 out of 10992 hypotheses for montys_brain (evidence > 0.8404419345414653)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 4.402
INFO:root:Testing 5239 out of 14880 hypotheses for montys_heart (evidence > 0.8404419345414653)
DEBUG:root:Calculating evidence for montys_heart using input 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: 4.559
INFO:root:Testing 10829 out of 23200 hypotheses for ramen_pack (evidence > 0.8404419345414653)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 4.485
INFO:root:Testing 4699 out of 14864 hypotheses for hot_sauce (evidence > 0.8404419345414653)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 4.48
INFO:root:Testing 4308 out of 12560 hypotheses for harissa_oil (evidence > 0.8404419345414653)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 4.5
INFO:root:Testing 7863 out of 21832 hypotheses for tomato_soup_can (evidence > 0.8404419345414653)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 4.542
INFO:root:Testing 9459 out of 16976 hypotheses for mustard_bottle (evidence > 0.8404419345414653)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 4.417
INFO:root:Testing 6953 out of 17728 hypotheses for tuna_fish_can (evidence > 0.8404419345414653)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.02 seconds. New max evidence: 4.669
INFO:root:Testing 9180 out of 19024 hypotheses for potted_meat_can (evidence > 0.8404419345414653)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 4.486
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 4.67
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: {'potted_meat_can', 'tuna_fish_can', 'montys_brain', 'harissa_oil', 'ramen_pack', 'numenta_mug', 'mustard_bottle', 'tomato_soup_can', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 11 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.1634877 ,  0.80387458, -0.57188936],
       [-0.97993957, -0.19929485,  0.        ],
       [-0.11397461,  0.56041701,  0.82033076]]), 'pose_fully_defined': False}}, {'patch': array([-0.00207077, -0.00015305,  0.00354838])}]
INFO:root:Testing 5329 out of 14424 hypotheses for numenta_mug (evidence > 0.9337712435126204)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 4.923
INFO:root:Testing 1948 out of 10992 hypotheses for montys_brain (evidence > 0.9337712435126204)
DEBUG:root:Calculating evidence for montys_brain using input 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: 4.808
INFO:root:Testing 4702 out of 14880 hypotheses for montys_heart (evidence > 0.9337712435126204)
DEBUG:root:Calculating evidence for montys_heart using input 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: 4.993
INFO:root:Testing 10279 out of 23200 hypotheses for ramen_pack (evidence > 0.9337712435126204)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 4.942
INFO:root:Testing 4107 out of 14864 hypotheses for hot_sauce (evidence > 0.9337712435126204)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 4.958
INFO:root:Testing 3983 out of 12560 hypotheses for harissa_oil (evidence > 0.9337712435126204)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 4.988
INFO:root:Testing 7548 out of 21832 hypotheses for tomato_soup_can (evidence > 0.9337712435126204)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 4.962
INFO:root:Testing 9016 out of 16976 hypotheses for mustard_bottle (evidence > 0.9337712435126204)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 4.828
INFO:root:Testing 6628 out of 17728 hypotheses for tuna_fish_can (evidence > 0.9337712435126204)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 5.127
INFO:root:Testing 8829 out of 19024 hypotheses for potted_meat_can (evidence > 0.9337712435126204)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 4.928
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 5.13
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tuna_fish_can', 'montys_brain', 'harissa_oil', 'ramen_pack', 'numenta_mug', 'mustard_bottle', 'tomato_soup_can', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 12 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.26585128,  0.50629887, -0.82035636],
       [-0.88536597, -0.46489473,  0.        ],
       [-0.38137934,  0.7263156 ,  0.57185264]]), 'pose_fully_defined': False}}, {'patch': array([-0.00321934, -0.01550459, -0.00484117])}]
INFO:root:Testing 5291 out of 14424 hypotheses for numenta_mug (evidence > 1.025400814269286)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 5.385
INFO:root:Testing 1948 out of 10992 hypotheses for montys_brain (evidence > 1.025400814269286)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.236
INFO:root:Testing 4684 out of 14880 hypotheses for montys_heart (evidence > 1.025400814269286)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 5.433
INFO:root:Testing 9969 out of 23200 hypotheses for ramen_pack (evidence > 1.025400814269286)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 5.386
INFO:root:Testing 4041 out of 14864 hypotheses for hot_sauce (evidence > 1.025400814269286)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 5.429
INFO:root:Testing 3982 out of 12560 hypotheses for harissa_oil (evidence > 1.025400814269286)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 5.395
INFO:root:Testing 7510 out of 21832 hypotheses for tomato_soup_can (evidence > 1.025400814269286)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 5.422
INFO:root:Testing 8905 out of 16976 hypotheses for mustard_bottle (evidence > 1.025400814269286)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 5.267
INFO:root:Testing 6583 out of 17728 hypotheses for tuna_fish_can (evidence > 1.025400814269286)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 5.548
INFO:root:Testing 8679 out of 19024 hypotheses for potted_meat_can (evidence > 1.025400814269286)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 5.379
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 5.55
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tuna_fish_can', 'montys_brain', 'harissa_oil', 'ramen_pack', 'numenta_mug', 'mustard_bottle', 'tomato_soup_can', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 13 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.34493249,  0.18204746, -0.92080416],
       [-0.46675814, -0.884385  ,  0.        ],
       [-0.81434539,  0.42979284,  0.39002526]]), 'pose_fully_defined': False}}, {'patch': array([-0.00123079, -0.01763923, -0.0056819 ])}]
INFO:root:Testing 5291 out of 14424 hypotheses for numenta_mug (evidence > 1.1095319934856196)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 5.851
INFO:root:Testing 1948 out of 10992 hypotheses for montys_brain (evidence > 1.1095319934856196)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.666
INFO:root:Testing 4684 out of 14880 hypotheses for montys_heart (evidence > 1.1095319934856196)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 5.822
INFO:root:Testing 9969 out of 23200 hypotheses for ramen_pack (evidence > 1.1095319934856196)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 5.777
INFO:root:Testing 4041 out of 14864 hypotheses for hot_sauce (evidence > 1.1095319934856196)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 5.805
INFO:root:Testing 3987 out of 12560 hypotheses for harissa_oil (evidence > 1.1095319934856196)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 5.803
INFO:root:Testing 7507 out of 21832 hypotheses for tomato_soup_can (evidence > 1.1095319934856196)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 5.863
INFO:root:Testing 8904 out of 16976 hypotheses for mustard_bottle (evidence > 1.1095319934856196)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 5.701
INFO:root:Testing 6583 out of 17728 hypotheses for tuna_fish_can (evidence > 1.1095319934856196)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 5.995
INFO:root:Testing 8679 out of 19024 hypotheses for potted_meat_can (evidence > 1.1095319934856196)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 5.85
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 6.0
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tuna_fish_can', 'montys_brain', 'harissa_oil', 'ramen_pack', 'numenta_mug', 'mustard_bottle', 'tomato_soup_can', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 14 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.4134633 , -0.22023558, -0.88348423],
       [ 0.47012586, -0.88259939,  0.        ],
       [-0.77976264, -0.41534878,  0.4684609 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00716035,  0.00425189,  0.00169175])}]
INFO:root:Testing 5257 out of 14424 hypotheses for numenta_mug (evidence > 1.1990063409785057)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 6.277
INFO:root:Testing 1936 out of 10992 hypotheses for montys_brain (evidence > 1.1990063409785057)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 6.126
INFO:root:Testing 4662 out of 14880 hypotheses for montys_heart (evidence > 1.1990063409785057)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 6.253
INFO:root:Testing 9913 out of 23200 hypotheses for ramen_pack (evidence > 1.1990063409785057)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 6.166
INFO:root:Testing 4021 out of 14864 hypotheses for hot_sauce (evidence > 1.1990063409785057)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 6.264
INFO:root:Testing 3981 out of 12560 hypotheses for harissa_oil (evidence > 1.1990063409785057)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 6.224
INFO:root:Testing 7420 out of 21832 hypotheses for tomato_soup_can (evidence > 1.1990063409785057)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 6.261
INFO:root:Testing 8854 out of 16976 hypotheses for mustard_bottle (evidence > 1.1990063409785057)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 6.125
INFO:root:Testing 6387 out of 17728 hypotheses for tuna_fish_can (evidence > 1.1990063409785057)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 6.252
INFO:root:Testing 8551 out of 19024 hypotheses for potted_meat_can (evidence > 1.1990063409785057)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 6.183
INFO:root:current most likely hypothesis: numenta_mug with evidence 6.28
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tuna_fish_can', 'montys_brain', 'harissa_oil', 'ramen_pack', 'numenta_mug', 'mustard_bottle', 'tomato_soup_can', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 15 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.13696844,  0.88059211, -0.45364873],
       [-0.98811861, -0.15369326,  0.        ],
       [-0.06972275,  0.44825876,  0.89118058]]), 'pose_fully_defined': False}}, {'patch': array([0.00229892, 0.02287899, 0.01682267])}]
INFO:root:Testing 5154 out of 14424 hypotheses for numenta_mug (evidence > 1.2554903536018296)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 6.693
INFO:root:Testing 1910 out of 10992 hypotheses for montys_brain (evidence > 1.2554903536018296)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 6.392
INFO:root:Testing 4593 out of 14880 hypotheses for montys_heart (evidence > 1.2554903536018296)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 6.734
INFO:root:Testing 9680 out of 23200 hypotheses for ramen_pack (evidence > 1.2554903536018296)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 6.619
INFO:root:Testing 3906 out of 14864 hypotheses for hot_sauce (evidence > 1.2554903536018296)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 6.755
INFO:root:Testing 3932 out of 12560 hypotheses for harissa_oil (evidence > 1.2554903536018296)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 6.698
INFO:root:Testing 7322 out of 21832 hypotheses for tomato_soup_can (evidence > 1.2554903536018296)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 6.705
INFO:root:Testing 8695 out of 16976 hypotheses for mustard_bottle (evidence > 1.2554903536018296)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 6.48
INFO:root:Testing 6249 out of 17728 hypotheses for tuna_fish_can (evidence > 1.2554903536018296)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 6.602
INFO:root:Testing 8236 out of 19024 hypotheses for potted_meat_can (evidence > 1.2554903536018296)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 6.622
DEBUG:root:evidences for each object: [6.69276575 6.39234732 6.734214   6.61926871 6.75511051 6.6976288
 6.70516793 6.47950233 6.60211743 6.62230863]
DEBUG:root:mean evidence: 6.63, std: 0.11 -> th=5.404088410558414
INFO:root:current most likely hypothesis: hot_sauce with evidence 6.76
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tuna_fish_can', 'montys_brain', 'harissa_oil', 'ramen_pack', 'numenta_mug', 'mustard_bottle', 'tomato_soup_can', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 16 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.29998323,  0.52453389, -0.79678997],
       [-0.86806517, -0.49645026,  0.        ],
       [-0.39556659,  0.69166562,  0.60425635]]), 'pose_fully_defined': False}}, {'patch': array([-0.00751511, -0.01279498, -0.01021745])}]
INFO:root:Testing 5151 out of 14424 hypotheses for numenta_mug (evidence > 1.351022102639603)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 7.131
INFO:root:Testing 1910 out of 10992 hypotheses for montys_brain (evidence > 1.351022102639603)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 6.833
INFO:root:Testing 4588 out of 14880 hypotheses for montys_heart (evidence > 1.351022102639603)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 7.187
INFO:root:Testing 9675 out of 23200 hypotheses for ramen_pack (evidence > 1.351022102639603)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 7.058
INFO:root:Testing 3905 out of 14864 hypotheses for hot_sauce (evidence > 1.351022102639603)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 7.194
INFO:root:Testing 3932 out of 12560 hypotheses for harissa_oil (evidence > 1.351022102639603)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 7.137
INFO:root:Testing 7303 out of 21832 hypotheses for tomato_soup_can (evidence > 1.351022102639603)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 7.142
INFO:root:Testing 8690 out of 16976 hypotheses for mustard_bottle (evidence > 1.351022102639603)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 6.919
INFO:root:Testing 6239 out of 17728 hypotheses for tuna_fish_can (evidence > 1.351022102639603)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 7.041
INFO:root:Testing 8225 out of 19024 hypotheses for potted_meat_can (evidence > 1.351022102639603)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 7.092
DEBUG:root:evidences for each object: [7.13125003 6.83253082 7.18730063 7.05838407 7.19422611 7.13674445
 7.14176673 6.91861784 7.04123297 7.09190772]
DEBUG:root:mean evidence: 7.073, std: 0.111 -> th=5.755380886115274
INFO:root:current most likely hypothesis: hot_sauce with evidence 7.19
DEBUG:root:evidences for each object: [7.13125003 6.83253082 7.18730063 7.05838407 7.19422611 7.13674445
 7.14176673 6.91861784 7.04123297 7.09190772]
DEBUG:root:mean evidence: 7.073, std: 0.111 -> th=5.755380886115274
DEBUG:root:evidences for each object: [7.13125003 6.83253082 7.18730063 7.05838407 7.19422611 7.13674445
 7.14176673 6.91861784 7.04123297 7.09190772]
DEBUG:root:mean evidence: 7.073, std: 0.111 -> th=6.11509219149748
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tuna_fish_can', 'montys_brain', 'harissa_oil', 'ramen_pack', 'numenta_mug', 'mustard_bottle', 'tomato_soup_can', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 17 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.36293813,  0.25027368, -0.89757395],
       [-0.56768917, -0.82324298,  0.        ],
       [-0.73892145,  0.50954301,  0.44086393]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00034614, -0.00440577, -0.00054353])}]
INFO:root:Testing 5151 out of 14424 hypotheses for numenta_mug (evidence > 1.438845221528818)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 7.611
INFO:root:Testing 1910 out of 10992 hypotheses for montys_brain (evidence > 1.438845221528818)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.272
INFO:root:Testing 4588 out of 14880 hypotheses for montys_heart (evidence > 1.438845221528818)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 7.675
INFO:root:Testing 9675 out of 23200 hypotheses for ramen_pack (evidence > 1.438845221528818)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 7.542
INFO:root:Testing 3906 out of 14864 hypotheses for hot_sauce (evidence > 1.438845221528818)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 7.657
INFO:root:Testing 3932 out of 12560 hypotheses for harissa_oil (evidence > 1.438845221528818)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 7.633
INFO:root:Testing 7303 out of 21832 hypotheses for tomato_soup_can (evidence > 1.438845221528818)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 7.635
INFO:root:Testing 8691 out of 16976 hypotheses for mustard_bottle (evidence > 1.438845221528818)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 7.382
INFO:root:Testing 6239 out of 17728 hypotheses for tuna_fish_can (evidence > 1.438845221528818)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 7.462
INFO:root:Testing 8225 out of 19024 hypotheses for potted_meat_can (evidence > 1.438845221528818)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 7.567
DEBUG:root:evidences for each object: [7.61094669 7.27167516 7.67482146 7.54211914 7.65715121 7.63299726
 7.6350935  7.38161899 7.46164696 7.5670146 ]
DEBUG:root:mean evidence: 7.544, std: 0.126 -> th=6.139857169614646
INFO:root:current most likely hypothesis: montys_heart with evidence 7.67
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tuna_fish_can', 'montys_brain', 'harissa_oil', 'ramen_pack', 'numenta_mug', 'mustard_bottle', 'tomato_soup_can', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 18 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.38781402,  0.06201583, -0.91964902],
       [-0.15790505, -0.9874543 ,  0.        ],
       [-0.90811138,  0.14521723,  0.39274124]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00090301, -0.0046301 , -0.00052722])}]
INFO:root:Testing 5150 out of 14424 hypotheses for numenta_mug (evidence > 1.5349642924036608)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 8.075
INFO:root:Testing 1910 out of 10992 hypotheses for montys_brain (evidence > 1.5349642924036608)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.69
INFO:root:Testing 4588 out of 14880 hypotheses for montys_heart (evidence > 1.5349642924036608)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 8.153
INFO:root:Testing 9675 out of 23200 hypotheses for ramen_pack (evidence > 1.5349642924036608)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 8.022
INFO:root:Testing 3906 out of 14864 hypotheses for hot_sauce (evidence > 1.5349642924036608)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 8.115
INFO:root:Testing 3932 out of 12560 hypotheses for harissa_oil (evidence > 1.5349642924036608)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 8.092
INFO:root:Testing 7303 out of 21832 hypotheses for tomato_soup_can (evidence > 1.5349642924036608)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 8.121
INFO:root:Testing 8702 out of 16976 hypotheses for mustard_bottle (evidence > 1.5349642924036608)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 7.859
INFO:root:Testing 6239 out of 17728 hypotheses for tuna_fish_can (evidence > 1.5349642924036608)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 7.82
INFO:root:Testing 8219 out of 19024 hypotheses for potted_meat_can (evidence > 1.5349642924036608)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 8.037
DEBUG:root:evidences for each object: [8.07540872 7.69001628 8.15322102 8.02194673 8.11528256 8.09207284
 8.12091003 7.85896223 7.81976159 8.03729695]
DEBUG:root:mean evidence: 7.998, std: 0.147 -> th=6.522576819113698
INFO:root:current most likely hypothesis: montys_heart with evidence 8.15
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tuna_fish_can', 'montys_brain', 'harissa_oil', 'ramen_pack', 'numenta_mug', 'mustard_bottle', 'tomato_soup_can', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 19 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.40754239, -0.24445001, -0.87985987],
       [ 0.51437905, -0.85756294,  0.        ],
       [-0.75453522, -0.45258149,  0.47523321]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00457558, -0.00691103, -0.00404037])}]
INFO:root:Testing 5148 out of 14424 hypotheses for numenta_mug (evidence > 1.6306442047784238)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 8.561
INFO:root:Testing 1910 out of 10992 hypotheses for montys_brain (evidence > 1.6306442047784238)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.115
INFO:root:Testing 4587 out of 14880 hypotheses for montys_heart (evidence > 1.6306442047784238)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 8.582
INFO:root:Testing 9626 out of 23200 hypotheses for ramen_pack (evidence > 1.6306442047784238)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 8.503
INFO:root:Testing 3905 out of 14864 hypotheses for hot_sauce (evidence > 1.6306442047784238)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 8.607
INFO:root:Testing 3929 out of 12560 hypotheses for harissa_oil (evidence > 1.6306442047784238)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 8.577
INFO:root:Testing 7294 out of 21832 hypotheses for tomato_soup_can (evidence > 1.6306442047784238)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 8.608
INFO:root:Testing 8698 out of 16976 hypotheses for mustard_bottle (evidence > 1.6306442047784238)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 8.349
INFO:root:Testing 6224 out of 17728 hypotheses for tuna_fish_can (evidence > 1.6306442047784238)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 8.241
INFO:root:Testing 8172 out of 19024 hypotheses for potted_meat_can (evidence > 1.6306442047784238)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 8.492
DEBUG:root:evidences for each object: [8.56142517 8.11501308 8.58152476 8.50250009 8.60686559 8.57682375
 8.60786784 8.34937192 8.24067857 8.4921853 ]
DEBUG:root:mean evidence: 8.463, std: 0.163 -> th=6.886294274319299
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 8.61
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tuna_fish_can', 'montys_brain', 'harissa_oil', 'ramen_pack', 'numenta_mug', 'mustard_bottle', 'tomato_soup_can', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 20 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.40154358,  0.21379915, -0.89053505],
       [-0.46997642, -0.88267897,  0.        ],
       [-0.78605657,  0.41853047,  0.45491463]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01175875,  0.00675017, -0.00548697])}]
INFO:root:Testing 5129 out of 14424 hypotheses for numenta_mug (evidence > 1.7215735685798244)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 9.032
INFO:root:Testing 1909 out of 10992 hypotheses for montys_brain (evidence > 1.7215735685798244)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.554
INFO:root:Testing 4572 out of 14880 hypotheses for montys_heart (evidence > 1.7215735685798244)
DEBUG:root:Calculating evidence for montys_heart using input 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: 9.054
INFO:root:Testing 9491 out of 23200 hypotheses for ramen_pack (evidence > 1.7215735685798244)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 8.999
INFO:root:Testing 3886 out of 14864 hypotheses for hot_sauce (evidence > 1.7215735685798244)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 9.057
INFO:root:Testing 3914 out of 12560 hypotheses for harissa_oil (evidence > 1.7215735685798244)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 9.038
INFO:root:Testing 7247 out of 21832 hypotheses for tomato_soup_can (evidence > 1.7215735685798244)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 9.078
INFO:root:Testing 8660 out of 16976 hypotheses for mustard_bottle (evidence > 1.7215735685798244)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 8.758
INFO:root:Testing 6144 out of 17728 hypotheses for tuna_fish_can (evidence > 1.7215735685798244)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 8.691
INFO:root:Testing 8103 out of 19024 hypotheses for potted_meat_can (evidence > 1.7215735685798244)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 8.954
DEBUG:root:evidences for each object: [9.03219878 8.55438016 9.05425306 8.9994944  9.05677898 9.03833098
 9.07849007 8.75770487 8.69137348 8.95390997]
DEBUG:root:mean evidence: 8.922, std: 0.176 -> th=7.262792056409134
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 9.08
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tuna_fish_can', 'montys_brain', 'harissa_oil', 'ramen_pack', 'numenta_mug', 'mustard_bottle', 'tomato_soup_can', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 21 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.4520234 , -0.21209388, -0.86642428],
       [ 0.42477524, -0.90529884,  0.        ],
       [-0.7843729 , -0.36803558,  0.49930849]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00348937, -0.01592061, -0.00021134])}]
INFO:root:Testing 5111 out of 14424 hypotheses for numenta_mug (evidence > 1.8156980141022832)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 9.513
INFO:root:Testing 1890 out of 10992 hypotheses for montys_brain (evidence > 1.8156980141022832)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.941
INFO:root:Testing 4547 out of 14880 hypotheses for montys_heart (evidence > 1.8156980141022832)
DEBUG:root:Calculating evidence for montys_heart using input 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: 9.441
INFO:root:Testing 9199 out of 23200 hypotheses for ramen_pack (evidence > 1.8156980141022832)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 9.328
INFO:root:Testing 3780 out of 14864 hypotheses for hot_sauce (evidence > 1.8156980141022832)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 9.41
INFO:root:Testing 3906 out of 12560 hypotheses for harissa_oil (evidence > 1.8156980141022832)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 9.432
INFO:root:Testing 7216 out of 21832 hypotheses for tomato_soup_can (evidence > 1.8156980141022832)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 9.558
INFO:root:Testing 8519 out of 16976 hypotheses for mustard_bottle (evidence > 1.8156980141022832)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 9.122
INFO:root:Testing 6107 out of 17728 hypotheses for tuna_fish_can (evidence > 1.8156980141022832)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 9.13
INFO:root:Testing 8039 out of 19024 hypotheses for potted_meat_can (evidence > 1.8156980141022832)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 9.391
DEBUG:root:evidences for each object: [9.51334862 8.94081977 9.44131426 9.32756233 9.40958084 9.43246521
 9.55808341 9.12231054 9.13004213 9.39125665]
DEBUG:root:mean evidence: 9.327, std: 0.188 -> th=7.6464667250526785
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 9.56
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tuna_fish_can', 'montys_brain', 'harissa_oil', 'ramen_pack', 'numenta_mug', 'mustard_bottle', 'tomato_soup_can', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 22 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.46329664, -0.25342482, -0.84919496],
       [ 0.47989902, -0.87732373,  0.        ],
       [-0.74501889, -0.40752783,  0.52807946]]), 'pose_fully_defined': False}}, {'patch': array([-0.01701308,  0.03910919, -0.00825434])}]
INFO:root:Testing 5064 out of 14424 hypotheses for numenta_mug (evidence > 1.911616681263169)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 8.918
INFO:root:Testing 1856 out of 10992 hypotheses for montys_brain (evidence > 1.911616681263169)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 7.941
INFO:root:Testing 4492 out of 14880 hypotheses for montys_heart (evidence > 1.911616681263169)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 8.441
INFO:root:Testing 9001 out of 23200 hypotheses for ramen_pack (evidence > 1.911616681263169)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 8.328
INFO:root:Testing 3585 out of 14864 hypotheses for hot_sauce (evidence > 1.911616681263169)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 8.41
INFO:root:Testing 3888 out of 12560 hypotheses for harissa_oil (evidence > 1.911616681263169)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 8.432
INFO:root:Testing 7127 out of 21832 hypotheses for tomato_soup_can (evidence > 1.911616681263169)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 8.558
INFO:root:Testing 8391 out of 16976 hypotheses for mustard_bottle (evidence > 1.911616681263169)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 8.385
INFO:root:Testing 6016 out of 17728 hypotheses for tuna_fish_can (evidence > 1.911616681263169)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 8.13
INFO:root:Testing 7869 out of 19024 hypotheses for potted_meat_can (evidence > 1.911616681263169)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 8.391
DEBUG:root:evidences for each object: [8.91832734 7.94081977 8.44131426 8.32756233 8.40958084 8.43246521
 8.55808341 8.38530806 8.13004213 8.39125665]
DEBUG:root:mean evidence: 8.393, std: 0.242 -> th=7.134661871892405
INFO:root:current most likely hypothesis: numenta_mug with evidence 8.92
DEBUG:root:evidences for each object: [8.91832734 7.94081977 8.44131426 8.32756233 8.40958084 8.43246521
 8.55808341 8.38530806 8.13004213 8.39125665]
DEBUG:root:mean evidence: 8.393, std: 0.242 -> th=7.134661871892405
DEBUG:root:evidences for each object: [8.91832734 7.94081977 8.44131426 8.32756233 8.40958084 8.43246521
 8.55808341 8.38530806 8.13004213 8.39125665]
DEBUG:root:mean evidence: 8.393, std: 0.242 -> th=7.58057823888568
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tuna_fish_can', 'montys_brain', 'harissa_oil', 'ramen_pack', 'numenta_mug', 'mustard_bottle', 'tomato_soup_can', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 23 ---
INFO:uvicorn.access:192.168.1.217:64698 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.48759544,  0.33307344, -0.80703951],
       [-0.56405569, -0.82573675,  0.        ],
       [-0.66640218,  0.45521522,  0.59049744]]), 'pose_fully_defined': False}}, {'patch': array([-0.01347469, -0.00829422,  0.01991112])}]
INFO:root:Testing 5001 out of 14424 hypotheses for numenta_mug (evidence > 1.7836654679731012)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 8.949
INFO:root:Testing 1807 out of 10992 hypotheses for montys_brain (evidence > 1.7836654679731012)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.429
INFO:root:Testing 4400 out of 14880 hypotheses for montys_heart (evidence > 1.7836654679731012)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 8.839
INFO:root:Testing 8772 out of 23200 hypotheses for ramen_pack (evidence > 1.7836654679731012)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 8.793
INFO:root:Testing 3300 out of 14864 hypotheses for hot_sauce (evidence > 1.7836654679731012)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 8.838
INFO:root:Testing 3847 out of 12560 hypotheses for harissa_oil (evidence > 1.7836654679731012)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 8.862
INFO:root:Testing 7020 out of 21832 hypotheses for tomato_soup_can (evidence > 1.7836654679731012)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 9.008
INFO:root:Testing 8276 out of 16976 hypotheses for mustard_bottle (evidence > 1.7836654679731012)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 8.824
INFO:root:Testing 5877 out of 17728 hypotheses for tuna_fish_can (evidence > 1.7836654679731012)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 8.586
INFO:root:Testing 7757 out of 19024 hypotheses for potted_meat_can (evidence > 1.7836654679731012)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 8.858
DEBUG:root:evidences for each object: [8.94911325 8.42881835 8.83865506 8.7930244  8.83772823 8.86204847
 9.00841181 8.82377546 8.58611872 8.85821161]
DEBUG:root:mean evidence: 8.799, std: 0.161 -> th=7.206729450849214
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 9.01
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tuna_fish_can', 'montys_brain', 'harissa_oil', 'ramen_pack', 'numenta_mug', 'mustard_bottle', 'tomato_soup_can', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 24 ---
INFO:uvicorn.access:192.168.1.217:64698 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.44331787,  0.53511898, -0.71910844],
       [-0.77006852, -0.63796118,  0.        ],
       [-0.45876327,  0.55376277,  0.69489787]]), 'pose_fully_defined': False}}, {'patch': array([0.00638823, 0.00557641, 0.00115109])}]
INFO:root:Testing 4999 out of 14424 hypotheses for numenta_mug (evidence > 1.8016823627123033)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 9.385
INFO:root:Testing 1806 out of 10992 hypotheses for montys_brain (evidence > 1.8016823627123033)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.888
INFO:root:Testing 4397 out of 14880 hypotheses for montys_heart (evidence > 1.8016823627123033)
DEBUG:root:Calculating evidence for montys_heart using input 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: 9.302
INFO:root:Testing 8768 out of 23200 hypotheses for ramen_pack (evidence > 1.8016823627123033)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 9.218
INFO:root:Testing 3300 out of 14864 hypotheses for hot_sauce (evidence > 1.8016823627123033)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 9.263
INFO:root:Testing 3847 out of 12560 hypotheses for harissa_oil (evidence > 1.8016823627123033)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 9.296
INFO:root:Testing 7002 out of 21832 hypotheses for tomato_soup_can (evidence > 1.8016823627123033)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 9.48
INFO:root:Testing 8269 out of 16976 hypotheses for mustard_bottle (evidence > 1.8016823627123033)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 9.269
INFO:root:Testing 5870 out of 17728 hypotheses for tuna_fish_can (evidence > 1.8016823627123033)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 9.001
INFO:root:Testing 7749 out of 19024 hypotheses for potted_meat_can (evidence > 1.8016823627123033)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 9.274
DEBUG:root:evidences for each object: [9.38506708 8.88788864 9.30227397 9.21835239 9.26295339 9.2963963
 9.48030895 9.26879817 9.00066752 9.27361101]
DEBUG:root:mean evidence: 9.238, std: 0.164 -> th=7.5842471597326
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 9.48
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tuna_fish_can', 'montys_brain', 'harissa_oil', 'ramen_pack', 'numenta_mug', 'mustard_bottle', 'tomato_soup_can', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 25 ---
INFO:uvicorn.access:192.168.1.217:64698 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.45688906,  0.38819122, -0.8003499 ],
       [-0.64748913, -0.76207469,  0.        ],
       [-0.6099264 ,  0.51821786,  0.59953319]]), 'pose_fully_defined': False}}, {'patch': array([-0.00180858, -0.00757534, -0.0017754 ])}]
INFO:root:Testing 4999 out of 14424 hypotheses for numenta_mug (evidence > 1.8960617899331496)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 9.834
INFO:root:Testing 1817 out of 10992 hypotheses for montys_brain (evidence > 1.8960617899331496)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.379
INFO:root:Testing 4397 out of 14880 hypotheses for montys_heart (evidence > 1.8960617899331496)
DEBUG:root:Calculating evidence for montys_heart using input 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: 9.777
INFO:root:Testing 8790 out of 23200 hypotheses for ramen_pack (evidence > 1.8960617899331496)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 9.69
INFO:root:Testing 3391 out of 14864 hypotheses for hot_sauce (evidence > 1.8960617899331496)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 9.723
INFO:root:Testing 3876 out of 12560 hypotheses for harissa_oil (evidence > 1.8960617899331496)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 9.791
INFO:root:Testing 7002 out of 21832 hypotheses for tomato_soup_can (evidence > 1.8960617899331496)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 9.913
INFO:root:Testing 8321 out of 16976 hypotheses for mustard_bottle (evidence > 1.8960617899331496)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 9.728
INFO:root:Testing 5870 out of 17728 hypotheses for tuna_fish_can (evidence > 1.8960617899331496)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 9.492
INFO:root:Testing 7749 out of 19024 hypotheses for potted_meat_can (evidence > 1.8960617899331496)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 9.702
DEBUG:root:evidences for each object: [9.83435288 9.37894046 9.77722087 9.68998084 9.72283709 9.79078595
 9.9126248  9.72780535 9.49224719 9.70158315]
DEBUG:root:mean evidence: 9.703, std: 0.15 -> th=7.930099836727801
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 9.91
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tuna_fish_can', 'montys_brain', 'harissa_oil', 'ramen_pack', 'numenta_mug', 'mustard_bottle', 'tomato_soup_can', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 26 ---
INFO:uvicorn.access:192.168.1.217:64698 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.51520131, -0.11610207, -0.84916896],
       [ 0.21983979, -0.97553599,  0.        ],
       [-0.82839488, -0.18668113,  0.52812127]]), 'pose_fully_defined': False}}, {'patch': array([-0.00180346, -0.01281831, -0.00147648])}]
INFO:root:Testing 4999 out of 14424 hypotheses for numenta_mug (evidence > 1.9825249591819496)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 10.286
INFO:root:Testing 1839 out of 10992 hypotheses for montys_brain (evidence > 1.9825249591819496)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.818
INFO:root:Testing 4397 out of 14880 hypotheses for montys_heart (evidence > 1.9825249591819496)
DEBUG:root:Calculating evidence for montys_heart using input 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: 10.21
INFO:root:Testing 8790 out of 23200 hypotheses for ramen_pack (evidence > 1.9825249591819496)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 9.975
INFO:root:Testing 3494 out of 14864 hypotheses for hot_sauce (evidence > 1.9825249591819496)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 10.205
INFO:root:Testing 3885 out of 12560 hypotheses for harissa_oil (evidence > 1.9825249591819496)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 10.285
INFO:root:Testing 7001 out of 21832 hypotheses for tomato_soup_can (evidence > 1.9825249591819496)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 10.354
INFO:root:Testing 8321 out of 16976 hypotheses for mustard_bottle (evidence > 1.9825249591819496)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 10.049
INFO:root:Testing 5870 out of 17728 hypotheses for tuna_fish_can (evidence > 1.9825249591819496)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 9.923
INFO:root:Testing 7749 out of 19024 hypotheses for potted_meat_can (evidence > 1.9825249591819496)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 10.042
DEBUG:root:evidences for each object: [10.28625055  9.81797912 10.21024417  9.97499675 10.20534351 10.28484435
 10.35369769 10.04922075  9.92272965 10.04209513]
DEBUG:root:mean evidence: 10.115, std: 0.169 -> th=8.282958149893002
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 10.35
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tuna_fish_can', 'montys_brain', 'harissa_oil', 'ramen_pack', 'numenta_mug', 'mustard_bottle', 'tomato_soup_can', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 27 ---
INFO:uvicorn.access:192.168.1.217:64698 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.4650774 , -0.17553993, -0.86769162],
       [ 0.35312598, -0.93557578,  0.        ],
       [-0.81179126, -0.30640445,  0.49710287]]), 'pose_fully_defined': False}}, {'patch': array([-0.00641426, -0.00395829,  0.00377819])}]
INFO:root:Testing 4994 out of 14424 hypotheses for numenta_mug (evidence > 2.0707395374732496)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 10.772
INFO:root:Testing 1831 out of 10992 hypotheses for montys_brain (evidence > 2.0707395374732496)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.199
INFO:root:Testing 4390 out of 14880 hypotheses for montys_heart (evidence > 2.0707395374732496)
DEBUG:root:Calculating evidence for montys_heart using input 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: 10.6
INFO:root:Testing 8779 out of 23200 hypotheses for ramen_pack (evidence > 2.0707395374732496)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 10.307
INFO:root:Testing 3466 out of 14864 hypotheses for hot_sauce (evidence > 2.0707395374732496)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 10.61
INFO:root:Testing 3868 out of 12560 hypotheses for harissa_oil (evidence > 2.0707395374732496)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 10.742
INFO:root:Testing 6967 out of 21832 hypotheses for tomato_soup_can (evidence > 2.0707395374732496)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 10.831
INFO:root:Testing 8307 out of 16976 hypotheses for mustard_bottle (evidence > 2.0707395374732496)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 10.392
INFO:root:Testing 5845 out of 17728 hypotheses for tuna_fish_can (evidence > 2.0707395374732496)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 10.281
INFO:root:Testing 7736 out of 19024 hypotheses for potted_meat_can (evidence > 2.0707395374732496)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 10.384
DEBUG:root:evidences for each object: [10.77205368 10.19921802 10.60046187 10.30672254 10.61034367 10.74222031
 10.8314667  10.39181224 10.28101746 10.38384415]
DEBUG:root:mean evidence: 10.512, std: 0.215 -> th=8.665173358372163
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 10.83
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tuna_fish_can', 'montys_brain', 'harissa_oil', 'ramen_pack', 'numenta_mug', 'mustard_bottle', 'tomato_soup_can', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 28 ---
INFO:uvicorn.access:192.168.1.217:64700 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.51809547, -0.03006685, -0.85479417],
       [ 0.05793594, -0.9983203 ,  0.        ],
       [-0.85335837, -0.0495233 ,  0.51896718]]), 'pose_fully_defined': False}}, {'patch': array([-0.00377517,  0.00389741,  0.00062753])}]
INFO:root:Testing 4980 out of 14424 hypotheses for numenta_mug (evidence > 2.1662933395930413)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 11.211
INFO:root:Testing 1815 out of 10992 hypotheses for montys_brain (evidence > 2.1662933395930413)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.472
INFO:root:Testing 4370 out of 14880 hypotheses for montys_heart (evidence > 2.1662933395930413)
DEBUG:root:Calculating evidence for montys_heart using input 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: 11.047
INFO:root:Testing 8723 out of 23200 hypotheses for ramen_pack (evidence > 2.1662933395930413)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 10.792
INFO:root:Testing 3409 out of 14864 hypotheses for hot_sauce (evidence > 2.1662933395930413)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 11.044
INFO:root:Testing 3816 out of 12560 hypotheses for harissa_oil (evidence > 2.1662933395930413)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 11.124
INFO:root:Testing 6902 out of 21832 hypotheses for tomato_soup_can (evidence > 2.1662933395930413)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 11.307
INFO:root:Testing 8273 out of 16976 hypotheses for mustard_bottle (evidence > 2.1662933395930413)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 10.85
INFO:root:Testing 5762 out of 17728 hypotheses for tuna_fish_can (evidence > 2.1662933395930413)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 10.766
INFO:root:Testing 7682 out of 19024 hypotheses for potted_meat_can (evidence > 2.1662933395930413)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 10.798
DEBUG:root:evidences for each object: [11.21115764 10.4720474  11.04716261 10.7924125  11.04435612 11.12445879
 11.30737719 10.85019028 10.76600885 10.79846368]
DEBUG:root:mean evidence: 10.941, std: 0.237 -> th=9.04590175437793
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 11.31
DEBUG:root:evidences for each object: [11.21115764 10.4720474  11.04716261 10.7924125  11.04435612 11.12445879
 11.30737719 10.85019028 10.76600885 10.79846368]
DEBUG:root:mean evidence: 10.941, std: 0.237 -> th=9.04590175437793
DEBUG:root:evidences for each object: [11.21115764 10.4720474  11.04716261 10.7924125  11.04435612 11.12445879
 11.30737719 10.85019028 10.76600885 10.79846368]
DEBUG:root:mean evidence: 10.941, std: 0.237 -> th=9.61127061402655
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tuna_fish_can', 'montys_brain', 'harissa_oil', 'ramen_pack', 'numenta_mug', 'mustard_bottle', 'tomato_soup_can', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 29 ---
INFO:uvicorn.access:192.168.1.217:64701 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64701 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.80415011,  0.01983293, -0.59409533],
       [-0.02465573, -0.999696  ,  0.        ],
       [-0.59391472,  0.01464785,  0.80439464]]), 'pose_fully_defined': False}}, {'patch': array([0.00514522, 0.04088683, 0.03282781])}]
INFO:root:Testing 4944 out of 14424 hypotheses for numenta_mug (evidence > 2.2614754385944824)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 11.411
INFO:root:Testing 1791 out of 10992 hypotheses for montys_brain (evidence > 2.2614754385944824)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.044
INFO:root:Testing 4332 out of 14880 hypotheses for montys_heart (evidence > 2.2614754385944824)
DEBUG:root:Calculating evidence for montys_heart using input 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: 11.081
INFO:root:Testing 8601 out of 23200 hypotheses for ramen_pack (evidence > 2.2614754385944824)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 10.639
INFO:root:Testing 3358 out of 14864 hypotheses for hot_sauce (evidence > 2.2614754385944824)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 10.836
INFO:root:Testing 3747 out of 12560 hypotheses for harissa_oil (evidence > 2.2614754385944824)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 11.062
INFO:root:Testing 6786 out of 21832 hypotheses for tomato_soup_can (evidence > 2.2614754385944824)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 11.311
INFO:root:Testing 8219 out of 16976 hypotheses for mustard_bottle (evidence > 2.2614754385944824)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 10.473
INFO:root:Testing 5633 out of 17728 hypotheses for tuna_fish_can (evidence > 2.2614754385944824)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 10.12
INFO:root:Testing 7552 out of 19024 hypotheses for potted_meat_can (evidence > 2.2614754385944824)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 10.683
DEBUG:root:evidences for each object: [11.41053833 10.04400011 11.08115703 10.63924474 10.83602482 11.0619871
 11.31091864 10.47269704 10.11989574 10.68317251]
DEBUG:root:mean evidence: 10.766, std: 0.442 -> th=9.12843066100157
INFO:root:current most likely hypothesis: numenta_mug with evidence 11.41
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tuna_fish_can', 'montys_brain', 'harissa_oil', 'ramen_pack', 'numenta_mug', 'mustard_bottle', 'tomato_soup_can', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 30 ---
INFO:uvicorn.access:192.168.1.217:64703 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.56238461, -0.258011  , -0.78559142],
       [ 0.41699044, -0.90891087,  0.        ],
       [-0.71403258, -0.32758411,  0.61874561]]), 'pose_fully_defined': False}}, {'patch': array([-0.00405303, -0.0018579 ,  0.00458036])}]
INFO:root:Testing 4891 out of 14424 hypotheses for numenta_mug (evidence > 2.2821076652503915)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 11.59
INFO:root:Testing 1766 out of 10992 hypotheses for montys_brain (evidence > 2.2821076652503915)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.672
INFO:root:Testing 4300 out of 14880 hypotheses for montys_heart (evidence > 2.2821076652503915)
DEBUG:root:Calculating evidence for montys_heart using input 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: 11.013
INFO:root:Testing 8503 out of 23200 hypotheses for ramen_pack (evidence > 2.2821076652503915)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 10.586
INFO:root:Testing 3228 out of 14864 hypotheses for hot_sauce (evidence > 2.2821076652503915)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 10.542
INFO:root:Testing 3661 out of 12560 hypotheses for harissa_oil (evidence > 2.2821076652503915)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 10.915
INFO:root:Testing 6666 out of 21832 hypotheses for tomato_soup_can (evidence > 2.2821076652503915)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 11.203
INFO:root:Testing 8169 out of 16976 hypotheses for mustard_bottle (evidence > 2.2821076652503915)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 10.456
INFO:root:Testing 5502 out of 17728 hypotheses for tuna_fish_can (evidence > 2.2821076652503915)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 10.075
INFO:root:Testing 7424 out of 19024 hypotheses for potted_meat_can (evidence > 2.2821076652503915)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 10.79
DEBUG:root:evidences for each object: [11.58955008  9.67211481 11.01283133 10.58641631 10.54209791 10.91460992
 11.20298921 10.45601823 10.0748629  10.79049972]
DEBUG:root:mean evidence: 10.684, std: 0.523 -> th=9.271640064671157
INFO:root:current most likely hypothesis: numenta_mug with evidence 11.59
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tuna_fish_can', 'montys_brain', 'harissa_oil', 'ramen_pack', 'numenta_mug', 'mustard_bottle', 'tomato_soup_can', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 31 ---
INFO:uvicorn.access:192.168.1.217:64703 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.65526804, -0.01937087, -0.75514804],
       [ 0.02954884, -0.99956334,  0.        ],
       [-0.75481829, -0.02231375,  0.6555543 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00609239,  0.00258088,  0.0026294 ])}]
INFO:root:Testing 4794 out of 14424 hypotheses for numenta_mug (evidence > 2.3179100161677884)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 11.967
INFO:root:Testing 1687 out of 10992 hypotheses for montys_brain (evidence > 2.3179100161677884)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.672
INFO:root:Testing 4246 out of 14880 hypotheses for montys_heart (evidence > 2.3179100161677884)
DEBUG:root:Calculating evidence for montys_heart using input 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: 11.23
INFO:root:Testing 8305 out of 23200 hypotheses for ramen_pack (evidence > 2.3179100161677884)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 10.643
INFO:root:Testing 3023 out of 14864 hypotheses for hot_sauce (evidence > 2.3179100161677884)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 10.166
INFO:root:Testing 3548 out of 12560 hypotheses for harissa_oil (evidence > 2.3179100161677884)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 10.675
INFO:root:Testing 6356 out of 21832 hypotheses for tomato_soup_can (evidence > 2.3179100161677884)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 11.41
INFO:root:Testing 8042 out of 16976 hypotheses for mustard_bottle (evidence > 2.3179100161677884)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 10.795
INFO:root:Testing 5277 out of 17728 hypotheses for tuna_fish_can (evidence > 2.3179100161677884)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 9.075
INFO:root:Testing 7143 out of 19024 hypotheses for potted_meat_can (evidence > 2.3179100161677884)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 10.964
DEBUG:root:evidences for each object: [11.96731379  8.67211481 11.2300987  10.64333589 10.16598479 10.67451798
 11.40956179 10.79526369  9.0748629  10.96356605]
DEBUG:root:mean evidence: 10.56, std: 0.965 -> th=9.573851035070025
INFO:root:current most likely hypothesis: numenta_mug with evidence 11.97
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'harissa_oil', 'ramen_pack', 'numenta_mug', 'mustard_bottle', 'tomato_soup_can', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 32 ---
INFO:uvicorn.access:192.168.1.217:64703 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.65456917,  0.0661564 , -0.75310194],
       [-0.10055634, -0.99493137,  0.        ],
       [-0.74928474,  0.07572917,  0.65790384]]), 'pose_fully_defined': False}}, {'patch': array([-0.00333242, -0.00614876, -0.00348913])}]
INFO:root:Testing 4612 out of 14424 hypotheses for numenta_mug (evidence > 2.3934627587675052)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 12.021
INFO:root:Testing 1535 out of 10992 hypotheses for montys_brain (evidence > 2.3934627587675052)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.214
INFO:root:Testing 4087 out of 14880 hypotheses for montys_heart (evidence > 2.3934627587675052)
DEBUG:root:Calculating evidence for montys_heart using input 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: 11.695
INFO:root:Testing 7887 out of 23200 hypotheses for ramen_pack (evidence > 2.3934627587675052)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 10.762
INFO:root:Testing 2690 out of 14864 hypotheses for hot_sauce (evidence > 2.3934627587675052)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 10.117
INFO:root:Testing 3317 out of 12560 hypotheses for harissa_oil (evidence > 2.3934627587675052)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 10.678
INFO:root:Testing 5926 out of 21832 hypotheses for tomato_soup_can (evidence > 2.3934627587675052)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 11.341
INFO:root:Testing 7808 out of 16976 hypotheses for mustard_bottle (evidence > 2.3934627587675052)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 11.096
INFO:root:Testing 4859 out of 17728 hypotheses for tuna_fish_can (evidence > 2.3934627587675052)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 8.657
INFO:root:Testing 6755 out of 19024 hypotheses for potted_meat_can (evidence > 2.3934627587675052)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 10.92
DEBUG:root:evidences for each object: [12.02059193  8.21447737 11.69503883 10.76159677 10.11650692 10.67827928
 11.34051685 11.09562943  8.65746389 10.91985473]
DEBUG:root:mean evidence: 10.55, std: 1.176 -> th=9.616473547366029
INFO:root:current most likely hypothesis: numenta_mug with evidence 12.02
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'harissa_oil', 'ramen_pack', 'numenta_mug', 'mustard_bottle', 'tomato_soup_can', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 33 ---
INFO:uvicorn.access:192.168.1.217:64703 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.67920422,  0.09600549, -0.72764316],
       [-0.13995871, -0.99015734,  0.        ],
       [-0.72048122,  0.10184   ,  0.68595585]]), 'pose_fully_defined': False}}, {'patch': array([0.00625305, 0.00509661, 0.0006905 ])}]
INFO:root:Testing 4339 out of 14424 hypotheses for numenta_mug (evidence > 2.404118386841507)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 12.417
INFO:root:Testing 1341 out of 10992 hypotheses for montys_brain (evidence > 2.404118386841507)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.272
INFO:root:Testing 3861 out of 14880 hypotheses for montys_heart (evidence > 2.404118386841507)
DEBUG:root:Calculating evidence for montys_heart using input 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: 12.158
INFO:root:Testing 7389 out of 23200 hypotheses for ramen_pack (evidence > 2.404118386841507)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 10.923
INFO:root:Testing 2472 out of 14864 hypotheses for hot_sauce (evidence > 2.404118386841507)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 10.064
INFO:root:Testing 2902 out of 12560 hypotheses for harissa_oil (evidence > 2.404118386841507)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 10.702
INFO:root:Testing 5359 out of 21832 hypotheses for tomato_soup_can (evidence > 2.404118386841507)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 11.626
INFO:root:Testing 7409 out of 16976 hypotheses for mustard_bottle (evidence > 2.404118386841507)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 11.495
INFO:root:Testing 4129 out of 17728 hypotheses for tuna_fish_can (evidence > 2.404118386841507)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 8.811
INFO:root:Testing 6092 out of 19024 hypotheses for potted_meat_can (evidence > 2.404118386841507)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 11.194
DEBUG:root:evidences for each object: [12.41708872  8.27197367 12.15767337 10.92332408 10.06429802 10.70226285
 11.62553062 11.49488891  8.81060928 11.19380112]
DEBUG:root:mean evidence: 10.766, std: 1.292 -> th=9.933670976733774
INFO:root:current most likely hypothesis: numenta_mug with evidence 12.42
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'harissa_oil', 'ramen_pack', 'numenta_mug', 'mustard_bottle', 'tomato_soup_can', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 34 ---
INFO:uvicorn.access:192.168.1.217:64703 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.65090989,  0.13528024, -0.7470044 ],
       [-0.20348429, -0.97907821,  0.        ],
       [-0.73137573,  0.15200366,  0.6648191 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00331262, -0.00754679, -0.00059954])}]
INFO:root:Testing 3704 out of 14424 hypotheses for numenta_mug (evidence > 2.483417744183443)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 12.906
INFO:root:Testing 951 out of 10992 hypotheses for montys_brain (evidence > 2.483417744183443)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.357
INFO:root:Testing 3484 out of 14880 hypotheses for montys_heart (evidence > 2.483417744183443)
DEBUG:root:Calculating evidence for montys_heart using input 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: 12.454
INFO:root:Testing 6299 out of 23200 hypotheses for ramen_pack (evidence > 2.483417744183443)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 10.891
INFO:root:Testing 2084 out of 14864 hypotheses for hot_sauce (evidence > 2.483417744183443)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 10.109
INFO:root:Testing 2484 out of 12560 hypotheses for harissa_oil (evidence > 2.483417744183443)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 10.727
INFO:root:Testing 4301 out of 21832 hypotheses for tomato_soup_can (evidence > 2.483417744183443)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 11.583
INFO:root:Testing 6598 out of 16976 hypotheses for mustard_bottle (evidence > 2.483417744183443)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 11.722
INFO:root:Testing 3062 out of 17728 hypotheses for tuna_fish_can (evidence > 2.483417744183443)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 8.723
INFO:root:Testing 4865 out of 19024 hypotheses for potted_meat_can (evidence > 2.483417744183443)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 11.373
DEBUG:root:evidences for each object: [12.90642771  8.35668431 12.4536001  10.89131971 10.10930973 10.72675895
 11.58313299 11.7220002   8.72263747 11.3726411 ]
DEBUG:root:mean evidence: 10.884, std: 1.402 -> th=10.32514216903148
INFO:root:current most likely hypothesis: numenta_mug with evidence 12.91
DEBUG:root:evidences for each object: [12.90642771  8.35668431 12.4536001  10.89131971 10.10930973 10.72675895
 11.58313299 11.7220002   8.72263747 11.3726411 ]
DEBUG:root:mean evidence: 10.884, std: 1.402 -> th=10.32514216903148
DEBUG:root:evidences for each object: [12.90642771  8.35668431 12.4536001  10.89131971 10.10930973 10.72675895
 11.58313299 11.7220002   8.72263747 11.3726411 ]
DEBUG:root:mean evidence: 10.884, std: 1.402 -> th=10.970463554595948
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'harissa_oil', 'ramen_pack', 'numenta_mug', 'mustard_bottle', 'tomato_soup_can', 'montys_heart'}
INFO:root:--- Global Matching Step 35 ---
INFO:uvicorn.access:192.168.1.217:64703 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.61454934, -0.346664  , -0.70862767],
       [ 0.49131597, -0.87098141,  0.        ],
       [-0.61720153, -0.34816009,  0.70558261]]), 'pose_fully_defined': False}}, {'patch': array([0.00768992, 0.00611105, 0.00357657])}]
INFO:root:Testing 2847 out of 14424 hypotheses for numenta_mug (evidence > 2.58128554225787)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 12.979
INFO:root:Testing 462 out of 10992 hypotheses for montys_brain (evidence > 2.58128554225787)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.187
INFO:root:Testing 2812 out of 14880 hypotheses for montys_heart (evidence > 2.58128554225787)
DEBUG:root:Calculating evidence for montys_heart using input 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: 12.856
INFO:root:Testing 3340 out of 23200 hypotheses for ramen_pack (evidence > 2.58128554225787)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 10.903
INFO:root:Testing 1667 out of 14864 hypotheses for hot_sauce (evidence > 2.58128554225787)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.796
INFO:root:Testing 1726 out of 12560 hypotheses for harissa_oil (evidence > 2.58128554225787)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 10.462
INFO:root:Testing 3238 out of 21832 hypotheses for tomato_soup_can (evidence > 2.58128554225787)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 11.692
INFO:root:Testing 5366 out of 16976 hypotheses for mustard_bottle (evidence > 2.58128554225787)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 12.192
INFO:root:Testing 2193 out of 17728 hypotheses for tuna_fish_can (evidence > 2.58128554225787)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 8.89
INFO:root:Testing 3112 out of 19024 hypotheses for potted_meat_can (evidence > 2.58128554225787)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 11.447
DEBUG:root:evidences for each object: [12.97901268  8.18696461 12.85623491 10.90274901  9.79559308 10.46249766
 11.69166827 12.19218429  8.88998642 11.4467214 ]
DEBUG:root:mean evidence: 10.94, std: 1.534 -> th=10.383210144497367
INFO:root:current most likely hypothesis: numenta_mug with evidence 12.98
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'harissa_oil', 'ramen_pack', 'numenta_mug', 'mustard_bottle', 'tomato_soup_can', 'montys_heart'}
INFO:root:--- Global Matching Step 36 ---
INFO:uvicorn.access:192.168.1.217:64703 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.70985648,  0.04107012, -0.70314794],
       [-0.05776034, -0.99833048,  0.        ],
       [-0.70197402,  0.04061406,  0.71104358]]), 'pose_fully_defined': False}}, {'patch': array([-0.00030675,  0.00340711, -0.00184072])}]
INFO:root:Testing 2278 out of 14424 hypotheses for numenta_mug (evidence > 2.5958025361243404)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 13.412
INFO:root:Testing 192 out of 10992 hypotheses for montys_brain (evidence > 2.5958025361243404)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.31
INFO:root:Testing 2180 out of 14880 hypotheses for montys_heart (evidence > 2.5958025361243404)
DEBUG:root:Calculating evidence for montys_heart using input 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: 13.25
INFO:root:Testing 2378 out of 23200 hypotheses for ramen_pack (evidence > 2.5958025361243404)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 11.14
INFO:root:Testing 1276 out of 14864 hypotheses for hot_sauce (evidence > 2.5958025361243404)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.602
INFO:root:Testing 1263 out of 12560 hypotheses for harissa_oil (evidence > 2.5958025361243404)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 10.331
INFO:root:Testing 2581 out of 21832 hypotheses for tomato_soup_can (evidence > 2.5958025361243404)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 11.973
INFO:root:Testing 4065 out of 16976 hypotheses for mustard_bottle (evidence > 2.5958025361243404)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 12.63
INFO:root:Testing 1607 out of 17728 hypotheses for tuna_fish_can (evidence > 2.5958025361243404)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.426
INFO:root:Testing 2385 out of 19024 hypotheses for potted_meat_can (evidence > 2.5958025361243404)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 11.75
DEBUG:root:evidences for each object: [13.41232921  8.31037005 13.2503026  11.13966537  9.60154541 10.33089099
 11.97301873 12.62980143  8.42635938 11.75046733]
DEBUG:root:mean evidence: 11.082, std: 1.768 -> th=10.72986337178667
INFO:root:current most likely hypothesis: numenta_mug with evidence 13.41
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle', 'ramen_pack', 'numenta_mug', 'tomato_soup_can', 'montys_heart'}
INFO:root:--- Global Matching Step 37 ---
INFO:uvicorn.access:192.168.1.217:64703 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.66296295,  0.21985002, -0.71564384],
       [-0.31476151, -0.94917079,  0.        ],
       [-0.67926823,  0.22525713,  0.69846539]]), 'pose_fully_defined': False}}, {'patch': array([-0.00012587,  0.00116053,  0.00169729])}]
INFO:root:Testing 1924 out of 14424 hypotheses for numenta_mug (evidence > 2.6824658429466677)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 13.796
INFO:root:Testing 93 out of 10992 hypotheses for montys_brain (evidence > 2.6824658429466677)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.524
INFO:root:Testing 1577 out of 14880 hypotheses for montys_heart (evidence > 2.6824658429466677)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.604
INFO:root:Testing 1941 out of 23200 hypotheses for ramen_pack (evidence > 2.6824658429466677)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 11.324
INFO:root:Testing 960 out of 14864 hypotheses for hot_sauce (evidence > 2.6824658429466677)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.474
INFO:root:Testing 976 out of 12560 hypotheses for harissa_oil (evidence > 2.6824658429466677)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 10.336
INFO:root:Testing 2210 out of 21832 hypotheses for tomato_soup_can (evidence > 2.6824658429466677)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 12.288
INFO:root:Testing 3360 out of 16976 hypotheses for mustard_bottle (evidence > 2.6824658429466677)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 13.006
INFO:root:Testing 1180 out of 17728 hypotheses for tuna_fish_can (evidence > 2.6824658429466677)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.283
INFO:root:Testing 1969 out of 19024 hypotheses for potted_meat_can (evidence > 2.6824658429466677)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 11.731
DEBUG:root:evidences for each object: [13.79583574  8.5237276  13.60414431 11.32366839  9.4736951  10.33567239
 12.28771402 13.00639056  8.28285656 11.73056852]
DEBUG:root:mean evidence: 11.236, std: 1.914 -> th=11.036668588872647
INFO:root:current most likely hypothesis: numenta_mug with evidence 13.8
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle', 'ramen_pack', 'numenta_mug', 'tomato_soup_can', 'montys_heart'}
INFO:root:--- Global Matching Step 38 ---
INFO:uvicorn.access:192.168.1.217:64703 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.67438061,  0.33781506, -0.65657579],
       [-0.44787612, -0.89409562,  0.        ],
       [-0.58704154,  0.29406462,  0.75426006]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00551936, -0.00120844, -0.00056226])}]
INFO:root:Testing 1681 out of 14424 hypotheses for numenta_mug (evidence > 2.759167147218161)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 14.05
INFO:root:Testing 67 out of 10992 hypotheses for montys_brain (evidence > 2.759167147218161)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.785
INFO:root:Testing 1379 out of 14880 hypotheses for montys_heart (evidence > 2.759167147218161)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.061
INFO:root:Testing 1746 out of 23200 hypotheses for ramen_pack (evidence > 2.759167147218161)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 11.103
INFO:root:Testing 726 out of 14864 hypotheses for hot_sauce (evidence > 2.759167147218161)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.322
INFO:root:Testing 726 out of 12560 hypotheses for harissa_oil (evidence > 2.759167147218161)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 10.231
INFO:root:Testing 1886 out of 21832 hypotheses for tomato_soup_can (evidence > 2.759167147218161)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 12.196
INFO:root:Testing 3055 out of 16976 hypotheses for mustard_bottle (evidence > 2.759167147218161)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 12.989
INFO:root:Testing 990 out of 17728 hypotheses for tuna_fish_can (evidence > 2.759167147218161)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.825
INFO:root:Testing 1736 out of 19024 hypotheses for potted_meat_can (evidence > 2.759167147218161)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 11.676
DEBUG:root:evidences for each object: [14.04991604  8.78472669 14.06144131 11.10312951  9.32215436 10.23069036
 12.19610345 12.98931141  7.82532505 11.67634136]
DEBUG:root:mean evidence: 11.224, std: 2.06 -> th=11.24915304794582
INFO:root:current most likely hypothesis: montys_heart with evidence 14.06
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle', 'numenta_mug', 'tomato_soup_can', 'montys_heart'}
INFO:root:--- Global Matching Step 39 ---
INFO:uvicorn.access:192.168.1.217:64705 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.56826052,  0.08171872, -0.81878082],
       [-0.14234076, -0.98981771,  0.        ],
       [-0.81044376,  0.11654589,  0.57410623]]), 'pose_fully_defined': False}}, {'patch': array([-1.36866772,  4.69881353,  2.08921799])}]
INFO:root:Testing 1580 out of 14424 hypotheses for numenta_mug (evidence > 2.8122882619864544)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 13.05
INFO:root:Testing 66 out of 10992 hypotheses for montys_brain (evidence > 2.8122882619864544)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.785
INFO:root:Testing 1309 out of 14880 hypotheses for montys_heart (evidence > 2.8122882619864544)
DEBUG:root:Calculating evidence for montys_heart using input 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: 13.061
INFO:root:Testing 1613 out of 23200 hypotheses for ramen_pack (evidence > 2.8122882619864544)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 10.103
INFO:root:Testing 572 out of 14864 hypotheses for hot_sauce (evidence > 2.8122882619864544)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.322
INFO:root:Testing 666 out of 12560 hypotheses for harissa_oil (evidence > 2.8122882619864544)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 9.231
INFO:root:Testing 1737 out of 21832 hypotheses for tomato_soup_can (evidence > 2.8122882619864544)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 11.196
INFO:root:Testing 2874 out of 16976 hypotheses for mustard_bottle (evidence > 2.8122882619864544)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 11.989
INFO:root:Testing 921 out of 17728 hypotheses for tuna_fish_can (evidence > 2.8122882619864544)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.825
INFO:root:Testing 1574 out of 19024 hypotheses for potted_meat_can (evidence > 2.8122882619864544)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.676
DEBUG:root:evidences for each object: [13.04991604  7.78472669 13.06144131 10.10312951  8.32215436  9.23069036
 11.19610345 11.98931141  6.82532505 10.67634136]
DEBUG:root:mean evidence: 10.224, std: 2.06 -> th=10.449153047945819
INFO:root:current most likely hypothesis: montys_heart with evidence 13.06
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle', 'numenta_mug', 'tomato_soup_can', 'montys_heart'}
INFO:root:--- Global Matching Step 40 ---
INFO:uvicorn.access:192.168.1.217:64706 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.96515886,  0.21589575, -0.14784251],
       [-0.21829461,  0.97588292,  0.        ],
       [ 0.14427698,  0.03227322,  0.98901092]]), 'pose_fully_defined': False}}, {'patch': array([ 1.41472986, -4.68037376, -2.06901426])}]
INFO:root:Testing 1564 out of 14424 hypotheses for numenta_mug (evidence > 2.6122882619864534)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 12.05
INFO:root:Testing 65 out of 10992 hypotheses for montys_brain (evidence > 2.6122882619864534)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 6.785
INFO:root:Testing 1304 out of 14880 hypotheses for montys_heart (evidence > 2.6122882619864534)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 12.061
INFO:root:Testing 1501 out of 23200 hypotheses for ramen_pack (evidence > 2.6122882619864534)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.898
INFO:root:Testing 565 out of 14864 hypotheses for hot_sauce (evidence > 2.6122882619864534)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.948
INFO:root:Testing 654 out of 12560 hypotheses for harissa_oil (evidence > 2.6122882619864534)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 8.231
INFO:root:Testing 1647 out of 21832 hypotheses for tomato_soup_can (evidence > 2.6122882619864534)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 10.196
INFO:root:Testing 2808 out of 16976 hypotheses for mustard_bottle (evidence > 2.6122882619864534)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 10.989
INFO:root:Testing 839 out of 17728 hypotheses for tuna_fish_can (evidence > 2.6122882619864534)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.236
INFO:root:Testing 1464 out of 19024 hypotheses for potted_meat_can (evidence > 2.6122882619864534)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.425
DEBUG:root:evidences for each object: [12.04991604  6.78472669 12.06144131  9.89761806  7.94764191  8.23069036
 10.19610345 10.98931141  6.23595348 10.42529646]
DEBUG:root:mean evidence: 9.482, std: 1.97 -> th=9.64915304794582
INFO:root:current most likely hypothesis: montys_heart with evidence 12.06
DEBUG:root:evidences for each object: [12.04991604  6.78472669 12.06144131  9.89761806  7.94764191  8.23069036
 10.19610345 10.98931141  6.23595348 10.42529646]
DEBUG:root:mean evidence: 9.482, std: 1.97 -> th=9.64915304794582
DEBUG:root:evidences for each object: [12.04991604  6.78472669 12.06144131  9.89761806  7.94764191  8.23069036
 10.19610345 10.98931141  6.23595348 10.42529646]
DEBUG:root:mean evidence: 9.482, std: 1.97 -> th=10.252225113442433
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle', 'ramen_pack', 'numenta_mug', 'tomato_soup_can', 'montys_heart'}
INFO:root:--- Global Matching Step 41 ---
INFO:uvicorn.access:192.168.1.217:64708 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.95879537,  0.12444132, -0.25539341],
       [-0.12870969,  0.99168232,  0.        ],
       [ 0.25326913,  0.03287161,  0.96683722]]), 'pose_fully_defined': False}}, {'patch': array([-0.01395792,  0.00369454, -0.0117158 ])}]
INFO:root:Testing 1774 out of 14424 hypotheses for numenta_mug (evidence > 2.412288261986454)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 11.502
INFO:root:Testing 194 out of 10992 hypotheses for montys_brain (evidence > 2.412288261986454)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.785
INFO:root:Testing 1563 out of 14880 hypotheses for montys_heart (evidence > 2.412288261986454)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 11.75
INFO:root:Testing 1903 out of 23200 hypotheses for ramen_pack (evidence > 2.412288261986454)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 8.898
INFO:root:Testing 739 out of 14864 hypotheses for hot_sauce (evidence > 2.412288261986454)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.199
INFO:root:Testing 860 out of 12560 hypotheses for harissa_oil (evidence > 2.412288261986454)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 7.231
INFO:root:Testing 1941 out of 21832 hypotheses for tomato_soup_can (evidence > 2.412288261986454)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 9.196
INFO:root:Testing 3307 out of 16976 hypotheses for mustard_bottle (evidence > 2.412288261986454)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 10.518
INFO:root:Testing 1056 out of 17728 hypotheses for tuna_fish_can (evidence > 2.412288261986454)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.113
INFO:root:Testing 1823 out of 19024 hypotheses for potted_meat_can (evidence > 2.412288261986454)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 10.239
DEBUG:root:evidences for each object: [11.50241841  5.78472669 11.7500072   8.89761806  8.19884806  7.23069036
  9.19610345 10.51813577  6.11281963 10.23869464]
DEBUG:root:mean evidence: 8.943, std: 2.003 -> th=9.400005763085712
INFO:root:current most likely hypothesis: montys_heart with evidence 11.75
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'potted_meat_can', 'montys_heart', 'numenta_mug'}
INFO:root:--- Global Matching Step 42 ---
INFO:uvicorn.access:192.168.1.217:64708 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99764208,  0.06652675, -0.01686611],
       [-0.06653621,  0.99778401,  0.        ],
       [ 0.01682874,  0.00112221,  0.99985776]]), 'pose_fully_defined': False}}, {'patch': array([-0.01303972, -0.0139099 ,  0.00078264])}]
INFO:root:Testing 1513 out of 14424 hypotheses for numenta_mug (evidence > 2.350001440771427)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.502
INFO:root:Testing 131 out of 10992 hypotheses for montys_brain (evidence > 2.350001440771427)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.319
INFO:root:Testing 1261 out of 14880 hypotheses for montys_heart (evidence > 2.350001440771427)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 11.327
INFO:root:Testing 1422 out of 23200 hypotheses for ramen_pack (evidence > 2.350001440771427)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.664
INFO:root:Testing 480 out of 14864 hypotheses for hot_sauce (evidence > 2.350001440771427)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.199
INFO:root:Testing 640 out of 12560 hypotheses for harissa_oil (evidence > 2.350001440771427)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 6.698
INFO:root:Testing 1558 out of 21832 hypotheses for tomato_soup_can (evidence > 2.350001440771427)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 8.196
INFO:root:Testing 2743 out of 16976 hypotheses for mustard_bottle (evidence > 2.350001440771427)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 10.688
INFO:root:Testing 754 out of 17728 hypotheses for tuna_fish_can (evidence > 2.350001440771427)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.897
INFO:root:Testing 1427 out of 19024 hypotheses for potted_meat_can (evidence > 2.350001440771427)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.239
DEBUG:root:evidences for each object: [10.50241841  5.31861852 11.32745449  8.66408654  7.19884806  6.6980953
  8.19610345 10.68790419  5.89710426  9.23869464]
DEBUG:root:mean evidence: 8.373, std: 1.978 -> th=9.061963594433069
INFO:root:current most likely hypothesis: montys_heart with evidence 11.33
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'potted_meat_can', 'montys_heart', 'numenta_mug'}
INFO:root:--- Global Matching Step 43 ---
INFO:uvicorn.access:192.168.1.217:64708 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99841057,  0.05173154,  0.02236495],
       [-0.05174448,  0.99866036,  0.        ],
       [-0.02233499, -0.00115726,  0.99974987]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00101273,  0.01412199, -0.00619936])}]
INFO:root:Testing 1532 out of 14424 hypotheses for numenta_mug (evidence > 2.2654908986082667)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.376
INFO:root:Testing 172 out of 10992 hypotheses for montys_brain (evidence > 2.2654908986082667)
DEBUG:root:Calculating evidence for montys_brain using input 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: 4.319
INFO:root:Testing 1259 out of 14880 hypotheses for montys_heart (evidence > 2.2654908986082667)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.515
INFO:root:Testing 1650 out of 23200 hypotheses for ramen_pack (evidence > 2.2654908986082667)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 7.79
INFO:root:Testing 514 out of 14864 hypotheses for hot_sauce (evidence > 2.2654908986082667)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.199
INFO:root:Testing 674 out of 12560 hypotheses for harissa_oil (evidence > 2.2654908986082667)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 6.47
INFO:root:Testing 1576 out of 21832 hypotheses for tomato_soup_can (evidence > 2.2654908986082667)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
INFO:uvicorn.access:192.168.1.217:64708 - "POST /capture HTTP/1.1" 200
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 7.722
INFO:root:Testing 2662 out of 16976 hypotheses for mustard_bottle (evidence > 2.2654908986082667)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 10.724
INFO:root:Testing 877 out of 17728 hypotheses for tuna_fish_can (evidence > 2.2654908986082667)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.663
INFO:root:Testing 1450 out of 19024 hypotheses for potted_meat_can (evidence > 2.2654908986082667)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.065
DEBUG:root:evidences for each object: [10.37596504  4.31861852 10.5150829   7.7900536   6.19884806  6.47040455
  7.72182345 10.72393219  5.66340646  9.06494716]
DEBUG:root:mean evidence: 7.884, std: 2.124 -> th=8.579145752654213
INFO:root:current most likely hypothesis: mustard_bottle with evidence 10.72
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'potted_meat_can', 'montys_heart', 'numenta_mug'}
INFO:root:--- Global Matching Step 44 ---
INFO:uvicorn.access:192.168.1.217:64708 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99352013,  0.05507157, -0.09942274],
       [-0.0553458 ,  0.99846725,  0.        ],
       [ 0.09927035,  0.00550263,  0.99504528]]), 'pose_fully_defined': False}}, {'patch': array([-0.01113626,  0.01420189,  0.00782058])}]
INFO:root:Testing 1520 out of 14424 hypotheses for numenta_mug (evidence > 2.1447864381635533)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.099
INFO:root:Testing 232 out of 10992 hypotheses for montys_brain (evidence > 2.1447864381635533)
DEBUG:root:Calculating evidence for montys_brain using input 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: 3.319
INFO:root:Testing 1301 out of 14880 hypotheses for montys_heart (evidence > 2.1447864381635533)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.098
INFO:root:Testing 1764 out of 23200 hypotheses for ramen_pack (evidence > 2.1447864381635533)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 7.396
INFO:root:Testing 549 out of 14864 hypotheses for hot_sauce (evidence > 2.1447864381635533)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.968
INFO:root:Testing 762 out of 12560 hypotheses for harissa_oil (evidence > 2.1447864381635533)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 5.47
INFO:root:Testing 1690 out of 21832 hypotheses for tomato_soup_can (evidence > 2.1447864381635533)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 6.722
INFO:root:Testing 2631 out of 16976 hypotheses for mustard_bottle (evidence > 2.1447864381635533)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 9.724
INFO:root:Testing 960 out of 17728 hypotheses for tuna_fish_can (evidence > 2.1447864381635533)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.663
INFO:root:Testing 1647 out of 19024 hypotheses for potted_meat_can (evidence > 2.1447864381635533)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 8.421
DEBUG:root:evidences for each object: [10.09934772  3.31861852 10.09843958  7.39589618  5.96789699  5.47040455
  6.72182345  9.72393219  4.66340646  8.42113453]
DEBUG:root:mean evidence: 7.188, std: 2.257 -> th=8.079478176976993
INFO:root:current most likely hypothesis: numenta_mug with evidence 10.1
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'potted_meat_can', 'montys_heart', 'numenta_mug'}
INFO:root:--- Global Matching Step 45 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.92626328,  0.00335947, -0.37686211],
       [-0.00362688,  0.99999342,  0.        ],
       [ 0.37685963,  0.00136683,  0.92626937]]), 'pose_fully_defined': False}}, {'patch': array([-0.00098467, -0.04084426, -0.03094524])}]
INFO:root:Testing 1385 out of 14424 hypotheses for numenta_mug (evidence > 2.019869544244248)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.915
INFO:root:Testing 218 out of 10992 hypotheses for montys_brain (evidence > 2.019869544244248)
DEBUG:root:Calculating evidence for montys_brain using input 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: 3.123
INFO:root:Testing 1195 out of 14880 hypotheses for montys_heart (evidence > 2.019869544244248)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.906
INFO:root:Testing 1744 out of 23200 hypotheses for ramen_pack (evidence > 2.019869544244248)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 7.196
INFO:root:Testing 528 out of 14864 hypotheses for hot_sauce (evidence > 2.019869544244248)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.717
INFO:root:Testing 718 out of 12560 hypotheses for harissa_oil (evidence > 2.019869544244248)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 5.289
INFO:root:Testing 1564 out of 21832 hypotheses for tomato_soup_can (evidence > 2.019869544244248)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.458
INFO:root:Testing 2524 out of 16976 hypotheses for mustard_bottle (evidence > 2.019869544244248)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 9.836
INFO:root:Testing 807 out of 17728 hypotheses for tuna_fish_can (evidence > 2.019869544244248)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.563
INFO:root:Testing 1391 out of 19024 hypotheses for potted_meat_can (evidence > 2.019869544244248)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.228
DEBUG:root:evidences for each object: [9.91525326 3.12347401 9.90645435 7.19627417 5.71653273 5.28887956
 6.45831832 9.83643342 4.56336189 8.22802152]
DEBUG:root:mean evidence: 7.023, std: 2.288 -> th=7.932202608444143
INFO:root:current most likely hypothesis: numenta_mug with evidence 9.92
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'potted_meat_can', 'montys_heart', 'numenta_mug'}
INFO:root:--- Global Matching Step 46 ---
INFO:uvicorn.access:192.168.1.217:64708 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.92240066, -0.03365946, -0.38476496],
       [ 0.03646687,  0.99933486, -0.        ],
       [ 0.38450904, -0.01403117,  0.92301459]]), 'pose_fully_defined': False}}, {'patch': array([ 0.02585197,  0.00075307, -0.00990889])}]
INFO:root:Testing 1038 out of 14424 hypotheses for numenta_mug (evidence > 1.9830506521110358)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.718
INFO:root:Testing 86 out of 10992 hypotheses for montys_brain (evidence > 1.9830506521110358)
DEBUG:root:Calculating evidence for montys_brain using input 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: 3.268
INFO:root:Testing 893 out of 14880 hypotheses for montys_heart (evidence > 1.9830506521110358)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.944
INFO:root:Testing 968 out of 23200 hypotheses for ramen_pack (evidence > 1.9830506521110358)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.993
INFO:root:Testing 250 out of 14864 hypotheses for hot_sauce (evidence > 1.9830506521110358)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.972
INFO:root:Testing 407 out of 12560 hypotheses for harissa_oil (evidence > 1.9830506521110358)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 5.408
INFO:root:Testing 1097 out of 21832 hypotheses for tomato_soup_can (evidence > 1.9830506521110358)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.476
INFO:root:Testing 1864 out of 16976 hypotheses for mustard_bottle (evidence > 1.9830506521110358)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 9.699
INFO:root:Testing 434 out of 17728 hypotheses for tuna_fish_can (evidence > 1.9830506521110358)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.387
INFO:root:Testing 895 out of 19024 hypotheses for potted_meat_can (evidence > 1.9830506521110358)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.027
DEBUG:root:evidences for each object: [9.71814814 3.26811628 9.94384554 6.99305522 5.97173288 5.40798353
 6.4759839  9.69941163 4.38666348 8.02726905]
DEBUG:root:mean evidence: 6.989, std: 2.214 -> th=7.9550764321877905
INFO:root:current most likely hypothesis: montys_heart with evidence 9.94
DEBUG:root:evidences for each object: [9.71814814 3.26811628 9.94384554 6.99305522 5.97173288 5.40798353
 6.4759839  9.69941163 4.38666348 8.02726905]
DEBUG:root:mean evidence: 6.989, std: 2.214 -> th=7.9550764321877905
DEBUG:root:evidences for each object: [9.71814814 3.26811628 9.94384554 6.99305522 5.97173288 5.40798353
 6.4759839  9.69941163 4.38666348 8.02726905]
DEBUG:root:mean evidence: 6.989, std: 2.214 -> th=8.452268709199528
DEBUG:root:Hypothesis jump indicated: change in most-likely rotation of MLH
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'potted_meat_can', 'montys_heart', 'numenta_mug'}
INFO:root:--- Global Matching Step 47 ---
INFO:uvicorn.access:192.168.1.217:64708 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.90579768, -0.01724903, -0.42335923],
       [ 0.01903946,  0.99981873, -0.        ],
       [ 0.42328248, -0.00806053,  0.9059619 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0026638 , -0.0158285 ,  0.00044133])}]
INFO:root:Testing 787 out of 14424 hypotheses for numenta_mug (evidence > 1.988769108046947)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.541
INFO:root:Testing 23 out of 10992 hypotheses for montys_brain (evidence > 1.988769108046947)
DEBUG:root:Calculating evidence for montys_brain using input 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: 3.529
INFO:root:Testing 695 out of 14880 hypotheses for montys_heart (evidence > 1.988769108046947)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.102
INFO:root:Testing 535 out of 23200 hypotheses for ramen_pack (evidence > 1.988769108046947)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.305
INFO:root:Testing 48 out of 14864 hypotheses for hot_sauce (evidence > 1.988769108046947)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.348
INFO:root:Testing 219 out of 12560 hypotheses for harissa_oil (evidence > 1.988769108046947)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 5.672
INFO:root:Testing 735 out of 21832 hypotheses for tomato_soup_can (evidence > 1.988769108046947)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.6
INFO:root:Testing 1460 out of 16976 hypotheses for mustard_bottle (evidence > 1.988769108046947)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.699
INFO:root:Testing 134 out of 17728 hypotheses for tuna_fish_can (evidence > 1.988769108046947)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.23
INFO:root:Testing 494 out of 19024 hypotheses for potted_meat_can (evidence > 1.988769108046947)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.778
DEBUG:root:evidences for each object: [ 9.54096952  3.52879299 10.10180824  6.30472251  6.34812888  5.6720457
  6.59972233  8.69941163  4.23039401  7.77825151]
DEBUG:root:mean evidence: 6.88, std: 2.049 -> th=8.081446595117622
INFO:root:current most likely hypothesis: montys_heart with evidence 10.1
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'montys_heart', 'numenta_mug'}
INFO:root:--- Global Matching Step 48 ---
INFO:uvicorn.access:192.168.1.217:64708 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98822747, -0.05324365, -0.14342797],
       [ 0.0537999 ,  0.99855174, -0.        ],
       [ 0.14322025, -0.00771641,  0.98966076]]), 'pose_fully_defined': False}}, {'patch': array([-0.0161481 , -0.01793735,  0.0149658 ])}]
INFO:root:Testing 686 out of 14424 hypotheses for numenta_mug (evidence > 2.0203616487794047)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.541
INFO:root:Testing 15 out of 10992 hypotheses for montys_brain (evidence > 2.0203616487794047)
DEBUG:root:Calculating evidence for montys_brain using input 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: 2.529
INFO:root:Testing 660 out of 14880 hypotheses for montys_heart (evidence > 2.0203616487794047)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.102
INFO:root:Testing 321 out of 23200 hypotheses for ramen_pack (evidence > 2.0203616487794047)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.092
INFO:root:Testing 38 out of 14864 hypotheses for hot_sauce (evidence > 2.0203616487794047)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.348
INFO:root:Testing 190 out of 12560 hypotheses for harissa_oil (evidence > 2.0203616487794047)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.672
INFO:root:Testing 639 out of 21832 hypotheses for tomato_soup_can (evidence > 2.0203616487794047)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.6
INFO:root:Testing 1105 out of 16976 hypotheses for mustard_bottle (evidence > 2.0203616487794047)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.699
INFO:root:Testing 74 out of 17728 hypotheses for tuna_fish_can (evidence > 2.0203616487794047)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.099
INFO:root:Testing 332 out of 19024 hypotheses for potted_meat_can (evidence > 2.0203616487794047)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.778
DEBUG:root:evidences for each object: [8.54096952 2.52879299 9.10180824 6.09244911 5.34812888 4.6720457
 5.59972233 7.69941163 4.09859335 6.77825151]
DEBUG:root:mean evidence: 6.046, std: 1.938 -> th=7.281446595117622
INFO:root:current most likely hypothesis: montys_heart with evidence 9.1
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'montys_heart', 'numenta_mug'}
INFO:root:--- Global Matching Step 49 ---
INFO:uvicorn.access:192.168.1.217:64708 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64708 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.96172243, -0.06350288, -0.26656586],
       [ 0.06588689,  0.9978271 , -0.        ],
       [ 0.26598664, -0.01756319,  0.96381671]]), 'pose_fully_defined': False}}, {'patch': array([-0.00398337,  0.00661882, -0.00076777])}]
INFO:root:Testing 1383 out of 14424 hypotheses for numenta_mug (evidence > 1.8203616487794054)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 7.541
INFO:root:Testing 429 out of 10992 hypotheses for montys_brain (evidence > 1.8203616487794054)
DEBUG:root:Calculating evidence for montys_brain using input 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: 1.82
INFO:root:Testing 1351 out of 14880 hypotheses for montys_heart (evidence > 1.8203616487794054)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 8.102
INFO:root:Testing 2720 out of 23200 hypotheses for ramen_pack (evidence > 1.8203616487794054)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 5.092
INFO:root:Testing 941 out of 14864 hypotheses for hot_sauce (evidence > 1.8203616487794054)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.348
INFO:root:Testing 908 out of 12560 hypotheses for harissa_oil (evidence > 1.8203616487794054)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 3.672
INFO:root:Testing 1842 out of 21832 hypotheses for tomato_soup_can (evidence > 1.8203616487794054)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 4.6
INFO:root:Testing 2844 out of 16976 hypotheses for mustard_bottle (evidence > 1.8203616487794054)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 6.699
INFO:root:Testing 1367 out of 17728 hypotheses for tuna_fish_can (evidence > 1.8203616487794054)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.928
INFO:root:Testing 2000 out of 19024 hypotheses for potted_meat_can (evidence > 1.8203616487794054)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 5.778
DEBUG:root:evidences for each object: [7.54096952 1.81954685 8.10180824 5.09244911 4.34812888 3.6720457
 4.59972233 6.69941163 3.92794837 5.77825151]
DEBUG:root:mean evidence: 5.158, std: 1.815 -> th=6.481446595117622
INFO:root:current most likely hypothesis: montys_heart with evidence 8.1
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'montys_heart', 'numenta_mug'}
INFO:root:--- Global Matching Step 50 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.9833439 , -0.07408401, -0.16597086],
       [ 0.07512596,  0.99717405, -0.        ],
       [ 0.16550183, -0.01246872,  0.98613066]]), 'pose_fully_defined': False}}, {'patch': array([-0.00365305,  0.0130063 , -0.00649533])}]
INFO:root:Testing 1495 out of 14424 hypotheses for numenta_mug (evidence > 1.6203616487794053)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
INFO:uvicorn.access:192.168.1.217:64708 - "POST /capture HTTP/1.1" 200
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 7.31
INFO:root:Testing 525 out of 10992 hypotheses for montys_brain (evidence > 1.6203616487794053)
DEBUG:root:Calculating evidence for montys_brain using input 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: 1.733
INFO:root:Testing 1395 out of 14880 hypotheses for montys_heart (evidence > 1.6203616487794053)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.239
INFO:root:Testing 3543 out of 23200 hypotheses for ramen_pack (evidence > 1.6203616487794053)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 4.845
INFO:root:Testing 1328 out of 14864 hypotheses for hot_sauce (evidence > 1.6203616487794053)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.348
INFO:root:Testing 1084 out of 12560 hypotheses for harissa_oil (evidence > 1.6203616487794053)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 2.672
INFO:root:Testing 1891 out of 21832 hypotheses for tomato_soup_can (evidence > 1.6203616487794053)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 3.6
INFO:root:Testing 2571 out of 16976 hypotheses for mustard_bottle (evidence > 1.6203616487794053)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 5.721
INFO:root:Testing 2295 out of 17728 hypotheses for tuna_fish_can (evidence > 1.6203616487794053)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 3.712
INFO:root:Testing 2158 out of 19024 hypotheses for potted_meat_can (evidence > 1.6203616487794053)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 5.533
DEBUG:root:evidences for each object: [7.30983146 1.73267064 7.23907185 4.84473769 3.34812888 2.6720457
 3.59972233 5.72086912 3.71172442 5.53312059]
DEBUG:root:mean evidence: 4.571, std: 1.783 -> th=5.847865169557018
INFO:root:current most likely hypothesis: numenta_mug with evidence 7.31
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'numenta_mug'}
INFO:root:--- Global Matching Step 51 ---
INFO:uvicorn.access:192.168.1.217:64708 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.94299552, -0.07543134, -0.32414436],
       [ 0.0797365 ,  0.99681598, -0.        ],
       [ 0.32311227, -0.02584614,  0.94600763]]), 'pose_fully_defined': False}}, {'patch': array([ 0.02582474,  0.01772668, -0.00505658])}]
INFO:root:Testing 1262 out of 14424 hypotheses for numenta_mug (evidence > 1.4619662923892545)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.31
INFO:root:Testing 797 out of 10992 hypotheses for montys_brain (evidence > 1.4619662923892545)
DEBUG:root:Calculating evidence for montys_brain using input 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: 1.713
INFO:root:Testing 1415 out of 14880 hypotheses for montys_heart (evidence > 1.4619662923892545)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.289
INFO:root:Testing 2161 out of 23200 hypotheses for ramen_pack (evidence > 1.4619662923892545)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 4.638
INFO:root:Testing 1768 out of 14864 hypotheses for hot_sauce (evidence > 1.4619662923892545)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.585
INFO:root:Testing 1163 out of 12560 hypotheses for harissa_oil (evidence > 1.4619662923892545)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 2.809
INFO:root:Testing 2020 out of 21832 hypotheses for tomato_soup_can (evidence > 1.4619662923892545)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 3.778
INFO:root:Testing 2141 out of 16976 hypotheses for mustard_bottle (evidence > 1.4619662923892545)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 5.869
INFO:root:Testing 1757 out of 17728 hypotheses for tuna_fish_can (evidence > 1.4619662923892545)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 3.503
INFO:root:Testing 1980 out of 19024 hypotheses for potted_meat_can (evidence > 1.4619662923892545)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 5.283
DEBUG:root:evidences for each object: [6.30983146 1.71268943 7.28944423 4.63801897 3.58484439 2.8090072
 3.77758716 5.86941984 3.50333215 5.28274704]
DEBUG:root:mean evidence: 4.478, std: 1.629 -> th=5.831555387872139
INFO:root:current most likely hypothesis: montys_heart with evidence 7.29
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'montys_heart', 'numenta_mug'}
INFO:root:--- Global Matching Step 52 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.93493832, -0.07704582, -0.34634416],
       [ 0.08212899,  0.99662171, -0.        ],
       [ 0.3451741 , -0.0284449 ,  0.93810752]]), 'pose_fully_defined': False}}, {'patch': array([-0.00288799, -0.00738458, -0.02010715])}]
INFO:root:Testing 309 out of 14424 hypotheses for numenta_mug (evidence > 1.457888846968034)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.321
INFO:root:Testing 146 out of 10992 hypotheses for montys_brain (evidence > 1.457888846968034)
DEBUG:root:Calculating evidence for montys_brain using input 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: 1.814
INFO:root:Testing 500 out of 14880 hypotheses for montys_heart (evidence > 1.457888846968034)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.289
INFO:root:Testing 379 out of 23200 hypotheses for ramen_pack (evidence > 1.457888846968034)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.895
INFO:root:Testing 97 out of 14864 hypotheses for hot_sauce (evidence > 1.457888846968034)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.585
INFO:root:Testing 170 out of 12560 hypotheses for harissa_oil (evidence > 1.457888846968034)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 2.015
INFO:root:Testing 340 out of 21832 hypotheses for tomato_soup_can (evidence > 1.457888846968034)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.778
INFO:root:Testing 696 out of 16976 hypotheses for mustard_bottle (evidence > 1.457888846968034)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.547
INFO:root:Testing 378 out of 17728 hypotheses for tuna_fish_can (evidence > 1.457888846968034)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.503
INFO:root:Testing 411 out of 19024 hypotheses for potted_meat_can (evidence > 1.457888846968034)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.062
DEBUG:root:evidences for each object: [5.32115988 1.81361935 6.28944423 4.89475069 2.58484439 2.01455341
 2.77758716 5.54704298 2.50333215 5.06235782]
DEBUG:root:mean evidence: 3.881, std: 1.601 -> th=5.031555387872139
INFO:root:current most likely hypothesis: montys_heart with evidence 6.29
DEBUG:root:evidences for each object: [5.32115988 1.81361935 6.28944423 4.89475069 2.58484439 2.01455341
 2.77758716 5.54704298 2.50333215 5.06235782]
DEBUG:root:mean evidence: 3.881, std: 1.601 -> th=5.031555387872139
DEBUG:root:evidences for each object: [5.32115988 1.81361935 6.28944423 4.89475069 2.58484439 2.01455341
 2.77758716 5.54704298 2.50333215 5.06235782]
DEBUG:root:mean evidence: 3.881, std: 1.601 -> th=5.346027599614148
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'potted_meat_can', 'montys_heart', 'numenta_mug'}
INFO:root:--- Global Matching Step 53 ---
INFO:uvicorn.access:192.168.1.217:64714 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.9921116 , -0.11701121, -0.04497723],
       [ 0.11712975,  0.99311662, -0.        ],
       [ 0.04466764, -0.00526817,  0.99898801]]), 'pose_fully_defined': False}}, {'patch': array([-0.00148622, -0.03075422,  0.02059656])}]
INFO:root:Testing 2209 out of 14424 hypotheses for numenta_mug (evidence > 1.2578888469680347)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 4.321
INFO:root:Testing 1466 out of 10992 hypotheses for montys_brain (evidence > 1.2578888469680347)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 1.968
INFO:root:Testing 1940 out of 14880 hypotheses for montys_heart (evidence > 1.2578888469680347)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 5.717
INFO:root:Testing 3306 out of 23200 hypotheses for ramen_pack (evidence > 1.2578888469680347)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 5.356
INFO:root:Testing 2229 out of 14864 hypotheses for hot_sauce (evidence > 1.2578888469680347)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 2.069
INFO:root:Testing 2514 out of 12560 hypotheses for harissa_oil (evidence > 1.2578888469680347)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 2.302
INFO:root:Testing 3055 out of 21832 hypotheses for tomato_soup_can (evidence > 1.2578888469680347)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 2.578
INFO:root:Testing 3316 out of 16976 hypotheses for mustard_bottle (evidence > 1.2578888469680347)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 4.547
INFO:root:Testing 2519 out of 17728 hypotheses for tuna_fish_can (evidence > 1.2578888469680347)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 2.6
INFO:root:Testing 2829 out of 19024 hypotheses for potted_meat_can (evidence > 1.2578888469680347)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 5.449
DEBUG:root:evidences for each object: [4.32115988 1.96751462 5.71713296 5.35618579 2.06879533 2.30220215
 2.57771891 4.54704298 2.60002805 5.44886234]
DEBUG:root:mean evidence: 3.691, std: 1.451 -> th=4.573706370863218
INFO:root:current most likely hypothesis: montys_heart with evidence 5.72
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 54 ---
INFO:uvicorn.access:192.168.1.217:64714 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.96685622, -0.08521   ,  0.240683  ],
       [ 0.08779072,  0.99613894, -0.        ],
       [-0.23975371,  0.02112973,  0.97060378]]), 'pose_fully_defined': False}}, {'patch': array([-0.00825407,  0.01227588, -0.00868664])}]
INFO:root:Testing 902 out of 14424 hypotheses for numenta_mug (evidence > 1.1434265927158043)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.972
INFO:root:Testing 524 out of 10992 hypotheses for montys_brain (evidence > 1.1434265927158043)
DEBUG:root:Calculating evidence for montys_brain using input 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: 1.91
INFO:root:Testing 774 out of 14880 hypotheses for montys_heart (evidence > 1.1434265927158043)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.501
INFO:root:Testing 2984 out of 23200 hypotheses for ramen_pack (evidence > 1.1434265927158043)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 5.824
INFO:root:Testing 1461 out of 14864 hypotheses for hot_sauce (evidence > 1.1434265927158043)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.194
INFO:root:Testing 1432 out of 12560 hypotheses for harissa_oil (evidence > 1.1434265927158043)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 2.028
INFO:root:Testing 1681 out of 21832 hypotheses for tomato_soup_can (evidence > 1.1434265927158043)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 2.834
INFO:root:Testing 1668 out of 16976 hypotheses for mustard_bottle (evidence > 1.1434265927158043)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 4.155
INFO:root:Testing 3174 out of 17728 hypotheses for tuna_fish_can (evidence > 1.1434265927158043)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 2.782
INFO:root:Testing 1905 out of 19024 hypotheses for potted_meat_can (evidence > 1.1434265927158043)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 5.702
DEBUG:root:evidences for each object: [3.97185117 1.90951611 5.50080784 5.82423943 2.19380916 2.0280094
 2.83408149 4.15515777 2.7815296  5.70237526]
DEBUG:root:mean evidence: 3.69, std: 1.48 -> th=4.65939154533009
INFO:root:current most likely hypothesis: ramen_pack with evidence 5.82
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 55 ---
INFO:uvicorn.access:192.168.1.217:64714 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64714 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.27120272, -0.10935586, -0.9562899 ],
       [ 0.37396812,  0.92744156, -0.        ],
       [ 0.886903  , -0.35762194,  0.29242028]]), 'pose_fully_defined': False}}, {'patch': array([ 0.02625022,  0.0035735 , -0.00930207])}]
INFO:root:Testing 97 out of 14424 hypotheses for numenta_mug (evidence > 1.164847886332522)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.151
INFO:root:Testing 98 out of 10992 hypotheses for montys_brain (evidence > 1.164847886332522)
DEBUG:root:Calculating evidence for montys_brain using input 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: 1.689
INFO:root:Testing 199 out of 14880 hypotheses for montys_heart (evidence > 1.164847886332522)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.501
INFO:root:Testing 608 out of 23200 hypotheses for ramen_pack (evidence > 1.164847886332522)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.824
INFO:root:Testing 449 out of 14864 hypotheses for hot_sauce (evidence > 1.164847886332522)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.617
INFO:root:Testing 340 out of 12560 hypotheses for harissa_oil (evidence > 1.164847886332522)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 1.163
INFO:root:Testing 481 out of 21832 hypotheses for tomato_soup_can (evidence > 1.164847886332522)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.068
INFO:root:Testing 281 out of 16976 hypotheses for mustard_bottle (evidence > 1.164847886332522)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.302
INFO:root:Testing 973 out of 17728 hypotheses for tuna_fish_can (evidence > 1.164847886332522)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.413
INFO:root:Testing 539 out of 19024 hypotheses for potted_meat_can (evidence > 1.164847886332522)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.702
DEBUG:root:evidences for each object: [4.15130831 1.6891623  4.50080784 4.82423943 1.61744061 1.16307762
 2.0679422  4.30207302 2.41307492 4.70237526]
DEBUG:root:mean evidence: 3.143, std: 1.397 -> th=3.8593915453300895
INFO:root:current most likely hypothesis: ramen_pack with evidence 4.82
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle', 'ramen_pack', 'numenta_mug', 'montys_heart'}
INFO:root:--- Global Matching Step 56 ---
INFO:uvicorn.access:192.168.1.217:64714 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.92644111, -0.13423067, -0.35169447],
       [ 0.14339124,  0.98966608, -0.        ],
       [ 0.34806009, -0.05042991,  0.93611484]]), 'pose_fully_defined': False}}, {'patch': array([ 3.30235339e-03,  5.00404312e-03, -9.49437584e-05])}]
INFO:root:Testing 603 out of 14424 hypotheses for numenta_mug (evidence > 0.9648478863325223)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.245
INFO:root:Testing 545 out of 10992 hypotheses for montys_brain (evidence > 0.9648478863325223)
DEBUG:root:Calculating evidence for montys_brain using input 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: 1.456
INFO:root:Testing 730 out of 14880 hypotheses for montys_heart (evidence > 0.9648478863325223)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.596
INFO:root:Testing 1868 out of 23200 hypotheses for ramen_pack (evidence > 0.9648478863325223)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 3.824
INFO:root:Testing 1556 out of 14864 hypotheses for hot_sauce (evidence > 0.9648478863325223)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.001
INFO:root:Testing 1227 out of 12560 hypotheses for harissa_oil (evidence > 0.9648478863325223)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 1.574
INFO:root:Testing 1016 out of 21832 hypotheses for tomato_soup_can (evidence > 0.9648478863325223)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.895
INFO:root:Testing 1748 out of 16976 hypotheses for mustard_bottle (evidence > 0.9648478863325223)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.858
INFO:root:Testing 1580 out of 17728 hypotheses for tuna_fish_can (evidence > 0.9648478863325223)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.737
INFO:root:Testing 1513 out of 19024 hypotheses for potted_meat_can (evidence > 0.9648478863325223)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.702
DEBUG:root:evidences for each object: [4.24548787 1.45626948 3.59583714 3.82423943 2.00117422 1.57388395
 1.89529386 3.8581883  2.7366389  3.70237526]
DEBUG:root:mean evidence: 2.889, std: 1.02 -> th=3.3963902962448573
INFO:root:current most likely hypothesis: numenta_mug with evidence 4.25
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle', 'ramen_pack', 'numenta_mug', 'montys_heart'}
INFO:root:--- Global Matching Step 57 ---
INFO:uvicorn.access:192.168.1.217:64714 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.90779233, -0.14562403, -0.39332775],
       [ 0.15839057,  0.98737654, -0.        ],
       [ 0.38836259, -0.06229941,  0.91939832]]), 'pose_fully_defined': False}}, {'patch': array([-0.00046259,  0.00798908, -0.00338981])}]
INFO:root:Testing 1448 out of 14424 hypotheses for numenta_mug (evidence > 0.8490975740612141)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.144
INFO:root:Testing 496 out of 10992 hypotheses for montys_brain (evidence > 0.8490975740612141)
DEBUG:root:Calculating evidence for montys_brain using input 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: 1.106
INFO:root:Testing 1314 out of 14880 hypotheses for montys_heart (evidence > 0.8490975740612141)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.596
INFO:root:Testing 2957 out of 23200 hypotheses for ramen_pack (evidence > 0.8490975740612141)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 3.124
INFO:root:Testing 1469 out of 14864 hypotheses for hot_sauce (evidence > 0.8490975740612141)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.23
INFO:root:Testing 1107 out of 12560 hypotheses for harissa_oil (evidence > 0.8490975740612141)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 2.036
INFO:root:Testing 1854 out of 21832 hypotheses for tomato_soup_can (evidence > 0.8490975740612141)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 2.395
INFO:root:Testing 3053 out of 16976 hypotheses for mustard_bottle (evidence > 0.8490975740612141)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 3.68
INFO:root:Testing 1928 out of 17728 hypotheses for tuna_fish_can (evidence > 0.8490975740612141)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 3.078
INFO:root:Testing 2379 out of 19024 hypotheses for potted_meat_can (evidence > 0.8490975740612141)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 2.702
DEBUG:root:evidences for each object: [4.14395811 1.10647095 2.59583714 3.12432972 2.23034519 2.03565945
 2.39529386 3.68019204 3.07817958 2.70237526]
DEBUG:root:mean evidence: 2.709, std: 0.817 -> th=3.3151664849214013
INFO:root:current most likely hypothesis: numenta_mug with evidence 4.14
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'numenta_mug'}
INFO:root:--- Global Matching Step 58 ---
INFO:uvicorn.access:192.168.1.217:64714 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.89024514, -0.15024273, -0.4299892 ],
       [ 0.16641234,  0.98605625, -0.        ],
       [ 0.42399354, -0.07155551,  0.90283403]]), 'pose_fully_defined': False}}, {'patch': array([-0.00287605, -0.00947268,  0.0037785 ])}]
INFO:root:Testing 599 out of 14424 hypotheses for numenta_mug (evidence > 0.8287916212303501)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.018
INFO:root:Testing 77 out of 10992 hypotheses for montys_brain (evidence > 0.8287916212303501)
DEBUG:root:Calculating evidence for montys_brain using input 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: 1.351
INFO:root:Testing 415 out of 14880 hypotheses for montys_heart (evidence > 0.8287916212303501)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.728
INFO:root:Testing 1236 out of 23200 hypotheses for ramen_pack (evidence > 0.8287916212303501)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.407
INFO:root:Testing 496 out of 14864 hypotheses for hot_sauce (evidence > 0.8287916212303501)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.69
INFO:root:Testing 479 out of 12560 hypotheses for harissa_oil (evidence > 0.8287916212303501)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 2.458
INFO:root:Testing 900 out of 21832 hypotheses for tomato_soup_can (evidence > 0.8287916212303501)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.895
INFO:root:Testing 1124 out of 16976 hypotheses for mustard_bottle (evidence > 0.8287916212303501)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.511
INFO:root:Testing 958 out of 17728 hypotheses for tuna_fish_can (evidence > 0.8287916212303501)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.442
INFO:root:Testing 1223 out of 19024 hypotheses for potted_meat_can (evidence > 0.8287916212303501)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 2.828
DEBUG:root:evidences for each object: [4.01823865 1.35137311 2.72786492 3.40712725 2.690406   2.45818374
 2.89529386 3.51131398 3.44150279 2.82823544]
DEBUG:root:mean evidence: 2.933, std: 0.695 -> th=3.2145909184255563
INFO:root:current most likely hypothesis: numenta_mug with evidence 4.02
DEBUG:root:evidences for each object: [4.01823865 1.35137311 2.72786492 3.40712725 2.690406   2.45818374
 2.89529386 3.51131398 3.44150279 2.82823544]
DEBUG:root:mean evidence: 2.933, std: 0.695 -> th=3.2145909184255563
DEBUG:root:evidences for each object: [4.01823865 1.35137311 2.72786492 3.40712725 2.690406   2.45818374
 2.89529386 3.51131398 3.44150279 2.82823544]
DEBUG:root:mean evidence: 2.933, std: 0.695 -> th=3.4155028508271537
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'tuna_fish_can', 'ramen_pack', 'numenta_mug'}
INFO:root:--- Global Matching Step 59 ---
INFO:uvicorn.access:192.168.1.217:64716 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64716 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64716 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64716 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64716 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64717 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.38484566,  0.26481203,  0.88417668],
       [-0.56686404,  0.82381137,  0.        ],
       [-0.7283948 , -0.50120796,  0.46715265]]), 'pose_fully_defined': False}}, {'patch': array([-0.02255133, -0.02298669,  0.04045896])}]
INFO:root:Testing 651 out of 14424 hypotheses for numenta_mug (evidence > 0.8036477296063889)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.018
INFO:root:Testing 113 out of 10992 hypotheses for montys_brain (evidence > 0.8036477296063889)
DEBUG:root:Calculating evidence for montys_brain using input 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: 1.661
INFO:root:Testing 453 out of 14880 hypotheses for montys_heart (evidence > 0.8036477296063889)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.114
INFO:root:Testing 1418 out of 23200 hypotheses for ramen_pack (evidence > 0.8036477296063889)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.708
INFO:root:Testing 497 out of 14864 hypotheses for hot_sauce (evidence > 0.8036477296063889)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.374
INFO:root:Testing 506 out of 12560 hypotheses for harissa_oil (evidence > 0.8036477296063889)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 1.988
INFO:root:Testing 984 out of 21832 hypotheses for tomato_soup_can (evidence > 0.8036477296063889)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 2.281
INFO:root:Testing 1298 out of 16976 hypotheses for mustard_bottle (evidence > 0.8036477296063889)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.487
INFO:root:Testing 1100 out of 17728 hypotheses for tuna_fish_can (evidence > 0.8036477296063889)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.442
INFO:root:Testing 1367 out of 19024 hypotheses for potted_meat_can (evidence > 0.8036477296063889)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.023
DEBUG:root:evidences for each object: [3.01823865 1.66146334 2.1142989  2.70820549 2.37366191 1.9880996
 2.28139492 3.48663448 2.44150279 3.02347473]
DEBUG:root:mean evidence: 2.51, std: 0.523 -> th=2.7893075867732433
INFO:root:current most likely hypothesis: mustard_bottle with evidence 3.49
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 60 ---
INFO:uvicorn.access:192.168.1.217:64717 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.39239297,  0.29942869,  0.86969547],
       [-0.60663606,  0.79497968,  0.        ],
       [-0.69139023, -0.52758864,  0.49358868]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0077704 , -0.00019016, -0.00385663])}]
INFO:root:Testing 690 out of 14424 hypotheses for numenta_mug (evidence > 0.6973268966933106)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.018
INFO:root:Testing 1323 out of 10992 hypotheses for montys_brain (evidence > 0.6973268966933106)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 1.906
INFO:root:Testing 487 out of 14880 hypotheses for montys_heart (evidence > 0.6973268966933106)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.548
INFO:root:Testing 3110 out of 23200 hypotheses for ramen_pack (evidence > 0.6973268966933106)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 2.858
INFO:root:Testing 1412 out of 14864 hypotheses for hot_sauce (evidence > 0.6973268966933106)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.718
INFO:root:Testing 580 out of 12560 hypotheses for harissa_oil (evidence > 0.6973268966933106)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 1.587
INFO:root:Testing 895 out of 21832 hypotheses for tomato_soup_can (evidence > 0.6973268966933106)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.994
INFO:root:Testing 2669 out of 16976 hypotheses for mustard_bottle (evidence > 0.6973268966933106)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 3.47
INFO:root:Testing 1641 out of 17728 hypotheses for tuna_fish_can (evidence > 0.6973268966933106)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 1.941
INFO:root:Testing 2397 out of 19024 hypotheses for potted_meat_can (evidence > 0.6973268966933106)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 3.187
DEBUG:root:evidences for each object: [2.01823865 1.90585558 2.54752656 2.85813916 2.71823224 1.587016
 1.99351548 3.46959999 1.94056011 3.187195  ]
DEBUG:root:mean evidence: 2.423, std: 0.593 -> th=2.77567999423842
INFO:root:current most likely hypothesis: mustard_bottle with evidence 3.47
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'potted_meat_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 61 ---
INFO:uvicorn.access:192.168.1.217:64717 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.26109666,  0.53345153,  0.80452346],
       [-0.8981862 ,  0.43961523,  0.        ],
       [-0.35368076, -0.72261187,  0.59392087]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00291189,  0.0094481 , -0.00708395])}]
INFO:root:Testing 59 out of 14424 hypotheses for numenta_mug (evidence > 0.693919998559605)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.352
INFO:root:Testing 613 out of 10992 hypotheses for montys_brain (evidence > 0.693919998559605)
DEBUG:root:Calculating evidence for montys_brain using input 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: 2.339
INFO:root:Testing 107 out of 14880 hypotheses for montys_heart (evidence > 0.693919998559605)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.927
INFO:root:Testing 1081 out of 23200 hypotheses for ramen_pack (evidence > 0.693919998559605)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.893
INFO:root:Testing 1075 out of 14864 hypotheses for hot_sauce (evidence > 0.693919998559605)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.75
INFO:root:Testing 96 out of 12560 hypotheses for harissa_oil (evidence > 0.693919998559605)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 1.197
INFO:root:Testing 159 out of 21832 hypotheses for tomato_soup_can (evidence > 0.693919998559605)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.69
INFO:root:Testing 1822 out of 16976 hypotheses for mustard_bottle (evidence > 0.693919998559605)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 2.556
INFO:root:Testing 162 out of 17728 hypotheses for tuna_fish_can (evidence > 0.693919998559605)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.861
INFO:root:Testing 1590 out of 19024 hypotheses for potted_meat_can (evidence > 0.693919998559605)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 3.162
DEBUG:root:evidences for each object: [1.35165759 2.33930742 2.92706085 2.89282734 2.75039194 1.19718542
 1.69024176 2.5560686  1.86144993 3.16220795]
DEBUG:root:mean evidence: 2.273, std: 0.666 -> th=2.529766358519563
INFO:root:current most likely hypothesis: potted_meat_can with evidence 3.16
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 62 ---
INFO:uvicorn.access:192.168.1.217:64719 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.20363253,  0.70479794,  0.67955402],
       [-0.96070537,  0.27757015,  0.        ],
       [-0.18862391, -0.65285119,  0.73362548]]), 'pose_fully_defined': False}}, {'patch': array([-0.0059709 ,  0.00594621, -0.00229842])}]
INFO:root:Testing 588 out of 14424 hypotheses for numenta_mug (evidence > 0.6324415896298907)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.631
INFO:root:Testing 2197 out of 10992 hypotheses for montys_brain (evidence > 0.6324415896298907)
DEBUG:root:Calculating evidence for montys_brain using input 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: 2.776
INFO:root:Testing 317 out of 14880 hypotheses for montys_heart (evidence > 0.6324415896298907)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.076
INFO:root:Testing 2691 out of 23200 hypotheses for ramen_pack (evidence > 0.6324415896298907)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 3.149
INFO:root:Testing 1622 out of 14864 hypotheses for hot_sauce (evidence > 0.6324415896298907)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 3.217
INFO:root:Testing 946 out of 12560 hypotheses for harissa_oil (evidence > 0.6324415896298907)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 1.51
INFO:root:Testing 634 out of 21832 hypotheses for tomato_soup_can (evidence > 0.6324415896298907)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.164
INFO:root:Testing 1215 out of 16976 hypotheses for mustard_bottle (evidence > 0.6324415896298907)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.826
INFO:root:Testing 962 out of 17728 hypotheses for tuna_fish_can (evidence > 0.6324415896298907)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.813
INFO:root:Testing 1467 out of 19024 hypotheses for potted_meat_can (evidence > 0.6324415896298907)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 2.691
DEBUG:root:evidences for each object: [1.63054777 2.77637952 3.07628256 3.14929405 3.2165991  1.50958262
 2.16411075 2.82600472 1.81289214 2.69074397]
DEBUG:root:mean evidence: 2.485, std: 0.617 -> th=2.573279282147185
INFO:root:current most likely hypothesis: hot_sauce with evidence 3.22
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 63 ---
INFO:uvicorn.access:192.168.1.217:64719 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.29534991,  0.45629021,  0.8393853 ],
       [-0.83948346,  0.54338524,  0.        ],
       [-0.45610958, -0.70465008,  0.54353686]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00029608,  0.00678152, -0.00201625])}]
INFO:root:Testing 57 out of 14424 hypotheses for numenta_mug (evidence > 0.6433198205367963)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.773
INFO:root:Testing 1006 out of 10992 hypotheses for montys_brain (evidence > 0.6433198205367963)
DEBUG:root:Calculating evidence for montys_brain using input 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: 3.142
INFO:root:Testing 119 out of 14880 hypotheses for montys_heart (evidence > 0.6433198205367963)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.433
INFO:root:Testing 1193 out of 23200 hypotheses for ramen_pack (evidence > 0.6433198205367963)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.595
INFO:root:Testing 697 out of 14864 hypotheses for hot_sauce (evidence > 0.6433198205367963)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.598
INFO:root:Testing 283 out of 12560 hypotheses for harissa_oil (evidence > 0.6433198205367963)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 1.68
INFO:root:Testing 206 out of 21832 hypotheses for tomato_soup_can (evidence > 0.6433198205367963)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.482
INFO:root:Testing 308 out of 16976 hypotheses for mustard_bottle (evidence > 0.6433198205367963)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.172
INFO:root:Testing 498 out of 17728 hypotheses for tuna_fish_can (evidence > 0.6433198205367963)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.188
INFO:root:Testing 495 out of 19024 hypotheses for potted_meat_can (evidence > 0.6433198205367963)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 2.971
DEBUG:root:evidences for each object: [1.77322772 3.14182133 3.43331642 3.59468652 3.59775091 1.680404
 2.48182738 3.17233401 2.18788612 2.97093446]
DEBUG:root:mean evidence: 2.803, std: 0.688 -> th=2.878200724622957
INFO:root:current most likely hypothesis: hot_sauce with evidence 3.6
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 64 ---
INFO:uvicorn.access:192.168.1.217:64719 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.22122391,  0.66121482,  0.71683676],
       [-0.94833033,  0.31728469,  0.        ],
       [-0.22744133, -0.67979805,  0.69724103]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00043485, -0.0116222 ,  0.00476595])}]
INFO:root:Testing 27 out of 14424 hypotheses for numenta_mug (evidence > 0.7195501811557392)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.032
INFO:root:Testing 885 out of 10992 hypotheses for montys_brain (evidence > 0.7195501811557392)
DEBUG:root:Calculating evidence for montys_brain using input 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: 3.547
INFO:root:Testing 113 out of 14880 hypotheses for montys_heart (evidence > 0.7195501811557392)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.792
INFO:root:Testing 677 out of 23200 hypotheses for ramen_pack (evidence > 0.7195501811557392)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.017
INFO:root:Testing 575 out of 14864 hypotheses for hot_sauce (evidence > 0.7195501811557392)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.911
INFO:root:Testing 142 out of 12560 hypotheses for harissa_oil (evidence > 0.7195501811557392)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 1.972
INFO:root:Testing 138 out of 21832 hypotheses for tomato_soup_can (evidence > 0.7195501811557392)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.982
INFO:root:Testing 231 out of 16976 hypotheses for mustard_bottle (evidence > 0.7195501811557392)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.609
INFO:root:Testing 383 out of 17728 hypotheses for tuna_fish_can (evidence > 0.7195501811557392)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.529
INFO:root:Testing 354 out of 19024 hypotheses for potted_meat_can (evidence > 0.7195501811557392)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.286
DEBUG:root:evidences for each object: [2.03166871 3.54663522 3.79165664 4.01679063 3.91053467 1.97163931
 2.98182738 3.60879482 2.52884369 3.2856772 ]
DEBUG:root:mean evidence: 3.167, std: 0.72 -> th=3.2134325009000335
INFO:root:current most likely hypothesis: ramen_pack with evidence 4.02
DEBUG:root:evidences for each object: [2.03166871 3.54663522 3.79165664 4.01679063 3.91053467 1.97163931
 2.98182738 3.60879482 2.52884369 3.2856772 ]
DEBUG:root:mean evidence: 3.167, std: 0.72 -> th=3.2134325009000335
DEBUG:root:evidences for each object: [2.03166871 3.54663522 3.79165664 4.01679063 3.91053467 1.97163931
 2.98182738 3.60879482 2.52884369 3.2856772 ]
DEBUG:root:mean evidence: 3.167, std: 0.72 -> th=3.4142720322062856
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 65 ---
INFO:uvicorn.access:192.168.1.217:64719 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.24383036,  0.40599887,  0.88074495],
       [-0.85727762,  0.51485443,  0.        ],
       [-0.45345544, -0.75504294,  0.47359088]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00341637, -0.00659875,  0.0031332 ])}]
INFO:root:Testing 15 out of 14424 hypotheses for numenta_mug (evidence > 0.8033581252250084)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.127
INFO:root:Testing 653 out of 10992 hypotheses for montys_brain (evidence > 0.8033581252250084)
DEBUG:root:Calculating evidence for montys_brain using input 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: 3.963
INFO:root:Testing 76 out of 14880 hypotheses for montys_heart (evidence > 0.8033581252250084)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.14
INFO:root:Testing 624 out of 23200 hypotheses for ramen_pack (evidence > 0.8033581252250084)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.442
INFO:root:Testing 486 out of 14864 hypotheses for hot_sauce (evidence > 0.8033581252250084)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.118
INFO:root:Testing 102 out of 12560 hypotheses for harissa_oil (evidence > 0.8033581252250084)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 2.187
INFO:root:Testing 121 out of 21832 hypotheses for tomato_soup_can (evidence > 0.8033581252250084)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.289
INFO:root:Testing 194 out of 16976 hypotheses for mustard_bottle (evidence > 0.8033581252250084)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.949
INFO:root:Testing 294 out of 17728 hypotheses for tuna_fish_can (evidence > 0.8033581252250084)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.892
INFO:root:Testing 314 out of 19024 hypotheses for potted_meat_can (evidence > 0.8033581252250084)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.456
DEBUG:root:evidences for each object: [2.12656561 3.96250544 4.13994283 4.44156874 4.11832298 2.18677251
 3.28899674 3.94903076 2.89188793 3.4563978 ]
DEBUG:root:mean evidence: 3.456, std: 0.781 -> th=3.553254989410725
INFO:root:current most likely hypothesis: ramen_pack with evidence 4.44
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 66 ---
INFO:uvicorn.access:192.168.1.217:64719 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.2478407 ,  0.20804001,  0.94619995],
       [-0.6429272 ,  0.7659273 ,  0.        ],
       [-0.72472037, -0.60833768,  0.32358254]]), 'pose_fully_defined': False}}, {'patch': array([-0.00033423, -0.00727925,  0.00311625])}]
INFO:root:Testing 9 out of 14424 hypotheses for numenta_mug (evidence > 0.8883137473526812)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.107
INFO:root:Testing 575 out of 10992 hypotheses for montys_brain (evidence > 0.8883137473526812)
DEBUG:root:Calculating evidence for montys_brain using input 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: 4.26
INFO:root:Testing 67 out of 14880 hypotheses for montys_heart (evidence > 0.8883137473526812)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.421
INFO:root:Testing 571 out of 23200 hypotheses for ramen_pack (evidence > 0.8883137473526812)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.763
INFO:root:Testing 405 out of 14864 hypotheses for hot_sauce (evidence > 0.8883137473526812)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.303
INFO:root:Testing 54 out of 12560 hypotheses for harissa_oil (evidence > 0.8883137473526812)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 2.009
INFO:root:Testing 95 out of 21832 hypotheses for tomato_soup_can (evidence > 0.8883137473526812)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.472
INFO:root:Testing 176 out of 16976 hypotheses for mustard_bottle (evidence > 0.8883137473526812)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.178
INFO:root:Testing 153 out of 17728 hypotheses for tuna_fish_can (evidence > 0.8883137473526812)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.188
INFO:root:Testing 246 out of 19024 hypotheses for potted_meat_can (evidence > 0.8883137473526812)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.862
DEBUG:root:evidences for each object: [2.10695679 4.25989268 4.42066459 4.76299361 4.30322429 2.00888988
 3.47160111 4.17845962 3.18795063 3.86228235]
DEBUG:root:mean evidence: 3.656, std: 0.91 -> th=3.8103948858273915
INFO:root:current most likely hypothesis: ramen_pack with evidence 4.76
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 67 ---
INFO:uvicorn.access:192.168.1.217:64721 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.39464362,  0.29626771,  0.86975965],
       [-0.60036956,  0.7997227 ,  0.        ],
       [-0.69556654, -0.52217722,  0.49347558]]), 'pose_fully_defined': False}}, {'patch': array([-0.0152697 ,  0.00249038,  0.00413487])}]
INFO:root:Testing 4 out of 14424 hypotheses for numenta_mug (evidence > 0.9525987214568477)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.258
INFO:root:Testing 519 out of 10992 hypotheses for montys_brain (evidence > 0.9525987214568477)
DEBUG:root:Calculating evidence for montys_brain using input 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: 4.672
INFO:root:Testing 60 out of 14880 hypotheses for montys_heart (evidence > 0.9525987214568477)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.737
INFO:root:Testing 388 out of 23200 hypotheses for ramen_pack (evidence > 0.9525987214568477)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.113
INFO:root:Testing 383 out of 14864 hypotheses for hot_sauce (evidence > 0.9525987214568477)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.749
INFO:root:Testing 16 out of 12560 hypotheses for harissa_oil (evidence > 0.9525987214568477)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 2.113
INFO:root:Testing 77 out of 21832 hypotheses for tomato_soup_can (evidence > 0.9525987214568477)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.653
INFO:root:Testing 159 out of 16976 hypotheses for mustard_bottle (evidence > 0.9525987214568477)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.396
INFO:root:Testing 67 out of 17728 hypotheses for tuna_fish_can (evidence > 0.9525987214568477)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.567
INFO:root:Testing 208 out of 19024 hypotheses for potted_meat_can (evidence > 0.9525987214568477)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.687
DEBUG:root:evidences for each object: [2.25829004 4.67190088 4.73709825 5.11276488 4.74857131 2.11289939
 3.65316116 4.39558086 3.5674666  3.68677803]
DEBUG:root:mean evidence: 3.894, std: 0.992 -> th=4.090211903361268
INFO:root:current most likely hypothesis: ramen_pack with evidence 5.11
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 68 ---
INFO:uvicorn.access:192.168.1.217:64722 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.17440377,  0.52158145,  0.83518628],
       [-0.94838652,  0.3171167 ,  0.        ],
       [-0.26485151, -0.79207941,  0.54996716]]), 'pose_fully_defined': False}}, {'patch': array([-0.00508817,  0.0107429 , -0.0034029 ])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 1.0225529758403171)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.489
INFO:root:Testing 167 out of 10992 hypotheses for montys_brain (evidence > 1.0225529758403171)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.147
INFO:root:Testing 44 out of 14880 hypotheses for montys_heart (evidence > 1.0225529758403171)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.153
INFO:root:Testing 311 out of 23200 hypotheses for ramen_pack (evidence > 1.0225529758403171)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.583
INFO:root:Testing 357 out of 14864 hypotheses for hot_sauce (evidence > 1.0225529758403171)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.106
INFO:root:Testing 7 out of 12560 hypotheses for harissa_oil (evidence > 1.0225529758403171)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 2.366
INFO:root:Testing 36 out of 21832 hypotheses for tomato_soup_can (evidence > 1.0225529758403171)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.042
INFO:root:Testing 142 out of 16976 hypotheses for mustard_bottle (evidence > 1.0225529758403171)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.792
INFO:root:Testing 27 out of 17728 hypotheses for tuna_fish_can (evidence > 1.0225529758403171)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.894
INFO:root:Testing 140 out of 19024 hypotheses for potted_meat_can (evidence > 1.0225529758403171)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.916
DEBUG:root:evidences for each object: [2.48946098 5.14656521 5.15337829 5.58263012 5.10580042 2.36615477
 4.04165002 4.79178275 3.89415276 3.91635436]
DEBUG:root:mean evidence: 4.249, std: 1.065 -> th=4.466104099949358
INFO:root:current most likely hypothesis: ramen_pack with evidence 5.58
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 69 ---
INFO:uvicorn.access:192.168.1.217:64722 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.15166006,  0.40357064,  0.90229151],
       [-0.93608411,  0.35177627,  0.        ],
       [-0.31740474, -0.84462074,  0.43112647]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00016707, -0.00158536,  0.00238947])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 1.1165260249873397)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.736
INFO:root:Testing 105 out of 10992 hypotheses for montys_brain (evidence > 1.1165260249873397)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.64
INFO:root:Testing 29 out of 14880 hypotheses for montys_heart (evidence > 1.1165260249873397)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.536
INFO:root:Testing 288 out of 23200 hypotheses for ramen_pack (evidence > 1.1165260249873397)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.993
INFO:root:Testing 232 out of 14864 hypotheses for hot_sauce (evidence > 1.1165260249873397)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.439
INFO:root:Testing 7 out of 12560 hypotheses for harissa_oil (evidence > 1.1165260249873397)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 2.588
INFO:root:Testing 18 out of 21832 hypotheses for tomato_soup_can (evidence > 1.1165260249873397)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.403
INFO:root:Testing 113 out of 16976 hypotheses for mustard_bottle (evidence > 1.1165260249873397)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.228
INFO:root:Testing 24 out of 17728 hypotheses for tuna_fish_can (evidence > 1.1165260249873397)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.198
INFO:root:Testing 81 out of 19024 hypotheses for potted_meat_can (evidence > 1.1165260249873397)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.341
DEBUG:root:evidences for each object: [2.73565425 5.63967266 5.5356678  5.99317147 5.43908566 2.58823743
 4.40269729 5.227795   4.1981075  4.34138676]
DEBUG:root:mean evidence: 4.61, std: 1.131 -> th=4.7945371787513285
INFO:root:current most likely hypothesis: ramen_pack with evidence 5.99
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 70 ---
INFO:uvicorn.access:192.168.1.217:64722 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.18553807,  0.00873969,  0.98259821],
       [-0.04705237,  0.99889242,  0.        ],
       [-0.98150991, -0.04623358,  0.1857438 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00055878, -0.01122547,  0.00312377])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 1.1986342946878317)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.948
INFO:root:Testing 98 out of 10992 hypotheses for montys_brain (evidence > 1.1986342946878317)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 6.072
INFO:root:Testing 22 out of 14880 hypotheses for montys_heart (evidence > 1.1986342946878317)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.894
INFO:root:Testing 281 out of 23200 hypotheses for ramen_pack (evidence > 1.1986342946878317)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.214
INFO:root:Testing 168 out of 14864 hypotheses for hot_sauce (evidence > 1.1986342946878317)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.797
INFO:root:Testing 8 out of 12560 hypotheses for harissa_oil (evidence > 1.1986342946878317)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 2.648
INFO:root:Testing 16 out of 21832 hypotheses for tomato_soup_can (evidence > 1.1986342946878317)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.566
INFO:root:Testing 104 out of 16976 hypotheses for mustard_bottle (evidence > 1.1986342946878317)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.674
INFO:root:Testing 24 out of 17728 hypotheses for tuna_fish_can (evidence > 1.1986342946878317)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.391
INFO:root:Testing 66 out of 19024 hypotheses for potted_meat_can (evidence > 1.1986342946878317)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.626
DEBUG:root:evidences for each object: [2.94762349 6.07191049 5.89403631 6.21421024 5.79744184 2.64788175
 4.56588898 5.67403484 4.39126495 4.62596226]
DEBUG:root:mean evidence: 4.883, std: 1.217 -> th=4.971368193028697
INFO:root:current most likely hypothesis: ramen_pack with evidence 6.21
DEBUG:root:evidences for each object: [2.94762349 6.07191049 5.89403631 6.21421024 5.79744184 2.64788175
 4.56588898 5.67403484 4.39126495 4.62596226]
DEBUG:root:mean evidence: 4.883, std: 1.217 -> th=4.971368193028697
DEBUG:root:evidences for each object: [2.94762349 6.07191049 5.89403631 6.21421024 5.79744184 2.64788175
 4.56588898 5.67403484 4.39126495 4.62596226]
DEBUG:root:mean evidence: 4.883, std: 1.217 -> th=5.282078705092991
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 71 ---
INFO:uvicorn.access:192.168.1.217:64722 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.21234468, -0.19456572,  0.95762932],
       [ 0.67556693,  0.73729866, -0.        ],
       [-0.70605882,  0.6469427 ,  0.28800361]]), 'pose_fully_defined': False}}, {'patch': array([-0.00222302,  0.00655929, -0.00035036])}]
INFO:root:Testing 2 out of 14424 hypotheses for numenta_mug (evidence > 1.2428420482571738)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.047
INFO:root:Testing 78 out of 10992 hypotheses for montys_brain (evidence > 1.2428420482571738)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 6.418
INFO:root:Testing 21 out of 14880 hypotheses for montys_heart (evidence > 1.2428420482571738)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.13
INFO:root:Testing 250 out of 23200 hypotheses for ramen_pack (evidence > 1.2428420482571738)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.436
INFO:root:Testing 167 out of 14864 hypotheses for hot_sauce (evidence > 1.2428420482571738)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.105
INFO:root:Testing 7 out of 12560 hypotheses for harissa_oil (evidence > 1.2428420482571738)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 2.621
INFO:root:Testing 16 out of 21832 hypotheses for tomato_soup_can (evidence > 1.2428420482571738)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.675
INFO:root:Testing 103 out of 16976 hypotheses for mustard_bottle (evidence > 1.2428420482571738)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.014
INFO:root:Testing 21 out of 17728 hypotheses for tuna_fish_can (evidence > 1.2428420482571738)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.515
INFO:root:Testing 65 out of 19024 hypotheses for potted_meat_can (evidence > 1.2428420482571738)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.87
DEBUG:root:evidences for each object: [3.04736847 6.418193   6.13003053 6.43632698 6.10533164 2.6213539
 4.67528816 6.01423041 4.51542457 4.87016994]
DEBUG:root:mean evidence: 5.083, std: 1.318 -> th=5.1490615843690675
INFO:root:current most likely hypothesis: ramen_pack with evidence 6.44
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 72 ---
INFO:uvicorn.access:192.168.1.217:64722 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.18337228,  0.49825633,  0.8474168 ],
       [-0.93846272,  0.34538056,  0.        ],
       [-0.29268129, -0.79526907,  0.53092821]]), 'pose_fully_defined': False}}, {'patch': array([-0.00546253,  0.00671438, -0.00094342])}]
INFO:root:Testing 2 out of 14424 hypotheses for numenta_mug (evidence > 1.2872653960922662)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.759
INFO:root:Testing 73 out of 10992 hypotheses for montys_brain (evidence > 1.2872653960922662)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 6.702
INFO:root:Testing 20 out of 14880 hypotheses for montys_heart (evidence > 1.2872653960922662)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.545
INFO:root:Testing 243 out of 23200 hypotheses for ramen_pack (evidence > 1.2872653960922662)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.871
INFO:root:Testing 151 out of 14864 hypotheses for hot_sauce (evidence > 1.2872653960922662)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.556
INFO:root:Testing 7 out of 12560 hypotheses for harissa_oil (evidence > 1.2872653960922662)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 2.27
INFO:root:Testing 15 out of 21832 hypotheses for tomato_soup_can (evidence > 1.2872653960922662)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.944
INFO:root:Testing 99 out of 16976 hypotheses for mustard_bottle (evidence > 1.2872653960922662)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.414
INFO:root:Testing 21 out of 17728 hypotheses for tuna_fish_can (evidence > 1.2872653960922662)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.903
INFO:root:Testing 60 out of 19024 hypotheses for potted_meat_can (evidence > 1.2872653960922662)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.161
DEBUG:root:evidences for each object: [2.75938894 6.70197892 6.54471873 6.87132294 6.55623636 2.26993119
 4.94426052 6.41385852 4.90257146 5.16114931]
DEBUG:root:mean evidence: 5.313, std: 1.573 -> th=5.49705835152329
INFO:root:current most likely hypothesis: ramen_pack with evidence 6.87
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 73 ---
INFO:uvicorn.access:192.168.1.217:64722 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.10184091,  0.75384953,  0.64910655],
       [-0.99099778,  0.13387832,  0.        ],
       [-0.0869013 , -0.64326315,  0.7606975 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00226462,  0.00595017, -0.0066565 ])}]
INFO:root:Testing 2 out of 14424 hypotheses for numenta_mug (evidence > 1.3742645878808224)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.955
INFO:root:Testing 73 out of 10992 hypotheses for montys_brain (evidence > 1.3742645878808224)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.082
INFO:root:Testing 20 out of 14880 hypotheses for montys_heart (evidence > 1.3742645878808224)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.959
INFO:root:Testing 234 out of 23200 hypotheses for ramen_pack (evidence > 1.3742645878808224)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.281
INFO:root:Testing 144 out of 14864 hypotheses for hot_sauce (evidence > 1.3742645878808224)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.944
INFO:root:Testing 3 out of 12560 hypotheses for harissa_oil (evidence > 1.3742645878808224)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 2.546
INFO:root:Testing 11 out of 21832 hypotheses for tomato_soup_can (evidence > 1.3742645878808224)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.255
INFO:root:Testing 95 out of 16976 hypotheses for mustard_bottle (evidence > 1.3742645878808224)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.779
INFO:root:Testing 19 out of 17728 hypotheses for tuna_fish_can (evidence > 1.3742645878808224)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.26
INFO:root:Testing 47 out of 19024 hypotheses for potted_meat_can (evidence > 1.3742645878808224)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.376
DEBUG:root:evidences for each object: [2.95508276 7.08214554 6.95927216 7.28107802 6.94359431 2.54649601
 5.25505006 6.77908341 5.26032072 5.37583312]
DEBUG:root:mean evidence: 5.644, std: 1.633 -> th=5.824862413055674
INFO:root:current most likely hypothesis: ramen_pack with evidence 7.28
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 74 ---
INFO:uvicorn.access:192.168.1.217:64722 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64724 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64725 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64726 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64727 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 3.22495111e-04,  8.92407354e-01,  4.51230550e-01],
       [-9.99999935e-01,  3.61376549e-04,  0.00000000e+00],
       [-1.63064139e-04, -4.51230521e-01,  8.92407413e-01]]), 'pose_fully_defined': False}}, {'patch': array([-0.00216346,  0.00564648, -0.00631467])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 1.4562156032639182)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.955
INFO:root:Testing 73 out of 10992 hypotheses for montys_brain (evidence > 1.4562156032639182)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.458
INFO:root:Testing 18 out of 14880 hypotheses for montys_heart (evidence > 1.4562156032639182)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.343
INFO:root:Testing 206 out of 23200 hypotheses for ramen_pack (evidence > 1.4562156032639182)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.711
INFO:root:Testing 139 out of 14864 hypotheses for hot_sauce (evidence > 1.4562156032639182)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.327
INFO:root:Testing 1 out of 12560 hypotheses for harissa_oil (evidence > 1.4562156032639182)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 1.546
INFO:root:Testing 7 out of 21832 hypotheses for tomato_soup_can (evidence > 1.4562156032639182)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.521
INFO:root:Testing 89 out of 16976 hypotheses for mustard_bottle (evidence > 1.4562156032639182)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.156
INFO:root:Testing 19 out of 17728 hypotheses for tuna_fish_can (evidence > 1.4562156032639182)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.378
INFO:root:Testing 35 out of 19024 hypotheses for potted_meat_can (evidence > 1.4562156032639182)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.636
DEBUG:root:evidences for each object: [1.95508276 7.45757483 7.34304253 7.71074095 7.32680771 1.54649601
 5.52136486 7.15604006 5.37832204 5.63645081]
DEBUG:root:mean evidence: 5.703, std: 2.145 -> th=6.168592757590756
INFO:root:current most likely hypothesis: ramen_pack with evidence 7.71
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 75 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.00450118,  0.8782831 ,  0.47811978],
       [-0.99998687,  0.00512491,  0.        ],
       [-0.00245032, -0.47811351,  0.87829464]]), 'pose_fully_defined': False}}, {'patch': array([0.00059108, 0.00730637, 0.00031071])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 1.5421481893976887)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 72 out of 10992 hypotheses for montys_brain (evidence > 1.5421481893976887)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.835
INFO:root:Testing 18 out of 14880 hypotheses for montys_heart (evidence > 1.5421481893976887)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.712
INFO:root:Testing 181 out of 23200 hypotheses for ramen_pack (evidence > 1.5421481893976887)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.644
INFO:root:Testing 135 out of 14864 hypotheses for hot_sauce (evidence > 1.5421481893976887)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.701
INFO:root:Testing 1 out of 12560 hypotheses for harissa_oil (evidence > 1.5421481893976887)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 1.288
INFO:root:Testing 6 out of 21832 hypotheses for tomato_soup_can (evidence > 1.5421481893976887)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.871
INFO:root:Testing 83 out of 16976 hypotheses for mustard_bottle (evidence > 1.5421481893976887)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.521
INFO:root:Testing 18 out of 17728 hypotheses for tuna_fish_can (evidence > 1.5421481893976887)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.603
INFO:root:Testing 31 out of 19024 hypotheses for potted_meat_can (evidence > 1.5421481893976887)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.961
DEBUG:root:evidences for each object: [1.21289368 7.83522514 7.71178098 7.64352559 7.70085708 1.28756732
 5.87067423 7.52050217 5.60320628 5.96078809]
DEBUG:root:mean evidence: 5.835, std: 2.434 -> th=6.268180110875211
INFO:root:current most likely hypothesis: montys_brain with evidence 7.84
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 76 ---
INFO:uvicorn.access:192.168.1.217:64728 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.02746815,  0.87737841,  0.47901214],
       [-0.99951029,  0.03129174,  0.        ],
       [-0.01498912, -0.47877756,  0.87780828]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0046586 , -0.00897736,  0.00025888])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 71 out of 10992 hypotheses for montys_brain (evidence > 1.5670450277188026)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.205
INFO:root:Testing 17 out of 14880 hypotheses for montys_heart (evidence > 1.5670450277188026)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.201
INFO:root:Testing 171 out of 23200 hypotheses for ramen_pack (evidence > 1.5670450277188026)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.007
INFO:root:Testing 128 out of 14864 hypotheses for hot_sauce (evidence > 1.5670450277188026)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.147
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 5 out of 21832 hypotheses for tomato_soup_can (evidence > 1.5670450277188026)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.211
INFO:root:Testing 81 out of 16976 hypotheses for mustard_bottle (evidence > 1.5670450277188026)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.889
INFO:root:Testing 18 out of 17728 hypotheses for tuna_fish_can (evidence > 1.5670450277188026)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.925
INFO:root:Testing 31 out of 19024 hypotheses for potted_meat_can (evidence > 1.5670450277188026)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.261
DEBUG:root:evidences for each object: [1.21289368 8.2050819  8.20117051 8.00660638 8.14675188 1.28756732
 6.21066394 7.88882106 5.92504324 6.26125209]
DEBUG:root:mean evidence: 6.135, std: 2.588 -> th=6.564065518231399
INFO:root:current most likely hypothesis: montys_brain with evidence 8.21
DEBUG:root:evidences for each object: [1.21289368 8.2050819  8.20117051 8.00660638 8.14675188 1.28756732
 6.21066394 7.88882106 5.92504324 6.26125209]
DEBUG:root:mean evidence: 6.135, std: 2.588 -> th=6.564065518231399
DEBUG:root:evidences for each object: [1.21289368 8.2050819  8.20117051 8.00660638 8.14675188 1.28756732
 6.21066394 7.88882106 5.92504324 6.26125209]
DEBUG:root:mean evidence: 6.135, std: 2.588 -> th=6.974319613120862
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 77 ---
INFO:uvicorn.access:192.168.1.217:64728 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.05087942,  0.87254771,  0.48587218],
       [-0.99830422,  0.05821245,  0.        ],
       [-0.02828381, -0.48504824,  0.87402988]]), 'pose_fully_defined': False}}, {'patch': array([-0.01639736,  0.00013748,  0.00610403])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 71 out of 10992 hypotheses for montys_brain (evidence > 1.6410163795578496)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.484
INFO:root:Testing 18 out of 14880 hypotheses for montys_heart (evidence > 1.6410163795578496)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.544
INFO:root:Testing 170 out of 23200 hypotheses for ramen_pack (evidence > 1.6410163795578496)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.381
INFO:root:Testing 126 out of 14864 hypotheses for hot_sauce (evidence > 1.6410163795578496)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.441
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 6 out of 21832 hypotheses for tomato_soup_can (evidence > 1.6410163795578496)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.0
INFO:root:Testing 81 out of 16976 hypotheses for mustard_bottle (evidence > 1.6410163795578496)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.336
INFO:root:Testing 18 out of 17728 hypotheses for tuna_fish_can (evidence > 1.6410163795578496)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.896
INFO:root:Testing 31 out of 19024 hypotheses for potted_meat_can (evidence > 1.6410163795578496)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.436
DEBUG:root:evidences for each object: [1.21289368 8.48393224 8.54424992 8.38109066 8.44107237 1.28756732
 6.0000147  8.33558647 5.89565913 6.43647044]
DEBUG:root:mean evidence: 6.302, std: 2.723 -> th=6.835399932174804
INFO:root:current most likely hypothesis: montys_heart with evidence 8.54
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 78 ---
INFO:uvicorn.access:192.168.1.217:64728 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.12511528,  0.69674807,  0.70632025],
       [-0.98425697,  0.17674334,  0.        ],
       [-0.1248374 , -0.69520063,  0.70789244]]), 'pose_fully_defined': False}}, {'patch': array([-0.00101092, -0.01218868,  0.01093515])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 71 out of 10992 hypotheses for montys_brain (evidence > 1.7088499830437005)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.663
INFO:root:Testing 17 out of 14880 hypotheses for montys_heart (evidence > 1.7088499830437005)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.871
INFO:root:Testing 157 out of 23200 hypotheses for ramen_pack (evidence > 1.7088499830437005)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.76
INFO:root:Testing 117 out of 14864 hypotheses for hot_sauce (evidence > 1.7088499830437005)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.846
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 5 out of 21832 hypotheses for tomato_soup_can (evidence > 1.7088499830437005)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.213
INFO:root:Testing 78 out of 16976 hypotheses for mustard_bottle (evidence > 1.7088499830437005)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.752
INFO:root:Testing 18 out of 17728 hypotheses for tuna_fish_can (evidence > 1.7088499830437005)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.396
INFO:root:Testing 28 out of 19024 hypotheses for potted_meat_can (evidence > 1.7088499830437005)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.256
DEBUG:root:evidences for each object: [1.21289368 8.66251096 8.87070576 8.75955945 8.84576675 1.28756732
 6.21262121 8.75228692 6.39565913 6.25578967]
DEBUG:root:mean evidence: 6.526, std: 2.85 -> th=7.096564609986894
INFO:root:current most likely hypothesis: montys_heart with evidence 8.87
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 79 ---
INFO:uvicorn.access:192.168.1.217:64728 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.19447761,  0.54666061,  0.81445726],
       [-0.94215516,  0.33517704,  0.        ],
       [-0.27298738, -0.76734512,  0.58022355]]), 'pose_fully_defined': False}}, {'patch': array([-0.00520694, -0.01186674,  0.00703846])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 69 out of 10992 hypotheses for montys_brain (evidence > 1.774141152496723)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.663
INFO:root:Testing 17 out of 14880 hypotheses for montys_heart (evidence > 1.774141152496723)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.267
INFO:root:Testing 139 out of 23200 hypotheses for ramen_pack (evidence > 1.774141152496723)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.23
INFO:root:Testing 110 out of 14864 hypotheses for hot_sauce (evidence > 1.774141152496723)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 4 out of 21832 hypotheses for tomato_soup_can (evidence > 1.774141152496723)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.213
INFO:root:Testing 70 out of 16976 hypotheses for mustard_bottle (evidence > 1.774141152496723)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.018
INFO:root:Testing 18 out of 17728 hypotheses for tuna_fish_can (evidence > 1.774141152496723)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.575
INFO:root:Testing 25 out of 19024 hypotheses for potted_meat_can (evidence > 1.774141152496723)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.848
DEBUG:root:evidences for each object: [1.21289368 7.66251096 9.26662525 9.22991488 9.28696785 1.28756732
 5.21262121 9.01826918 6.5750968  5.84761382]
DEBUG:root:mean evidence: 6.46, std: 2.962 -> th=7.429574276713261
INFO:root:current most likely hypothesis: hot_sauce with evidence 9.29
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 80 ---
INFO:uvicorn.access:192.168.1.217:64728 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.14131292,  0.61432779,  0.77629377],
       [-0.97454911,  0.2241741 ,  0.        ],
       [-0.17402496, -0.75653641,  0.6303713 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00195059,  0.00688908, -0.00520373])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 57 out of 10992 hypotheses for montys_brain (evidence > 1.8573935691783152)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.805
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 1.8573935691783152)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.669
INFO:root:Testing 121 out of 23200 hypotheses for ramen_pack (evidence > 1.8573935691783152)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.657
INFO:root:Testing 89 out of 14864 hypotheses for hot_sauce (evidence > 1.8573935691783152)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.716
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 4 out of 21832 hypotheses for tomato_soup_can (evidence > 1.8573935691783152)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.213
INFO:root:Testing 65 out of 16976 hypotheses for mustard_bottle (evidence > 1.8573935691783152)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.354
INFO:root:Testing 18 out of 17728 hypotheses for tuna_fish_can (evidence > 1.8573935691783152)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.497
INFO:root:Testing 22 out of 19024 hypotheses for potted_meat_can (evidence > 1.8573935691783152)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.146
DEBUG:root:evidences for each object: [1.21289368 7.80492921 9.66887303 9.65685754 9.71617453 1.28756732
 4.21262121 9.35355106 6.49742326 6.14558962]
DEBUG:root:mean evidence: 6.556, std: 3.172 -> th=7.772939626074212
INFO:root:current most likely hypothesis: hot_sauce with evidence 9.72
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 81 ---
INFO:uvicorn.access:192.168.1.217:64728 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.13805411,  0.73478444,  0.66410307],
       [-0.98280379,  0.18465294,  0.        ],
       [-0.12262858, -0.65268302,  0.74764103]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00425991, -0.00289625,  0.0010137 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 51 out of 10992 hypotheses for montys_brain (evidence > 1.943234906518553)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.938
INFO:root:Testing 14 out of 14880 hypotheses for montys_heart (evidence > 1.943234906518553)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.013
INFO:root:Testing 107 out of 23200 hypotheses for ramen_pack (evidence > 1.943234906518553)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.014
INFO:root:Testing 73 out of 14864 hypotheses for hot_sauce (evidence > 1.943234906518553)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.115
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 3 out of 21832 hypotheses for tomato_soup_can (evidence > 1.943234906518553)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.389
INFO:root:Testing 49 out of 16976 hypotheses for mustard_bottle (evidence > 1.943234906518553)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.591
INFO:root:Testing 18 out of 17728 hypotheses for tuna_fish_can (evidence > 1.943234906518553)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.836
INFO:root:Testing 19 out of 19024 hypotheses for potted_meat_can (evidence > 1.943234906518553)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.48
DEBUG:root:evidences for each object: [ 1.21289368  7.93839446 10.01279577 10.01438438 10.11494697  1.28756732
  4.38899163  9.5906707   6.83597716  6.4798284 ]
DEBUG:root:mean evidence: 6.788, std: 3.29 -> th=8.091957578386914
INFO:root:current most likely hypothesis: hot_sauce with evidence 10.11
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 82 ---
INFO:uvicorn.access:192.168.1.217:64731 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.03202885,  0.97079664,  0.23775626],
       [-0.9994562 , -0.0329744 ,  0.        ],
       [ 0.00783987, -0.23762696,  0.97132485]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00697897,  0.01157682, -0.00922828])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 49 out of 10992 hypotheses for montys_brain (evidence > 2.0229893945967277)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.114
INFO:root:Testing 12 out of 14880 hypotheses for montys_heart (evidence > 2.0229893945967277)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.332
INFO:root:Testing 98 out of 23200 hypotheses for ramen_pack (evidence > 2.0229893945967277)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.122
INFO:root:Testing 63 out of 14864 hypotheses for hot_sauce (evidence > 2.0229893945967277)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.472
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 2 out of 21832 hypotheses for tomato_soup_can (evidence > 2.0229893945967277)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.619
INFO:root:Testing 39 out of 16976 hypotheses for mustard_bottle (evidence > 2.0229893945967277)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.744
INFO:root:Testing 18 out of 17728 hypotheses for tuna_fish_can (evidence > 2.0229893945967277)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.007
INFO:root:Testing 17 out of 19024 hypotheses for potted_meat_can (evidence > 2.0229893945967277)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.881
DEBUG:root:evidences for each object: [ 1.21289368  8.11428999 10.33238629 10.12174764 10.47197425  1.28756732
  4.61852009  9.74360921  7.00657312  6.88070955]
DEBUG:root:mean evidence: 6.979, std: 3.369 -> th=8.377579399974657
INFO:root:current most likely hypothesis: hot_sauce with evidence 10.47
DEBUG:root:evidences for each object: [ 1.21289368  8.11428999 10.33238629 10.12174764 10.47197425  1.28756732
  4.61852009  9.74360921  7.00657312  6.88070955]
DEBUG:root:mean evidence: 6.979, std: 3.369 -> th=8.377579399974657
DEBUG:root:evidences for each object: [ 1.21289368  8.11428999 10.33238629 10.12174764 10.47197425  1.28756732
  4.61852009  9.74360921  7.00657312  6.88070955]
DEBUG:root:mean evidence: 6.979, std: 3.369 -> th=8.901178112473072
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 83 ---
INFO:uvicorn.access:192.168.1.217:64731 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.17633031,  0.64803373,  0.74091829],
       [-0.96491718,  0.26255445,  0.        ],
       [-0.1945314 , -0.71492478,  0.67159518]]), 'pose_fully_defined': False}}, {'patch': array([-0.01007538, -0.00305608,  0.00362491])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 49 out of 10992 hypotheses for montys_brain (evidence > 2.094394849993664)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.32
INFO:root:Testing 12 out of 14880 hypotheses for montys_heart (evidence > 2.094394849993664)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.603
INFO:root:Testing 97 out of 23200 hypotheses for ramen_pack (evidence > 2.094394849993664)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.539
INFO:root:Testing 61 out of 14864 hypotheses for hot_sauce (evidence > 2.094394849993664)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.855
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 2 out of 21832 hypotheses for tomato_soup_can (evidence > 2.094394849993664)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.292
INFO:root:Testing 36 out of 16976 hypotheses for mustard_bottle (evidence > 2.094394849993664)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.176
INFO:root:Testing 18 out of 17728 hypotheses for tuna_fish_can (evidence > 2.094394849993664)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.015
INFO:root:Testing 17 out of 19024 hypotheses for potted_meat_can (evidence > 2.094394849993664)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.213
DEBUG:root:evidences for each object: [ 1.21289368  8.31961396 10.60342574 10.5392442  10.85545328  1.28756732
  4.29221856 10.17611696  7.0150243   7.21288307]
DEBUG:root:mean evidence: 7.151, std: 3.542 -> th=8.684362622757977
INFO:root:current most likely hypothesis: hot_sauce with evidence 10.86
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 84 ---
INFO:uvicorn.access:192.168.1.217:64731 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.2281308 ,  0.65576574,  0.71967189],
       [-0.94447965,  0.32856992,  0.        ],
       [-0.23646254, -0.67971545,  0.69431432]]), 'pose_fully_defined': False}}, {'patch': array([-0.00559226, -0.00201136,  0.00800695])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 48 out of 10992 hypotheses for montys_brain (evidence > 2.1710906556894933)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.56
INFO:root:Testing 11 out of 14880 hypotheses for montys_heart (evidence > 2.1710906556894933)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.903
INFO:root:Testing 93 out of 23200 hypotheses for ramen_pack (evidence > 2.1710906556894933)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.954
INFO:root:Testing 53 out of 14864 hypotheses for hot_sauce (evidence > 2.1710906556894933)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.227
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 2 out of 21832 hypotheses for tomato_soup_can (evidence > 2.1710906556894933)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.292
INFO:root:Testing 30 out of 16976 hypotheses for mustard_bottle (evidence > 2.1710906556894933)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.491
INFO:root:Testing 18 out of 17728 hypotheses for tuna_fish_can (evidence > 2.1710906556894933)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.184
INFO:root:Testing 15 out of 19024 hypotheses for potted_meat_can (evidence > 2.1710906556894933)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.533
DEBUG:root:evidences for each object: [ 1.21289368  8.56041988 10.90294286 10.95435993 11.22660935  1.28756732
  3.29221856 10.49072828  7.1842686   7.53270002]
DEBUG:root:mean evidence: 7.264, std: 3.779 -> th=8.981287482031654
INFO:root:current most likely hypothesis: hot_sauce with evidence 11.23
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 85 ---
INFO:uvicorn.access:192.168.1.217:64733 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.01848227,  0.78509098,  0.61910464],
       [-0.99972301,  0.02353505,  0.        ],
       [-0.01457066, -0.61893315,  0.7853085 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01415622,  0.00722373, -0.01102461])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 42 out of 10992 hypotheses for montys_brain (evidence > 2.2453218705079134)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.011
INFO:root:Testing 11 out of 14880 hypotheses for montys_heart (evidence > 2.2453218705079134)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 11.291
INFO:root:Testing 89 out of 23200 hypotheses for ramen_pack (evidence > 2.2453218705079134)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.253
INFO:root:Testing 48 out of 14864 hypotheses for hot_sauce (evidence > 2.2453218705079134)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.642
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 2 out of 21832 hypotheses for tomato_soup_can (evidence > 2.2453218705079134)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.685
INFO:root:Testing 27 out of 16976 hypotheses for mustard_bottle (evidence > 2.2453218705079134)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.973
INFO:root:Testing 18 out of 17728 hypotheses for tuna_fish_can (evidence > 2.2453218705079134)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.379
INFO:root:Testing 12 out of 19024 hypotheses for potted_meat_can (evidence > 2.2453218705079134)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.922
DEBUG:root:evidences for each object: [ 1.21289368  9.01144582 11.29107281 11.25280679 11.64231444  1.28756732
  3.68518142 10.97282431  7.378835    7.92154403]
DEBUG:root:mean evidence: 7.566, std: 3.909 -> th=9.313851551641232
INFO:root:current most likely hypothesis: hot_sauce with evidence 11.64
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 86 ---
INFO:uvicorn.access:192.168.1.217:64733 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.05677135,  0.66339136,  0.74611589],
       [-0.99635824,  0.08526582,  0.        ],
       [-0.06361818, -0.74339872,  0.6658161 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00254945,  0.00634752, -0.00751991])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 43 out of 10992 hypotheses for montys_brain (evidence > 2.328462887910307)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.355
INFO:root:Testing 12 out of 14880 hypotheses for montys_heart (evidence > 2.328462887910307)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 11.492
INFO:root:Testing 87 out of 23200 hypotheses for ramen_pack (evidence > 2.328462887910307)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.697
INFO:root:Testing 46 out of 14864 hypotheses for hot_sauce (evidence > 2.328462887910307)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.921
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 2 out of 21832 hypotheses for tomato_soup_can (evidence > 2.328462887910307)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.953
INFO:root:Testing 26 out of 16976 hypotheses for mustard_bottle (evidence > 2.328462887910307)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.279
INFO:root:Testing 18 out of 17728 hypotheses for tuna_fish_can (evidence > 2.328462887910307)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.375
INFO:root:Testing 13 out of 19024 hypotheses for potted_meat_can (evidence > 2.328462887910307)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.245
DEBUG:root:evidences for each object: [ 1.21289368  9.3549282  11.49152834 11.69719656 11.92078528  1.28756732
  3.95264253 11.27870076  7.37458568  8.24545622]
DEBUG:root:mean evidence: 7.782, std: 4.016 -> th=9.536628222569309
INFO:root:current most likely hypothesis: hot_sauce with evidence 11.92
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 87 ---
INFO:uvicorn.access:192.168.1.217:64733 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.02554121,  0.77369836,  0.63303909],
       [-0.99945555,  0.03299387,  0.        ],
       [-0.02088641, -0.63269444,  0.77411983]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01516438, -0.0026196 ,  0.00253736])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 43 out of 10992 hypotheses for montys_brain (evidence > 2.3841570556423264)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.828
INFO:root:Testing 12 out of 14880 hypotheses for montys_heart (evidence > 2.3841570556423264)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 11.937
INFO:root:Testing 86 out of 23200 hypotheses for ramen_pack (evidence > 2.3841570556423264)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.006
INFO:root:Testing 45 out of 14864 hypotheses for hot_sauce (evidence > 2.3841570556423264)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.388
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 6 out of 21832 hypotheses for tomato_soup_can (evidence > 2.3841570556423264)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.259
INFO:root:Testing 25 out of 16976 hypotheses for mustard_bottle (evidence > 2.3841570556423264)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.616
INFO:root:Testing 18 out of 17728 hypotheses for tuna_fish_can (evidence > 2.3841570556423264)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.646
INFO:root:Testing 12 out of 19024 hypotheses for potted_meat_can (evidence > 2.3841570556423264)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.64
DEBUG:root:evidences for each object: [ 1.21289368  9.8279281  11.93709327 12.00644546 12.38842921  1.28756732
  4.25927119 11.61644752  7.64625077  8.64040163]
DEBUG:root:mean evidence: 8.082, std: 4.157 -> th=9.910743364898902
INFO:root:current most likely hypothesis: hot_sauce with evidence 12.39
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 88 ---
INFO:uvicorn.access:192.168.1.217:64733 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.08176719,  0.91932353,  0.38491346],
       [-0.99606791, -0.08859305,  0.        ],
       [ 0.03410066, -0.38339994,  0.92295267]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00281088,  0.00457271, -0.01153588])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 43 out of 10992 hypotheses for montys_brain (evidence > 2.4776858412247247)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.184
INFO:root:Testing 14 out of 14880 hypotheses for montys_heart (evidence > 2.4776858412247247)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 12.257
INFO:root:Testing 86 out of 23200 hypotheses for ramen_pack (evidence > 2.4776858412247247)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.3
INFO:root:Testing 46 out of 14864 hypotheses for hot_sauce (evidence > 2.4776858412247247)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.847
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 3 out of 21832 hypotheses for tomato_soup_can (evidence > 2.4776858412247247)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.617
INFO:root:Testing 26 out of 16976 hypotheses for mustard_bottle (evidence > 2.4776858412247247)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.921
INFO:root:Testing 18 out of 17728 hypotheses for tuna_fish_can (evidence > 2.4776858412247247)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.842
INFO:root:Testing 12 out of 19024 hypotheses for potted_meat_can (evidence > 2.4776858412247247)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.037
DEBUG:root:evidences for each object: [ 1.21289368 10.18380597 12.25722473 12.30007033 12.84731318  1.28756732
  4.61726539 11.92076793  7.84221263  9.03686535]
DEBUG:root:mean evidence: 8.351, std: 4.274 -> th=10.277850546550141
INFO:root:current most likely hypothesis: hot_sauce with evidence 12.85
DEBUG:root:evidences for each object: [ 1.21289368 10.18380597 12.25722473 12.30007033 12.84731318  1.28756732
  4.61726539 11.92076793  7.84221263  9.03686535]
DEBUG:root:mean evidence: 8.351, std: 4.274 -> th=10.277850546550141
DEBUG:root:evidences for each object: [ 1.21289368 10.18380597 12.25722473 12.30007033 12.84731318  1.28756732
  4.61726539 11.92076793  7.84221263  9.03686535]
DEBUG:root:mean evidence: 8.351, std: 4.274 -> th=10.920216205709526
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 89 ---
INFO:uvicorn.access:192.168.1.217:64734 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.0829729 ,  0.99592638,  0.03530073],
       [-0.99654749, -0.08302465,  0.        ],
       [ 0.00293083, -0.03517885,  0.99937674]]), 'pose_fully_defined': False}}, {'patch': array([-0.00819789,  0.00266315, -0.00434848])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 45 out of 10992 hypotheses for montys_brain (evidence > 2.5694626366375353)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.567
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 2.5694626366375353)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 12.675
INFO:root:Testing 85 out of 23200 hypotheses for ramen_pack (evidence > 2.5694626366375353)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.601
INFO:root:Testing 51 out of 14864 hypotheses for hot_sauce (evidence > 2.5694626366375353)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.317
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 3 out of 21832 hypotheses for tomato_soup_can (evidence > 2.5694626366375353)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.88
INFO:root:Testing 28 out of 16976 hypotheses for mustard_bottle (evidence > 2.5694626366375353)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.368
INFO:root:Testing 18 out of 17728 hypotheses for tuna_fish_can (evidence > 2.5694626366375353)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.197
INFO:root:Testing 14 out of 19024 hypotheses for potted_meat_can (evidence > 2.5694626366375353)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.294
DEBUG:root:evidences for each object: [ 1.21289368 10.5670545  12.6746185  12.60061862 13.31694255  1.28756732
  4.88009206 12.36829704  8.19740117  9.2936118 ]
DEBUG:root:mean evidence: 8.64, std: 4.421 -> th=10.653554037673887
INFO:root:current most likely hypothesis: hot_sauce with evidence 13.32
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 90 ---
INFO:uvicorn.access:192.168.1.217:64734 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.05015407,  0.98487912,  0.16582428],
       [-0.99870588, -0.05085819,  0.        ],
       [ 0.00843352, -0.16560968,  0.98615532]]), 'pose_fully_defined': False}}, {'patch': array([-0.00020251, -0.00038661, -0.00158321])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 48 out of 10992 hypotheses for montys_brain (evidence > 2.6633885094184713)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.837
INFO:root:Testing 14 out of 14880 hypotheses for montys_heart (evidence > 2.6633885094184713)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.034
INFO:root:Testing 85 out of 23200 hypotheses for ramen_pack (evidence > 2.6633885094184713)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.069
INFO:root:Testing 54 out of 14864 hypotheses for hot_sauce (evidence > 2.6633885094184713)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.764
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 4 out of 21832 hypotheses for tomato_soup_can (evidence > 2.6633885094184713)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.179
INFO:root:Testing 29 out of 16976 hypotheses for mustard_bottle (evidence > 2.6633885094184713)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.839
INFO:root:Testing 18 out of 17728 hypotheses for tuna_fish_can (evidence > 2.6633885094184713)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.488
INFO:root:Testing 14 out of 19024 hypotheses for potted_meat_can (evidence > 2.6633885094184713)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.616
DEBUG:root:evidences for each object: [ 1.21289368 10.83652092 13.03391848 13.0693765  13.7637341   1.28756732
  5.17906161 12.83901723  8.48809442  9.61567662]
DEBUG:root:mean evidence: 8.933, std: 4.571 -> th=11.010987282091474
INFO:root:current most likely hypothesis: hot_sauce with evidence 13.76
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 91 ---
INFO:uvicorn.access:192.168.1.217:64735 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.12970184,  0.6029192 ,  0.78718858],
       [-0.97763438,  0.21031172,  0.        ],
       [-0.16555498, -0.76958262,  0.61671236]]), 'pose_fully_defined': False}}, {'patch': array([0.0173764 , 0.03679761, 0.05690224])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 48 out of 10992 hypotheses for montys_brain (evidence > 2.7527468205228676)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.837
INFO:root:Testing 14 out of 14880 hypotheses for montys_heart (evidence > 2.7527468205228676)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 12.034
INFO:root:Testing 84 out of 23200 hypotheses for ramen_pack (evidence > 2.7527468205228676)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.069
INFO:root:Testing 55 out of 14864 hypotheses for hot_sauce (evidence > 2.7527468205228676)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.764
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 3 out of 21832 hypotheses for tomato_soup_can (evidence > 2.7527468205228676)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.179
INFO:root:Testing 29 out of 16976 hypotheses for mustard_bottle (evidence > 2.7527468205228676)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.839
INFO:root:Testing 18 out of 17728 hypotheses for tuna_fish_can (evidence > 2.7527468205228676)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.488
INFO:root:Testing 14 out of 19024 hypotheses for potted_meat_can (evidence > 2.7527468205228676)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.616
DEBUG:root:evidences for each object: [ 1.21289368  9.83652092 12.03391848 12.0693765  12.7637341   1.28756732
  4.17906161 11.83901723  7.48809442  8.61567662]
DEBUG:root:mean evidence: 8.133, std: 4.241 -> th=10.210987282091473
INFO:root:current most likely hypothesis: hot_sauce with evidence 12.76
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 92 ---
INFO:uvicorn.access:192.168.1.217:64735 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.03345674,  0.99015467,  0.13592051],
       [-0.99942963,  0.03377013,  0.        ],
       [-0.00459005, -0.13584299,  0.99071975]]), 'pose_fully_defined': False}}, {'patch': array([-0.01044007, -0.03672484, -0.05552187])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 49 out of 10992 hypotheses for montys_brain (evidence > 2.5527468205228683)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.293
INFO:root:Testing 13 out of 14880 hypotheses for montys_heart (evidence > 2.5527468205228683)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 12.345
INFO:root:Testing 84 out of 23200 hypotheses for ramen_pack (evidence > 2.5527468205228683)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.5
INFO:root:Testing 57 out of 14864 hypotheses for hot_sauce (evidence > 2.5527468205228683)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.225
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 11 out of 21832 hypotheses for tomato_soup_can (evidence > 2.5527468205228683)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.603
INFO:root:Testing 36 out of 16976 hypotheses for mustard_bottle (evidence > 2.5527468205228683)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.281
INFO:root:Testing 18 out of 17728 hypotheses for tuna_fish_can (evidence > 2.5527468205228683)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.78
INFO:root:Testing 13 out of 19024 hypotheses for potted_meat_can (evidence > 2.5527468205228683)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.936
DEBUG:root:evidences for each object: [ 1.21289368 10.29277712 12.34464474 12.50026958 13.22480489  1.28756732
  4.60268953 12.28109887  7.77950245  8.93575824]
DEBUG:root:mean evidence: 8.446, std: 4.377 -> th=10.579843910962888
INFO:root:current most likely hypothesis: hot_sauce with evidence 13.22
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 93 ---
INFO:uvicorn.access:192.168.1.217:64735 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.08950141,  0.90441663,  0.41715712],
       [-0.9951391 ,  0.09847934,  0.        ],
       [-0.04108136, -0.41512936,  0.90883438]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00207976, -0.00121846,  0.00516505])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 49 out of 10992 hypotheses for montys_brain (evidence > 2.6449609777407215)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.677
INFO:root:Testing 13 out of 14880 hypotheses for montys_heart (evidence > 2.6449609777407215)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 12.613
INFO:root:Testing 84 out of 23200 hypotheses for ramen_pack (evidence > 2.6449609777407215)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.918
INFO:root:Testing 54 out of 14864 hypotheses for hot_sauce (evidence > 2.6449609777407215)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.69
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 8 out of 21832 hypotheses for tomato_soup_can (evidence > 2.6449609777407215)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.017
INFO:root:Testing 36 out of 16976 hypotheses for mustard_bottle (evidence > 2.6449609777407215)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.6
INFO:root:Testing 18 out of 17728 hypotheses for tuna_fish_can (evidence > 2.6449609777407215)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.932
INFO:root:Testing 20 out of 19024 hypotheses for potted_meat_can (evidence > 2.6449609777407215)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.404
DEBUG:root:evidences for each object: [ 1.21289368 10.67657312 12.6127064  12.91799981 13.68959095  1.28756732
  5.01696585 12.60047862  7.93159842  9.40401014]
DEBUG:root:mean evidence: 8.735, std: 4.503 -> th=10.951672760887705
INFO:root:current most likely hypothesis: hot_sauce with evidence 13.69
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 94 ---
INFO:uvicorn.access:192.168.1.217:64737 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.08522276,  0.94720857,  0.30908414],
       [-0.99597688, -0.08961057,  0.        ],
       [ 0.02769721, -0.30784066,  0.9510347 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.02523159,  0.00208843, -0.01595015])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 52 out of 10992 hypotheses for montys_brain (evidence > 2.737918190221926)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.677
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 2.737918190221926)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 12.951
INFO:root:Testing 84 out of 23200 hypotheses for ramen_pack (evidence > 2.737918190221926)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.292
INFO:root:Testing 55 out of 14864 hypotheses for hot_sauce (evidence > 2.737918190221926)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.927
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 5 out of 21832 hypotheses for tomato_soup_can (evidence > 2.737918190221926)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.02
INFO:root:Testing 36 out of 16976 hypotheses for mustard_bottle (evidence > 2.737918190221926)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.976
INFO:root:Testing 18 out of 17728 hypotheses for tuna_fish_can (evidence > 2.737918190221926)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.462
INFO:root:Testing 18 out of 19024 hypotheses for potted_meat_can (evidence > 2.737918190221926)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.783
DEBUG:root:evidences for each object: [ 1.21289368  9.67657312 12.95089524 13.29211912 13.92666514  1.28756732
  5.01961936 12.97573747  7.46214423  9.7832451 ]
DEBUG:root:mean evidence: 8.759, std: 4.614 -> th=11.141332108538695
INFO:root:current most likely hypothesis: hot_sauce with evidence 13.93
DEBUG:root:evidences for each object: [ 1.21289368  9.67657312 12.95089524 13.29211912 13.92666514  1.28756732
  5.01961936 12.97573747  7.46214423  9.7832451 ]
DEBUG:root:mean evidence: 8.759, std: 4.614 -> th=11.141332108538695
DEBUG:root:evidences for each object: [ 1.21289368  9.67657312 12.95089524 13.29211912 13.92666514  1.28756732
  5.01961936 12.97573747  7.46214423  9.7832451 ]
DEBUG:root:mean evidence: 8.759, std: 4.614 -> th=11.837665365322362
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 95 ---
INFO:uvicorn.access:192.168.1.217:64737 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.10450379,  0.9840745 ,  0.14379267],
       [-0.99440856, -0.10560122,  0.        ],
       [ 0.01518468, -0.14298866,  0.98960784]]), 'pose_fully_defined': False}}, {'patch': array([-0.00383771,  0.000723  , -0.00286645])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 47 out of 10992 hypotheses for montys_brain (evidence > 2.785333027134673)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.121
INFO:root:Testing 14 out of 14880 hypotheses for montys_heart (evidence > 2.785333027134673)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.281
INFO:root:Testing 83 out of 23200 hypotheses for ramen_pack (evidence > 2.785333027134673)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.729
INFO:root:Testing 49 out of 14864 hypotheses for hot_sauce (evidence > 2.785333027134673)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.104
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 2 out of 21832 hypotheses for tomato_soup_can (evidence > 2.785333027134673)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.951
INFO:root:Testing 29 out of 16976 hypotheses for mustard_bottle (evidence > 2.785333027134673)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.362
INFO:root:Testing 18 out of 17728 hypotheses for tuna_fish_can (evidence > 2.785333027134673)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.995
INFO:root:Testing 18 out of 19024 hypotheses for potted_meat_can (evidence > 2.785333027134673)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.085
DEBUG:root:evidences for each object: [ 1.21289368  9.12136557 13.28102815 13.72892903 14.10398441  1.28756732
  4.9513034  13.36197072  6.9947595  10.08492071]
DEBUG:root:mean evidence: 8.813, std: 4.766 -> th=11.283187528543268
INFO:root:current most likely hypothesis: hot_sauce with evidence 14.1
DEBUG:root:evidences for each object: [ 1.21289368  9.12136557 13.28102815 13.72892903 14.10398441  1.28756732
  4.9513034  13.36197072  6.9947595  10.08492071]
DEBUG:root:mean evidence: 8.813, std: 4.766 -> th=11.283187528543268
DEBUG:root:evidences for each object: [ 1.21289368  9.12136557 13.28102815 13.72892903 14.10398441  1.28756732
  4.9513034  13.36197072  6.9947595  10.08492071]
DEBUG:root:mean evidence: 8.813, std: 4.766 -> th=11.988386749077222
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 96 ---
INFO:uvicorn.access:192.168.1.217:64739 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.07012032,  0.99615907, -0.05244279],
       [-0.99753174, -0.07021694,  0.        ],
       [-0.00368237,  0.05231334,  0.99862393]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00657307, -0.00405901,  0.00740686])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 43 out of 10992 hypotheses for montys_brain (evidence > 2.8207968821358165)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.306
INFO:root:Testing 13 out of 14880 hypotheses for montys_heart (evidence > 2.8207968821358165)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.681
INFO:root:Testing 83 out of 23200 hypotheses for ramen_pack (evidence > 2.8207968821358165)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.097
INFO:root:Testing 49 out of 14864 hypotheses for hot_sauce (evidence > 2.8207968821358165)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.435
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 2 out of 21832 hypotheses for tomato_soup_can (evidence > 2.8207968821358165)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.06
INFO:root:Testing 28 out of 16976 hypotheses for mustard_bottle (evidence > 2.8207968821358165)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.846
INFO:root:Testing 18 out of 17728 hypotheses for tuna_fish_can (evidence > 2.8207968821358165)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.112
INFO:root:Testing 19 out of 19024 hypotheses for potted_meat_can (evidence > 2.8207968821358165)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.484
DEBUG:root:evidences for each object: [ 1.21289368  9.30616416 13.68112708 14.09706433 14.43545484  1.28756732
  5.05951608 13.84595434  7.11161138 10.48444221]
DEBUG:root:mean evidence: 9.052, std: 4.923 -> th=11.548363868272219
INFO:root:current most likely hypothesis: hot_sauce with evidence 14.44
DEBUG:root:evidences for each object: [ 1.21289368  9.30616416 13.68112708 14.09706433 14.43545484  1.28756732
  5.05951608 13.84595434  7.11161138 10.48444221]
DEBUG:root:mean evidence: 9.052, std: 4.923 -> th=11.548363868272219
DEBUG:root:evidences for each object: [ 1.21289368  9.30616416 13.68112708 14.09706433 14.43545484  1.28756732
  5.05951608 13.84595434  7.11161138 10.48444221]
DEBUG:root:mean evidence: 9.052, std: 4.923 -> th=12.270136610039232
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 97 ---
INFO:uvicorn.access:192.168.1.217:64739 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.2045947 ,  0.69053269,  0.69376193],
       [-0.95880098,  0.28407865,  0.        ],
       [-0.19708295, -0.66517962,  0.7202044 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00038202,  0.00597897,  0.0118554 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 43 out of 10992 hypotheses for montys_brain (evidence > 2.8870909670680547)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.584
INFO:root:Testing 13 out of 14880 hypotheses for montys_heart (evidence > 2.8870909670680547)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.04
INFO:root:Testing 82 out of 23200 hypotheses for ramen_pack (evidence > 2.8870909670680547)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.63
INFO:root:Testing 49 out of 14864 hypotheses for hot_sauce (evidence > 2.8870909670680547)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.841
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 2 out of 21832 hypotheses for tomato_soup_can (evidence > 2.8870909670680547)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.06
INFO:root:Testing 27 out of 16976 hypotheses for mustard_bottle (evidence > 2.8870909670680547)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.605
INFO:root:Testing 18 out of 17728 hypotheses for tuna_fish_can (evidence > 2.8870909670680547)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.52
INFO:root:Testing 19 out of 19024 hypotheses for potted_meat_can (evidence > 2.8870909670680547)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.484
DEBUG:root:evidences for each object: [ 1.21289368  9.58403948 14.0399185  13.63008536 14.84075468  1.28756732
  4.05951608 13.60509467  7.52017282  9.48444221]
DEBUG:root:mean evidence: 8.926, std: 4.994 -> th=11.872603741840509
INFO:root:current most likely hypothesis: hot_sauce with evidence 14.84
DEBUG:root:evidences for each object: [ 1.21289368  9.58403948 14.0399185  13.63008536 14.84075468  1.28756732
  4.05951608 13.60509467  7.52017282  9.48444221]
DEBUG:root:mean evidence: 8.926, std: 4.994 -> th=11.872603741840509
DEBUG:root:evidences for each object: [ 1.21289368  9.58403948 14.0399185  13.63008536 14.84075468  1.28756732
  4.05951608 13.60509467  7.52017282  9.48444221]
DEBUG:root:mean evidence: 8.926, std: 4.994 -> th=12.61464147570554
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 98 ---
INFO:uvicorn.access:192.168.1.217:64742 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-2.20637241e-02,  9.99738203e-01, -6.05943359e-03],
       [-9.99756557e-01, -2.20641292e-02,  0.00000000e+00],
       [-1.33696125e-04,  6.05795847e-03,  9.99981641e-01]]), 'pose_fully_defined': False}}, {'patch': array([-0.01180676,  0.00041249, -0.02524035])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 36 out of 10992 hypotheses for montys_brain (evidence > 2.9681509354601268)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.584
INFO:root:Testing 12 out of 14880 hypotheses for montys_heart (evidence > 2.9681509354601268)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.04
INFO:root:Testing 80 out of 23200 hypotheses for ramen_pack (evidence > 2.9681509354601268)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.635
INFO:root:Testing 48 out of 14864 hypotheses for hot_sauce (evidence > 2.9681509354601268)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 15.045
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 2.9681509354601268)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.029
INFO:root:Testing 27 out of 16976 hypotheses for mustard_bottle (evidence > 2.9681509354601268)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.905
INFO:root:Testing 18 out of 17728 hypotheses for tuna_fish_can (evidence > 2.9681509354601268)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.52
INFO:root:Testing 15 out of 19024 hypotheses for potted_meat_can (evidence > 2.9681509354601268)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.866
DEBUG:root:evidences for each object: [ 1.21289368  8.58403948 13.0399185  13.63486986 15.04530728  1.28756732
  4.02857815 13.9048397   6.52017282  9.86629118]
DEBUG:root:mean evidence: 8.712, std: 4.995 -> th=12.036245823297445
INFO:root:current most likely hypothesis: hot_sauce with evidence 15.05
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 99 ---
INFO:uvicorn.access:192.168.1.217:64742 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 1.11310873e-03,  9.93898208e-01, -1.10295572e-01],
       [-9.99999373e-01,  1.11994168e-03,  0.00000000e+00],
       [ 1.23524609e-04,  1.10295503e-01,  9.93898831e-01]]), 'pose_fully_defined': False}}, {'patch': array([-0.00745493,  0.00117433,  0.00883061])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 29 out of 10992 hypotheses for montys_brain (evidence > 3.0090614558243605)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.954
INFO:root:Testing 12 out of 14880 hypotheses for montys_heart (evidence > 3.0090614558243605)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.536
INFO:root:Testing 78 out of 23200 hypotheses for ramen_pack (evidence > 3.0090614558243605)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.004
INFO:root:Testing 47 out of 14864 hypotheses for hot_sauce (evidence > 3.0090614558243605)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 15.376
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 3.0090614558243605)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.15
INFO:root:Testing 24 out of 16976 hypotheses for mustard_bottle (evidence > 3.0090614558243605)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.426
INFO:root:Testing 15 out of 17728 hypotheses for tuna_fish_can (evidence > 3.0090614558243605)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.767
INFO:root:Testing 15 out of 19024 hypotheses for potted_meat_can (evidence > 3.0090614558243605)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.021
DEBUG:root:evidences for each object: [ 1.21289368  8.95445105 13.53597693 14.00389723 15.37588285  1.28756732
  4.14960097 13.42599478  6.76688838 10.0210538 ]
DEBUG:root:mean evidence: 8.873, std: 5.053 -> th=12.300706280832118
INFO:root:current most likely hypothesis: hot_sauce with evidence 15.38
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 100 ---
INFO:uvicorn.access:192.168.1.217:64742 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.06618155,  0.98662546,  0.14896374],
       [-0.99775779,  0.0669283 ,  0.        ],
       [-0.00996989, -0.14862974,  0.98884266]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01095287,  0.00068535, -0.00394541])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 28 out of 10992 hypotheses for montys_brain (evidence > 3.075176570208029)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.531
INFO:root:Testing 13 out of 14880 hypotheses for montys_heart (evidence > 3.075176570208029)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.792
INFO:root:Testing 74 out of 23200 hypotheses for ramen_pack (evidence > 3.075176570208029)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.45
INFO:root:Testing 47 out of 14864 hypotheses for hot_sauce (evidence > 3.075176570208029)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 15.559
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 3.075176570208029)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.054
INFO:root:Testing 23 out of 16976 hypotheses for mustard_bottle (evidence > 3.075176570208029)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.138
INFO:root:Testing 12 out of 17728 hypotheses for tuna_fish_can (evidence > 3.075176570208029)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.767
INFO:root:Testing 15 out of 19024 hypotheses for potted_meat_can (evidence > 3.075176570208029)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.486
DEBUG:root:evidences for each object: [ 1.21289368  8.53111237 13.79159701 14.45031959 15.55877521  1.28756732
  4.05381759 13.1375724   5.76688838 10.48565013]
DEBUG:root:mean evidence: 8.828, std: 5.196 -> th=12.44702016914496
INFO:root:current most likely hypothesis: hot_sauce with evidence 15.56
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 101 ---
INFO:uvicorn.access:192.168.1.217:64742 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.20868944,  0.80813023,  0.5507942 ],
       [-0.96823681,  0.25003495,  0.        ],
       [-0.1377178 , -0.53329922,  0.83464109]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00620389, -0.01340877,  0.0199432 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 20 out of 10992 hypotheses for montys_brain (evidence > 3.111755042286239)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.987
INFO:root:Testing 13 out of 14880 hypotheses for montys_heart (evidence > 3.111755042286239)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.237
INFO:root:Testing 72 out of 23200 hypotheses for ramen_pack (evidence > 3.111755042286239)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.91
INFO:root:Testing 47 out of 14864 hypotheses for hot_sauce (evidence > 3.111755042286239)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 16.024
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 3.111755042286239)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.524
INFO:root:Testing 22 out of 16976 hypotheses for mustard_bottle (evidence > 3.111755042286239)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.48
INFO:root:Testing 6 out of 17728 hypotheses for tuna_fish_can (evidence > 3.111755042286239)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.14
INFO:root:Testing 15 out of 19024 hypotheses for potted_meat_can (evidence > 3.111755042286239)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.883
DEBUG:root:evidences for each object: [ 1.21289368  8.987123   14.23729069 14.90983002 16.02426751  1.28756732
  4.52423058 13.47981529  6.13970282 10.88311238]
DEBUG:root:mean evidence: 9.169, std: 5.323 -> th=12.819414005011135
INFO:root:current most likely hypothesis: hot_sauce with evidence 16.02
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 102 ---
INFO:uvicorn.access:192.168.1.217:64742 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.26861549,  0.6410708 ,  0.71893946],
       [-0.92230756,  0.38645668,  0.        ],
       [-0.27783896, -0.6630833 ,  0.6950727 ]]), 'pose_fully_defined': False}}, {'patch': array([0.00103019, 0.00075731, 0.00375496])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 21 out of 10992 hypotheses for montys_brain (evidence > 3.2048535012527832)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.382
INFO:root:Testing 13 out of 14880 hypotheses for montys_heart (evidence > 3.2048535012527832)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.684
INFO:root:Testing 72 out of 23200 hypotheses for ramen_pack (evidence > 3.2048535012527832)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.332
INFO:root:Testing 47 out of 14864 hypotheses for hot_sauce (evidence > 3.2048535012527832)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 16.48
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 3 out of 21832 hypotheses for tomato_soup_can (evidence > 3.2048535012527832)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.928
INFO:root:Testing 22 out of 16976 hypotheses for mustard_bottle (evidence > 3.2048535012527832)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.767
INFO:root:Testing 10 out of 17728 hypotheses for tuna_fish_can (evidence > 3.2048535012527832)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.605
INFO:root:Testing 16 out of 19024 hypotheses for potted_meat_can (evidence > 3.2048535012527832)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.163
DEBUG:root:evidences for each object: [ 1.21289368  9.38197808 14.68404221 15.33249499 16.47956967  1.28756732
  4.92765583 13.7668616   6.60474867 11.16331605]
DEBUG:root:mean evidence: 9.484, std: 5.441 -> th=13.183655738233517
INFO:root:current most likely hypothesis: hot_sauce with evidence 16.48
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 103 ---
INFO:uvicorn.access:192.168.1.217:64742 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.32075655,  0.44910236,  0.83391984],
       [-0.81375991,  0.58120118,  0.        ],
       [-0.4846752 , -0.67861054,  0.55188558]]), 'pose_fully_defined': False}}, {'patch': array([-0.00121852, -0.00702976,  0.00250666])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 19 out of 10992 hypotheses for montys_brain (evidence > 3.295913934558378)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.751
INFO:root:Testing 12 out of 14880 hypotheses for montys_heart (evidence > 3.295913934558378)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 15.036
INFO:root:Testing 72 out of 23200 hypotheses for ramen_pack (evidence > 3.295913934558378)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.756
INFO:root:Testing 47 out of 14864 hypotheses for hot_sauce (evidence > 3.295913934558378)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 16.859
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 3 out of 21832 hypotheses for tomato_soup_can (evidence > 3.295913934558378)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.124
INFO:root:Testing 22 out of 16976 hypotheses for mustard_bottle (evidence > 3.295913934558378)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.174
INFO:root:Testing 10 out of 17728 hypotheses for tuna_fish_can (evidence > 3.295913934558378)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.051
INFO:root:Testing 22 out of 19024 hypotheses for potted_meat_can (evidence > 3.295913934558378)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.333
DEBUG:root:evidences for each object: [ 1.21289368  9.75129105 15.03568119 15.75639149 16.85890595  1.28756732
  5.12358712 14.17435254  7.05130773 11.33262011]
DEBUG:root:mean evidence: 9.758, std: 5.566 -> th=13.487124763046504
INFO:root:current most likely hypothesis: hot_sauce with evidence 16.86
DEBUG:root:evidences for each object: [ 1.21289368  9.75129105 15.03568119 15.75639149 16.85890595  1.28756732
  5.12358712 14.17435254  7.05130773 11.33262011]
DEBUG:root:mean evidence: 9.758, std: 5.566 -> th=13.487124763046504
DEBUG:root:evidences for each object: [ 1.21289368  9.75129105 15.03568119 15.75639149 16.85890595  1.28756732
  5.12358712 14.17435254  7.05130773 11.33262011]
DEBUG:root:mean evidence: 9.758, std: 5.566 -> th=14.33007006073691
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 104 ---
INFO:uvicorn.access:192.168.1.217:64742 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.36592593,  0.23704813,  0.899948  ],
       [-0.54369181,  0.83928494,  0.        ],
       [-0.75531281, -0.48929436,  0.43599725]]), 'pose_fully_defined': False}}, {'patch': array([-0.00040705, -0.00722632,  0.00351344])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 19 out of 10992 hypotheses for montys_brain (evidence > 3.3717811907616255)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.953
INFO:root:Testing 12 out of 14880 hypotheses for montys_heart (evidence > 3.3717811907616255)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 15.346
INFO:root:Testing 72 out of 23200 hypotheses for ramen_pack (evidence > 3.3717811907616255)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.231
INFO:root:Testing 47 out of 14864 hypotheses for hot_sauce (evidence > 3.3717811907616255)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 17.323
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 3 out of 21832 hypotheses for tomato_soup_can (evidence > 3.3717811907616255)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.211
INFO:root:Testing 22 out of 16976 hypotheses for mustard_bottle (evidence > 3.3717811907616255)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.584
INFO:root:Testing 16 out of 17728 hypotheses for tuna_fish_can (evidence > 3.3717811907616255)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.408
INFO:root:Testing 25 out of 19024 hypotheses for potted_meat_can (evidence > 3.3717811907616255)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.403
DEBUG:root:evidences for each object: [ 1.21289368  9.95286216 15.34618896 16.23125949 17.32338743  1.28756732
  5.21050536 14.58374694  7.40835352 11.40298433]
DEBUG:root:mean evidence: 9.996, std: 5.717 -> th=13.858709943180425
INFO:root:current most likely hypothesis: hot_sauce with evidence 17.32
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 105 ---
INFO:uvicorn.access:192.168.1.217:64742 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.53931107, -0.13996612,  0.83039331],
       [ 0.25120554,  0.96793377, -0.        ],
       [-0.80376573,  0.2085994 ,  0.55717766]]), 'pose_fully_defined': False}}, {'patch': array([-0.01016107, -0.01275297,  0.00671307])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 19 out of 10992 hypotheses for montys_brain (evidence > 3.4646774857951055)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.921
INFO:root:Testing 12 out of 14880 hypotheses for montys_heart (evidence > 3.4646774857951055)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 15.734
INFO:root:Testing 72 out of 23200 hypotheses for ramen_pack (evidence > 3.4646774857951055)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.102
INFO:root:Testing 47 out of 14864 hypotheses for hot_sauce (evidence > 3.4646774857951055)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 17.721
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 2 out of 21832 hypotheses for tomato_soup_can (evidence > 3.4646774857951055)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.211
INFO:root:Testing 22 out of 16976 hypotheses for mustard_bottle (evidence > 3.4646774857951055)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.955
INFO:root:Testing 17 out of 17728 hypotheses for tuna_fish_can (evidence > 3.4646774857951055)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.532
INFO:root:Testing 24 out of 19024 hypotheses for potted_meat_can (evidence > 3.4646774857951055)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.715
DEBUG:root:evidences for each object: [ 1.21289368  9.92087983 15.73443618 16.10232891 17.72069655  1.28756732
  4.21050536 14.95502118  7.5315968  11.71492303]
DEBUG:root:mean evidence: 10.039, std: 5.916 -> th=14.176557236109286
INFO:root:current most likely hypothesis: hot_sauce with evidence 17.72
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 106 ---
INFO:uvicorn.access:192.168.1.217:64742 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.54937419, -0.31312277,  0.77468841],
       [ 0.49517855,  0.86879123, -0.        ],
       [-0.6730425 ,  0.38360909,  0.63234316]]), 'pose_fully_defined': False}}, {'patch': array([-0.00426409, -0.00820528,  0.00052018])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 18 out of 10992 hypotheses for montys_brain (evidence > 3.5441393090273206)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.287
INFO:root:Testing 12 out of 14880 hypotheses for montys_heart (evidence > 3.5441393090273206)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 16.034
INFO:root:Testing 68 out of 23200 hypotheses for ramen_pack (evidence > 3.5441393090273206)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.756
INFO:root:Testing 47 out of 14864 hypotheses for hot_sauce (evidence > 3.5441393090273206)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 18.115
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 3.5441393090273206)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.396
INFO:root:Testing 22 out of 16976 hypotheses for mustard_bottle (evidence > 3.5441393090273206)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No 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
INFO:root:Testing 15 out of 17728 hypotheses for tuna_fish_can (evidence > 3.5441393090273206)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.532
INFO:root:Testing 24 out of 19024 hypotheses for potted_meat_can (evidence > 3.5441393090273206)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.079
DEBUG:root:evidences for each object: [ 1.21289368 10.28661182 16.03446517 15.75576341 18.11452569  1.28756732
  3.39577895 15.30505613  6.5315968  12.07920093]
DEBUG:root:mean evidence: 10.0, std: 6.138 -> th=14.491620555246877
INFO:root:current most likely hypothesis: hot_sauce with evidence 18.11
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 107 ---
INFO:uvicorn.access:192.168.1.217:64744 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.89837927,  0.00912945,  0.43912565],
       [-0.01016161, -0.99994837,  0.        ],
       [ 0.43910298, -0.00446222,  0.89842566]]), 'pose_fully_defined': False}}, {'patch': array([-0.03004081,  0.01606564, -0.02258519])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 16 out of 10992 hypotheses for montys_brain (evidence > 3.622905138811719)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.496
INFO:root:Testing 12 out of 14880 hypotheses for montys_heart (evidence > 3.622905138811719)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 15.034
INFO:root:Testing 68 out of 23200 hypotheses for ramen_pack (evidence > 3.622905138811719)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.468
INFO:root:Testing 47 out of 14864 hypotheses for hot_sauce (evidence > 3.622905138811719)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 17.115
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.396
INFO:root:Testing 22 out of 16976 hypotheses for mustard_bottle (evidence > 3.622905138811719)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.305
INFO:root:Testing 14 out of 17728 hypotheses for tuna_fish_can (evidence > 3.622905138811719)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.377
INFO:root:Testing 24 out of 19024 hypotheses for potted_meat_can (evidence > 3.622905138811719)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.079
DEBUG:root:evidences for each object: [ 1.21289368 10.49571317 15.03446517 15.46841916 17.11452569  1.28756732
  3.39577895 14.30505613  6.37740103 11.07920093]
DEBUG:root:mean evidence: 9.577, std: 5.778 -> th=13.691620555246876
INFO:root:current most likely hypothesis: hot_sauce with evidence 17.11
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 108 ---
INFO:uvicorn.access:192.168.1.217:64744 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.89315066,  0.08044242,  0.44250526],
       [-0.0897028 , -0.99596858,  0.        ],
       [ 0.44072134, -0.03969396,  0.89676591]]), 'pose_fully_defined': False}}, {'patch': array([-0.00388044,  0.01528867,  0.0020147 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 17 out of 10992 hypotheses for montys_brain (evidence > 3.4229051388117178)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.705
INFO:root:Testing 12 out of 14880 hypotheses for montys_heart (evidence > 3.4229051388117178)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 15.08
INFO:root:Testing 65 out of 23200 hypotheses for ramen_pack (evidence > 3.4229051388117178)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.61
INFO:root:Testing 47 out of 14864 hypotheses for hot_sauce (evidence > 3.4229051388117178)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 16.99
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.396
INFO:root:Testing 22 out of 16976 hypotheses for mustard_bottle (evidence > 3.4229051388117178)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.2
INFO:root:Testing 16 out of 17728 hypotheses for tuna_fish_can (evidence > 3.4229051388117178)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.438
INFO:root:Testing 23 out of 19024 hypotheses for potted_meat_can (evidence > 3.4229051388117178)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.934
DEBUG:root:evidences for each object: [ 1.21289368 10.70506012 15.08033361 15.61038968 16.99024713  1.28756732
  3.39577895 14.20025108  6.43790725 10.93421598]
DEBUG:root:mean evidence: 9.585, std: 5.769 -> th=13.592197700139632
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: {'mustard_bottle', 'hot_sauce', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 109 ---
INFO:uvicorn.access:192.168.1.217:64746 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.84057039, -0.0565967 ,  0.53873763],
       [ 0.0671792 , -0.99774093,  0.        ],
       [ 0.53752058,  0.03619196,  0.8424736 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00561984, -0.02355689,  0.0186414 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 18 out of 10992 hypotheses for montys_brain (evidence > 3.398049425034907)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.164
INFO:root:Testing 12 out of 14880 hypotheses for montys_heart (evidence > 3.398049425034907)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.999
INFO:root:Testing 66 out of 23200 hypotheses for ramen_pack (evidence > 3.398049425034907)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.61
INFO:root:Testing 47 out of 14864 hypotheses for hot_sauce (evidence > 3.398049425034907)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 15.99
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.396
INFO:root:Testing 22 out of 16976 hypotheses for mustard_bottle (evidence > 3.398049425034907)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.488
INFO:root:Testing 16 out of 17728 hypotheses for tuna_fish_can (evidence > 3.398049425034907)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.769
INFO:root:Testing 23 out of 19024 hypotheses for potted_meat_can (evidence > 3.398049425034907)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.252
DEBUG:root:evidences for each object: [ 1.21289368 11.16421818 14.99918239 14.61038968 15.99024713  1.28756732
  3.39577895 14.48784848  6.76925612 11.25205309]
DEBUG:root:mean evidence: 9.517, std: 5.568 -> th=12.792197700139633
INFO:root:current most likely hypothesis: hot_sauce with evidence 15.99
DEBUG:root:evidences for each object: [ 1.21289368 11.16421818 14.99918239 14.61038968 15.99024713  1.28756732
  3.39577895 14.48784848  6.76925612 11.25205309]
DEBUG:root:mean evidence: 9.517, std: 5.568 -> th=12.792197700139633
DEBUG:root:evidences for each object: [ 1.21289368 11.16421818 14.99918239 14.61038968 15.99024713  1.28756732
  3.39577895 14.48784848  6.76925612 11.25205309]
DEBUG:root:mean evidence: 9.517, std: 5.568 -> th=13.591710056398359
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 110 ---
INFO:uvicorn.access:192.168.1.217:64746 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.90657505,  0.05812442,  0.418023  ],
       [-0.06398292, -0.99795099,  0.        ],
       [ 0.41716647, -0.02674633,  0.90843644]]), 'pose_fully_defined': False}}, {'patch': array([0.00174467, 0.00474734, 0.00249579])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 25 out of 10992 hypotheses for montys_brain (evidence > 3.198049425034908)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.598
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 3.198049425034908)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 15.376
INFO:root:Testing 67 out of 23200 hypotheses for ramen_pack (evidence > 3.198049425034908)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.485
INFO:root:Testing 44 out of 14864 hypotheses for hot_sauce (evidence > 3.198049425034908)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.99
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 15 out of 21832 hypotheses for tomato_soup_can (evidence > 3.198049425034908)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.725
INFO:root:Testing 22 out of 16976 hypotheses for mustard_bottle (evidence > 3.198049425034908)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.488
INFO:root:Testing 149 out of 17728 hypotheses for tuna_fish_can (evidence > 3.198049425034908)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.184
INFO:root:Testing 32 out of 19024 hypotheses for potted_meat_can (evidence > 3.198049425034908)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.625
DEBUG:root:evidences for each object: [ 1.21289368 11.5976211  15.37619172 14.48461277 14.99024713  1.28756732
  3.72501989 13.48784848  7.18447604 11.62484228]
DEBUG:root:mean evidence: 9.497, std: 5.377 -> th=12.300953378289526
INFO:root:current most likely hypothesis: montys_heart with evidence 15.38
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 111 ---
INFO:uvicorn.access:192.168.1.217:64748 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.96567073,  0.13803411,  0.22006051],
       [-0.14150288, -0.98993784,  0.        ],
       [ 0.21784623, -0.0311392 ,  0.97548622]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01901772, -0.00397907,  0.00368874])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 32 out of 10992 hypotheses for montys_brain (evidence > 3.07523834457238)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.668
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 3.07523834457238)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 15.297
INFO:root:Testing 67 out of 23200 hypotheses for ramen_pack (evidence > 3.07523834457238)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.297
INFO:root:Testing 45 out of 14864 hypotheses for hot_sauce (evidence > 3.07523834457238)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.762
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 38 out of 21832 hypotheses for tomato_soup_can (evidence > 3.07523834457238)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.878
INFO:root:Testing 22 out of 16976 hypotheses for mustard_bottle (evidence > 3.07523834457238)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.259
INFO:root:Testing 999 out of 17728 hypotheses for tuna_fish_can (evidence > 3.07523834457238)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.184
INFO:root:Testing 41 out of 19024 hypotheses for potted_meat_can (evidence > 3.07523834457238)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.492
DEBUG:root:evidences for each object: [ 1.21289368 11.66846996 15.29659432 14.29672994 14.76161965  1.28756732
  3.8777608  13.25902246  6.18447604 11.49169031]
DEBUG:root:mean evidence: 9.334, std: 5.344 -> th=12.237275459764344
INFO:root:current most likely hypothesis: montys_heart with evidence 15.3
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 112 ---
INFO:uvicorn.access:192.168.1.217:64748 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.02863126,  0.09704642,  0.99486795],
       [-0.9591292 , -0.2829685 ,  0.        ],
       [ 0.28151629, -0.95420691,  0.1011818 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00542374,  0.01002806, -0.00535877])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 28 out of 10992 hypotheses for montys_brain (evidence > 3.059318864941085)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.969
INFO:root:Testing 13 out of 14880 hypotheses for montys_heart (evidence > 3.059318864941085)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 15.467
INFO:root:Testing 62 out of 23200 hypotheses for ramen_pack (evidence > 3.059318864941085)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.615
INFO:root:Testing 42 out of 14864 hypotheses for hot_sauce (evidence > 3.059318864941085)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.321
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 9 out of 21832 hypotheses for tomato_soup_can (evidence > 3.059318864941085)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures 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 20 out of 16976 hypotheses for mustard_bottle (evidence > 3.059318864941085)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.259
INFO:root:Testing 365 out of 17728 hypotheses for tuna_fish_can (evidence > 3.059318864941085)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.623
INFO:root:Testing 29 out of 19024 hypotheses for potted_meat_can (evidence > 3.059318864941085)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.501
DEBUG:root:evidences for each object: [ 1.21289368 11.96921581 15.46705897 14.61549552 14.32088823  1.28756732
  3.90602635 12.25902246  5.6229709  11.50095513]
DEBUG:root:mean evidence: 9.216, std: 5.333 -> th=12.373647175549326
INFO:root:current most likely hypothesis: montys_heart with evidence 15.47
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 113 ---
INFO:uvicorn.access:192.168.1.217:64748 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.9099494 ,  0.18889764,  0.36920154],
       [-0.20325795, -0.97912523,  0.        ],
       [ 0.36149454, -0.07504315,  0.92934936]]), 'pose_fully_defined': False}}, {'patch': array([-0.00116693,  0.00916791, -0.01141683])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 28 out of 10992 hypotheses for montys_brain (evidence > 3.0934117938873307)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 12.257
INFO:root:Testing 13 out of 14880 hypotheses for montys_heart (evidence > 3.0934117938873307)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 15.693
INFO:root:Testing 62 out of 23200 hypotheses for ramen_pack (evidence > 3.0934117938873307)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.683
INFO:root:Testing 41 out of 14864 hypotheses for hot_sauce (evidence > 3.0934117938873307)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.801
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 2 out of 21832 hypotheses for tomato_soup_can (evidence > 3.0934117938873307)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.184
INFO:root:Testing 19 out of 16976 hypotheses for mustard_bottle (evidence > 3.0934117938873307)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.259
INFO:root:Testing 144 out of 17728 hypotheses for tuna_fish_can (evidence > 3.0934117938873307)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.78
INFO:root:Testing 23 out of 19024 hypotheses for potted_meat_can (evidence > 3.0934117938873307)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.433
DEBUG:root:evidences for each object: [ 1.21289368 12.25733487 15.69326063 14.68340202 13.80066502  1.28756732
  4.1836269  11.25902246  5.7797416  11.43254726]
DEBUG:root:mean evidence: 9.159, std: 5.246 -> th=12.55460850405965
INFO:root:current most likely hypothesis: montys_heart with evidence 15.69
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 114 ---
INFO:uvicorn.access:192.168.1.217:64748 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.62213964,  0.19549108,  0.75810653],
       [-0.29977284, -0.95401061,  0.        ],
       [ 0.72324167, -0.22725975,  0.65213073]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00114492,  0.00363328, -0.0040708 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 27 out of 10992 hypotheses for montys_brain (evidence > 3.138652126014911)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 12.397
INFO:root:Testing 13 out of 14880 hypotheses for montys_heart (evidence > 3.138652126014911)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 15.884
INFO:root:Testing 60 out of 23200 hypotheses for ramen_pack (evidence > 3.138652126014911)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.69
INFO:root:Testing 41 out of 14864 hypotheses for hot_sauce (evidence > 3.138652126014911)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.822
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 2 out of 21832 hypotheses for tomato_soup_can (evidence > 3.138652126014911)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.18
INFO:root:Testing 17 out of 16976 hypotheses for mustard_bottle (evidence > 3.138652126014911)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.219
INFO:root:Testing 107 out of 17728 hypotheses for tuna_fish_can (evidence > 3.138652126014911)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.78
INFO:root:Testing 22 out of 19024 hypotheses for potted_meat_can (evidence > 3.138652126014911)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.461
DEBUG:root:evidences for each object: [ 1.21289368 12.39651793 15.88368803 14.68999163 13.82177924  1.28756732
  4.17993411 11.21913532  5.78009873 11.46109055]
DEBUG:root:mean evidence: 9.193, std: 5.281 -> th=12.706950426563221
INFO:root:current most likely hypothesis: montys_heart with evidence 15.88
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 115 ---
INFO:uvicorn.access:192.168.1.217:64749 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.90559159,  0.05065144,  0.42111556],
       [-0.05584459, -0.99843947,  0.        ],
       [ 0.42045839, -0.02351703,  0.90700699]]), 'pose_fully_defined': False}}, {'patch': array([-0.00671925, -0.03092019, -0.00703171])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 27 out of 10992 hypotheses for montys_brain (evidence > 3.1767376066408044)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 12.491
INFO:root:Testing 13 out of 14880 hypotheses for montys_heart (evidence > 3.1767376066408044)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.884
INFO:root:Testing 60 out of 23200 hypotheses for ramen_pack (evidence > 3.1767376066408044)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.401
INFO:root:Testing 41 out of 14864 hypotheses for hot_sauce (evidence > 3.1767376066408044)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.35
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 2 out of 21832 hypotheses for tomato_soup_can (evidence > 3.1767376066408044)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.092
INFO:root:Testing 16 out of 16976 hypotheses for mustard_bottle (evidence > 3.1767376066408044)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.616
INFO:root:Testing 95 out of 17728 hypotheses for tuna_fish_can (evidence > 3.1767376066408044)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.585
INFO:root:Testing 22 out of 19024 hypotheses for potted_meat_can (evidence > 3.1767376066408044)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.461
DEBUG:root:evidences for each object: [ 1.21289368 12.49144278 14.88368803 14.40115106 13.35010998  1.28756732
  4.09231736 11.61583397  5.58547856 10.46109055]
DEBUG:root:mean evidence: 8.938, std: 5.096 -> th=11.90695042656322
INFO:root:current most likely hypothesis: montys_heart with evidence 14.88
DEBUG:root:evidences for each object: [ 1.21289368 12.49144278 14.88368803 14.40115106 13.35010998  1.28756732
  4.09231736 11.61583397  5.58547856 10.46109055]
DEBUG:root:mean evidence: 8.938, std: 5.096 -> th=11.90695042656322
DEBUG:root:evidences for each object: [ 1.21289368 12.49144278 14.88368803 14.40115106 13.35010998  1.28756732
  4.09231736 11.61583397  5.58547856 10.46109055]
DEBUG:root:mean evidence: 8.938, std: 5.096 -> th=12.651134828223421
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', 'montys_brain', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 116 ---
INFO:uvicorn.access:192.168.1.217:64749 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.86532455,  0.0713393 ,  0.49610898],
       [-0.0821635 , -0.99661886,  0.        ],
       [ 0.49443157, -0.04076205,  0.86826026]]), 'pose_fully_defined': False}}, {'patch': array([-0.00139605,  0.01026394, -0.00631654])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 34 out of 10992 hypotheses for montys_brain (evidence > 2.976737606640805)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 12.662
INFO:root:Testing 21 out of 14880 hypotheses for montys_heart (evidence > 2.976737606640805)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.962
INFO:root:Testing 61 out of 23200 hypotheses for ramen_pack (evidence > 2.976737606640805)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.09
INFO:root:Testing 43 out of 14864 hypotheses for hot_sauce (evidence > 2.976737606640805)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.312
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 203 out of 21832 hypotheses for tomato_soup_can (evidence > 2.976737606640805)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.516
INFO:root:Testing 22 out of 16976 hypotheses for mustard_bottle (evidence > 2.976737606640805)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.953
INFO:root:Testing 1353 out of 17728 hypotheses for tuna_fish_can (evidence > 2.976737606640805)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.323
INFO:root:Testing 47 out of 19024 hypotheses for potted_meat_can (evidence > 2.976737606640805)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.354
DEBUG:root:evidences for each object: [ 1.21289368 12.66192477 14.96216345 14.08959254 13.31219475  1.28756732
  4.5161313  11.95339701  5.32260109 10.35391619]
DEBUG:root:mean evidence: 8.967, std: 5.077 -> th=11.969730758406449
INFO:root:current most likely hypothesis: montys_heart with evidence 14.96
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'montys_brain', 'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 117 ---
INFO:uvicorn.access:192.168.1.217:64751 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.89863705, -0.08253035,  0.43085983],
       [ 0.0914546 , -0.99580925,  0.        ],
       [ 0.4290542 ,  0.03940411,  0.90241886]]), 'pose_fully_defined': False}}, {'patch': array([0.00482525, 0.0009675 , 0.00957197])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 30 out of 10992 hypotheses for montys_brain (evidence > 2.9924326896016122)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 12.843
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 2.9924326896016122)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.962
INFO:root:Testing 57 out of 23200 hypotheses for ramen_pack (evidence > 2.9924326896016122)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.806
INFO:root:Testing 41 out of 14864 hypotheses for hot_sauce (evidence > 2.9924326896016122)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.352
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 56 out of 21832 hypotheses for tomato_soup_can (evidence > 2.9924326896016122)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.016
INFO:root:Testing 20 out of 16976 hypotheses for mustard_bottle (evidence > 2.9924326896016122)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.416
INFO:root:Testing 469 out of 17728 hypotheses for tuna_fish_can (evidence > 2.9924326896016122)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.318
INFO:root:Testing 31 out of 19024 hypotheses for potted_meat_can (evidence > 2.9924326896016122)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.354
DEBUG:root:evidences for each object: [ 1.21289368 12.84331442 13.96216345 13.80579183 13.35196515  1.28756732
  5.0161313  12.41594122  5.31842146  9.35391619]
DEBUG:root:mean evidence: 8.857, std: 4.925 -> th=11.169730758406448
INFO:root:current most likely hypothesis: montys_heart with evidence 13.96
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 118 ---
INFO:uvicorn.access:192.168.1.217:64751 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.95048747, -0.06638718,  0.30358904],
       [ 0.06967566, -0.9975697 ,  0.        ],
       [ 0.30285123,  0.02115277,  0.95280307]]), 'pose_fully_defined': False}}, {'patch': array([-0.00862693,  0.0099799 ,  0.0059424 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 43 out of 10992 hypotheses for montys_brain (evidence > 2.792432689601611)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 13.103
INFO:root:Testing 612 out of 14880 hypotheses for montys_heart (evidence > 2.792432689601611)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.097
INFO:root:Testing 59 out of 23200 hypotheses for ramen_pack (evidence > 2.792432689601611)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.966
INFO:root:Testing 62 out of 14864 hypotheses for hot_sauce (evidence > 2.792432689601611)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.322
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 2739 out of 21832 hypotheses for tomato_soup_can (evidence > 2.792432689601611)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 5.516
INFO:root:Testing 33 out of 16976 hypotheses for mustard_bottle (evidence > 2.792432689601611)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.857
INFO:root:Testing 2515 out of 17728 hypotheses for tuna_fish_can (evidence > 2.792432689601611)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 5.635
INFO:root:Testing 118 out of 19024 hypotheses for potted_meat_can (evidence > 2.792432689601611)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.806
DEBUG:root:evidences for each object: [ 1.21289368 13.10338025 14.09709199 13.96605613 13.32215349  1.28756732
  5.5161313  12.8568875   5.63451844  9.80605641]
DEBUG:root:mean evidence: 9.08, std: 4.952 -> th=11.277673590664032
INFO:root:current most likely hypothesis: montys_heart with evidence 14.1
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 119 ---
INFO:uvicorn.access:192.168.1.217:64753 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.32973397,  0.75473341, -0.56714459],
       [-0.91636315, -0.40034806,  0.        ],
       [-0.22705524,  0.51971041,  0.82361824]]), 'pose_fully_defined': False}}, {'patch': array([ 0.04360935,  0.01646596, -0.029431  ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 42 out of 10992 hypotheses for montys_brain (evidence > 2.8194183976660074)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 13.335
INFO:root:Testing 455 out of 14880 hypotheses for montys_heart (evidence > 2.8194183976660074)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.502
INFO:root:Testing 48 out of 23200 hypotheses for ramen_pack (evidence > 2.8194183976660074)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.274
INFO:root:Testing 51 out of 14864 hypotheses for hot_sauce (evidence > 2.8194183976660074)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.731
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 1322 out of 21832 hypotheses for tomato_soup_can (evidence > 2.8194183976660074)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.707
INFO:root:Testing 19 out of 16976 hypotheses for mustard_bottle (evidence > 2.8194183976660074)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.265
INFO:root:Testing 1331 out of 17728 hypotheses for tuna_fish_can (evidence > 2.8194183976660074)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.025
INFO:root:Testing 44 out of 19024 hypotheses for potted_meat_can (evidence > 2.8194183976660074)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.109
DEBUG:root:evidences for each object: [ 1.21289368 13.33476007 14.50182619 14.27416191 13.7313305   1.28756732
  5.70702898 13.26510691  6.02481336 10.10871185]
DEBUG:root:mean evidence: 9.345, std: 5.073 -> th=11.601460948708729
INFO:root:current most likely hypothesis: montys_heart with evidence 14.5
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 120 ---
INFO:uvicorn.access:192.168.1.217:64753 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.29272446,  0.93873291, -0.18191458],
       [-0.95466208, -0.29769164,  0.        ],
       [-0.05415445,  0.17366695,  0.98331434]]), 'pose_fully_defined': False}}, {'patch': array([0.00587165, 0.00761597, 0.01053304])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 28 out of 10992 hypotheses for montys_brain (evidence > 2.9003652371771818)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 13.669
INFO:root:Testing 438 out of 14880 hypotheses for montys_heart (evidence > 2.9003652371771818)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.881
INFO:root:Testing 48 out of 23200 hypotheses for ramen_pack (evidence > 2.9003652371771818)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.758
INFO:root:Testing 45 out of 14864 hypotheses for hot_sauce (evidence > 2.9003652371771818)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.048
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 1296 out of 21832 hypotheses for tomato_soup_can (evidence > 2.9003652371771818)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.016
INFO:root:Testing 16 out of 16976 hypotheses for mustard_bottle (evidence > 2.9003652371771818)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.613
INFO:root:Testing 1193 out of 17728 hypotheses for tuna_fish_can (evidence > 2.9003652371771818)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.199
INFO:root:Testing 44 out of 19024 hypotheses for potted_meat_can (evidence > 2.9003652371771818)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.319
DEBUG:root:evidences for each object: [ 1.21289368 13.66876822 14.88093586 14.7583076  14.04794617  1.28756732
  6.01566713 13.61264564  6.19892389 10.31851344]
DEBUG:root:mean evidence: 9.6, std: 5.209 -> th=11.904748687302064
INFO:root:current most likely hypothesis: montys_heart with evidence 14.88
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 121 ---
INFO:uvicorn.access:192.168.1.217:64753 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.16142465,  0.98680065, -0.01290565],
       [-0.98688284, -0.16143809,  0.        ],
       [-0.00208346,  0.01273637,  0.99991672]]), 'pose_fully_defined': False}}, {'patch': array([-0.00197647, -0.00078096,  0.0074061 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 21 out of 10992 hypotheses for montys_brain (evidence > 2.976187171825515)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 14.043
INFO:root:Testing 378 out of 14880 hypotheses for montys_heart (evidence > 2.976187171825515)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 15.165
INFO:root:Testing 47 out of 23200 hypotheses for ramen_pack (evidence > 2.976187171825515)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.242
INFO:root:Testing 44 out of 14864 hypotheses for hot_sauce (evidence > 2.976187171825515)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.41
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 1067 out of 21832 hypotheses for tomato_soup_can (evidence > 2.976187171825515)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.351
INFO:root:Testing 14 out of 16976 hypotheses for mustard_bottle (evidence > 2.976187171825515)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.004
INFO:root:Testing 865 out of 17728 hypotheses for tuna_fish_can (evidence > 2.976187171825515)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.324
INFO:root:Testing 35 out of 19024 hypotheses for potted_meat_can (evidence > 2.976187171825515)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.55
DEBUG:root:evidences for each object: [ 1.21289368 14.04301783 15.16452046 15.24189804 14.40981091  1.28756732
  6.35080051 14.0044981   6.32402513 10.55028139]
DEBUG:root:mean evidence: 9.859, std: 5.348 -> th=12.193518432587187
INFO:root:current most likely hypothesis: ramen_pack with evidence 15.24
DEBUG:root:evidences for each object: [ 1.21289368 14.04301783 15.16452046 15.24189804 14.40981091  1.28756732
  6.35080051 14.0044981   6.32402513 10.55028139]
DEBUG:root:mean evidence: 9.859, std: 5.348 -> th=12.193518432587187
DEBUG:root:evidences for each object: [ 1.21289368 14.04301783 15.16452046 15.24189804 14.40981091  1.28756732
  6.35080051 14.0044981   6.32402513 10.55028139]
DEBUG:root:mean evidence: 9.859, std: 5.348 -> th=12.955613334623886
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 122 ---
INFO:uvicorn.access:192.168.1.217:64753 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.27404434,  0.92590556, -0.25999731],
       [-0.95888215, -0.28380456,  0.        ],
       [-0.07378842,  0.24930678,  0.96560934]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00672691, -0.00016713, -0.01133623])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 21 out of 10992 hypotheses for montys_brain (evidence > 3.0483796081467958)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 14.289
INFO:root:Testing 375 out of 14880 hypotheses for montys_heart (evidence > 3.0483796081467958)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 15.343
INFO:root:Testing 45 out of 23200 hypotheses for ramen_pack (evidence > 3.0483796081467958)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.717
INFO:root:Testing 40 out of 14864 hypotheses for hot_sauce (evidence > 3.0483796081467958)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.755
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 954 out of 21832 hypotheses for tomato_soup_can (evidence > 3.0483796081467958)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.424
INFO:root:Testing 13 out of 16976 hypotheses for mustard_bottle (evidence > 3.0483796081467958)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.411
INFO:root:Testing 728 out of 17728 hypotheses for tuna_fish_can (evidence > 3.0483796081467958)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.461
INFO:root:Testing 33 out of 19024 hypotheses for potted_meat_can (evidence > 3.0483796081467958)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.734
DEBUG:root:evidences for each object: [ 1.21289368 14.2885779  15.34260062 15.71712115 14.75479984  1.28756732
  6.42387812 14.4114666   6.46050934 10.73430324]
DEBUG:root:mean evidence: 10.063, std: 5.483 -> th=12.573696917978767
INFO:root:current most likely hypothesis: ramen_pack with evidence 15.72
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 123 ---
INFO:uvicorn.access:192.168.1.217:64753 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.31319921,  0.7593137 , -0.57039369],
       [-0.92444619, -0.38131252,  0.        ],
       [-0.21749825,  0.52729827,  0.82137144]]), 'pose_fully_defined': False}}, {'patch': array([-0.0087765 , -0.00017089, -0.00386914])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 14 out of 10992 hypotheses for montys_brain (evidence > 3.1434242294946912)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 14.698
INFO:root:Testing 235 out of 14880 hypotheses for montys_heart (evidence > 3.1434242294946912)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 15.812
INFO:root:Testing 45 out of 23200 hypotheses for ramen_pack (evidence > 3.1434242294946912)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.19
INFO:root:Testing 36 out of 14864 hypotheses for hot_sauce (evidence > 3.1434242294946912)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.874
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 613 out of 21832 hypotheses for tomato_soup_can (evidence > 3.1434242294946912)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.599
INFO:root:Testing 12 out of 16976 hypotheses for mustard_bottle (evidence > 3.1434242294946912)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.826
INFO:root:Testing 655 out of 17728 hypotheses for tuna_fish_can (evidence > 3.1434242294946912)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.858
INFO:root:Testing 25 out of 19024 hypotheses for potted_meat_can (evidence > 3.1434242294946912)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.111
DEBUG:root:evidences for each object: [ 1.21289368 14.69820665 15.81216927 16.18986278 13.87448791  1.28756732
  6.59940629 14.82550844  6.85839536 11.11062232]
DEBUG:root:mean evidence: 10.247, std: 5.547 -> th=12.951890225034052
INFO:root:current most likely hypothesis: ramen_pack with evidence 16.19
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 124 ---
INFO:uvicorn.access:192.168.1.217:64753 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.16857071,  0.98292754, -0.0737385 ],
       [-0.98561076, -0.16903088,  0.        ],
       [-0.01246408,  0.07267746,  0.99727761]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00484704, -0.00037709,  0.01151031])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 11 out of 10992 hypotheses for montys_brain (evidence > 3.237972556258512)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 15.034
INFO:root:Testing 208 out of 14880 hypotheses for montys_heart (evidence > 3.237972556258512)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 16.066
INFO:root:Testing 43 out of 23200 hypotheses for ramen_pack (evidence > 3.237972556258512)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.674
INFO:root:Testing 36 out of 14864 hypotheses for hot_sauce (evidence > 3.237972556258512)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.25
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 522 out of 21832 hypotheses for tomato_soup_can (evidence > 3.237972556258512)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.977
INFO:root:Testing 12 out of 16976 hypotheses for mustard_bottle (evidence > 3.237972556258512)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.21
INFO:root:Testing 561 out of 17728 hypotheses for tuna_fish_can (evidence > 3.237972556258512)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.954
INFO:root:Testing 24 out of 19024 hypotheses for potted_meat_can (evidence > 3.237972556258512)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.313
DEBUG:root:evidences for each object: [ 1.21289368 15.03408207 16.06594674 16.67430139 14.24991016  1.28756732
  6.97681485 15.20998479  6.95448709 11.31310957]
DEBUG:root:mean evidence: 10.498, std: 5.68 -> th=13.33944110954424
INFO:root:current most likely hypothesis: ramen_pack with evidence 16.67
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 125 ---
INFO:uvicorn.access:192.168.1.217:64753 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.30997828, -0.57348934, -0.758303  ],
       [ 0.87971675, -0.47549809,  0.        ],
       [-0.36057163, -0.66709185,  0.65190227]]), 'pose_fully_defined': False}}, {'patch': array([-0.03322474,  0.00451298,  0.00292316])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 11 out of 10992 hypotheses for montys_brain (evidence > 3.33486027738606)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 14.034
INFO:root:Testing 208 out of 14880 hypotheses for montys_heart (evidence > 3.33486027738606)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 15.066
INFO:root:Testing 43 out of 23200 hypotheses for ramen_pack (evidence > 3.33486027738606)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.674
INFO:root:Testing 35 out of 14864 hypotheses for hot_sauce (evidence > 3.33486027738606)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.25
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 514 out of 21832 hypotheses for tomato_soup_can (evidence > 3.33486027738606)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.832
INFO:root:Testing 11 out of 16976 hypotheses for mustard_bottle (evidence > 3.33486027738606)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.21
INFO:root:Testing 547 out of 17728 hypotheses for tuna_fish_can (evidence > 3.33486027738606)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.862
INFO:root:Testing 24 out of 19024 hypotheses for potted_meat_can (evidence > 3.33486027738606)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.304
DEBUG:root:evidences for each object: [ 1.21289368 14.03408207 15.06594674 15.67430139 13.24991016  1.28756732
  6.83239001 14.20998479  6.86198292 11.30441984]
DEBUG:root:mean evidence: 9.973, std: 5.264 -> th=12.539441109544239
INFO:root:current most likely hypothesis: ramen_pack with evidence 15.67
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 126 ---
INFO:uvicorn.access:192.168.1.217:64753 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.28383403,  0.91904289, -0.27349298],
       [-0.95547119, -0.29508442,  0.        ],
       [-0.08070352,  0.26131466,  0.961874  ]]), 'pose_fully_defined': False}}, {'patch': array([ 2.38286995e-03, -1.01560826e-02,  7.17777839e-05])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 11 out of 10992 hypotheses for montys_brain (evidence > 3.1348602773860588)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 14.483
INFO:root:Testing 214 out of 14880 hypotheses for montys_heart (evidence > 3.1348602773860588)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 15.451
INFO:root:Testing 43 out of 23200 hypotheses for ramen_pack (evidence > 3.1348602773860588)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.079
INFO:root:Testing 35 out of 14864 hypotheses for hot_sauce (evidence > 3.1348602773860588)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.677
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 524 out of 21832 hypotheses for tomato_soup_can (evidence > 3.1348602773860588)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.196
INFO:root:Testing 11 out of 16976 hypotheses for mustard_bottle (evidence > 3.1348602773860588)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.661
INFO:root:Testing 508 out of 17728 hypotheses for tuna_fish_can (evidence > 3.1348602773860588)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.262
INFO:root:Testing 24 out of 19024 hypotheses for potted_meat_can (evidence > 3.1348602773860588)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.545
DEBUG:root:evidences for each object: [ 1.21289368 14.48303342 15.4505598  16.07851197 13.67698608  1.28756732
  7.19607158 14.66134511  7.26223345 11.54491457]
DEBUG:root:mean evidence: 10.285, std: 5.404 -> th=12.862809574334307
INFO:root:current most likely hypothesis: ramen_pack with evidence 16.08
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 127 ---
INFO:uvicorn.access:192.168.1.217:64753 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.45283072,  0.71436235, -0.53350798],
       [-0.84460457, -0.53539062,  0.        ],
       [-0.28563517,  0.45060328,  0.84579503]]), 'pose_fully_defined': False}}, {'patch': array([-0.01057726, -0.01072231, -0.0054705 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 13 out of 10992 hypotheses for montys_brain (evidence > 3.2157023935835767)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 14.965
INFO:root:Testing 214 out of 14880 hypotheses for montys_heart (evidence > 3.2157023935835767)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 15.912
INFO:root:Testing 43 out of 23200 hypotheses for ramen_pack (evidence > 3.2157023935835767)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.455
INFO:root:Testing 38 out of 14864 hypotheses for hot_sauce (evidence > 3.2157023935835767)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.064
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 523 out of 21832 hypotheses for tomato_soup_can (evidence > 3.2157023935835767)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.559
INFO:root:Testing 11 out of 16976 hypotheses for mustard_bottle (evidence > 3.2157023935835767)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.038
INFO:root:Testing 508 out of 17728 hypotheses for tuna_fish_can (evidence > 3.2157023935835767)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.723
INFO:root:Testing 24 out of 19024 hypotheses for potted_meat_can (evidence > 3.2157023935835767)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.82
DEBUG:root:evidences for each object: [ 1.21289368 14.96464475 15.91205246 16.45518698 14.06378548  1.28756732
  7.55924536 15.03819887  7.72342741 11.82028181]
DEBUG:root:mean evidence: 10.604, std: 5.542 -> th=13.164149581560157
INFO:root:current most likely hypothesis: ramen_pack with evidence 16.46
DEBUG:root:evidences for each object: [ 1.21289368 14.96464475 15.91205246 16.45518698 14.06378548  1.28756732
  7.55924536 15.03819887  7.72342741 11.82028181]
DEBUG:root:mean evidence: 10.604, std: 5.542 -> th=13.164149581560157
DEBUG:root:evidences for each object: [ 1.21289368 14.96464475 15.91205246 16.45518698 14.06378548  1.28756732
  7.55924536 15.03819887  7.72342741 11.82028181]
DEBUG:root:mean evidence: 10.604, std: 5.542 -> th=13.986908930407665
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 128 ---
INFO:uvicorn.access:192.168.1.217:64753 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.47715198,  0.65543401, -0.58543339],
       [-0.80845865, -0.58855299,  0.        ],
       [-0.34455857,  0.47329869,  0.81072051]]), 'pose_fully_defined': False}}, {'patch': array([-0.00486528,  0.00323463, -0.00241925])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 39 out of 10992 hypotheses for montys_brain (evidence > 3.2910373953900383)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 15.437
INFO:root:Testing 213 out of 14880 hypotheses for montys_heart (evidence > 3.2910373953900383)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 16.367
INFO:root:Testing 43 out of 23200 hypotheses for ramen_pack (evidence > 3.2910373953900383)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.873
INFO:root:Testing 39 out of 14864 hypotheses for hot_sauce (evidence > 3.2910373953900383)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.491
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 523 out of 21832 hypotheses for tomato_soup_can (evidence > 3.2910373953900383)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.919
INFO:root:Testing 24 out of 16976 hypotheses for mustard_bottle (evidence > 3.2910373953900383)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.445
INFO:root:Testing 507 out of 17728 hypotheses for tuna_fish_can (evidence > 3.2910373953900383)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.212
INFO:root:Testing 26 out of 19024 hypotheses for potted_meat_can (evidence > 3.2910373953900383)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.149
DEBUG:root:evidences for each object: [ 1.21289368 15.4370674  16.36730678 16.87253514 14.49117493  1.28756732
  7.91857363 15.44464616  8.2117519  12.14892078]
DEBUG:root:mean evidence: 10.939, std: 5.689 -> th=13.49802811108261
INFO:root:current most likely hypothesis: ramen_pack with evidence 16.87
DEBUG:root:evidences for each object: [ 1.21289368 15.4370674  16.36730678 16.87253514 14.49117493  1.28756732
  7.91857363 15.44464616  8.2117519  12.14892078]
DEBUG:root:mean evidence: 10.939, std: 5.689 -> th=13.49802811108261
DEBUG:root:evidences for each object: [ 1.21289368 15.4370674  16.36730678 16.87253514 14.49117493  1.28756732
  7.91857363 15.44464616  8.2117519  12.14892078]
DEBUG:root:mean evidence: 10.939, std: 5.689 -> th=14.341654868025273
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 129 ---
INFO:uvicorn.access:192.168.1.217:64753 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.2555112 ,  0.93035791, -0.26296042],
       [-0.9642947 , -0.26483151,  0.        ],
       [-0.06964021,  0.25357134,  0.96480662]]), 'pose_fully_defined': False}}, {'patch': array([0.00738395, 0.0199555 , 0.0138297 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 27 out of 10992 hypotheses for montys_brain (evidence > 3.374507027770651)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 14.437
INFO:root:Testing 207 out of 14880 hypotheses for montys_heart (evidence > 3.374507027770651)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 15.367
INFO:root:Testing 43 out of 23200 hypotheses for ramen_pack (evidence > 3.374507027770651)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.873
INFO:root:Testing 39 out of 14864 hypotheses for hot_sauce (evidence > 3.374507027770651)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.491
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 495 out of 21832 hypotheses for tomato_soup_can (evidence > 3.374507027770651)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.383
INFO:root:Testing 18 out of 16976 hypotheses for mustard_bottle (evidence > 3.374507027770651)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.445
INFO:root:Testing 500 out of 17728 hypotheses for tuna_fish_can (evidence > 3.374507027770651)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.521
INFO:root:Testing 25 out of 19024 hypotheses for potted_meat_can (evidence > 3.374507027770651)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.22
DEBUG:root:evidences for each object: [ 1.21289368 14.4370674  15.36730678 15.87253514 13.49117493  1.28756732
  8.38317576 14.44464616  8.5212834  12.21998866]
DEBUG:root:mean evidence: 10.524, std: 5.244 -> th=12.69802811108261
INFO:root:current most likely hypothesis: ramen_pack with evidence 15.87
DEBUG:root:evidences for each object: [ 1.21289368 14.4370674  15.36730678 15.87253514 13.49117493  1.28756732
  8.38317576 14.44464616  8.5212834  12.21998866]
DEBUG:root:mean evidence: 10.524, std: 5.244 -> th=12.69802811108261
DEBUG:root:evidences for each object: [ 1.21289368 14.4370674  15.36730678 15.87253514 13.49117493  1.28756732
  8.38317576 14.44464616  8.5212834  12.21998866]
DEBUG:root:mean evidence: 10.524, std: 5.244 -> th=13.491654868025273
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 130 ---
INFO:uvicorn.access:192.168.1.217:64753 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.10626436,  0.99421287, -0.01576895],
       [-0.9943365 , -0.10627758,  0.        ],
       [-0.00167589,  0.01567964,  0.99987566]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00335501,  0.01852377, -0.01017515])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 88 out of 10992 hypotheses for montys_brain (evidence > 3.1745070277706517)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 13.437
INFO:root:Testing 200 out of 14880 hypotheses for montys_heart (evidence > 3.1745070277706517)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.367
INFO:root:Testing 43 out of 23200 hypotheses for ramen_pack (evidence > 3.1745070277706517)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.873
INFO:root:Testing 54 out of 14864 hypotheses for hot_sauce (evidence > 3.1745070277706517)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.491
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 498 out of 21832 hypotheses for tomato_soup_can (evidence > 3.1745070277706517)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.383
INFO:root:Testing 30 out of 16976 hypotheses for mustard_bottle (evidence > 3.1745070277706517)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.445
INFO:root:Testing 486 out of 17728 hypotheses for tuna_fish_can (evidence > 3.1745070277706517)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.521
INFO:root:Testing 26 out of 19024 hypotheses for potted_meat_can (evidence > 3.1745070277706517)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.22
DEBUG:root:evidences for each object: [ 1.21289368 13.4370674  14.36730678 14.87253514 12.49117493  1.28756732
  7.38317576 13.44464616  7.5212834  11.21998866]
DEBUG:root:mean evidence: 9.724, std: 4.894 -> th=11.89802811108261
INFO:root:current most likely hypothesis: ramen_pack with evidence 14.87
DEBUG:root:evidences for each object: [ 1.21289368 13.4370674  14.36730678 14.87253514 12.49117493  1.28756732
  7.38317576 13.44464616  7.5212834  11.21998866]
DEBUG:root:mean evidence: 9.724, std: 4.894 -> th=11.89802811108261
DEBUG:root:evidences for each object: [ 1.21289368 13.4370674  14.36730678 14.87253514 12.49117493  1.28756732
  7.38317576 13.44464616  7.5212834  11.21998866]
DEBUG:root:mean evidence: 9.724, std: 4.894 -> th=12.641654868025274
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 131 ---
INFO:uvicorn.access:192.168.1.217:64753 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.14956964,  0.98503898, -0.08559871],
       [-0.98866769, -0.15012063,  0.        ],
       [-0.01285013,  0.08462868,  0.99632969]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01574614, -0.02740776,  0.00874464])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 234 out of 10992 hypotheses for montys_brain (evidence > 2.9745070277706525)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 13.887
INFO:root:Testing 201 out of 14880 hypotheses for montys_heart (evidence > 2.9745070277706525)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.676
INFO:root:Testing 51 out of 23200 hypotheses for ramen_pack (evidence > 2.9745070277706525)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.302
INFO:root:Testing 57 out of 14864 hypotheses for hot_sauce (evidence > 2.9745070277706525)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.95
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 494 out of 21832 hypotheses for tomato_soup_can (evidence > 2.9745070277706525)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.842
INFO:root:Testing 33 out of 16976 hypotheses for mustard_bottle (evidence > 2.9745070277706525)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.91
INFO:root:Testing 445 out of 17728 hypotheses for tuna_fish_can (evidence > 2.9745070277706525)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.639
INFO:root:Testing 1757 out of 19024 hypotheses for potted_meat_can (evidence > 2.9745070277706525)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 11.639
DEBUG:root:evidences for each object: [ 1.21289368 13.88738537 14.67644998 15.30228429 12.94970411  1.28756732
  7.84217357 13.9104875   7.63883285 11.63880533]
DEBUG:root:mean evidence: 10.035, std: 5.051 -> th=12.241827432484603
INFO:root:current most likely hypothesis: ramen_pack with evidence 15.3
DEBUG:root:evidences for each object: [ 1.21289368 13.88738537 14.67644998 15.30228429 12.94970411  1.28756732
  7.84217357 13.9104875   7.63883285 11.63880533]
DEBUG:root:mean evidence: 10.035, std: 5.051 -> th=12.241827432484603
DEBUG:root:evidences for each object: [ 1.21289368 13.88738537 14.67644998 15.30228429 12.94970411  1.28756732
  7.84217357 13.9104875   7.63883285 11.63880533]
DEBUG:root:mean evidence: 10.035, std: 5.051 -> th=13.00694164701489
DEBUG:root:Hypothesis jump indicated: sufficient steps elapsed with no jump
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 132 ---
INFO:uvicorn.access:192.168.1.217:64753 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.34396547,  0.807554  , -0.47910782],
       [-0.92002099, -0.39186909,  0.        ],
       [-0.18774754,  0.44078925,  0.87775606]]), 'pose_fully_defined': False}}, {'patch': array([-0.01075851, -0.01519774, -0.01666108])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 229 out of 10992 hypotheses for montys_brain (evidence > 3.0604568581211495)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 14.304
INFO:root:Testing 193 out of 14880 hypotheses for montys_heart (evidence > 3.0604568581211495)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 15.046
INFO:root:Testing 51 out of 23200 hypotheses for ramen_pack (evidence > 3.0604568581211495)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.755
INFO:root:Testing 55 out of 14864 hypotheses for hot_sauce (evidence > 3.0604568581211495)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.225
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 462 out of 21832 hypotheses for tomato_soup_can (evidence > 3.0604568581211495)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.087
INFO:root:Testing 31 out of 16976 hypotheses for mustard_bottle (evidence > 3.0604568581211495)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.244
INFO:root:Testing 428 out of 17728 hypotheses for tuna_fish_can (evidence > 3.0604568581211495)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.037
INFO:root:Testing 839 out of 19024 hypotheses for potted_meat_can (evidence > 3.0604568581211495)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.906
DEBUG:root:evidences for each object: [ 1.21289368 14.30426389 15.04617477 15.7550619  13.22535937  1.28756732
  8.08664442 14.24427182  8.03654497 11.9064446 ]
DEBUG:root:mean evidence: 10.311, std: 5.185 -> th=12.604049520219892
INFO:root:current most likely hypothesis: ramen_pack with evidence 15.76
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 133 ---
INFO:uvicorn.access:192.168.1.217:64753 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.43012108,  0.52237661, -0.73628699],
       [-0.77198202, -0.63564436,  0.        ],
       [-0.46801667,  0.56840032,  0.67666939]]), 'pose_fully_defined': False}}, {'patch': array([-0.0045349 ,  0.01394762, -0.00948521])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 229 out of 10992 hypotheses for montys_brain (evidence > 3.151012380054972)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 13.304
INFO:root:Testing 193 out of 14880 hypotheses for montys_heart (evidence > 3.151012380054972)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.046
INFO:root:Testing 56 out of 23200 hypotheses for ramen_pack (evidence > 3.151012380054972)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.755
INFO:root:Testing 57 out of 14864 hypotheses for hot_sauce (evidence > 3.151012380054972)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.225
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 462 out of 21832 hypotheses for tomato_soup_can (evidence > 3.151012380054972)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.087
INFO:root:Testing 34 out of 16976 hypotheses for mustard_bottle (evidence > 3.151012380054972)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.244
INFO:root:Testing 432 out of 17728 hypotheses for tuna_fish_can (evidence > 3.151012380054972)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.037
INFO:root:Testing 839 out of 19024 hypotheses for potted_meat_can (evidence > 3.151012380054972)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.906
DEBUG:root:evidences for each object: [ 1.21289368 13.30426389 14.04617477 14.7550619  12.22535937  1.28756732
  7.08664442 13.24427182  7.03654497 10.9064446 ]
DEBUG:root:mean evidence: 9.511, std: 4.839 -> th=11.804049520219891
INFO:root:current most likely hypothesis: ramen_pack with evidence 14.76
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 134 ---
INFO:uvicorn.access:192.168.1.217:64753 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.24547179,  0.84724322, -0.47108655],
       [-0.96049848, -0.27828524,  0.        ],
       [-0.13109643,  0.45247791,  0.88208699]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0233889 , -0.00722782,  0.00465077])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 2241 out of 10992 hypotheses for montys_brain (evidence > 2.951012380054973)
DEBUG:root:Calculating evidence for montys_brain using input 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: 13.553
INFO:root:Testing 185 out of 14880 hypotheses for montys_heart (evidence > 2.951012380054973)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.376
INFO:root:Testing 50 out of 23200 hypotheses for ramen_pack (evidence > 2.951012380054973)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.095
INFO:root:Testing 72 out of 14864 hypotheses for hot_sauce (evidence > 2.951012380054973)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.531
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 448 out of 21832 hypotheses for tomato_soup_can (evidence > 2.951012380054973)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.35
INFO:root:Testing 54 out of 16976 hypotheses for mustard_bottle (evidence > 2.951012380054973)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.632
INFO:root:Testing 434 out of 17728 hypotheses for tuna_fish_can (evidence > 2.951012380054973)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.399
INFO:root:Testing 771 out of 19024 hypotheses for potted_meat_can (evidence > 2.951012380054973)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.231
DEBUG:root:evidences for each object: [ 1.21289368 13.5532153  14.3764889  15.09495631 12.53119313  1.28756732
  7.35012072 13.63169218  7.39855436 11.23113223]
DEBUG:root:mean evidence: 9.767, std: 4.952 -> th=12.075965050506442
INFO:root:current most likely hypothesis: ramen_pack with evidence 15.09
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 135 ---
INFO:uvicorn.access:192.168.1.217:64753 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.35677127,  0.55579667, -0.75086905],
       [-0.84154096, -0.54019331,  0.        ],
       [-0.40561443,  0.63188706,  0.66045111]]), 'pose_fully_defined': False}}, {'patch': array([-0.00424192, -0.00451581, -0.00509852])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 2221 out of 10992 hypotheses for montys_brain (evidence > 3.01899126262661)
DEBUG:root:Calculating evidence for montys_brain using input 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: 14.002
INFO:root:Testing 185 out of 14880 hypotheses for montys_heart (evidence > 3.01899126262661)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.814
INFO:root:Testing 53 out of 23200 hypotheses for ramen_pack (evidence > 3.01899126262661)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.493
INFO:root:Testing 71 out of 14864 hypotheses for hot_sauce (evidence > 3.01899126262661)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.786
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 445 out of 21832 hypotheses for tomato_soup_can (evidence > 3.01899126262661)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.784
INFO:root:Testing 84 out of 16976 hypotheses for mustard_bottle (evidence > 3.01899126262661)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.022
INFO:root:Testing 433 out of 17728 hypotheses for tuna_fish_can (evidence > 3.01899126262661)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.846
INFO:root:Testing 761 out of 19024 hypotheses for potted_meat_can (evidence > 3.01899126262661)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.696
DEBUG:root:evidences for each object: [ 1.21289368 14.00241359 14.81353022 15.49272468 12.78555623  1.28756732
  7.78420958 14.02168581  7.84579818 11.6959804 ]
DEBUG:root:mean evidence: 10.094, std: 5.087 -> th=12.394179744936427
INFO:root:current most likely hypothesis: ramen_pack with evidence 15.49
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 136 ---
INFO:uvicorn.access:192.168.1.217:64757 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.20264892,  0.75859572, -0.61924627],
       [-0.96612174, -0.25808678,  0.        ],
       [-0.15981928,  0.59826728,  0.78519683]]), 'pose_fully_defined': False}}, {'patch': array([-0.00232184,  0.00611288,  0.00740931])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 1616 out of 10992 hypotheses for montys_brain (evidence > 3.0985449362341058)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 14.455
INFO:root:Testing 182 out of 14880 hypotheses for montys_heart (evidence > 3.0985449362341058)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 15.247
INFO:root:Testing 52 out of 23200 hypotheses for ramen_pack (evidence > 3.0985449362341058)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.898
INFO:root:Testing 69 out of 14864 hypotheses for hot_sauce (evidence > 3.0985449362341058)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.235
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 443 out of 21832 hypotheses for tomato_soup_can (evidence > 3.0985449362341058)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.179
INFO:root:Testing 87 out of 16976 hypotheses for mustard_bottle (evidence > 3.0985449362341058)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.501
INFO:root:Testing 428 out of 17728 hypotheses for tuna_fish_can (evidence > 3.0985449362341058)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.239
INFO:root:Testing 742 out of 19024 hypotheses for potted_meat_can (evidence > 3.0985449362341058)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.098
DEBUG:root:evidences for each object: [ 1.21289368 14.45466441 15.24736667 15.89756671 13.23526611  1.28756732
  8.1787556  14.50055077  8.23865266 12.09824685]
DEBUG:root:mean evidence: 10.435, std: 5.243 -> th=12.718053365854928
INFO:root:current most likely hypothesis: ramen_pack with evidence 15.9
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 137 ---
INFO:uvicorn.access:192.168.1.217:64758 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.32228002,  0.14939667, -0.93478138],
       [-0.42057085, -0.9072597 ,  0.        ],
       [-0.84808947,  0.3931418 ,  0.35522356]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01279027, -0.01940011, -0.01746905])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 1616 out of 10992 hypotheses for montys_brain (evidence > 3.179513341463732)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 14.681
INFO:root:Testing 182 out of 14880 hypotheses for montys_heart (evidence > 3.179513341463732)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.247
INFO:root:Testing 56 out of 23200 hypotheses for ramen_pack (evidence > 3.179513341463732)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.898
INFO:root:Testing 69 out of 14864 hypotheses for hot_sauce (evidence > 3.179513341463732)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.708
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 443 out of 21832 hypotheses for tomato_soup_can (evidence > 3.179513341463732)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.172
INFO:root:Testing 1188 out of 16976 hypotheses for mustard_bottle (evidence > 3.179513341463732)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.501
INFO:root:Testing 428 out of 17728 hypotheses for tuna_fish_can (evidence > 3.179513341463732)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.482
INFO:root:Testing 742 out of 19024 hypotheses for potted_meat_can (evidence > 3.179513341463732)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.437
DEBUG:root:evidences for each object: [ 1.21289368 14.68098027 14.24736667 14.89756671 12.70820781  1.28756732
  8.1719541  13.50055077  8.48244691 12.43694636]
DEBUG:root:mean evidence: 10.163, std: 4.98 -> th=11.918053365854927
INFO:root:current most likely hypothesis: ramen_pack with evidence 14.9
DEBUG:root:evidences for each object: [ 1.21289368 14.68098027 14.24736667 14.89756671 12.70820781  1.28756732
  8.1719541  13.50055077  8.48244691 12.43694636]
DEBUG:root:mean evidence: 10.163, std: 4.98 -> th=11.918053365854927
DEBUG:root:evidences for each object: [ 1.21289368 14.68098027 14.24736667 14.89756671 12.70820781  1.28756732
  8.1719541  13.50055077  8.48244691 12.43694636]
DEBUG:root:mean evidence: 10.163, std: 4.98 -> th=12.662931701220861
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 138 ---
INFO:uvicorn.access:192.168.1.217:64758 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.25379724,  0.77614809, -0.57721842],
       [-0.95047488, -0.31080138,  0.        ],
       [-0.17940028,  0.54863161,  0.8165898 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.004928  ,  0.02909922,  0.01646117])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 765 out of 10992 hypotheses for montys_brain (evidence > 2.979513341463731)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 15.17
INFO:root:Testing 179 out of 14880 hypotheses for montys_heart (evidence > 2.979513341463731)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.722
INFO:root:Testing 67 out of 23200 hypotheses for ramen_pack (evidence > 2.979513341463731)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.298
INFO:root:Testing 110 out of 14864 hypotheses for hot_sauce (evidence > 2.979513341463731)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.185
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 436 out of 21832 hypotheses for tomato_soup_can (evidence > 2.979513341463731)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.634
INFO:root:Testing 4139 out of 16976 hypotheses for mustard_bottle (evidence > 2.979513341463731)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 13.939
INFO:root:Testing 2038 out of 17728 hypotheses for tuna_fish_can (evidence > 2.979513341463731)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 8.927
INFO:root:Testing 634 out of 19024 hypotheses for potted_meat_can (evidence > 2.979513341463731)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.437
DEBUG:root:evidences for each object: [ 1.21289368 15.1695603  14.72184634 15.29841605 13.18542619  1.28756732
  8.63432978 13.93921358  8.92700214 11.43694636]
DEBUG:root:mean evidence: 10.381, std: 5.094 -> th=12.238732842005636
INFO:root:current most likely hypothesis: ramen_pack with evidence 15.3
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 139 ---
INFO:uvicorn.access:192.168.1.217:64758 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.02895316,  0.85641002, -0.51548384],
       [-0.99942901, -0.03378829,  0.        ],
       [-0.01741732,  0.51518951,  0.8568993 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00175435,  0.00637146, -0.01231985])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 225 out of 10992 hypotheses for montys_brain (evidence > 3.059683210501408)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 14.17
INFO:root:Testing 143 out of 14880 hypotheses for montys_heart (evidence > 3.059683210501408)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.722
INFO:root:Testing 54 out of 23200 hypotheses for ramen_pack (evidence > 3.059683210501408)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.298
INFO:root:Testing 66 out of 14864 hypotheses for hot_sauce (evidence > 3.059683210501408)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.185
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 419 out of 21832 hypotheses for tomato_soup_can (evidence > 3.059683210501408)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.634
INFO:root:Testing 3168 out of 16976 hypotheses for mustard_bottle (evidence > 3.059683210501408)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 12.939
INFO:root:Testing 1172 out of 17728 hypotheses for tuna_fish_can (evidence > 3.059683210501408)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.927
INFO:root:Testing 596 out of 19024 hypotheses for potted_meat_can (evidence > 3.059683210501408)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.437
DEBUG:root:evidences for each object: [ 1.21289368 14.1695603  13.72184634 14.29841605 12.18542619  1.28756732
  7.63432978 12.93921358  7.92700214 10.43694636]
DEBUG:root:mean evidence: 9.581, std: 4.739 -> th=11.438732842005635
INFO:root:current most likely hypothesis: ramen_pack with evidence 14.3
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 140 ---
INFO:uvicorn.access:192.168.1.217:64758 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.14603972,  0.38491809, -0.91132347],
       [-0.93496828, -0.35473134,  0.        ],
       [-0.323275  ,  0.85205853,  0.41169107]]), 'pose_fully_defined': False}}, {'patch': array([-0.01059964, -0.02391752,  0.00362123])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 4296 out of 10992 hypotheses for montys_brain (evidence > 2.8596832105014087)
DEBUG:root:Calculating evidence for montys_brain using input 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: 14.397
INFO:root:Testing 251 out of 14880 hypotheses for montys_heart (evidence > 2.8596832105014087)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.193
INFO:root:Testing 50 out of 23200 hypotheses for ramen_pack (evidence > 2.8596832105014087)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.686
INFO:root:Testing 112 out of 14864 hypotheses for hot_sauce (evidence > 2.8596832105014087)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.567
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 2281 out of 21832 hypotheses for tomato_soup_can (evidence > 2.8596832105014087)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 8.048
INFO:root:Testing 2537 out of 16976 hypotheses for mustard_bottle (evidence > 2.8596832105014087)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 11.939
INFO:root:Testing 1736 out of 17728 hypotheses for tuna_fish_can (evidence > 2.8596832105014087)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 8.26
INFO:root:Testing 1988 out of 19024 hypotheses for potted_meat_can (evidence > 2.8596832105014087)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 10.83
DEBUG:root:evidences for each object: [ 1.21289368 14.39698223 14.19342352 13.68626924 12.56671952  1.28756732
  8.04832617 11.93921358  8.26033044 10.83035676]
DEBUG:root:mean evidence: 9.642, std: 4.693 -> th=11.517585784622584
INFO:root:current most likely hypothesis: montys_brain with evidence 14.4
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 141 ---
INFO:uvicorn.access:192.168.1.217:64758 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.01116034, -0.01786297, -0.99977816],
       [ 0.84808393, -0.52986191,  0.        ],
       [-0.52974436, -0.84789579,  0.02106274]]), 'pose_fully_defined': False}}, {'patch': array([-0.00182475, -0.01541961,  0.00038448])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 705 out of 10992 hypotheses for montys_brain (evidence > 2.8793964461556456)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 14.737
INFO:root:Testing 193 out of 14880 hypotheses for montys_heart (evidence > 2.8793964461556456)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.546
INFO:root:Testing 44 out of 23200 hypotheses for ramen_pack (evidence > 2.8793964461556456)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.686
INFO:root:Testing 62 out of 14864 hypotheses for hot_sauce (evidence > 2.8793964461556456)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.912
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 1627 out of 21832 hypotheses for tomato_soup_can (evidence > 2.8793964461556456)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.36
INFO:root:Testing 1530 out of 16976 hypotheses for mustard_bottle (evidence > 2.8793964461556456)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.301
INFO:root:Testing 1341 out of 17728 hypotheses for tuna_fish_can (evidence > 2.8793964461556456)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.342
INFO:root:Testing 1690 out of 19024 hypotheses for potted_meat_can (evidence > 2.8793964461556456)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 11.031
DEBUG:root:evidences for each object: [ 1.21289368 14.73664146 14.54629285 12.68626924 12.91212067  1.28756732
  8.35955195 12.30084751  8.34247507 11.030826  ]
DEBUG:root:mean evidence: 9.742, std: 4.723 -> th=11.789313166286034
INFO:root:current most likely hypothesis: montys_brain with evidence 14.74
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 142 ---
INFO:uvicorn.access:192.168.1.217:64758 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.00161463, -0.30309535, -0.95295887],
       [ 0.99998581, -0.00532707,  0.        ],
       [-0.00507648, -0.95294535,  0.30309965]]), 'pose_fully_defined': False}}, {'patch': array([-0.00044449, -0.00803477,  0.00208725])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 612 out of 10992 hypotheses for montys_brain (evidence > 2.947328291571507)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 15.19
INFO:root:Testing 175 out of 14880 hypotheses for montys_heart (evidence > 2.947328291571507)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.903
INFO:root:Testing 41 out of 23200 hypotheses for ramen_pack (evidence > 2.947328291571507)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.686
INFO:root:Testing 56 out of 14864 hypotheses for hot_sauce (evidence > 2.947328291571507)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.267
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 1501 out of 21832 hypotheses for tomato_soup_can (evidence > 2.947328291571507)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.681
INFO:root:Testing 1374 out of 16976 hypotheses for mustard_bottle (evidence > 2.947328291571507)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.602
INFO:root:Testing 890 out of 17728 hypotheses for tuna_fish_can (evidence > 2.947328291571507)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.342
INFO:root:Testing 1490 out of 19024 hypotheses for potted_meat_can (evidence > 2.947328291571507)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.107
DEBUG:root:evidences for each object: [ 1.21289368 15.18973637 14.9033602  11.68626924 13.26720716  1.28756732
  8.68081608 12.6015436   7.34247507 11.10743855]
DEBUG:root:mean evidence: 9.728, std: 4.834 -> th=12.151789098365224
INFO:root:current most likely hypothesis: montys_brain with evidence 15.19
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'montys_brain', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 143 ---
INFO:uvicorn.access:192.168.1.217:64758 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 2.23501553e-04, -3.87822141e-01, -9.21734201e-01],
       [ 9.99999834e-01,  5.76299009e-04, -0.00000000e+00],
       [ 5.31194506e-04, -9.21734048e-01,  3.87822206e-01]]), 'pose_fully_defined': False}}, {'patch': array([-0.00096973, -0.0029863 ,  0.0023008 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 547 out of 10992 hypotheses for montys_brain (evidence > 3.037947274591305)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 15.504
INFO:root:Testing 169 out of 14880 hypotheses for montys_heart (evidence > 3.037947274591305)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 15.234
INFO:root:Testing 38 out of 23200 hypotheses for ramen_pack (evidence > 3.037947274591305)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.516
INFO:root:Testing 53 out of 14864 hypotheses for hot_sauce (evidence > 3.037947274591305)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.618
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 1371 out of 21832 hypotheses for tomato_soup_can (evidence > 3.037947274591305)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.013
INFO:root:Testing 1229 out of 16976 hypotheses for mustard_bottle (evidence > 3.037947274591305)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.863
INFO:root:Testing 716 out of 17728 hypotheses for tuna_fish_can (evidence > 3.037947274591305)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.933
INFO:root:Testing 1339 out of 19024 hypotheses for potted_meat_can (evidence > 3.037947274591305)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.145
DEBUG:root:evidences for each object: [ 1.21289368 15.5039021  15.23449308 11.51619792 13.61849653  1.28756732
  9.01304615 12.86327985  6.93337705 11.14546606]
DEBUG:root:mean evidence: 9.833, std: 4.958 -> th=12.40312167712918
INFO:root:current most likely hypothesis: montys_brain with evidence 15.5
DEBUG:root:evidences for each object: [ 1.21289368 15.5039021  15.23449308 11.51619792 13.61849653  1.28756732
  9.01304615 12.86327985  6.93337705 11.14546606]
DEBUG:root:mean evidence: 9.833, std: 4.958 -> th=12.40312167712918
DEBUG:root:evidences for each object: [ 1.21289368 15.5039021  15.23449308 11.51619792 13.61849653  1.28756732
  9.01304615 12.86327985  6.93337705 11.14546606]
DEBUG:root:mean evidence: 9.833, std: 4.958 -> th=13.178316781949754
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'montys_brain', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 144 ---
INFO:uvicorn.access:192.168.1.217:64760 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.66524063, -0.19899789, -0.71962125],
       [ 0.286589  , -0.95805362,  0.        ],
       [-0.68943575, -0.20623554,  0.6943668 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00424804, -0.01860257, -0.00790747])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 543 out of 10992 hypotheses for montys_brain (evidence > 3.1007804192822945)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 14.504
INFO:root:Testing 164 out of 14880 hypotheses for montys_heart (evidence > 3.1007804192822945)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 15.426
INFO:root:Testing 35 out of 23200 hypotheses for ramen_pack (evidence > 3.1007804192822945)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.668
INFO:root:Testing 48 out of 14864 hypotheses for hot_sauce (evidence > 3.1007804192822945)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.618
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 1314 out of 21832 hypotheses for tomato_soup_can (evidence > 3.1007804192822945)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.013
INFO:root:Testing 1155 out of 16976 hypotheses for mustard_bottle (evidence > 3.1007804192822945)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.081
INFO:root:Testing 621 out of 17728 hypotheses for tuna_fish_can (evidence > 3.1007804192822945)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.034
INFO:root:Testing 1230 out of 19024 hypotheses for potted_meat_can (evidence > 3.1007804192822945)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.172
DEBUG:root:evidences for each object: [ 1.21289368 14.5039021  15.42611898 11.6684272  12.61849653  1.28756732
  8.01304615 13.08107936  7.03421082 11.17199914]
DEBUG:root:mean evidence: 9.602, std: 4.843 -> th=12.340895183352625
INFO:root:current most likely hypothesis: montys_heart with evidence 15.43
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'montys_brain', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 145 ---
INFO:uvicorn.access:192.168.1.217:64761 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.72585704, -0.36726032, -0.58159386],
       [ 0.45146855, -0.89228703,  0.        ],
       [-0.51894866, -0.26257133,  0.81347931]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01155291, -0.00723191, -0.00053648])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 520 out of 10992 hypotheses for montys_brain (evidence > 3.0852237958381554)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 13.504
INFO:root:Testing 151 out of 14880 hypotheses for montys_heart (evidence > 3.0852237958381554)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 15.446
INFO:root:Testing 26 out of 23200 hypotheses for ramen_pack (evidence > 3.0852237958381554)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.668
INFO:root:Testing 38 out of 14864 hypotheses for hot_sauce (evidence > 3.0852237958381554)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.618
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 909 out of 21832 hypotheses for tomato_soup_can (evidence > 3.0852237958381554)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.728
INFO:root:Testing 984 out of 16976 hypotheses for mustard_bottle (evidence > 3.0852237958381554)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.228
INFO:root:Testing 449 out of 17728 hypotheses for tuna_fish_can (evidence > 3.0852237958381554)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.166
INFO:root:Testing 939 out of 19024 hypotheses for potted_meat_can (evidence > 3.0852237958381554)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.211
DEBUG:root:evidences for each object: [ 1.21289368 13.5039021  15.44584791 10.6684272  11.61849653  1.28756732
  7.72774539 13.22788507  7.16550419 11.21119181]
DEBUG:root:mean evidence: 9.307, std: 4.673 -> th=12.356678331780463
INFO:root:current most likely hypothesis: montys_heart with evidence 15.45
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 146 ---
INFO:uvicorn.access:192.168.1.217:64761 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.76421882, -0.40727008, -0.50010067],
       [ 0.47030654, -0.88250312,  0.        ],
       [-0.4413404 , -0.23520062,  0.86596727]]), 'pose_fully_defined': False}}, {'patch': array([-0.00258145,  0.00140637, -0.0029111 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 52 out of 10992 hypotheses for montys_brain (evidence > 3.0891695829451145)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 12.504
INFO:root:Testing 74 out of 14880 hypotheses for montys_heart (evidence > 3.0891695829451145)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.446
INFO:root:Testing 19 out of 23200 hypotheses for ramen_pack (evidence > 3.0891695829451145)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.678
INFO:root:Testing 21 out of 14864 hypotheses for hot_sauce (evidence > 3.0891695829451145)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.618
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 518 out of 21832 hypotheses for tomato_soup_can (evidence > 3.0891695829451145)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.133
INFO:root:Testing 572 out of 16976 hypotheses for mustard_bottle (evidence > 3.0891695829451145)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.228
INFO:root:Testing 179 out of 17728 hypotheses for tuna_fish_can (evidence > 3.0891695829451145)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.302
INFO:root:Testing 503 out of 19024 hypotheses for potted_meat_can (evidence > 3.0891695829451145)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.25
DEBUG:root:evidences for each object: [ 1.21289368 12.5039021  14.44584791 10.67769264 10.61849653  1.28756732
  8.13279792 12.22788507  7.30199767 11.24996749]
DEBUG:root:mean evidence: 8.966, std: 4.32 -> th=11.556678331780464
INFO:root:current most likely hypothesis: montys_heart with evidence 14.45
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 147 ---
INFO:uvicorn.access:192.168.1.217:64761 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.73895962, -0.5646387 , -0.3675892 ],
       [ 0.60714605, -0.79459026,  0.        ],
       [-0.2920828 , -0.22318033,  0.92998827]]), 'pose_fully_defined': False}}, {'patch': array([-6.91884997e-05, -1.77899876e-02,  1.69446814e-02])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 33 out of 10992 hypotheses for montys_brain (evidence > 2.889169582945115)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.504
INFO:root:Testing 76 out of 14880 hypotheses for montys_heart (evidence > 2.889169582945115)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.502
INFO:root:Testing 19 out of 23200 hypotheses for ramen_pack (evidence > 2.889169582945115)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.378
INFO:root:Testing 27 out of 14864 hypotheses for hot_sauce (evidence > 2.889169582945115)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.618
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 609 out of 21832 hypotheses for tomato_soup_can (evidence > 2.889169582945115)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.254
INFO:root:Testing 655 out of 16976 hypotheses for mustard_bottle (evidence > 2.889169582945115)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.458
INFO:root:Testing 281 out of 17728 hypotheses for tuna_fish_can (evidence > 2.889169582945115)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.59
INFO:root:Testing 517 out of 19024 hypotheses for potted_meat_can (evidence > 2.889169582945115)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.351
DEBUG:root:evidences for each object: [ 1.21289368 11.5039021  14.50194186 10.37793524  9.61849653  1.28756732
  7.25373654 12.45797547  7.59038918 11.35106539]
DEBUG:root:mean evidence: 8.716, std: 4.25 -> th=11.601553486814725
INFO:root:current most likely hypothesis: montys_heart with evidence 14.5
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 148 ---
INFO:uvicorn.access:192.168.1.217:64763 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.8470076 , -0.43535685, -0.30502874],
       [ 0.45714284, -0.88939329,  0.        ],
       [-0.27129052, -0.13944171,  0.95234314]]), 'pose_fully_defined': False}}, {'patch': array([-0.02034661,  0.01647356, -0.0059774 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 8 out of 10992 hypotheses for montys_brain (evidence > 2.9003883717036807)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.504
INFO:root:Testing 46 out of 14880 hypotheses for montys_heart (evidence > 2.9003883717036807)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.583
INFO:root:Testing 16 out of 23200 hypotheses for ramen_pack (evidence > 2.9003883717036807)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.378
INFO:root:Testing 17 out of 14864 hypotheses for hot_sauce (evidence > 2.9003883717036807)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.618
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 332 out of 21832 hypotheses for tomato_soup_can (evidence > 2.9003883717036807)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.254
INFO:root:Testing 444 out of 16976 hypotheses for mustard_bottle (evidence > 2.9003883717036807)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.611
INFO:root:Testing 149 out of 17728 hypotheses for tuna_fish_can (evidence > 2.9003883717036807)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.883
INFO:root:Testing 370 out of 19024 hypotheses for potted_meat_can (evidence > 2.9003883717036807)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.333
DEBUG:root:evidences for each object: [ 1.21289368 10.5039021  14.58327496  9.37793524  8.61849653  1.28756732
  6.25373654 12.61106706  7.88286138 11.33311136]
DEBUG:root:mean evidence: 8.366, std: 4.208 -> th=11.66661996503573
INFO:root:current most likely hypothesis: montys_heart with evidence 14.58
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 149 ---
INFO:uvicorn.access:192.168.1.217:64763 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.86269886, -0.07588733, -0.49999179],
       [ 0.08762666, -0.99615339,  0.        ],
       [-0.49806852, -0.04381261,  0.86603014]]), 'pose_fully_defined': False}}, {'patch': array([-0.00989857,  0.0152978 , -0.00250794])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 6 out of 10992 hypotheses for montys_brain (evidence > 2.916654991258932)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.504
INFO:root:Testing 38 out of 14880 hypotheses for montys_heart (evidence > 2.916654991258932)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.851
INFO:root:Testing 12 out of 23200 hypotheses for ramen_pack (evidence > 2.916654991258932)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.484
INFO:root:Testing 16 out of 14864 hypotheses for hot_sauce (evidence > 2.916654991258932)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.618
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 247 out of 21832 hypotheses for tomato_soup_can (evidence > 2.916654991258932)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.296
INFO:root:Testing 375 out of 16976 hypotheses for mustard_bottle (evidence > 2.916654991258932)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.611
INFO:root:Testing 128 out of 17728 hypotheses for tuna_fish_can (evidence > 2.916654991258932)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.229
INFO:root:Testing 272 out of 19024 hypotheses for potted_meat_can (evidence > 2.916654991258932)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.632
DEBUG:root:evidences for each object: [ 1.21289368  9.5039021  14.85070317  9.48398597  7.61849653  1.28756732
  5.29621582 11.61106706  8.22902121 11.63186885]
DEBUG:root:mean evidence: 8.073, std: 4.198 -> th=11.880562535705376
INFO:root:current most likely hypothesis: montys_heart with evidence 14.85
DEBUG:root:evidences for each object: [ 1.21289368  9.5039021  14.85070317  9.48398597  7.61849653  1.28756732
  5.29621582 11.61106706  8.22902121 11.63186885]
DEBUG:root:mean evidence: 8.073, std: 4.198 -> th=11.880562535705376
DEBUG:root:evidences for each object: [ 1.21289368  9.5039021  14.85070317  9.48398597  7.61849653  1.28756732
  5.29621582 11.61106706  8.22902121 11.63186885]
DEBUG:root:mean evidence: 8.073, std: 4.198 -> th=12.623097694186963
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 150 ---
INFO:uvicorn.access:192.168.1.217:64763 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.79539037,  0.13936578, -0.58985705],
       [-0.17258756, -0.98499418,  0.        ],
       [-0.58100576,  0.10180199,  0.80750769]]), 'pose_fully_defined': False}}, {'patch': array([0.00082876, 0.00148018, 0.00132664])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 5 out of 10992 hypotheses for montys_brain (evidence > 2.970140633926343)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.504
INFO:root:Testing 28 out of 14880 hypotheses for montys_heart (evidence > 2.970140633926343)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 15.218
INFO:root:Testing 10 out of 23200 hypotheses for ramen_pack (evidence > 2.970140633926343)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.903
INFO:root:Testing 12 out of 14864 hypotheses for hot_sauce (evidence > 2.970140633926343)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.618
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 200 out of 21832 hypotheses for tomato_soup_can (evidence > 2.970140633926343)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.424
INFO:root:Testing 311 out of 16976 hypotheses for mustard_bottle (evidence > 2.970140633926343)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.997
INFO:root:Testing 125 out of 17728 hypotheses for tuna_fish_can (evidence > 2.970140633926343)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.46
INFO:root:Testing 234 out of 19024 hypotheses for potted_meat_can (evidence > 2.970140633926343)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.043
DEBUG:root:evidences for each object: [ 1.21289368  8.5039021  15.21799171  9.9032294   6.61849653  1.28756732
  5.42394904 11.99714179  8.45982809 12.0427223 ]
DEBUG:root:mean evidence: 8.067, std: 4.337 -> th=12.17439336580689
INFO:root:current most likely hypothesis: montys_heart with evidence 15.22
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 151 ---
INFO:uvicorn.access:192.168.1.217:64765 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.56299716, -0.06041127,  0.82424795],
       [ 0.10669052,  0.99429228, -0.        ],
       [-0.81954337,  0.08793944,  0.56622903]]), 'pose_fully_defined': False}}, {'patch': array([ 0.03313783, -0.00309651,  0.04566272])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 4 out of 10992 hypotheses for montys_brain (evidence > 3.0435983414517214)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.706
INFO:root:Testing 19 out of 14880 hypotheses for montys_heart (evidence > 3.0435983414517214)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 15.627
INFO:root:Testing 9 out of 23200 hypotheses for ramen_pack (evidence > 3.0435983414517214)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.903
INFO:root:Testing 7 out of 14864 hypotheses for hot_sauce (evidence > 3.0435983414517214)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.75
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 54 out of 21832 hypotheses for tomato_soup_can (evidence > 3.0435983414517214)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures 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 271 out of 16976 hypotheses for mustard_bottle (evidence > 3.0435983414517214)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.293
INFO:root:Testing 118 out of 17728 hypotheses for tuna_fish_can (evidence > 3.0435983414517214)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.46
INFO:root:Testing 213 out of 19024 hypotheses for potted_meat_can (evidence > 3.0435983414517214)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.342
DEBUG:root:evidences for each object: [ 1.21289368  8.70583552 15.62688727  8.9032294   6.75028113  1.28756732
  4.86137626 11.29306967  7.45982809 12.34185572]
DEBUG:root:mean evidence: 7.844, std: 4.379 -> th=12.501509813052502
INFO:root:current most likely hypothesis: montys_heart with evidence 15.63
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 152 ---
INFO:uvicorn.access:192.168.1.217:64765 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.55625473,  0.02457699,  0.83064833],
       [-0.04413991,  0.99902536,  0.        ],
       [-0.82983875, -0.03666474,  0.55679741]]), 'pose_fully_defined': False}}, {'patch': array([-0.00117036,  0.00453063, -0.00213122])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 4 out of 10992 hypotheses for montys_brain (evidence > 3.125377453263125)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.864
INFO:root:Testing 17 out of 14880 hypotheses for montys_heart (evidence > 3.125377453263125)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.627
INFO:root:Testing 7 out of 23200 hypotheses for ramen_pack (evidence > 3.125377453263125)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.903
INFO:root:Testing 7 out of 14864 hypotheses for hot_sauce (evidence > 3.125377453263125)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.917
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 32 out of 21832 hypotheses for tomato_soup_can (evidence > 3.125377453263125)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.184
INFO:root:Testing 266 out of 16976 hypotheses for mustard_bottle (evidence > 3.125377453263125)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.647
INFO:root:Testing 96 out of 17728 hypotheses for tuna_fish_can (evidence > 3.125377453263125)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.46
INFO:root:Testing 196 out of 19024 hypotheses for potted_meat_can (evidence > 3.125377453263125)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.605
DEBUG:root:evidences for each object: [ 1.21289368  8.86442226 14.62688727  7.9032294   6.91729841  1.28756732
  4.18358637 11.64714456  6.45982809 12.60515858]
DEBUG:root:mean evidence: 7.571, std: 4.319 -> th=11.701509813052501
INFO:root:current most likely hypothesis: montys_heart with evidence 14.63
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 153 ---
INFO:uvicorn.access:192.168.1.217:64765 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.51790462,  0.30305894,  0.7999563 ],
       [-0.50504919,  0.86309056,  0.        ],
       [-0.69043473, -0.40401728,  0.60005826]]), 'pose_fully_defined': False}}, {'patch': array([-0.00053266, -0.00841803, -0.00336127])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 2438 out of 10992 hypotheses for montys_brain (evidence > 2.925377453263124)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 8.741
INFO:root:Testing 17 out of 14880 hypotheses for montys_heart (evidence > 2.925377453263124)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.627
INFO:root:Testing 8 out of 23200 hypotheses for ramen_pack (evidence > 2.925377453263124)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.903
INFO:root:Testing 7 out of 14864 hypotheses for hot_sauce (evidence > 2.925377453263124)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.786
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 32 out of 21832 hypotheses for tomato_soup_can (evidence > 2.925377453263124)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.031
INFO:root:Testing 271 out of 16976 hypotheses for mustard_bottle (evidence > 2.925377453263124)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.848
INFO:root:Testing 72 out of 17728 hypotheses for tuna_fish_can (evidence > 2.925377453263124)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.46
INFO:root:Testing 200 out of 19024 hypotheses for potted_meat_can (evidence > 2.925377453263124)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.734
DEBUG:root:evidences for each object: [ 1.21289368  8.74116105 13.62688727  6.9032294   6.78590726  1.28756732
  4.03095279 11.84787255  5.45982809 12.73354971]
DEBUG:root:mean evidence: 7.263, std: 4.243 -> th=10.901509813052503
INFO:root:current most likely hypothesis: montys_heart with evidence 13.63
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 154 ---
INFO:uvicorn.access:192.168.1.217:64765 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.52916292, -0.24424781,  0.81260668],
       [ 0.41908473,  0.90794713, -0.        ],
       [-0.7378039 ,  0.34055105,  0.58281248]]), 'pose_fully_defined': False}}, {'patch': array([-0.00061867, -0.00215733, -0.00216248])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 3101 out of 10992 hypotheses for montys_brain (evidence > 2.7253774532631247)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 8.781
INFO:root:Testing 1569 out of 14880 hypotheses for montys_heart (evidence > 2.7253774532631247)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 12.627
INFO:root:Testing 28 out of 23200 hypotheses for ramen_pack (evidence > 2.7253774532631247)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.194
INFO:root:Testing 133 out of 14864 hypotheses for hot_sauce (evidence > 2.7253774532631247)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.786
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 2874 out of 21832 hypotheses for tomato_soup_can (evidence > 2.7253774532631247)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 4.036
INFO:root:Testing 2143 out of 16976 hypotheses for mustard_bottle (evidence > 2.7253774532631247)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 12.236
INFO:root:Testing 1927 out of 17728 hypotheses for tuna_fish_can (evidence > 2.7253774532631247)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 4.46
INFO:root:Testing 2497 out of 19024 hypotheses for potted_meat_can (evidence > 2.7253774532631247)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 13.108
DEBUG:root:evidences for each object: [ 1.21289368  8.78114758 12.62688727  6.19449601  5.78590726  1.28756732
  4.03568921 12.23601544  4.45982809 13.10816859]
DEBUG:root:mean evidence: 6.973, std: 4.278 -> th=10.486534868615355
INFO:root:current most likely hypothesis: potted_meat_can with evidence 13.11
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 155 ---
INFO:uvicorn.access:192.168.1.217:64765 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.5031856 , -0.35578425,  0.78754163],
       [ 0.5773268 ,  0.81651318, -0.        ],
       [-0.64303812,  0.45466888,  0.61626146]]), 'pose_fully_defined': False}}, {'patch': array([ 0.001374  , -0.00094845,  0.00161167])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 3407 out of 10992 hypotheses for montys_brain (evidence > 2.6216337171538378)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 8.873
INFO:root:Testing 2419 out of 14880 hypotheses for montys_heart (evidence > 2.6216337171538378)
DEBUG:root:Calculating evidence for montys_heart using input 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: 13.067
INFO:root:Testing 14 out of 23200 hypotheses for ramen_pack (evidence > 2.6216337171538378)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.505
INFO:root:Testing 2254 out of 14864 hypotheses for hot_sauce (evidence > 2.6216337171538378)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 5.338
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 2579 out of 21832 hypotheses for tomato_soup_can (evidence > 2.6216337171538378)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 4.081
INFO:root:Testing 5984 out of 16976 hypotheses for mustard_bottle (evidence > 2.6216337171538378)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 12.628
INFO:root:Testing 2781 out of 17728 hypotheses for tuna_fish_can (evidence > 2.6216337171538378)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 3.66
INFO:root:Testing 2473 out of 19024 hypotheses for potted_meat_can (evidence > 2.6216337171538378)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 13.519
DEBUG:root:evidences for each object: [ 1.21289368  8.87282874 13.06716273  6.50506247  5.33751191  1.28756732
  4.08115047 12.6281879   3.66024052 13.51931776]
DEBUG:root:mean evidence: 7.017, std: 4.509 -> th=10.815454206985303
INFO:root:current most likely hypothesis: potted_meat_can with evidence 13.52
DEBUG:root:evidences for each object: [ 1.21289368  8.87282874 13.06716273  6.50506247  5.33751191  1.28756732
  4.08115047 12.6281879   3.66024052 13.51931776]
DEBUG:root:mean evidence: 7.017, std: 4.509 -> th=10.815454206985303
DEBUG:root:evidences for each object: [ 1.21289368  8.87282874 13.06716273  6.50506247  5.33751191  1.28756732
  4.08115047 12.6281879   3.66024052 13.51931776]
DEBUG:root:mean evidence: 7.017, std: 4.509 -> th=11.491420094921883
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 156 ---
INFO:uvicorn.access:192.168.1.217:64765 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.49414859, -0.49341647,  0.71579142],
       [ 0.70658238,  0.70763079, -0.        ],
       [-0.50651605,  0.50576561,  0.69831415]]), 'pose_fully_defined': False}}, {'patch': array([-0.00103989, -0.00013422,  0.00172068])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 2470 out of 10992 hypotheses for montys_brain (evidence > 2.703863551746325)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 9.027
INFO:root:Testing 1299 out of 14880 hypotheses for montys_heart (evidence > 2.703863551746325)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.523
INFO:root:Testing 5 out of 23200 hypotheses for ramen_pack (evidence > 2.703863551746325)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.743
INFO:root:Testing 855 out of 14864 hypotheses for hot_sauce (evidence > 2.703863551746325)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.664
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 1193 out of 21832 hypotheses for tomato_soup_can (evidence > 2.703863551746325)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.164
INFO:root:Testing 2291 out of 16976 hypotheses for mustard_bottle (evidence > 2.703863551746325)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 12.97
INFO:root:Testing 88 out of 17728 hypotheses for tuna_fish_can (evidence > 2.703863551746325)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.833
INFO:root:Testing 1403 out of 19024 hypotheses for potted_meat_can (evidence > 2.703863551746325)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.917
DEBUG:root:evidences for each object: [ 1.21289368  9.02672042 13.52258671  6.74323821  5.6644668   1.28756732
  4.16387365 12.97017429  3.83283835 13.9165682 ]
DEBUG:root:mean evidence: 7.234, std: 4.644 -> th=11.133254558947064
INFO:root:current most likely hypothesis: potted_meat_can with evidence 13.92
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 157 ---
INFO:uvicorn.access:192.168.1.217:64767 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.49070709, -0.31312633,  0.81311651],
       [ 0.53792442,  0.84299307, -0.        ],
       [-0.68545158,  0.43739523,  0.58210097]]), 'pose_fully_defined': False}}, {'patch': array([-0.00574536,  0.00113809, -0.00109126])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 2307 out of 10992 hypotheses for montys_brain (evidence > 2.7833136397367646)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 9.167
INFO:root:Testing 1213 out of 14880 hypotheses for montys_heart (evidence > 2.7833136397367646)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 12.523
INFO:root:Testing 4 out of 23200 hypotheses for ramen_pack (evidence > 2.7833136397367646)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.079
INFO:root:Testing 824 out of 14864 hypotheses for hot_sauce (evidence > 2.7833136397367646)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.984
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 1068 out of 21832 hypotheses for tomato_soup_can (evidence > 2.7833136397367646)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.155
INFO:root:Testing 2209 out of 16976 hypotheses for mustard_bottle (evidence > 2.7833136397367646)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 13.369
INFO:root:Testing 49 out of 17728 hypotheses for tuna_fish_can (evidence > 2.7833136397367646)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.199
INFO:root:Testing 1368 out of 19024 hypotheses for potted_meat_can (evidence > 2.7833136397367646)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.332
DEBUG:root:evidences for each object: [ 1.21289368  9.1665925  12.52258671  7.07898882  5.98406626  1.28756732
  4.15543463 13.36928083  4.19862634 14.33214745]
DEBUG:root:mean evidence: 7.331, std: 4.599 -> th=11.465717957207467
INFO:root:current most likely hypothesis: potted_meat_can with evidence 14.33
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 158 ---
INFO:uvicorn.access:192.168.1.217:64767 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.50882362, -0.34010571,  0.7908392 ],
       [ 0.5557065 ,  0.83137855, -0.        ],
       [-0.65748674,  0.43947448,  0.61202399]]), 'pose_fully_defined': False}}, {'patch': array([-0.00531559, -0.00408013,  0.0005017 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 2088 out of 10992 hypotheses for montys_brain (evidence > 2.8664294893018667)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 8.167
INFO:root:Testing 968 out of 14880 hypotheses for montys_heart (evidence > 2.8664294893018667)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 11.523
INFO:root:Testing 3 out of 23200 hypotheses for ramen_pack (evidence > 2.8664294893018667)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.396
INFO:root:Testing 812 out of 14864 hypotheses for hot_sauce (evidence > 2.8664294893018667)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.079
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 629 out of 21832 hypotheses for tomato_soup_can (evidence > 2.8664294893018667)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.318
INFO:root:Testing 2013 out of 16976 hypotheses for mustard_bottle (evidence > 2.8664294893018667)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 13.769
INFO:root:Testing 34 out of 17728 hypotheses for tuna_fish_can (evidence > 2.8664294893018667)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.599
INFO:root:Testing 1307 out of 19024 hypotheses for potted_meat_can (evidence > 2.8664294893018667)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.765
DEBUG:root:evidences for each object: [ 1.21289368  8.1665925  11.52258671  7.39568987  6.07937237  1.28756732
  4.3176622  13.76946287  4.59873039 14.76459335]
DEBUG:root:mean evidence: 7.312, std: 4.55 -> th=11.81167467763379
INFO:root:current most likely hypothesis: potted_meat_can with evidence 14.76
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 159 ---
INFO:uvicorn.access:192.168.1.217:64767 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.48537845, -0.44878853,  0.75033101],
       [ 0.6788899 ,  0.73424008, -0.        ],
       [-0.5509231 ,  0.50939214,  0.66106231]]), 'pose_fully_defined': False}}, {'patch': array([-0.00404144, -0.0029756 , -0.001748  ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 1366 out of 10992 hypotheses for montys_brain (evidence > 2.9529186694084473)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.167
INFO:root:Testing 710 out of 14880 hypotheses for montys_heart (evidence > 2.9529186694084473)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.523
INFO:root:Testing 2 out of 23200 hypotheses for ramen_pack (evidence > 2.9529186694084473)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.396
INFO:root:Testing 712 out of 14864 hypotheses for hot_sauce (evidence > 2.9529186694084473)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No 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
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 366 out of 21832 hypotheses for tomato_soup_can (evidence > 2.9529186694084473)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.54
INFO:root:Testing 1841 out of 16976 hypotheses for mustard_bottle (evidence > 2.9529186694084473)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 13.135
INFO:root:Testing 31 out of 17728 hypotheses for tuna_fish_can (evidence > 2.9529186694084473)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.954
INFO:root:Testing 1130 out of 19024 hypotheses for potted_meat_can (evidence > 2.9529186694084473)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.192
DEBUG:root:evidences for each object: [ 1.21289368  7.1665925  10.52258671  6.39568987  6.21249389  1.28756732
  4.54024672 13.1346759   4.9541346  15.19236132]
DEBUG:root:mean evidence: 7.062, std: 4.41 -> th=12.153889053186472
INFO:root:current most likely hypothesis: potted_meat_can with evidence 15.19
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 160 ---
INFO:uvicorn.access:192.168.1.217:64767 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.48988187, -0.26155611,  0.83162741],
       [ 0.47098884,  0.88213917, -0.        ],
       [-0.73361111,  0.39168723,  0.55533399]]), 'pose_fully_defined': False}}, {'patch': array([0.00580605, 0.01081622, 0.00241216])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 860 out of 10992 hypotheses for montys_brain (evidence > 3.038472263296617)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.35
INFO:root:Testing 516 out of 14880 hypotheses for montys_heart (evidence > 3.038472263296617)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.523
INFO:root:Testing 1 out of 23200 hypotheses for ramen_pack (evidence > 3.038472263296617)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.756
INFO:root:Testing 632 out of 14864 hypotheses for hot_sauce (evidence > 3.038472263296617)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.533
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 250 out of 21832 hypotheses for tomato_soup_can (evidence > 3.038472263296617)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.894
INFO:root:Testing 1690 out of 16976 hypotheses for mustard_bottle (evidence > 3.038472263296617)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.584
INFO:root:Testing 29 out of 17728 hypotheses for tuna_fish_can (evidence > 3.038472263296617)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.351
INFO:root:Testing 1051 out of 19024 hypotheses for potted_meat_can (evidence > 3.038472263296617)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.592
DEBUG:root:evidences for each object: [ 1.21289368  7.35006086  9.52258671  6.75640428  6.53296833  1.28756732
  4.89446323 13.58412519  5.3514517  15.5916314 ]
DEBUG:root:mean evidence: 7.208, std: 4.436 -> th=12.473305121966872
INFO:root:current most likely hypothesis: potted_meat_can with evidence 15.59
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 161 ---
INFO:uvicorn.access:192.168.1.217:64767 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.50411663, -0.05325591,  0.86199201],
       [ 0.10505744,  0.99446616, -0.        ],
       [-0.85722188,  0.09055868,  0.50692186]]), 'pose_fully_defined': False}}, {'patch': array([-0.00417478,  0.00192286,  0.00751225])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 773 out of 10992 hypotheses for montys_brain (evidence > 3.1183262804917167)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.356
INFO:root:Testing 424 out of 14880 hypotheses for montys_heart (evidence > 3.1183262804917167)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.523
INFO:root:Testing 1 out of 23200 hypotheses for ramen_pack (evidence > 3.1183262804917167)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.177
INFO:root:Testing 631 out of 14864 hypotheses for hot_sauce (evidence > 3.1183262804917167)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.865
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 111 out of 21832 hypotheses for tomato_soup_can (evidence > 3.1183262804917167)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.325
INFO:root:Testing 1626 out of 16976 hypotheses for mustard_bottle (evidence > 3.1183262804917167)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.986
INFO:root:Testing 31 out of 17728 hypotheses for tuna_fish_can (evidence > 3.1183262804917167)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.649
INFO:root:Testing 1042 out of 19024 hypotheses for potted_meat_can (evidence > 3.1183262804917167)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.897
DEBUG:root:evidences for each object: [ 1.21289368  7.35604514  8.52258671  7.1771868   6.86496539  1.28756732
  5.32532273 13.98636817  5.64922064 15.89714139]
DEBUG:root:mean evidence: 7.328, std: 4.474 -> th=12.71771311497052
INFO:root:current most likely hypothesis: potted_meat_can with evidence 15.9
DEBUG:root:evidences for each object: [ 1.21289368  7.35604514  8.52258671  7.1771868   6.86496539  1.28756732
  5.32532273 13.98636817  5.64922064 15.89714139]
DEBUG:root:mean evidence: 7.328, std: 4.474 -> th=12.71771311497052
DEBUG:root:evidences for each object: [ 1.21289368  7.35604514  8.52258671  7.1771868   6.86496539  1.28756732
  5.32532273 13.98636817  5.64922064 15.89714139]
DEBUG:root:mean evidence: 7.328, std: 4.474 -> th=13.512570184656177
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 162 ---
INFO:uvicorn.access:192.168.1.217:64767 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.49916007,  0.15874702,  0.85184424],
       [-0.30307079,  0.95296805,  0.        ],
       [-0.81178034, -0.25816911,  0.52379518]]), 'pose_fully_defined': False}}, {'patch': array([-0.0034026 ,  0.00606079,  0.00334979])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 748 out of 10992 hypotheses for montys_brain (evidence > 3.1794282787426287)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.348
INFO:root:Testing 374 out of 14880 hypotheses for montys_heart (evidence > 3.1794282787426287)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.523
INFO:root:Testing 50 out of 23200 hypotheses for ramen_pack (evidence > 3.1794282787426287)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.552
INFO:root:Testing 613 out of 14864 hypotheses for hot_sauce (evidence > 3.1794282787426287)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.114
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 59 out of 21832 hypotheses for tomato_soup_can (evidence > 3.1794282787426287)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.641
INFO:root:Testing 1579 out of 16976 hypotheses for mustard_bottle (evidence > 3.1794282787426287)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.333
INFO:root:Testing 30 out of 17728 hypotheses for tuna_fish_can (evidence > 3.1794282787426287)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.05
INFO:root:Testing 1016 out of 19024 hypotheses for potted_meat_can (evidence > 3.1794282787426287)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.097
DEBUG:root:evidences for each object: [ 1.21289368  7.34816905  7.52258671  7.55242522  7.11409693  1.28756732
  5.64056699 14.33278593  6.05005095 16.09736551]
DEBUG:root:mean evidence: 7.416, std: 4.521 -> th=12.877892409562978
INFO:root:current most likely hypothesis: potted_meat_can with evidence 16.1
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 163 ---
INFO:uvicorn.access:192.168.1.217:64767 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.47243618,  0.3291427 ,  0.81759962],
       [-0.57163952,  0.82050488,  0.        ],
       [-0.67084448, -0.46737226,  0.57578717]]), 'pose_fully_defined': False}}, {'patch': array([-0.00331325,  0.00568768,  0.00131413])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 691 out of 10992 hypotheses for montys_brain (evidence > 3.2194731023907437)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.299
INFO:root:Testing 306 out of 14880 hypotheses for montys_heart (evidence > 3.2194731023907437)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.469
INFO:root:Testing 7 out of 23200 hypotheses for ramen_pack (evidence > 3.2194731023907437)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.854
INFO:root:Testing 576 out of 14864 hypotheses for hot_sauce (evidence > 3.2194731023907437)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.04
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 19 out of 21832 hypotheses for tomato_soup_can (evidence > 3.2194731023907437)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.641
INFO:root:Testing 1502 out of 16976 hypotheses for mustard_bottle (evidence > 3.2194731023907437)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.613
INFO:root:Testing 14 out of 17728 hypotheses for tuna_fish_can (evidence > 3.2194731023907437)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.364
INFO:root:Testing 996 out of 19024 hypotheses for potted_meat_can (evidence > 3.2194731023907437)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.208
DEBUG:root:evidences for each object: [ 1.21289368  7.29883905  7.46881277  7.85414714  7.04037056  1.28756732
  4.64056699 14.61280338  6.36440302 16.20754156]
DEBUG:root:mean evidence: 7.399, std: 4.629 -> th=12.966033245956458
INFO:root:current most likely hypothesis: potted_meat_can with evidence 16.21
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 164 ---
INFO:uvicorn.access:192.168.1.217:64769 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.43083163, -0.28654823,  0.85573023],
       [ 0.55379959,  0.83264999, -0.        ],
       [-0.71252377,  0.47390305,  0.51742225]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01916729, -0.02149419, -0.00812091])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 619 out of 10992 hypotheses for montys_brain (evidence > 3.2415083114891132)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 6.928
INFO:root:Testing 240 out of 14880 hypotheses for montys_heart (evidence > 3.2415083114891132)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.685
INFO:root:Testing 16 out of 23200 hypotheses for ramen_pack (evidence > 3.2415083114891132)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.218
INFO:root:Testing 550 out of 14864 hypotheses for hot_sauce (evidence > 3.2415083114891132)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.17
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 10 out of 21832 hypotheses for tomato_soup_can (evidence > 3.2415083114891132)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.953
INFO:root:Testing 1433 out of 16976 hypotheses for mustard_bottle (evidence > 3.2415083114891132)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.089
INFO:root:Testing 12 out of 17728 hypotheses for tuna_fish_can (evidence > 3.2415083114891132)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.366
INFO:root:Testing 966 out of 19024 hypotheses for potted_meat_can (evidence > 3.2415083114891132)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.633
DEBUG:root:evidences for each object: [ 1.21289368  6.92815178  7.68461845  8.21829788  7.16962335  1.28756732
  4.95270248 15.08903149  6.36578897 16.63299415]
DEBUG:root:mean evidence: 7.554, std: 4.773 -> th=13.306395317227208
INFO:root:current most likely hypothesis: potted_meat_can with evidence 16.63
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 165 ---
INFO:uvicorn.access:192.168.1.217:64769 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.43994934, -0.42553094,  0.79080213],
       [ 0.69523032,  0.71878703, -0.        ],
       [-0.56841832,  0.54978962,  0.61207189]]), 'pose_fully_defined': False}}, {'patch': array([-0.00130138, -0.0082497 , -0.00011012])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 582 out of 10992 hypotheses for montys_brain (evidence > 3.3265988293068016)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.306
INFO:root:Testing 235 out of 14880 hypotheses for montys_heart (evidence > 3.3265988293068016)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.293
INFO:root:Testing 4 out of 23200 hypotheses for ramen_pack (evidence > 3.3265988293068016)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.507
INFO:root:Testing 544 out of 14864 hypotheses for hot_sauce (evidence > 3.3265988293068016)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.408
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 9 out of 21832 hypotheses for tomato_soup_can (evidence > 3.3265988293068016)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.202
INFO:root:Testing 1398 out of 16976 hypotheses for mustard_bottle (evidence > 3.3265988293068016)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.547
INFO:root:Testing 11 out of 17728 hypotheses for tuna_fish_can (evidence > 3.3265988293068016)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.635
INFO:root:Testing 963 out of 19024 hypotheses for potted_meat_can (evidence > 3.3265988293068016)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.098
DEBUG:root:evidences for each object: [ 1.21289368  7.30595245  7.29276873  8.50704042  7.40780187  1.28756732
  5.20227931 15.5472381   6.63539884 17.09795574]
DEBUG:root:mean evidence: 7.75, std: 4.914 -> th=13.678364593838449
INFO:root:current most likely hypothesis: potted_meat_can with evidence 17.1
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 166 ---
INFO:uvicorn.access:192.168.1.217:64769 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.44161649, -0.59103314,  0.675022  ],
       [ 0.80107761,  0.59856049, -0.        ],
       [-0.4040415 ,  0.54074501,  0.7377976 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00454473, -0.00409723, -0.0032879 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 354 out of 10992 hypotheses for montys_brain (evidence > 3.4195911484596113)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.661
INFO:root:Testing 156 out of 14880 hypotheses for montys_heart (evidence > 3.4195911484596113)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.695
INFO:root:Testing 4 out of 23200 hypotheses for ramen_pack (evidence > 3.4195911484596113)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.698
INFO:root:Testing 435 out of 14864 hypotheses for hot_sauce (evidence > 3.4195911484596113)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.795
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 8 out of 21832 hypotheses for tomato_soup_can (evidence > 3.4195911484596113)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.372
INFO:root:Testing 1265 out of 16976 hypotheses for mustard_bottle (evidence > 3.4195911484596113)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.969
INFO:root:Testing 8 out of 17728 hypotheses for tuna_fish_can (evidence > 3.4195911484596113)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.872
INFO:root:Testing 932 out of 19024 hypotheses for potted_meat_can (evidence > 3.4195911484596113)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.48
DEBUG:root:evidences for each object: [ 1.21289368  7.66112879  7.69450568  8.69821247  7.79488927  1.28756732
  5.37225779 15.96934085  6.87238177 17.47971014]
DEBUG:root:mean evidence: 8.004, std: 5.034 -> th=13.98376811076562
INFO:root:current most likely hypothesis: potted_meat_can with evidence 17.48
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 167 ---
INFO:uvicorn.access:192.168.1.217:64769 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.44065475, -0.45714941,  0.77255279],
       [ 0.71997641,  0.69399854, -0.        ],
       [-0.53615051,  0.55621978,  0.63495054]]), 'pose_fully_defined': False}}, {'patch': array([0.00123636, 0.00994438, 0.00534448])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 145 out of 10992 hypotheses for montys_brain (evidence > 3.495942027691404)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.085
INFO:root:Testing 96 out of 14880 hypotheses for montys_heart (evidence > 3.495942027691404)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.132
INFO:root:Testing 3 out of 23200 hypotheses for ramen_pack (evidence > 3.495942027691404)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.969
INFO:root:Testing 337 out of 14864 hypotheses for hot_sauce (evidence > 3.495942027691404)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.236
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 7 out of 21832 hypotheses for tomato_soup_can (evidence > 3.495942027691404)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.609
INFO:root:Testing 1079 out of 16976 hypotheses for mustard_bottle (evidence > 3.495942027691404)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.404
INFO:root:Testing 8 out of 17728 hypotheses for tuna_fish_can (evidence > 3.495942027691404)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.122
INFO:root:Testing 874 out of 19024 hypotheses for potted_meat_can (evidence > 3.495942027691404)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.925
DEBUG:root:evidences for each object: [ 1.21289368  8.08517515  8.13237799  8.96918825  8.23605786  1.28756732
  5.60875037 16.40440509  7.12193009 17.92469987]
DEBUG:root:mean evidence: 8.298, std: 5.166 -> th=14.339759895275847
INFO:root:current most likely hypothesis: potted_meat_can with evidence 17.92
DEBUG:root:evidences for each object: [ 1.21289368  8.08517515  8.13237799  8.96918825  8.23605786  1.28756732
  5.60875037 16.40440509  7.12193009 17.92469987]
DEBUG:root:mean evidence: 8.298, std: 5.166 -> th=14.339759895275847
DEBUG:root:evidences for each object: [ 1.21289368  8.08517515  8.13237799  8.96918825  8.23605786  1.28756732
  5.60875037 16.40440509  7.12193009 17.92469987]
DEBUG:root:mean evidence: 8.298, std: 5.166 -> th=15.235994888730588
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 168 ---
INFO:uvicorn.access:192.168.1.217:64769 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.42453857, -0.38775295,  0.81817764],
       [ 0.6743934 ,  0.73837223, -0.        ],
       [-0.60411965,  0.5517736 ,  0.57496551]]), 'pose_fully_defined': False}}, {'patch': array([-0.00109291,  0.00464581,  0.00078557])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 138 out of 10992 hypotheses for montys_brain (evidence > 3.584939973818962)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.496
INFO:root:Testing 95 out of 14880 hypotheses for montys_heart (evidence > 3.584939973818962)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.541
INFO:root:Testing 13 out of 23200 hypotheses for ramen_pack (evidence > 3.584939973818962)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.281
INFO:root:Testing 320 out of 14864 hypotheses for hot_sauce (evidence > 3.584939973818962)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.729
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 7 out of 21832 hypotheses for tomato_soup_can (evidence > 3.584939973818962)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.873
INFO:root:Testing 1054 out of 16976 hypotheses for mustard_bottle (evidence > 3.584939973818962)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.87
INFO:root:Testing 7 out of 17728 hypotheses for tuna_fish_can (evidence > 3.584939973818962)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.195
INFO:root:Testing 865 out of 19024 hypotheses for potted_meat_can (evidence > 3.584939973818962)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.387
DEBUG:root:evidences for each object: [ 1.21289368  8.49642809  8.54096154  9.28122254  8.72896612  1.28756732
  5.87330466 16.87006496  7.1952712  18.38711918]
DEBUG:root:mean evidence: 8.587, std: 5.312 -> th=14.70969534763896
INFO:root:current most likely hypothesis: potted_meat_can with evidence 18.39
DEBUG:root:evidences for each object: [ 1.21289368  8.49642809  8.54096154  9.28122254  8.72896612  1.28756732
  5.87330466 16.87006496  7.1952712  18.38711918]
DEBUG:root:mean evidence: 8.587, std: 5.312 -> th=14.70969534763896
DEBUG:root:evidences for each object: [ 1.21289368  8.49642809  8.54096154  9.28122254  8.72896612  1.28756732
  5.87330466 16.87006496  7.1952712  18.38711918]
DEBUG:root:mean evidence: 8.587, std: 5.312 -> th=15.629051306866394
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 169 ---
INFO:uvicorn.access:192.168.1.217:64769 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.41260309, -0.30170484,  0.85949571],
       [ 0.5902553 ,  0.80721662, -0.        ],
       [-0.69379923,  0.5073219 ,  0.51114295]]), 'pose_fully_defined': False}}, {'patch': array([-0.00258456,  0.0017829 , -0.00028919])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 138 out of 10992 hypotheses for montys_brain (evidence > 3.677423836909739)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.885
INFO:root:Testing 95 out of 14880 hypotheses for montys_heart (evidence > 3.677423836909739)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.387
INFO:root:Testing 4 out of 23200 hypotheses for ramen_pack (evidence > 3.677423836909739)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.641
INFO:root:Testing 321 out of 14864 hypotheses for hot_sauce (evidence > 3.677423836909739)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.179
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 7 out of 21832 hypotheses for tomato_soup_can (evidence > 3.677423836909739)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.184
INFO:root:Testing 1053 out of 16976 hypotheses for mustard_bottle (evidence > 3.677423836909739)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.361
INFO:root:Testing 7 out of 17728 hypotheses for tuna_fish_can (evidence > 3.677423836909739)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.508
INFO:root:Testing 865 out of 19024 hypotheses for potted_meat_can (evidence > 3.677423836909739)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.826
DEBUG:root:evidences for each object: [ 1.21289368  8.88497455  8.38724463  9.64070358  9.17897681  1.28756732
  6.18428576 17.3612001   7.50808279 18.82630768]
DEBUG:root:mean evidence: 8.847, std: 5.453 -> th=15.061046142522088
INFO:root:current most likely hypothesis: potted_meat_can with evidence 18.83
DEBUG:root:evidences for each object: [ 1.21289368  8.88497455  8.38724463  9.64070358  9.17897681  1.28756732
  6.18428576 17.3612001   7.50808279 18.82630768]
DEBUG:root:mean evidence: 8.847, std: 5.453 -> th=15.061046142522088
DEBUG:root:evidences for each object: [ 1.21289368  8.88497455  8.38724463  9.64070358  9.17897681  1.28756732
  6.18428576 17.3612001   7.50808279 18.82630768]
DEBUG:root:mean evidence: 8.847, std: 5.453 -> th=16.002361526429716
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 170 ---
INFO:uvicorn.access:192.168.1.217:64769 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.40241526, -0.25177123,  0.88015522],
       [ 0.53039531,  0.84775044, -0.        ],
       [-0.74615197,  0.4668302 ,  0.47468599]]), 'pose_fully_defined': False}}, {'patch': array([-0.00240689,  0.00322029,  0.00340557])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 138 out of 10992 hypotheses for montys_brain (evidence > 3.765261535630522)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.252
INFO:root:Testing 95 out of 14880 hypotheses for montys_heart (evidence > 3.765261535630522)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.708
INFO:root:Testing 24 out of 23200 hypotheses for ramen_pack (evidence > 3.765261535630522)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.027
INFO:root:Testing 331 out of 14864 hypotheses for hot_sauce (evidence > 3.765261535630522)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.623
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 7 out of 21832 hypotheses for tomato_soup_can (evidence > 3.765261535630522)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.518
INFO:root:Testing 1053 out of 16976 hypotheses for mustard_bottle (evidence > 3.765261535630522)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.849
INFO:root:Testing 6 out of 17728 hypotheses for tuna_fish_can (evidence > 3.765261535630522)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.85
INFO:root:Testing 864 out of 19024 hypotheses for potted_meat_can (evidence > 3.765261535630522)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 19.24
DEBUG:root:evidences for each object: [ 1.21289368  9.25237738  8.70774052 10.02740017  9.62305478  1.28756732
  6.51797031 17.84904485  7.84980685 19.2402267 ]
DEBUG:root:mean evidence: 9.157, std: 5.587 -> th=15.392181357481508
INFO:root:current most likely hypothesis: potted_meat_can with evidence 19.24
DEBUG:root:evidences for each object: [ 1.21289368  9.25237738  8.70774052 10.02740017  9.62305478  1.28756732
  6.51797031 17.84904485  7.84980685 19.2402267 ]
DEBUG:root:mean evidence: 9.157, std: 5.587 -> th=15.392181357481508
DEBUG:root:evidences for each object: [ 1.21289368  9.25237738  8.70774052 10.02740017  9.62305478  1.28756732
  6.51797031 17.84904485  7.84980685 19.2402267 ]
DEBUG:root:mean evidence: 9.157, std: 5.587 -> th=16.3541926923241
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 171 ---
INFO:uvicorn.access:192.168.1.217:64769 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.35249019, -0.03985153,  0.93496659],
       [ 0.11234144,  0.99366966, -0.        ],
       [-0.92904794,  0.10503549,  0.35473579]]), 'pose_fully_defined': False}}, {'patch': array([-0.00192954,  0.00500358,  0.00205017])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 138 out of 10992 hypotheses for montys_brain (evidence > 3.848045339370376)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.643
INFO:root:Testing 95 out of 14880 hypotheses for montys_heart (evidence > 3.848045339370376)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.937
INFO:root:Testing 5 out of 23200 hypotheses for ramen_pack (evidence > 3.848045339370376)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.521
INFO:root:Testing 321 out of 14864 hypotheses for hot_sauce (evidence > 3.848045339370376)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.973
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 7 out of 21832 hypotheses for tomato_soup_can (evidence > 3.848045339370376)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.89
INFO:root:Testing 1050 out of 16976 hypotheses for mustard_bottle (evidence > 3.848045339370376)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.274
INFO:root:Testing 6 out of 17728 hypotheses for tuna_fish_can (evidence > 3.848045339370376)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.301
INFO:root:Testing 864 out of 19024 hypotheses for potted_meat_can (evidence > 3.848045339370376)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 19.551
DEBUG:root:evidences for each object: [ 1.21289368  9.64263881  8.9367021  10.52130007  9.97286003  1.28756732
  6.88977646 18.27406036  8.30061809 19.5514249 ]
DEBUG:root:mean evidence: 9.459, std: 5.692 -> th=15.641139922340463
INFO:root:current most likely hypothesis: potted_meat_can with evidence 19.55
DEBUG:root:evidences for each object: [ 1.21289368  9.64263881  8.9367021  10.52130007  9.97286003  1.28756732
  6.88977646 18.27406036  8.30061809 19.5514249 ]
DEBUG:root:mean evidence: 9.459, std: 5.692 -> th=15.641139922340463
DEBUG:root:evidences for each object: [ 1.21289368  9.64263881  8.9367021  10.52130007  9.97286003  1.28756732
  6.88977646 18.27406036  8.30061809 19.5514249 ]
DEBUG:root:mean evidence: 9.459, std: 5.692 -> th=16.61871116748674
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 172 ---
INFO:uvicorn.access:192.168.1.217:64769 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.29075329,  0.0742212 ,  0.95391495],
       [-0.24734043,  0.96892864,  0.        ],
       [-0.92427552, -0.23594174,  0.3000771 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00913986,  0.0112165 , -0.00312221])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 138 out of 10992 hypotheses for montys_brain (evidence > 3.9102849805851143)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.077
INFO:root:Testing 94 out of 14880 hypotheses for montys_heart (evidence > 3.9102849805851143)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.258
INFO:root:Testing 40 out of 23200 hypotheses for ramen_pack (evidence > 3.9102849805851143)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.955
INFO:root:Testing 313 out of 14864 hypotheses for hot_sauce (evidence > 3.9102849805851143)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.297
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 7 out of 21832 hypotheses for tomato_soup_can (evidence > 3.9102849805851143)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.335
INFO:root:Testing 1046 out of 16976 hypotheses for mustard_bottle (evidence > 3.9102849805851143)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.681
INFO:root:Testing 6 out of 17728 hypotheses for tuna_fish_can (evidence > 3.9102849805851143)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.644
INFO:root:Testing 863 out of 19024 hypotheses for potted_meat_can (evidence > 3.9102849805851143)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 19.804
DEBUG:root:evidences for each object: [ 1.21289368 10.07694437  9.2575904  10.9551028  10.29690598  1.28756732
  7.3347741  18.68061953  8.64355774 19.80392328]
DEBUG:root:mean evidence: 9.755, std: 5.784 -> th=15.843138622162167
INFO:root:current most likely hypothesis: potted_meat_can with evidence 19.8
DEBUG:root:evidences for each object: [ 1.21289368 10.07694437  9.2575904  10.9551028  10.29690598  1.28756732
  7.3347741  18.68061953  8.64355774 19.80392328]
DEBUG:root:mean evidence: 9.755, std: 5.784 -> th=15.843138622162167
DEBUG:root:evidences for each object: [ 1.21289368 10.07694437  9.2575904  10.9551028  10.29690598  1.28756732
  7.3347741  18.68061953  8.64355774 19.80392328]
DEBUG:root:mean evidence: 9.755, std: 5.784 -> th=16.833334786047303
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 173 ---
INFO:uvicorn.access:192.168.1.217:64769 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64769 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.1528441 ,  0.48877861,  0.85891452],
       [-0.95442393,  0.29845427,  0.        ],
       [-0.25634671, -0.81976857,  0.51211898]]), 'pose_fully_defined': False}}, {'patch': array([-0.00774589,  0.00541558, -0.00167509])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 135 out of 10992 hypotheses for montys_brain (evidence > 3.9607846555405413)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.423
INFO:root:Testing 90 out of 14880 hypotheses for montys_heart (evidence > 3.9607846555405413)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.683
INFO:root:Testing 19 out of 23200 hypotheses for ramen_pack (evidence > 3.9607846555405413)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.171
INFO:root:Testing 316 out of 14864 hypotheses for hot_sauce (evidence > 3.9607846555405413)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.465
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 3 out of 21832 hypotheses for tomato_soup_can (evidence > 3.9607846555405413)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.642
INFO:root:Testing 1043 out of 16976 hypotheses for mustard_bottle (evidence > 3.9607846555405413)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.878
INFO:root:Testing 5 out of 17728 hypotheses for tuna_fish_can (evidence > 3.9607846555405413)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.903
INFO:root:Testing 863 out of 19024 hypotheses for potted_meat_can (evidence > 3.9607846555405413)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 19.837
DEBUG:root:evidences for each object: [ 1.21289368 10.42288374  9.68274067 11.17086115 10.46482321  1.28756732
  7.64214265 18.87779647  8.90270551 19.83715042]
DEBUG:root:mean evidence: 9.95, std: 5.808 -> th=15.869720337893238
INFO:root:current most likely hypothesis: potted_meat_can with evidence 19.84
DEBUG:root:evidences for each object: [ 1.21289368 10.42288374  9.68274067 11.17086115 10.46482321  1.28756732
  7.64214265 18.87779647  8.90270551 19.83715042]
DEBUG:root:mean evidence: 9.95, std: 5.808 -> th=15.869720337893238
DEBUG:root:evidences for each object: [ 1.21289368 10.42288374  9.68274067 11.17086115 10.46482321  1.28756732
  7.64214265 18.87779647  8.90270551 19.83715042]
DEBUG:root:mean evidence: 9.95, std: 5.808 -> th=16.861577859011568
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 174 ---
INFO:uvicorn.access:192.168.1.217:64769 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.25321816,  0.29083962,  0.92265534],
       [-0.75420202,  0.65664246,  0.        ],
       [-0.60585467, -0.69586852,  0.38562563]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0003068 , -0.01615055,  0.00368593])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 119 out of 10992 hypotheses for montys_brain (evidence > 3.9674300844733086)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.705
INFO:root:Testing 83 out of 14880 hypotheses for montys_heart (evidence > 3.9674300844733086)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.049
INFO:root:Testing 17 out of 23200 hypotheses for ramen_pack (evidence > 3.9674300844733086)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.499
INFO:root:Testing 316 out of 14864 hypotheses for hot_sauce (evidence > 3.9674300844733086)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.71
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 3 out of 21832 hypotheses for tomato_soup_can (evidence > 3.9674300844733086)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.041
INFO:root:Testing 1041 out of 16976 hypotheses for mustard_bottle (evidence > 3.9674300844733086)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 19.132
INFO:root:Testing 5 out of 17728 hypotheses for tuna_fish_can (evidence > 3.9674300844733086)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 9.268
INFO:root:Testing 862 out of 19024 hypotheses for potted_meat_can (evidence > 3.9674300844733086)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 19.986
DEBUG:root:evidences for each object: [ 1.21289368 10.7047075  10.04852836 11.49911346 10.71022178  1.28756732
  8.04146921 19.13182991  9.26801328 19.98625095]
DEBUG:root:mean evidence: 10.189, std: 5.861 -> th=15.989000757303069
INFO:root:current most likely hypothesis: potted_meat_can with evidence 19.99
DEBUG:root:evidences for each object: [ 1.21289368 10.7047075  10.04852836 11.49911346 10.71022178  1.28756732
  8.04146921 19.13182991  9.26801328 19.98625095]
DEBUG:root:mean evidence: 10.189, std: 5.861 -> th=15.989000757303069
DEBUG:root:evidences for each object: [ 1.21289368 10.7047075  10.04852836 11.49911346 10.71022178  1.28756732
  8.04146921 19.13182991  9.26801328 19.98625095]
DEBUG:root:mean evidence: 10.189, std: 5.861 -> th=16.98831330463451
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 175 ---
INFO:uvicorn.access:192.168.1.217:64769 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.36882679, -0.01694338,  0.9293437 ],
       [ 0.04589019,  0.99894649, -0.        ],
       [-0.92836463,  0.04264775,  0.36921577]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00169344, -0.01687727,  0.00420226])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 119 out of 10992 hypotheses for montys_brain (evidence > 3.997250189325767)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.868
INFO:root:Testing 83 out of 14880 hypotheses for montys_heart (evidence > 3.997250189325767)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.389
INFO:root:Testing 15 out of 23200 hypotheses for ramen_pack (evidence > 3.997250189325767)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.499
INFO:root:Testing 328 out of 14864 hypotheses for hot_sauce (evidence > 3.997250189325767)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.744
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 3 out of 21832 hypotheses for tomato_soup_can (evidence > 3.997250189325767)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.041
INFO:root:Testing 1039 out of 16976 hypotheses for mustard_bottle (evidence > 3.997250189325767)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 19.444
INFO:root:Testing 6 out of 17728 hypotheses for tuna_fish_can (evidence > 3.997250189325767)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.516
INFO:root:Testing 862 out of 19024 hypotheses for potted_meat_can (evidence > 3.997250189325767)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.986
DEBUG:root:evidences for each object: [ 1.21289368  9.86769478 10.38916136 10.49911346 10.7436644   1.28756732
  7.04146921 19.44414537  8.51597857 18.98625095]
DEBUG:root:mean evidence: 9.799, std: 5.784 -> th=15.555316296715706
INFO:root:current most likely hypothesis: mustard_bottle with evidence 19.44
DEBUG:root:evidences for each object: [ 1.21289368  9.86769478 10.38916136 10.49911346 10.7436644   1.28756732
  7.04146921 19.44414537  8.51597857 18.98625095]
DEBUG:root:mean evidence: 9.799, std: 5.784 -> th=15.555316296715706
DEBUG:root:evidences for each object: [ 1.21289368  9.86769478 10.38916136 10.49911346 10.7436644   1.28756732
  7.04146921 19.44414537  8.51597857 18.98625095]
DEBUG:root:mean evidence: 9.799, std: 5.784 -> th=16.527523565260438
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 176 ---
INFO:uvicorn.access:192.168.1.217:64772 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.44477661,  0.15726041,  0.88172724],
       [-0.33334865,  0.94280362,  0.        ],
       [-0.83129564, -0.29392259,  0.47175955]]), 'pose_fully_defined': False}}, {'patch': array([ 0.02307825,  0.0216217 , -0.01055138])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 108 out of 10992 hypotheses for montys_brain (evidence > 3.8888290741789255)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.186
INFO:root:Testing 75 out of 14880 hypotheses for montys_heart (evidence > 3.8888290741789255)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.79
INFO:root:Testing 23 out of 23200 hypotheses for ramen_pack (evidence > 3.8888290741789255)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.892
INFO:root:Testing 325 out of 14864 hypotheses for hot_sauce (evidence > 3.8888290741789255)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.468
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 7 out of 21832 hypotheses for tomato_soup_can (evidence > 3.8888290741789255)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.041
INFO:root:Testing 1019 out of 16976 hypotheses for mustard_bottle (evidence > 3.8888290741789255)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 19.817
INFO:root:Testing 6 out of 17728 hypotheses for tuna_fish_can (evidence > 3.8888290741789255)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.516
INFO:root:Testing 861 out of 19024 hypotheses for potted_meat_can (evidence > 3.8888290741789255)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 19.202
DEBUG:root:evidences for each object: [ 1.21289368 10.1855957  10.79048261 10.89188318 10.46791657  1.28756732
  6.04146921 19.8174517   7.51597857 19.20173989]
DEBUG:root:mean evidence: 9.741, std: 5.975 -> th=15.85396135658829
INFO:root:current most likely hypothesis: mustard_bottle with evidence 19.82
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 177 ---
INFO:uvicorn.access:192.168.1.217:64772 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.41082642,  0.12879027,  0.90257117],
       [-0.29913613,  0.95421045,  0.        ],
       [-0.86124284, -0.26999164,  0.43054069]]), 'pose_fully_defined': False}}, {'patch': array([0.00862495, 0.01130366, 0.0125143 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 108 out of 10992 hypotheses for montys_brain (evidence > 3.9634903391470715)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.186
INFO:root:Testing 71 out of 14880 hypotheses for montys_heart (evidence > 3.9634903391470715)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.79
INFO:root:Testing 13 out of 23200 hypotheses for ramen_pack (evidence > 3.9634903391470715)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.892
INFO:root:Testing 324 out of 14864 hypotheses for hot_sauce (evidence > 3.9634903391470715)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.468
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 3 out of 21832 hypotheses for tomato_soup_can (evidence > 3.9634903391470715)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.041
INFO:root:Testing 1012 out of 16976 hypotheses for mustard_bottle (evidence > 3.9634903391470715)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.817
INFO:root:Testing 5 out of 17728 hypotheses for tuna_fish_can (evidence > 3.9634903391470715)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.516
INFO:root:Testing 861 out of 19024 hypotheses for potted_meat_can (evidence > 3.9634903391470715)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.202
DEBUG:root:evidences for each object: [ 1.21289368  9.1855957   9.79048261  9.89188318  9.46791657  1.28756732
  5.04146921 18.8174517   6.51597857 18.20173989]
DEBUG:root:mean evidence: 8.941, std: 5.698 -> th=15.053961356588289
INFO:root:current most likely hypothesis: mustard_bottle with evidence 18.82
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 178 ---
INFO:uvicorn.access:192.168.1.217:64773 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.4387656 ,  0.02239815,  0.89832236],
       [-0.05098171,  0.99869959,  0.        ],
       [-0.89715417, -0.04579801,  0.43933692]]), 'pose_fully_defined': False}}, {'patch': array([-0.01307121, -0.01299187, -0.01929477])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 149 out of 10992 hypotheses for montys_brain (evidence > 3.763490339147072)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.509
INFO:root:Testing 77 out of 14880 hypotheses for montys_heart (evidence > 3.763490339147072)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.79
INFO:root:Testing 57 out of 23200 hypotheses for ramen_pack (evidence > 3.763490339147072)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.342
INFO:root:Testing 342 out of 14864 hypotheses for hot_sauce (evidence > 3.763490339147072)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.774
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 60 out of 21832 hypotheses for tomato_soup_can (evidence > 3.763490339147072)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.342
INFO:root:Testing 986 out of 16976 hypotheses for mustard_bottle (evidence > 3.763490339147072)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 19.208
INFO:root:Testing 17 out of 17728 hypotheses for tuna_fish_can (evidence > 3.763490339147072)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.981
INFO:root:Testing 857 out of 19024 hypotheses for potted_meat_can (evidence > 3.763490339147072)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.475
DEBUG:root:evidences for each object: [ 1.21289368  9.5094424   8.79048261 10.34160037  9.77413966  1.28756732
  5.34238553 19.20822621  6.98100399 18.47522915]
DEBUG:root:mean evidence: 9.092, std: 5.781 -> th=15.366580964432071
INFO:root:current most likely hypothesis: mustard_bottle with evidence 19.21
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 179 ---
INFO:uvicorn.access:192.168.1.217:64773 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.35956151,  0.31622528,  0.87790495],
       [-0.6604056 ,  0.75090908,  0.        ],
       [-0.65922679, -0.57977335,  0.47883495]]), 'pose_fully_defined': False}}, {'patch': array([-8.06530707e-05, -3.61422734e-03, -2.78366771e-03])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 127 out of 10992 hypotheses for montys_brain (evidence > 3.841645241108017)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.699
INFO:root:Testing 59 out of 14880 hypotheses for montys_heart (evidence > 3.841645241108017)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.653
INFO:root:Testing 11 out of 23200 hypotheses for ramen_pack (evidence > 3.841645241108017)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.664
INFO:root:Testing 339 out of 14864 hypotheses for hot_sauce (evidence > 3.841645241108017)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.954
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 5 out of 21832 hypotheses for tomato_soup_can (evidence > 3.841645241108017)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.55
INFO:root:Testing 977 out of 16976 hypotheses for mustard_bottle (evidence > 3.841645241108017)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 19.451
INFO:root:Testing 9 out of 17728 hypotheses for tuna_fish_can (evidence > 3.841645241108017)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.362
INFO:root:Testing 857 out of 19024 hypotheses for potted_meat_can (evidence > 3.841645241108017)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.608
DEBUG:root:evidences for each object: [ 1.21289368  9.69924936  8.65329143 10.6641667   9.95418604  1.28756732
  5.54963414 19.45147941  7.36183057 18.60803917]
DEBUG:root:mean evidence: 9.244, std: 5.831 -> th=15.561183525537803
INFO:root:current most likely hypothesis: mustard_bottle with evidence 19.45
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 180 ---
INFO:uvicorn.access:192.168.1.217:64773 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.50595113, -0.11375361,  0.8550284 ],
       [ 0.21935546,  0.97564501, -0.        ],
       [-0.83420419,  0.18755515,  0.51858117]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00099782, -0.00973433,  0.00312289])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 103 out of 10992 hypotheses for montys_brain (evidence > 3.89029588138445)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.975
INFO:root:Testing 40 out of 14880 hypotheses for montys_heart (evidence > 3.89029588138445)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.944
INFO:root:Testing 9 out of 23200 hypotheses for ramen_pack (evidence > 3.89029588138445)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.074
INFO:root:Testing 328 out of 14864 hypotheses for hot_sauce (evidence > 3.89029588138445)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.738
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 3 out of 21832 hypotheses for tomato_soup_can (evidence > 3.89029588138445)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.684
INFO:root:Testing 959 out of 16976 hypotheses for mustard_bottle (evidence > 3.89029588138445)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 19.838
INFO:root:Testing 14 out of 17728 hypotheses for tuna_fish_can (evidence > 3.89029588138445)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.754
INFO:root:Testing 856 out of 19024 hypotheses for potted_meat_can (evidence > 3.89029588138445)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.945
DEBUG:root:evidences for each object: [ 1.21289368  9.9752898   8.94375555 11.07390702  9.73811321  1.28756732
  4.683525   19.83788419  7.75352027 18.94476253]
DEBUG:root:mean evidence: 9.345, std: 6.011 -> th=15.870307354699605
INFO:root:current most likely hypothesis: mustard_bottle with evidence 19.84
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 181 ---
INFO:uvicorn.access:192.168.1.217:64773 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64773 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.53341733, -0.40864797,  0.74058949],
       [ 0.60814534,  0.7938257 , -0.        ],
       [-0.58789897,  0.45038605,  0.67195774]]), 'pose_fully_defined': False}}, {'patch': array([-0.00104203, -0.00170131,  0.000402  ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 101 out of 10992 hypotheses for montys_brain (evidence > 3.9675768386749013)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.393
INFO:root:Testing 39 out of 14880 hypotheses for montys_heart (evidence > 3.9675768386749013)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.24
INFO:root:Testing 6 out of 23200 hypotheses for ramen_pack (evidence > 3.9675768386749013)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.347
INFO:root:Testing 310 out of 14864 hypotheses for hot_sauce (evidence > 3.9675768386749013)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.206
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 3 out of 21832 hypotheses for tomato_soup_can (evidence > 3.9675768386749013)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.871
INFO:root:Testing 940 out of 16976 hypotheses for mustard_bottle (evidence > 3.9675768386749013)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 20.234
INFO:root:Testing 7 out of 17728 hypotheses for tuna_fish_can (evidence > 3.9675768386749013)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.991
INFO:root:Testing 851 out of 19024 hypotheses for potted_meat_can (evidence > 3.9675768386749013)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 19.337
DEBUG:root:evidences for each object: [ 1.21289368 10.39337523  9.24041048 11.34730151 10.20646747  1.28756732
  4.87074571 20.23376559  7.99139968 19.33681094]
DEBUG:root:mean evidence: 9.612, std: 6.136 -> th=16.18701247267649
INFO:root:current most likely hypothesis: mustard_bottle with evidence 20.23
DEBUG:root:evidences for each object: [ 1.21289368 10.39337523  9.24041048 11.34730151 10.20646747  1.28756732
  4.87074571 20.23376559  7.99139968 19.33681094]
DEBUG:root:mean evidence: 9.612, std: 6.136 -> th=16.18701247267649
DEBUG:root:evidences for each object: [ 1.21289368 10.39337523  9.24041048 11.34730151 10.20646747  1.28756732
  4.87074571 20.23376559  7.99139968 19.33681094]
DEBUG:root:mean evidence: 9.612, std: 6.136 -> th=17.19870075221877
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 182 ---
INFO:uvicorn.access:192.168.1.217:64773 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.53551175, -0.44267398,  0.7192127 ],
       [ 0.63713353,  0.77075344, -0.        ],
       [-0.55433567,  0.45823453,  0.69478996]]), 'pose_fully_defined': False}}, {'patch': array([-2.92548098e-05, -7.88755881e-04, -4.70191703e-04])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 99 out of 10992 hypotheses for montys_brain (evidence > 4.046753118169121)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.814
INFO:root:Testing 39 out of 14880 hypotheses for montys_heart (evidence > 4.046753118169121)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.528
INFO:root:Testing 7 out of 23200 hypotheses for ramen_pack (evidence > 4.046753118169121)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.602
INFO:root:Testing 296 out of 14864 hypotheses for hot_sauce (evidence > 4.046753118169121)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.68
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 3 out of 21832 hypotheses for tomato_soup_can (evidence > 4.046753118169121)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.087
INFO:root:Testing 916 out of 16976 hypotheses for mustard_bottle (evidence > 4.046753118169121)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 20.619
INFO:root:Testing 6 out of 17728 hypotheses for tuna_fish_can (evidence > 4.046753118169121)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.21
INFO:root:Testing 848 out of 19024 hypotheses for potted_meat_can (evidence > 4.046753118169121)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 19.723
DEBUG:root:evidences for each object: [ 1.21289368 10.8139542   9.52829579 11.60166927 10.68012636  1.28756732
  5.08707192 20.61892826  8.20995735 19.72265809]
DEBUG:root:mean evidence: 9.876, std: 6.257 -> th=16.49514261103053
INFO:root:current most likely hypothesis: mustard_bottle with evidence 20.62
DEBUG:root:evidences for each object: [ 1.21289368 10.8139542   9.52829579 11.60166927 10.68012636  1.28756732
  5.08707192 20.61892826  8.20995735 19.72265809]
DEBUG:root:mean evidence: 9.876, std: 6.257 -> th=16.49514261103053
DEBUG:root:evidences for each object: [ 1.21289368 10.8139542   9.52829579 11.60166927 10.68012636  1.28756732
  5.08707192 20.61892826  8.20995735 19.72265809]
DEBUG:root:mean evidence: 9.876, std: 6.257 -> th=17.52608902421994
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 183 ---
INFO:uvicorn.access:192.168.1.217:64775 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.51353471, -0.18209473, -0.83852466],
       [ 0.33420238, -0.94250133,  0.        ],
       [-0.79031061, -0.28023694,  0.54486364]]), 'pose_fully_defined': False}}, {'patch': array([-0.04320648,  0.03340638, -0.03079168])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 96 out of 10992 hypotheses for montys_brain (evidence > 4.123785652757633)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.295
INFO:root:Testing 39 out of 14880 hypotheses for montys_heart (evidence > 4.123785652757633)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.732
INFO:root:Testing 7 out of 23200 hypotheses for ramen_pack (evidence > 4.123785652757633)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.602
INFO:root:Testing 283 out of 14864 hypotheses for hot_sauce (evidence > 4.123785652757633)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.881
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 3 out of 21832 hypotheses for tomato_soup_can (evidence > 4.123785652757633)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.601
INFO:root:Testing 900 out of 16976 hypotheses for mustard_bottle (evidence > 4.123785652757633)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 20.884
INFO:root:Testing 12 out of 17728 hypotheses for tuna_fish_can (evidence > 4.123785652757633)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.21
INFO:root:Testing 846 out of 19024 hypotheses for potted_meat_can (evidence > 4.123785652757633)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 19.942
DEBUG:root:evidences for each object: [ 1.21289368 11.29481033  9.73174097 10.60166927 10.88070255  1.28756732
  4.60079002 20.88386382  7.20995735 19.94220221]
DEBUG:root:mean evidence: 9.765, std: 6.401 -> th=16.707091057307522
INFO:root:current most likely hypothesis: mustard_bottle with evidence 20.88
DEBUG:root:evidences for each object: [ 1.21289368 11.29481033  9.73174097 10.60166927 10.88070255  1.28756732
  4.60079002 20.88386382  7.20995735 19.94220221]
DEBUG:root:mean evidence: 9.765, std: 6.401 -> th=16.707091057307522
DEBUG:root:evidences for each object: [ 1.21289368 11.29481033  9.73174097 10.60166927 10.88070255  1.28756732
  4.60079002 20.88386382  7.20995735 19.94220221]
DEBUG:root:mean evidence: 9.765, std: 6.401 -> th=17.751284248389243
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 184 ---
INFO:uvicorn.access:192.168.1.217:64775 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.22528566, -0.54293862, -0.80898951],
       [ 0.92364291, -0.38325419,  0.        ],
       [-0.31004862, -0.74721742,  0.58782308]]), 'pose_fully_defined': False}}, {'patch': array([-0.00170048, -0.0191578 ,  0.01122782])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 87 out of 10992 hypotheses for montys_brain (evidence > 4.176772764326881)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.457
INFO:root:Testing 35 out of 14880 hypotheses for montys_heart (evidence > 4.176772764326881)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.527
INFO:root:Testing 6 out of 23200 hypotheses for ramen_pack (evidence > 4.176772764326881)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.836
INFO:root:Testing 282 out of 14864 hypotheses for hot_sauce (evidence > 4.176772764326881)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.739
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 4.176772764326881)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.298
INFO:root:Testing 899 out of 16976 hypotheses for mustard_bottle (evidence > 4.176772764326881)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 19.884
INFO:root:Testing 6 out of 17728 hypotheses for tuna_fish_can (evidence > 4.176772764326881)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.482
INFO:root:Testing 845 out of 19024 hypotheses for potted_meat_can (evidence > 4.176772764326881)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 19.883
DEBUG:root:evidences for each object: [ 1.21289368 11.45650022  9.52714549 10.83639852 10.73921878  1.28756732
  4.29808992 19.88386382  7.48159106 19.88269849]
DEBUG:root:mean evidence: 9.661, std: 6.243 -> th=15.907091057307522
INFO:root:current most likely hypothesis: mustard_bottle with evidence 19.88
DEBUG:root:evidences for each object: [ 1.21289368 11.45650022  9.52714549 10.83639852 10.73921878  1.28756732
  4.29808992 19.88386382  7.48159106 19.88269849]
DEBUG:root:mean evidence: 9.661, std: 6.243 -> th=15.907091057307522
DEBUG:root:evidences for each object: [ 1.21289368 11.45650022  9.52714549 10.83639852 10.73921878  1.28756732
  4.29808992 19.88386382  7.48159106 19.88269849]
DEBUG:root:mean evidence: 9.661, std: 6.243 -> th=16.901284248389242
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 185 ---
INFO:uvicorn.access:192.168.1.217:64775 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.36149883, -0.47603553, -0.80169119],
       [ 0.79639439, -0.60477762,  0.        ],
       [-0.48484489, -0.63846237,  0.59773843]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00631469,  0.00819705, -0.00770081])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 81 out of 10992 hypotheses for montys_brain (evidence > 3.9767727643268795)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.783
INFO:root:Testing 38 out of 14880 hypotheses for montys_heart (evidence > 3.9767727643268795)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.533
INFO:root:Testing 33 out of 23200 hypotheses for ramen_pack (evidence > 3.9767727643268795)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.109
INFO:root:Testing 270 out of 14864 hypotheses for hot_sauce (evidence > 3.9767727643268795)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.839
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 2 out of 21832 hypotheses for tomato_soup_can (evidence > 3.9767727643268795)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.964
INFO:root:Testing 896 out of 16976 hypotheses for mustard_bottle (evidence > 3.9767727643268795)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 20.044
INFO:root:Testing 1558 out of 17728 hypotheses for tuna_fish_can (evidence > 3.9767727643268795)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.482
INFO:root:Testing 841 out of 19024 hypotheses for potted_meat_can (evidence > 3.9767727643268795)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 19.946
DEBUG:root:evidences for each object: [ 1.21289368 11.78334527  9.53261753 11.10918473 10.83923534  1.28756732
  3.96418538 20.04407447  6.48159106 19.94635061]
DEBUG:root:mean evidence: 9.62, std: 6.369 -> th=16.03525957949884
INFO:root:current most likely hypothesis: mustard_bottle with evidence 20.04
DEBUG:root:evidences for each object: [ 1.21289368 11.78334527  9.53261753 11.10918473 10.83923534  1.28756732
  3.96418538 20.04407447  6.48159106 19.94635061]
DEBUG:root:mean evidence: 9.62, std: 6.369 -> th=16.03525957949884
DEBUG:root:evidences for each object: [ 1.21289368 11.78334527  9.53261753 11.10918473 10.83923534  1.28756732
  3.96418538 20.04407447  6.48159106 19.94635061]
DEBUG:root:mean evidence: 9.62, std: 6.369 -> th=17.03746330321752
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 186 ---
INFO:uvicorn.access:192.168.1.217:64775 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.35390143, -0.45784794, -0.81555444],
       [ 0.79119315, -0.61156635,  0.        ],
       [-0.49876565, -0.64526109,  0.57868036]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00027161, -0.00723791,  0.00039471])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 80 out of 10992 hypotheses for montys_brain (evidence > 4.00881489487471)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 12.07
INFO:root:Testing 37 out of 14880 hypotheses for montys_heart (evidence > 4.00881489487471)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.584
INFO:root:Testing 13 out of 23200 hypotheses for ramen_pack (evidence > 4.00881489487471)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.392
INFO:root:Testing 270 out of 14864 hypotheses for hot_sauce (evidence > 4.00881489487471)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.971
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.964
INFO:root:Testing 895 out of 16976 hypotheses for mustard_bottle (evidence > 4.00881489487471)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 20.246
INFO:root:Testing 680 out of 17728 hypotheses for tuna_fish_can (evidence > 4.00881489487471)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.482
INFO:root:Testing 836 out of 19024 hypotheses for potted_meat_can (evidence > 4.00881489487471)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.946
DEBUG:root:evidences for each object: [ 1.21289368 12.06966771  9.58380259 11.392062   10.97107044  1.28756732
  3.96418538 20.24645369  5.48159106 18.94635061]
DEBUG:root:mean evidence: 9.516, std: 6.324 -> th=16.197162951824655
INFO:root:current most likely hypothesis: mustard_bottle with evidence 20.25
DEBUG:root:evidences for each object: [ 1.21289368 12.06966771  9.58380259 11.392062   10.97107044  1.28756732
  3.96418538 20.24645369  5.48159106 18.94635061]
DEBUG:root:mean evidence: 9.516, std: 6.324 -> th=16.197162951824655
DEBUG:root:evidences for each object: [ 1.21289368 12.06966771  9.58380259 11.392062   10.97107044  1.28756732
  3.96418538 20.24645369  5.48159106 18.94635061]
DEBUG:root:mean evidence: 9.516, std: 6.324 -> th=17.209485636313694
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 187 ---
INFO:uvicorn.access:192.168.1.217:64775 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.18338806, -0.70010278, -0.69009051],
       [ 0.9673628 , -0.25339535,  0.        ],
       [-0.17486573, -0.66756789,  0.72372307]]), 'pose_fully_defined': False}}, {'patch': array([3.96396984e-06, 4.55195247e-03, 2.10437478e-03])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 79 out of 10992 hypotheses for montys_brain (evidence > 4.049290737956163)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 12.177
INFO:root:Testing 36 out of 14880 hypotheses for montys_heart (evidence > 4.049290737956163)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.784
INFO:root:Testing 7 out of 23200 hypotheses for ramen_pack (evidence > 4.049290737956163)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.529
INFO:root:Testing 266 out of 14864 hypotheses for hot_sauce (evidence > 4.049290737956163)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.945
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.964
INFO:root:Testing 877 out of 16976 hypotheses for mustard_bottle (evidence > 4.049290737956163)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 20.28
INFO:root:Testing 461 out of 17728 hypotheses for tuna_fish_can (evidence > 4.049290737956163)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.429
INFO:root:Testing 829 out of 19024 hypotheses for potted_meat_can (evidence > 4.049290737956163)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.946
DEBUG:root:evidences for each object: [ 1.21289368 12.17723751  9.78360149 11.529475   10.94462832  1.28756732
  3.96418538 20.2798095   5.42920104 17.94635061]
DEBUG:root:mean evidence: 9.455, std: 6.199 -> th=16.223847598850707
INFO:root:current most likely hypothesis: mustard_bottle with evidence 20.28
DEBUG:root:evidences for each object: [ 1.21289368 12.17723751  9.78360149 11.529475   10.94462832  1.28756732
  3.96418538 20.2798095   5.42920104 17.94635061]
DEBUG:root:mean evidence: 9.455, std: 6.199 -> th=16.223847598850707
DEBUG:root:evidences for each object: [ 1.21289368 12.17723751  9.78360149 11.529475   10.94462832  1.28756732
  3.96418538 20.2798095   5.42920104 17.94635061]
DEBUG:root:mean evidence: 9.455, std: 6.199 -> th=17.237838073778878
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 188 ---
INFO:uvicorn.access:192.168.1.217:64775 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.33490006, -0.54629313, -0.76772766],
       [ 0.85254893, -0.52264741,  0.        ],
       [-0.40125087, -0.6545254 ,  0.64077628]]), 'pose_fully_defined': False}}, {'patch': array([-0.00900734,  0.01777556, -0.00805935])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 79 out of 10992 hypotheses for montys_brain (evidence > 4.055961899712678)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 12.302
INFO:root:Testing 35 out of 14880 hypotheses for montys_heart (evidence > 4.055961899712678)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.784
INFO:root:Testing 7 out of 23200 hypotheses for ramen_pack (evidence > 4.055961899712678)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.529
INFO:root:Testing 264 out of 14864 hypotheses for hot_sauce (evidence > 4.055961899712678)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.945
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.964
INFO:root:Testing 859 out of 16976 hypotheses for mustard_bottle (evidence > 4.055961899712678)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 20.333
INFO:root:Testing 426 out of 17728 hypotheses for tuna_fish_can (evidence > 4.055961899712678)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.541
INFO:root:Testing 800 out of 19024 hypotheses for potted_meat_can (evidence > 4.055961899712678)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.975
DEBUG:root:evidences for each object: [ 1.21289368 12.30166949  8.78360149 10.529475    9.94462832  1.28756732
  3.96418538 20.33338088  5.54118917 17.97518187]
DEBUG:root:mean evidence: 9.187, std: 6.167 -> th=16.2667047067425
INFO:root:current most likely hypothesis: mustard_bottle with evidence 20.33
DEBUG:root:evidences for each object: [ 1.21289368 12.30166949  8.78360149 10.529475    9.94462832  1.28756732
  3.96418538 20.33338088  5.54118917 17.97518187]
DEBUG:root:mean evidence: 9.187, std: 6.167 -> th=16.2667047067425
DEBUG:root:evidences for each object: [ 1.21289368 12.30166949  8.78360149 10.529475    9.94462832  1.28756732
  3.96418538 20.33338088  5.54118917 17.97518187]
DEBUG:root:mean evidence: 9.187, std: 6.167 -> th=17.28337375091391
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 189 ---
INFO:uvicorn.access:192.168.1.217:64775 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.51081392, -0.28028693, -0.81271667],
       [ 0.48104789, -0.87669432,  0.        ],
       [-0.71250409, -0.39095564,  0.58265909]]), 'pose_fully_defined': False}}, {'patch': array([-0.00060195,  0.00503997, -0.00359124])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 76 out of 10992 hypotheses for montys_brain (evidence > 4.066676176685625)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.302
INFO:root:Testing 28 out of 14880 hypotheses for montys_heart (evidence > 4.066676176685625)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.784
INFO:root:Testing 4 out of 23200 hypotheses for ramen_pack (evidence > 4.066676176685625)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.529
INFO:root:Testing 233 out of 14864 hypotheses for hot_sauce (evidence > 4.066676176685625)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.945
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.964
INFO:root:Testing 848 out of 16976 hypotheses for mustard_bottle (evidence > 4.066676176685625)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 19.333
INFO:root:Testing 234 out of 17728 hypotheses for tuna_fish_can (evidence > 4.066676176685625)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.617
INFO:root:Testing 795 out of 19024 hypotheses for potted_meat_can (evidence > 4.066676176685625)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.975
DEBUG:root:evidences for each object: [ 1.21289368 11.30166949  7.78360149  9.529475    8.94462832  1.28756732
  3.96418538 19.33338088  5.61668574 16.97518187]
DEBUG:root:mean evidence: 8.595, std: 5.768 -> th=15.466704706742501
INFO:root:current most likely hypothesis: mustard_bottle with evidence 19.33
DEBUG:root:evidences for each object: [ 1.21289368 11.30166949  7.78360149  9.529475    8.94462832  1.28756732
  3.96418538 19.33338088  5.61668574 16.97518187]
DEBUG:root:mean evidence: 8.595, std: 5.768 -> th=15.466704706742501
DEBUG:root:evidences for each object: [ 1.21289368 11.30166949  7.78360149  9.529475    8.94462832  1.28756732
  3.96418538 19.33338088  5.61668574 16.97518187]
DEBUG:root:mean evidence: 8.595, std: 5.768 -> th=16.43337375091391
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 190 ---
INFO:uvicorn.access:192.168.1.217:64775 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.62557125,  0.1693988 , -0.76155411],
       [-0.26137702, -0.96523679,  0.        ],
       [-0.73508004,  0.19905275,  0.64810133]]), 'pose_fully_defined': False}}, {'patch': array([0.00262129, 0.01269081, 0.00415212])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 77 out of 10992 hypotheses for montys_brain (evidence > 3.8666761766856244)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.302
INFO:root:Testing 26 out of 14880 hypotheses for montys_heart (evidence > 3.8666761766856244)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.784
INFO:root:Testing 82 out of 23200 hypotheses for ramen_pack (evidence > 3.8666761766856244)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.529
INFO:root:Testing 236 out of 14864 hypotheses for hot_sauce (evidence > 3.8666761766856244)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.945
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 22 out of 21832 hypotheses for tomato_soup_can (evidence > 3.8666761766856244)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.863
INFO:root:Testing 833 out of 16976 hypotheses for mustard_bottle (evidence > 3.8666761766856244)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.333
INFO:root:Testing 2073 out of 17728 hypotheses for tuna_fish_can (evidence > 3.8666761766856244)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 5.865
INFO:root:Testing 772 out of 19024 hypotheses for potted_meat_can (evidence > 3.8666761766856244)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.975
DEBUG:root:evidences for each object: [ 1.21289368 10.30166949  6.78360149  8.529475    7.94462832  1.28756732
  3.86328013 18.33338088  5.86511621 15.97518187]
DEBUG:root:mean evidence: 8.01, std: 5.387 -> th=14.666704706742502
INFO:root:current most likely hypothesis: mustard_bottle with evidence 18.33
DEBUG:root:evidences for each object: [ 1.21289368 10.30166949  6.78360149  8.529475    7.94462832  1.28756732
  3.86328013 18.33338088  5.86511621 15.97518187]
DEBUG:root:mean evidence: 8.01, std: 5.387 -> th=14.666704706742502
DEBUG:root:evidences for each object: [ 1.21289368 10.30166949  6.78360149  8.529475    7.94462832  1.28756732
  3.86328013 18.33338088  5.86511621 15.97518187]
DEBUG:root:mean evidence: 8.01, std: 5.387 -> th=15.583373750913907
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 191 ---
INFO:uvicorn.access:192.168.1.217:64775 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.66325902,  0.55531718, -0.50170738],
       [-0.64195743, -0.76674028,  0.        ],
       [-0.38467926,  0.32207478,  0.8650374 ]]), 'pose_fully_defined': False}}, {'patch': array([0.01443957, 0.00475153, 0.01432727])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 119 out of 10992 hypotheses for montys_brain (evidence > 3.666676176685625)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.786
INFO:root:Testing 34 out of 14880 hypotheses for montys_heart (evidence > 3.666676176685625)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.249
INFO:root:Testing 204 out of 23200 hypotheses for ramen_pack (evidence > 3.666676176685625)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.764
INFO:root:Testing 246 out of 14864 hypotheses for hot_sauce (evidence > 3.666676176685625)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.395
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 423 out of 21832 hypotheses for tomato_soup_can (evidence > 3.666676176685625)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.34
INFO:root:Testing 796 out of 16976 hypotheses for mustard_bottle (evidence > 3.666676176685625)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.612
INFO:root:Testing 8563 out of 17728 hypotheses for tuna_fish_can (evidence > 3.666676176685625)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 6.055
INFO:root:Testing 737 out of 19024 hypotheses for potted_meat_can (evidence > 3.666676176685625)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.265
DEBUG:root:evidences for each object: [ 1.21289368 10.78642267  7.24937148  8.76425838  8.39516709  1.28756732
  4.34004344 18.61247135  6.05533857 16.26547284]
DEBUG:root:mean evidence: 8.297, std: 5.454 -> th=14.889977082379062
INFO:root:current most likely hypothesis: mustard_bottle with evidence 18.61
DEBUG:root:evidences for each object: [ 1.21289368 10.78642267  7.24937148  8.76425838  8.39516709  1.28756732
  4.34004344 18.61247135  6.05533857 16.26547284]
DEBUG:root:mean evidence: 8.297, std: 5.454 -> th=14.889977082379062
DEBUG:root:evidences for each object: [ 1.21289368 10.78642267  7.24937148  8.76425838  8.39516709  1.28756732
  4.34004344 18.61247135  6.05533857 16.26547284]
DEBUG:root:mean evidence: 8.297, std: 5.454 -> th=15.820600650027753
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 192 ---
INFO:uvicorn.access:192.168.1.217:64777 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.45558245,  0.62208944, -0.63674906],
       [-0.80678609, -0.59084363,  0.        ],
       [-0.37621913,  0.51372029,  0.7710711 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.02260058, -0.01352655,  0.00040711])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 253 out of 10992 hypotheses for montys_brain (evidence > 3.7224942705947655)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.412
INFO:root:Testing 34 out of 14880 hypotheses for montys_heart (evidence > 3.7224942705947655)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.249
INFO:root:Testing 167 out of 23200 hypotheses for ramen_pack (evidence > 3.7224942705947655)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.157
INFO:root:Testing 246 out of 14864 hypotheses for hot_sauce (evidence > 3.7224942705947655)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.395
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 398 out of 21832 hypotheses for tomato_soup_can (evidence > 3.7224942705947655)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.823
INFO:root:Testing 796 out of 16976 hypotheses for mustard_bottle (evidence > 3.7224942705947655)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.998
INFO:root:Testing 6526 out of 17728 hypotheses for tuna_fish_can (evidence > 3.7224942705947655)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 6.37
INFO:root:Testing 730 out of 19024 hypotheses for potted_meat_can (evidence > 3.7224942705947655)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.554
DEBUG:root:evidences for each object: [ 1.21289368 10.41188141  6.24937148  9.15731171  7.39516709  1.28756732
  4.82263664 18.99820122  6.36975562 16.55410026]
DEBUG:root:mean evidence: 8.246, std: 5.55 -> th=15.198560977119637
INFO:root:current most likely hypothesis: mustard_bottle with evidence 19.0
DEBUG:root:evidences for each object: [ 1.21289368 10.41188141  6.24937148  9.15731171  7.39516709  1.28756732
  4.82263664 18.99820122  6.36975562 16.55410026]
DEBUG:root:mean evidence: 8.246, std: 5.55 -> th=15.198560977119637
DEBUG:root:evidences for each object: [ 1.21289368 10.41188141  6.24937148  9.15731171  7.39516709  1.28756732
  4.82263664 18.99820122  6.36975562 16.55410026]
DEBUG:root:mean evidence: 8.246, std: 5.55 -> th=16.148471038189616
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 193 ---
INFO:uvicorn.access:192.168.1.217:64777 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.39692647,  0.25426535, -0.88192886],
       [-0.53940342, -0.84204747,  0.        ],
       [-0.74262596,  0.47571544,  0.47138254]]), 'pose_fully_defined': False}}, {'patch': array([-0.00576271, -0.00930207, -0.00464609])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 66 out of 10992 hypotheses for montys_brain (evidence > 3.7996402442799084)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.412
INFO:root:Testing 18 out of 14880 hypotheses for montys_heart (evidence > 3.7996402442799084)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.249
INFO:root:Testing 94 out of 23200 hypotheses for ramen_pack (evidence > 3.7996402442799084)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.51
INFO:root:Testing 126 out of 14864 hypotheses for hot_sauce (evidence > 3.7996402442799084)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.395
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 228 out of 21832 hypotheses for tomato_soup_can (evidence > 3.7996402442799084)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.237
INFO:root:Testing 770 out of 16976 hypotheses for mustard_bottle (evidence > 3.7996402442799084)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 19.429
INFO:root:Testing 2806 out of 17728 hypotheses for tuna_fish_can (evidence > 3.7996402442799084)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 6.58
INFO:root:Testing 701 out of 19024 hypotheses for potted_meat_can (evidence > 3.7996402442799084)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.554
DEBUG:root:evidences for each object: [ 1.21289368  9.41188141  5.24937148  9.51005034  6.39516709  1.28756732
  5.23748188 19.4286704   6.57981106 15.55410026]
DEBUG:root:mean evidence: 7.987, std: 5.503 -> th=15.54293632343283
INFO:root:current most likely hypothesis: mustard_bottle with evidence 19.43
DEBUG:root:evidences for each object: [ 1.21289368  9.41188141  5.24937148  9.51005034  6.39516709  1.28756732
  5.23748188 19.4286704   6.57981106 15.55410026]
DEBUG:root:mean evidence: 7.987, std: 5.503 -> th=15.54293632343283
DEBUG:root:evidences for each object: [ 1.21289368  9.41188141  5.24937148  9.51005034  6.39516709  1.28756732
  5.23748188 19.4286704   6.57981106 15.55410026]
DEBUG:root:mean evidence: 7.987, std: 5.503 -> th=16.51436984364738
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 194 ---
INFO:uvicorn.access:192.168.1.217:64777 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.50165751,  0.63435109, -0.58816531],
       [-0.78436892, -0.6202946 ,  0.        ],
       [-0.36483577,  0.46133859,  0.80874073]]), 'pose_fully_defined': False}}, {'patch': array([0.00259668, 0.00921484, 0.01241793])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 41 out of 10992 hypotheses for montys_brain (evidence > 3.8857340808582066)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.641
INFO:root:Testing 9 out of 14880 hypotheses for montys_heart (evidence > 3.8857340808582066)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.397
INFO:root:Testing 66 out of 23200 hypotheses for ramen_pack (evidence > 3.8857340808582066)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.946
INFO:root:Testing 74 out of 14864 hypotheses for hot_sauce (evidence > 3.8857340808582066)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.395
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 135 out of 21832 hypotheses for tomato_soup_can (evidence > 3.8857340808582066)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.725
INFO:root:Testing 728 out of 16976 hypotheses for mustard_bottle (evidence > 3.8857340808582066)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 19.784
INFO:root:Testing 1752 out of 17728 hypotheses for tuna_fish_can (evidence > 3.8857340808582066)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 6.828
INFO:root:Testing 671 out of 19024 hypotheses for potted_meat_can (evidence > 3.8857340808582066)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.768
DEBUG:root:evidences for each object: [ 1.21289368  8.64126722  5.39667699  9.94648476  5.39516709  1.28756732
  5.72504551 19.7840113   6.82793832 15.76838268]
DEBUG:root:mean evidence: 7.999, std: 5.609 -> th=15.827209036353675
INFO:root:current most likely hypothesis: mustard_bottle with evidence 19.78
DEBUG:root:evidences for each object: [ 1.21289368  8.64126722  5.39667699  9.94648476  5.39516709  1.28756732
  5.72504551 19.7840113   6.82793832 15.76838268]
DEBUG:root:mean evidence: 7.999, std: 5.609 -> th=15.827209036353675
DEBUG:root:evidences for each object: [ 1.21289368  8.64126722  5.39667699  9.94648476  5.39516709  1.28756732
  5.72504551 19.7840113   6.82793832 15.76838268]
DEBUG:root:mean evidence: 7.999, std: 5.609 -> th=16.81640960112578
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle'}
INFO:root:--- Global Matching Step 195 ---
INFO:uvicorn.access:192.168.1.217:64777 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.50372993,  0.71274995, -0.4881021 ],
       [-0.8166372 , -0.57715135,  0.        ],
       [-0.28170879,  0.39860233,  0.87278654]]), 'pose_fully_defined': False}}, {'patch': array([-0.00107737, -0.01096417, -0.00440372])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 33 out of 10992 hypotheses for montys_brain (evidence > 3.956802259088418)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.023
INFO:root:Testing 5 out of 14880 hypotheses for montys_heart (evidence > 3.956802259088418)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.835
INFO:root:Testing 62 out of 23200 hypotheses for ramen_pack (evidence > 3.956802259088418)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.029
INFO:root:Testing 21 out of 14864 hypotheses for hot_sauce (evidence > 3.956802259088418)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.751
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 133 out of 21832 hypotheses for tomato_soup_can (evidence > 3.956802259088418)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.12
INFO:root:Testing 713 out of 16976 hypotheses for mustard_bottle (evidence > 3.956802259088418)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 20.051
INFO:root:Testing 1388 out of 17728 hypotheses for tuna_fish_can (evidence > 3.956802259088418)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.831
INFO:root:Testing 613 out of 19024 hypotheses for potted_meat_can (evidence > 3.956802259088418)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.759
DEBUG:root:evidences for each object: [ 1.21289368  9.02322919  5.83500473 10.02875948  5.75145869  1.28756732
  6.11992093 20.05142106  6.83105991 15.7585624 ]
DEBUG:root:mean evidence: 8.19, std: 5.621 -> th=16.041136844082637
INFO:root:current most likely hypothesis: mustard_bottle with evidence 20.05
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle'}
INFO:root:--- Global Matching Step 196 ---
INFO:uvicorn.access:192.168.1.217:64777 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.50192792,  0.00255365, -0.86490568],
       [-0.00508761, -0.99998706,  0.        ],
       [-0.86489449,  0.0044003 ,  0.50193442]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0011465 , -0.00792794,  0.0022532 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 29 out of 10992 hypotheses for montys_brain (evidence > 4.010284211020657)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.998
INFO:root:Testing 3 out of 14880 hypotheses for montys_heart (evidence > 4.010284211020657)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.898
INFO:root:Testing 59 out of 23200 hypotheses for ramen_pack (evidence > 4.010284211020657)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.481
INFO:root:Testing 10 out of 14864 hypotheses for hot_sauce (evidence > 4.010284211020657)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.856
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 133 out of 21832 hypotheses for tomato_soup_can (evidence > 4.010284211020657)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.204
INFO:root:Testing 702 out of 16976 hypotheses for mustard_bottle (evidence > 4.010284211020657)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 19.051
INFO:root:Testing 1283 out of 17728 hypotheses for tuna_fish_can (evidence > 4.010284211020657)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.019
INFO:root:Testing 585 out of 19024 hypotheses for potted_meat_can (evidence > 4.010284211020657)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.737
DEBUG:root:evidences for each object: [ 1.21289368  8.99832066  5.89811488 10.48109968  5.85559095  1.28756732
  6.20366234 19.05142106  7.01907048 15.73727101]
DEBUG:root:mean evidence: 8.175, std: 5.415 -> th=15.241136844082638
INFO:root:current most likely hypothesis: mustard_bottle with evidence 19.05
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 197 ---
INFO:uvicorn.access:192.168.1.217:64777 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.53116393,  0.23722689, -0.81338077],
       [-0.40779437, -0.91307379,  0.        ],
       [-0.74267667,  0.3316921 ,  0.58173166]]), 'pose_fully_defined': False}}, {'patch': array([-0.02046163,  0.00018014, -0.02787154])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 31 out of 10992 hypotheses for montys_brain (evidence > 3.810284211020658)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.998
INFO:root:Testing 3 out of 14880 hypotheses for montys_heart (evidence > 3.810284211020658)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.898
INFO:root:Testing 61 out of 23200 hypotheses for ramen_pack (evidence > 3.810284211020658)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.481
INFO:root:Testing 17 out of 14864 hypotheses for hot_sauce (evidence > 3.810284211020658)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.856
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 126 out of 21832 hypotheses for tomato_soup_can (evidence > 3.810284211020658)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.204
INFO:root:Testing 699 out of 16976 hypotheses for mustard_bottle (evidence > 3.810284211020658)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.051
INFO:root:Testing 1295 out of 17728 hypotheses for tuna_fish_can (evidence > 3.810284211020658)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.019
INFO:root:Testing 575 out of 19024 hypotheses for potted_meat_can (evidence > 3.810284211020658)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.737
DEBUG:root:evidences for each object: [ 1.21289368  7.99832066  4.89811488  9.48109968  4.85559095  1.28756732
  5.20366234 18.05142106  6.01907048 14.73727101]
DEBUG:root:mean evidence: 7.375, std: 5.168 -> th=14.441136844082639
INFO:root:current most likely hypothesis: mustard_bottle with evidence 18.05
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 198 ---
INFO:uvicorn.access:192.168.1.217:64777 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.52990366,  0.05469309, -0.84629237],
       [-0.10266785, -0.99471569,  0.        ],
       [-0.8418203 ,  0.08688702,  0.53271871]]), 'pose_fully_defined': False}}, {'patch': array([0.01843893, 0.00922722, 0.02627793])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 181 out of 10992 hypotheses for montys_brain (evidence > 3.6102842110206588)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.156
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 3.6102842110206588)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.991
INFO:root:Testing 1336 out of 23200 hypotheses for ramen_pack (evidence > 3.6102842110206588)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.933
INFO:root:Testing 82 out of 14864 hypotheses for hot_sauce (evidence > 3.6102842110206588)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.016
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 306 out of 21832 hypotheses for tomato_soup_can (evidence > 3.6102842110206588)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.522
INFO:root:Testing 731 out of 16976 hypotheses for mustard_bottle (evidence > 3.6102842110206588)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.334
INFO:root:Testing 1988 out of 17728 hypotheses for tuna_fish_can (evidence > 3.6102842110206588)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 6.247
INFO:root:Testing 528 out of 19024 hypotheses for potted_meat_can (evidence > 3.6102842110206588)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.746
DEBUG:root:evidences for each object: [ 1.21289368  8.15645306  4.99061553  9.93285433  5.01552971  1.28756732
  5.5224716  18.33413163  6.24659272 14.7456006 ]
DEBUG:root:mean evidence: 7.544, std: 5.218 -> th=14.66730530100242
INFO:root:current most likely hypothesis: mustard_bottle with evidence 18.33
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 199 ---
INFO:uvicorn.access:192.168.1.217:64777 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.58910492,  0.66311041, -0.46177915],
       [-0.7475921 , -0.66415815,  0.        ],
       [-0.30669439,  0.34522244,  0.88699494]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00830428,  0.00575044, -0.00080953])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.213
INFO:root:Testing 34 out of 10992 hypotheses for montys_brain (evidence > 3.6668263252506037)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.63
INFO:root:Testing 3 out of 14880 hypotheses for montys_heart (evidence > 3.6668263252506037)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.396
INFO:root:Testing 608 out of 23200 hypotheses for ramen_pack (evidence > 3.6668263252506037)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.058
INFO:root:Testing 17 out of 14864 hypotheses for hot_sauce (evidence > 3.6668263252506037)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.489
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.288
INFO:root:Testing 138 out of 21832 hypotheses for tomato_soup_can (evidence > 3.6668263252506037)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.909
INFO:root:Testing 697 out of 16976 hypotheses for mustard_bottle (evidence > 3.6668263252506037)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.61
INFO:root:Testing 867 out of 17728 hypotheses for tuna_fish_can (evidence > 3.6668263252506037)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.592
INFO:root:Testing 465 out of 19024 hypotheses for potted_meat_can (evidence > 3.6668263252506037)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.04
DEBUG:root:evidences for each object: [ 1.21289368  8.62993838  5.39563774 10.05763067  5.48944347  1.28756732
  5.90942893 18.60993427  6.59159651 15.04010172]
DEBUG:root:mean evidence: 7.822, std: 5.263 -> th=14.887947418615372
INFO:root:current most likely hypothesis: mustard_bottle with evidence 18.61
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 200 ---
INFO:uvicorn.access:192.168.1.217:64777 - "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/harissa_oil/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/harissa_oil/log.txt (NOTSET)>
