INFO:root:Logger initialized at 2025-09-29 12:57:03.592249
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/soup_can/observations',
                                    'vive_url': 'http://192.168.1.237:3001/pose'},
                  'env_init_func': <class 'custom_classes.probe_triggered_environment.ProbeTriggeredUltrasoundEnvironment'>,
                  'rng': RandomState(MT19937) at 0x7FC0C8650440,
                  '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/soup_can',
                    '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': 'fw8ufike'},
 '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([[ 0.56922076,  0.11300054,  0.81438234],
       [-0.19471817,  0.98085923,  0.        ],
       [-0.79879444, -0.15857504,  0.5803287 ]]), '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: {'hot_sauce', 'tuna_fish_can', 'numenta_mug', 'montys_heart', 'mustard_bottle', 'potted_meat_can', 'tomato_soup_can', 'montys_brain', 'harissa_oil', 'ramen_pack'}
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([[ 0.64916209,  0.13824466,  0.74798195],
       [-0.20828791,  0.97806756,  0.        ],
       [-0.73157687, -0.1557956 ,  0.66371907]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00288348, -0.00328595, -0.00272745])}]
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 0.05 seconds. New max evidence: 0.5
INFO:root:Testing 16976 out of 16976 hypotheses for mustard_bottle (evidence > 0.0)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 17728 out of 17728 hypotheses for tuna_fish_can (evidence > 0.0)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.04 seconds. New max evidence: 0.5
INFO:root:Testing 19024 out of 19024 hypotheses for potted_meat_can (evidence > 0.0)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.04 seconds. New max evidence: 0.5
INFO:root:current most likely hypothesis: montys_brain with evidence 0.5
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'tuna_fish_can', 'numenta_mug', 'montys_heart', 'mustard_bottle', 'potted_meat_can', 'tomato_soup_can', 'montys_brain', 'harissa_oil', 'ramen_pack'}
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([[ 0.83598591,  0.12989379,  0.53315585],
       [-0.15353566,  0.98814311,  0.        ],
       [-0.52683428, -0.08185844,  0.84601705]]), 'pose_fully_defined': False}}, {'patch': array([-0.00531061, -0.0005608 ,  0.00659646])}]
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: 0.972
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: 0.981
INFO:root:Testing 14855 out of 14880 hypotheses for montys_heart (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.03 seconds. New max evidence: 0.988
INFO:root:Testing 23193 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: 0.996
INFO:root:Testing 14859 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: 0.986
INFO:root:Testing 12556 out of 12560 hypotheses for harissa_oil (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.03 seconds. New max evidence: 0.978
INFO:root:Testing 21700 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: 0.994
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: 0.983
INFO:root:Testing 17614 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: 0.989
INFO:root:Testing 18913 out of 19024 hypotheses for potted_meat_can (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.04 seconds. New max evidence: 0.986
INFO:root:current most likely hypothesis: ramen_pack with evidence 1.0
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'tuna_fish_can', 'numenta_mug', 'montys_heart', 'mustard_bottle', 'potted_meat_can', 'tomato_soup_can', 'montys_brain', 'harissa_oil', 'ramen_pack'}
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([[ 0.09220873,  0.03854509,  0.99499338],
       [-0.38567898,  0.92263304,  0.        ],
       [-0.91801377, -0.38374803,  0.09994085]]), 'pose_fully_defined': False}}, {'patch': array([-0.00920966,  0.01221607, -0.00560227])}]
INFO:root:Testing 14424 out of 14424 hypotheses for numenta_mug (evidence > 0.19915306967722957)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 1.442
INFO:root:Testing 10992 out of 10992 hypotheses for montys_brain (evidence > 0.19915306967722957)
DEBUG:root:Calculating evidence for montys_brain using input 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: 1.416
INFO:root:Testing 14847 out of 14880 hypotheses for montys_heart (evidence > 0.19915306967722957)
DEBUG:root:Calculating evidence for montys_heart using input 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: 1.43
INFO:root:Testing 23193 out of 23200 hypotheses for ramen_pack (evidence > 0.19915306967722957)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.05 seconds. New max evidence: 1.467
INFO:root:Testing 14859 out of 14864 hypotheses for hot_sauce (evidence > 0.19915306967722957)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.03 seconds. New max evidence: 1.433
INFO:root:Testing 12556 out of 12560 hypotheses for harissa_oil (evidence > 0.19915306967722957)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.03 seconds. New max evidence: 1.418
INFO:root:Testing 21689 out of 21832 hypotheses for tomato_soup_can (evidence > 0.19915306967722957)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 1.419
INFO:root:Testing 16976 out of 16976 hypotheses for mustard_bottle (evidence > 0.19915306967722957)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.04 seconds. New max evidence: 1.449
INFO:root:Testing 17606 out of 17728 hypotheses for tuna_fish_can (evidence > 0.19915306967722957)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 1.419
INFO:root:Testing 18907 out of 19024 hypotheses for potted_meat_can (evidence > 0.19915306967722957)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.04 seconds. New max evidence: 1.411
INFO:root:current most likely hypothesis: ramen_pack with evidence 1.47
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'tuna_fish_can', 'numenta_mug', 'montys_heart', 'mustard_bottle', 'potted_meat_can', 'tomato_soup_can', 'montys_brain', 'harissa_oil', 'ramen_pack'}
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([[ 0.58922072,  0.12413784,  0.79837882],
       [-0.20615578,  0.97851918,  0.        ],
       [-0.78122899, -0.16459041,  0.60215551]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01577905, -0.00081179, -0.00375125])}]
INFO:root:Testing 13950 out of 14424 hypotheses for numenta_mug (evidence > 0.29349581977475236)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 1.884
INFO:root:Testing 10836 out of 10992 hypotheses for montys_brain (evidence > 0.29349581977475236)
DEBUG:root:Calculating evidence for montys_brain using input 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: 1.876
INFO:root:Testing 14183 out of 14880 hypotheses for montys_heart (evidence > 0.29349581977475236)
DEBUG:root:Calculating evidence for montys_heart using input 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: 1.887
INFO:root:Testing 22469 out of 23200 hypotheses for ramen_pack (evidence > 0.29349581977475236)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.05 seconds. New max evidence: 1.951
INFO:root:Testing 14788 out of 14864 hypotheses for hot_sauce (evidence > 0.29349581977475236)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.03 seconds. New max evidence: 1.873
INFO:root:Testing 12486 out of 12560 hypotheses for harissa_oil (evidence > 0.29349581977475236)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 1.841
INFO:root:Testing 19649 out of 21832 hypotheses for tomato_soup_can (evidence > 0.29349581977475236)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.04 seconds. New max evidence: 1.901
INFO:root:Testing 16603 out of 16976 hypotheses for mustard_bottle (evidence > 0.29349581977475236)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 1.904
INFO:root:Testing 15798 out of 17728 hypotheses for tuna_fish_can (evidence > 0.29349581977475236)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 1.871
INFO:root:Testing 17300 out of 19024 hypotheses for potted_meat_can (evidence > 0.29349581977475236)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.04 seconds. New max evidence: 1.895
INFO:root:current most likely hypothesis: ramen_pack with evidence 1.95
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'tuna_fish_can', 'numenta_mug', 'montys_heart', 'mustard_bottle', 'potted_meat_can', 'tomato_soup_can', 'montys_brain', 'harissa_oil', 'ramen_pack'}
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([[ 0.85923255,  0.12769775,  0.49539146],
       [-0.14700377,  0.98913593,  0.        ],
       [-0.4900095 , -0.07282442,  0.86866984]]), 'pose_fully_defined': False}}, {'patch': array([-0.00143434,  0.01589456,  0.00053356])}]
INFO:root:Testing 13902 out of 14424 hypotheses for numenta_mug (evidence > 0.39027954430612777)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 2.325
INFO:root:Testing 10836 out of 10992 hypotheses for montys_brain (evidence > 0.39027954430612777)
DEBUG:root:Calculating evidence for montys_brain using input 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: 2.247
INFO:root:Testing 14160 out of 14880 hypotheses for montys_heart (evidence > 0.39027954430612777)
DEBUG:root:Calculating evidence for montys_heart using input 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: 2.325
INFO:root:Testing 22452 out of 23200 hypotheses for ramen_pack (evidence > 0.39027954430612777)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 2.37
INFO:root:Testing 14787 out of 14864 hypotheses for hot_sauce (evidence > 0.39027954430612777)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 2.356
INFO:root:Testing 12486 out of 12560 hypotheses for harissa_oil (evidence > 0.39027954430612777)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.03 seconds. New max evidence: 2.314
INFO:root:Testing 19417 out of 21832 hypotheses for tomato_soup_can (evidence > 0.39027954430612777)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 2.32
INFO:root:Testing 16603 out of 16976 hypotheses for mustard_bottle (evidence > 0.39027954430612777)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 2.379
INFO:root:Testing 15523 out of 17728 hypotheses for tuna_fish_can (evidence > 0.39027954430612777)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 2.239
INFO:root:Testing 17096 out of 19024 hypotheses for potted_meat_can (evidence > 0.39027954430612777)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 2.343
INFO:root:current most likely hypothesis: mustard_bottle with evidence 2.38
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'tuna_fish_can', 'numenta_mug', 'montys_heart', 'mustard_bottle', 'potted_meat_can', 'tomato_soup_can', 'montys_brain', 'harissa_oil', 'ramen_pack'}
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([[ 0.38955723,  0.09793381,  0.91578061],
       [-0.24381124,  0.96982271,  0.        ],
       [-0.88814483, -0.22327761,  0.40167881]]), 'pose_fully_defined': False}}, {'patch': array([-0.00951714,  0.00328042,  0.00826981])}]
INFO:root:Testing 11279 out of 14424 hypotheses for numenta_mug (evidence > 0.4758527138319135)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 2.805
INFO:root:Testing 8092 out of 10992 hypotheses for montys_brain (evidence > 0.4758527138319135)
DEBUG:root:Calculating evidence for montys_brain using input 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: 2.692
INFO:root:Testing 11300 out of 14880 hypotheses for montys_heart (evidence > 0.4758527138319135)
DEBUG:root:Calculating evidence for montys_heart using input 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: 2.763
INFO:root:Testing 16631 out of 23200 hypotheses for ramen_pack (evidence > 0.4758527138319135)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.04 seconds. New max evidence: 2.864
INFO:root:Testing 10472 out of 14864 hypotheses for hot_sauce (evidence > 0.4758527138319135)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 2.826
INFO:root:Testing 9501 out of 12560 hypotheses for harissa_oil (evidence > 0.4758527138319135)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 2.803
INFO:root:Testing 15545 out of 21832 hypotheses for tomato_soup_can (evidence > 0.4758527138319135)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 2.806
INFO:root:Testing 14065 out of 16976 hypotheses for mustard_bottle (evidence > 0.4758527138319135)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 2.843
INFO:root:Testing 11421 out of 17728 hypotheses for tuna_fish_can (evidence > 0.4758527138319135)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 2.665
INFO:root:Testing 12936 out of 19024 hypotheses for potted_meat_can (evidence > 0.4758527138319135)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 2.833
INFO:root:current most likely hypothesis: ramen_pack with evidence 2.86
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'tuna_fish_can', 'numenta_mug', 'montys_heart', 'mustard_bottle', 'potted_meat_can', 'tomato_soup_can', 'montys_brain', 'harissa_oil', 'ramen_pack'}
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([[ 0.5945204 ,  0.12530229,  0.79425741],
       [-0.20623127,  0.97850328,  0.        ],
       [-0.77718348, -0.16380072,  0.60758141]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00977002,  0.00758974, -0.0104577 ])}]
INFO:root:Testing 9783 out of 14424 hypotheses for numenta_mug (evidence > 0.5728070205178075)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 3.249
INFO:root:Testing 6540 out of 10992 hypotheses for montys_brain (evidence > 0.5728070205178075)
DEBUG:root:Calculating evidence for montys_brain using input 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: 2.945
INFO:root:Testing 9512 out of 14880 hypotheses for montys_heart (evidence > 0.5728070205178075)
DEBUG:root:Calculating evidence for montys_heart using input 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: 3.184
INFO:root:Testing 14307 out of 23200 hypotheses for ramen_pack (evidence > 0.5728070205178075)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 3.233
INFO:root:Testing 8745 out of 14864 hypotheses for hot_sauce (evidence > 0.5728070205178075)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 3.309
INFO:root:Testing 8275 out of 12560 hypotheses for harissa_oil (evidence > 0.5728070205178075)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 3.268
INFO:root:Testing 13604 out of 21832 hypotheses for tomato_soup_can (evidence > 0.5728070205178075)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 3.256
INFO:root:Testing 12333 out of 16976 hypotheses for mustard_bottle (evidence > 0.5728070205178075)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 3.261
INFO:root:Testing 9719 out of 17728 hypotheses for tuna_fish_can (evidence > 0.5728070205178075)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 3.158
INFO:root:Testing 11470 out of 19024 hypotheses for potted_meat_can (evidence > 0.5728070205178075)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 3.318
DEBUG:root:evidences for each object: [3.24934825 2.94500166 3.18419391 3.23338641 3.30900095 3.26776319
 3.2560747  3.26132101 3.15776017 3.31779878]
DEBUG:root:mean evidence: 3.218, std: 0.102 -> th=2.6542390225987966
INFO:root:current most likely hypothesis: potted_meat_can with evidence 3.32
DEBUG:root:evidences for each object: [3.24934825 2.94500166 3.18419391 3.23338641 3.30900095 3.26776319
 3.2560747  3.26132101 3.15776017 3.31779878]
DEBUG:root:mean evidence: 3.218, std: 0.102 -> th=2.6542390225987966
DEBUG:root:evidences for each object: [3.24934825 2.94500166 3.18419391 3.23338641 3.30900095 3.26776319
 3.2560747  3.26132101 3.15776017 3.31779878]
DEBUG:root:mean evidence: 3.218, std: 0.102 -> th=2.8201289615112213
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'tuna_fish_can', 'numenta_mug', 'montys_heart', 'mustard_bottle', 'potted_meat_can', 'tomato_soup_can', 'montys_brain', 'harissa_oil', 'ramen_pack'}
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([[ 0.84107767,  0.18452729,  0.50846635],
       [-0.21429703,  0.97676854,  0.        ],
       [-0.49665394, -0.10896283,  0.86108186]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00521693,  0.00657629, -0.00550708])}]
INFO:root:Testing 7338 out of 14424 hypotheses for numenta_mug (evidence > 0.663559755649699)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 3.732
INFO:root:Testing 2434 out of 10992 hypotheses for montys_brain (evidence > 0.663559755649699)
DEBUG:root:Calculating evidence for montys_brain using input 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: 3.202
INFO:root:Testing 5904 out of 14880 hypotheses for montys_heart (evidence > 0.663559755649699)
DEBUG:root:Calculating evidence for montys_heart using input 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: 3.665
INFO:root:Testing 12150 out of 23200 hypotheses for ramen_pack (evidence > 0.663559755649699)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 3.633
INFO:root:Testing 6737 out of 14864 hypotheses for hot_sauce (evidence > 0.663559755649699)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 3.794
INFO:root:Testing 5812 out of 12560 hypotheses for harissa_oil (evidence > 0.663559755649699)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 3.72
INFO:root:Testing 10229 out of 21832 hypotheses for tomato_soup_can (evidence > 0.663559755649699)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 3.717
INFO:root:Testing 10318 out of 16976 hypotheses for mustard_bottle (evidence > 0.663559755649699)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 3.673
INFO:root:Testing 7384 out of 17728 hypotheses for tuna_fish_can (evidence > 0.663559755649699)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 3.432
INFO:root:Testing 10127 out of 19024 hypotheses for potted_meat_can (evidence > 0.663559755649699)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 3.737
DEBUG:root:evidences for each object: [3.73207696 3.202415   3.66539973 3.63303699 3.79373207 3.72031552
 3.71700848 3.67252896 3.43175034 3.73662349]
DEBUG:root:mean evidence: 3.63, std: 0.17 -> th=3.0349856526187287
INFO:root:current most likely hypothesis: hot_sauce with evidence 3.79
DEBUG:root:evidences for each object: [3.73207696 3.202415   3.66539973 3.63303699 3.79373207 3.72031552
 3.71700848 3.67252896 3.43175034 3.73662349]
DEBUG:root:mean evidence: 3.63, std: 0.17 -> th=3.0349856526187287
DEBUG:root:evidences for each object: [3.73207696 3.202415   3.66539973 3.63303699 3.79373207 3.72031552
 3.71700848 3.67252896 3.43175034 3.73662349]
DEBUG:root:mean evidence: 3.63, std: 0.17 -> th=3.2246722559073993
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'tuna_fish_can', 'numenta_mug', 'montys_heart', 'mustard_bottle', 'potted_meat_can', 'tomato_soup_can', 'montys_brain', 'harissa_oil', 'ramen_pack'}
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([[ 0.87194734,  0.16642635,  0.46044556],
       [-0.18748294,  0.98226786,  0.        ],
       [-0.45228087, -0.08632569,  0.88768795]]), 'pose_fully_defined': False}}, {'patch': array([-0.0032137 ,  0.00051163,  0.00840166])}]
INFO:root:Testing 4890 out of 14424 hypotheses for numenta_mug (evidence > 0.7587464131546819)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 4.189
INFO:root:Testing 949 out of 10992 hypotheses for montys_brain (evidence > 0.7587464131546819)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.484
INFO:root:Testing 3463 out of 14880 hypotheses for montys_heart (evidence > 0.7587464131546819)
DEBUG:root:Calculating evidence for montys_heart using input 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: 4.038
INFO:root:Testing 9719 out of 23200 hypotheses for ramen_pack (evidence > 0.7587464131546819)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 4.122
INFO:root:Testing 4789 out of 14864 hypotheses for hot_sauce (evidence > 0.7587464131546819)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 4.273
INFO:root:Testing 3823 out of 12560 hypotheses for harissa_oil (evidence > 0.7587464131546819)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 4.187
INFO:root:Testing 6971 out of 21832 hypotheses for tomato_soup_can (evidence > 0.7587464131546819)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 4.203
INFO:root:Testing 8386 out of 16976 hypotheses for mustard_bottle (evidence > 0.7587464131546819)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 4.146
INFO:root:Testing 4901 out of 17728 hypotheses for tuna_fish_can (evidence > 0.7587464131546819)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 3.859
INFO:root:Testing 8174 out of 19024 hypotheses for potted_meat_can (evidence > 0.7587464131546819)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 4.181
DEBUG:root:evidences for each object: [4.18882725 3.48387982 4.03789285 4.12245042 4.273078   4.18741388
 4.20311909 4.14632471 3.85947787 4.18118563]
DEBUG:root:mean evidence: 4.068, std: 0.223 -> th=3.4184624019084353
INFO:root:current most likely hypothesis: hot_sauce with evidence 4.27
DEBUG:root:evidences for each object: [4.18882725 3.48387982 4.03789285 4.12245042 4.273078   4.18741388
 4.20311909 4.14632471 3.85947787 4.18118563]
DEBUG:root:mean evidence: 4.068, std: 0.223 -> th=3.4184624019084353
DEBUG:root:evidences for each object: [4.18882725 3.48387982 4.03789285 4.12245042 4.273078   4.18741388
 4.20311909 4.14632471 3.85947787 4.18118563]
DEBUG:root:mean evidence: 4.068, std: 0.223 -> th=3.6321163020277125
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'tuna_fish_can', 'numenta_mug', 'montys_heart', 'mustard_bottle', 'potted_meat_can', 'tomato_soup_can', 'montys_brain', 'harissa_oil', 'ramen_pack'}
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([[ 0.64087959,  0.15993106,  0.75079652],
       [-0.24212405,  0.9702453 ,  0.        ],
       [-0.72845679, -0.18178589,  0.66053357]]), 'pose_fully_defined': False}}, {'patch': array([-0.00922094, -0.00188035,  0.00966493])}]
INFO:root:Testing 3369 out of 14424 hypotheses for numenta_mug (evidence > 0.8546156004771088)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 4.683
INFO:root:Testing 289 out of 10992 hypotheses for montys_brain (evidence > 0.8546156004771088)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.805
INFO:root:Testing 1996 out of 14880 hypotheses for montys_heart (evidence > 0.8546156004771088)
DEBUG:root:Calculating evidence for montys_heart using input 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: 4.456
INFO:root:Testing 7613 out of 23200 hypotheses for ramen_pack (evidence > 0.8546156004771088)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 4.514
INFO:root:Testing 3144 out of 14864 hypotheses for hot_sauce (evidence > 0.8546156004771088)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 4.732
INFO:root:Testing 2410 out of 12560 hypotheses for harissa_oil (evidence > 0.8546156004771088)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 4.67
INFO:root:Testing 5018 out of 21832 hypotheses for tomato_soup_can (evidence > 0.8546156004771088)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 4.67
INFO:root:Testing 6531 out of 16976 hypotheses for mustard_bottle (evidence > 0.8546156004771088)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 4.516
INFO:root:Testing 3556 out of 17728 hypotheses for tuna_fish_can (evidence > 0.8546156004771088)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 4.303
INFO:root:Testing 6474 out of 19024 hypotheses for potted_meat_can (evidence > 0.8546156004771088)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 4.677
DEBUG:root:evidences for each object: [4.68272023 3.80528318 4.45595864 4.51444269 4.73155245 4.67040843
 4.6695356  4.51643737 4.30311764 4.67665229]
DEBUG:root:mean evidence: 4.503, std: 0.265 -> th=3.7852419622828557
INFO:root:current most likely hypothesis: hot_sauce with evidence 4.73
DEBUG:root:evidences for each object: [4.68272023 3.80528318 4.45595864 4.51444269 4.73155245 4.67040843
 4.6695356  4.51643737 4.30311764 4.67665229]
DEBUG:root:mean evidence: 4.503, std: 0.265 -> th=3.7852419622828557
DEBUG:root:evidences for each object: [4.68272023 3.80528318 4.45595864 4.51444269 4.73155245 4.67040843
 4.6695356  4.51643737 4.30311764 4.67665229]
DEBUG:root:mean evidence: 4.503, std: 0.265 -> th=4.0218195849255345
DEBUG:root:Hypothesis jump indicated: sufficient steps elapsed with no jump
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'tuna_fish_can', 'numenta_mug', 'montys_heart', 'mustard_bottle', 'potted_meat_can', 'tomato_soup_can', 'montys_brain', 'harissa_oil', 'ramen_pack'}
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([[ 0.38650215,  0.14925779,  0.91013087],
       [-0.36024685,  0.93285701,  0.        ],
       [-0.84902197, -0.32787178,  0.41432089]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00034246,  0.00536474, -0.00548198])}]
INFO:root:Testing 2703 out of 14424 hypotheses for numenta_mug (evidence > 0.9463104905707138)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 5.1
INFO:root:Testing 160 out of 10992 hypotheses for montys_brain (evidence > 0.9463104905707138)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.981
INFO:root:Testing 1458 out of 14880 hypotheses for montys_heart (evidence > 0.9463104905707138)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.906
INFO:root:Testing 6903 out of 23200 hypotheses for ramen_pack (evidence > 0.9463104905707138)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 4.922
INFO:root:Testing 2611 out of 14864 hypotheses for hot_sauce (evidence > 0.9463104905707138)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 5.213
INFO:root:Testing 2052 out of 12560 hypotheses for harissa_oil (evidence > 0.9463104905707138)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 5.093
INFO:root:Testing 4262 out of 21832 hypotheses for tomato_soup_can (evidence > 0.9463104905707138)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 5.098
INFO:root:Testing 5149 out of 16976 hypotheses for mustard_bottle (evidence > 0.9463104905707138)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 4.909
INFO:root:Testing 3195 out of 17728 hypotheses for tuna_fish_can (evidence > 0.9463104905707138)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 4.695
INFO:root:Testing 5841 out of 19024 hypotheses for potted_meat_can (evidence > 0.9463104905707138)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 5.104
DEBUG:root:evidences for each object: [5.10023609 3.98085657 4.90623435 4.922455   5.21279224 5.09269634
 5.09783238 4.90899628 4.6953325  5.10392494]
DEBUG:root:mean evidence: 4.902, std: 0.338 -> th=4.170233788514952
INFO:root:current most likely hypothesis: hot_sauce with evidence 5.21
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'tuna_fish_can', 'numenta_mug', 'montys_heart', 'mustard_bottle', 'potted_meat_can', 'tomato_soup_can', 'harissa_oil', 'ramen_pack'}
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([[ 0.67584072,  0.17568197,  0.71580386],
       [-0.25158473,  0.96783528,  0.        ],
       [-0.69278023, -0.18008532,  0.69830139]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00906602,  0.0038543 , -0.00615964])}]
INFO:root:Testing 2352 out of 14424 hypotheses for numenta_mug (evidence > 1.0425584471287381)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 5.586
INFO:root:Testing 88 out of 10992 hypotheses for montys_brain (evidence > 1.0425584471287381)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 4.115
INFO:root:Testing 948 out of 14880 hypotheses for montys_heart (evidence > 1.0425584471287381)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.346
INFO:root:Testing 6468 out of 23200 hypotheses for ramen_pack (evidence > 1.0425584471287381)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 5.376
INFO:root:Testing 2315 out of 14864 hypotheses for hot_sauce (evidence > 1.0425584471287381)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 5.614
INFO:root:Testing 1778 out of 12560 hypotheses for harissa_oil (evidence > 1.0425584471287381)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 5.571
INFO:root:Testing 3586 out of 21832 hypotheses for tomato_soup_can (evidence > 1.0425584471287381)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 5.567
INFO:root:Testing 4451 out of 16976 hypotheses for mustard_bottle (evidence > 1.0425584471287381)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 5.325
INFO:root:Testing 2795 out of 17728 hypotheses for tuna_fish_can (evidence > 1.0425584471287381)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 5.148
INFO:root:Testing 5481 out of 19024 hypotheses for potted_meat_can (evidence > 1.0425584471287381)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 5.52
DEBUG:root:evidences for each object: [5.58574515 4.11467237 5.34588368 5.37567268 5.61363648 5.57109706
 5.5668397  5.32462904 5.14844701 5.52031421]
DEBUG:root:mean evidence: 5.317, std: 0.425 -> th=4.4909091853216925
INFO:root:current most likely hypothesis: hot_sauce with evidence 5.61
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'tuna_fish_can', 'numenta_mug', 'montys_heart', 'mustard_bottle', 'potted_meat_can', 'tomato_soup_can', 'harissa_oil', 'ramen_pack'}
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([[ 0.85268721,  0.20182782,  0.48186104],
       [-0.23033194,  0.97311212,  0.        ],
       [-0.46890481, -0.11098799,  0.87624765]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0052258 , -0.00345352, -0.01009696])}]
INFO:root:Testing 2111 out of 14424 hypotheses for numenta_mug (evidence > 1.1227272963304227)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 6.081
INFO:root:Testing 63 out of 10992 hypotheses for montys_brain (evidence > 1.1227272963304227)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 4.432
INFO:root:Testing 742 out of 14880 hypotheses for montys_heart (evidence > 1.1227272963304227)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.804
INFO:root:Testing 6175 out of 23200 hypotheses for ramen_pack (evidence > 1.1227272963304227)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 5.861
INFO:root:Testing 2015 out of 14864 hypotheses for hot_sauce (evidence > 1.1227272963304227)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 6.081
INFO:root:Testing 1572 out of 12560 hypotheses for harissa_oil (evidence > 1.1227272963304227)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 6.044
INFO:root:Testing 3197 out of 21832 hypotheses for tomato_soup_can (evidence > 1.1227272963304227)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 6.043
INFO:root:Testing 3999 out of 16976 hypotheses for mustard_bottle (evidence > 1.1227272963304227)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 5.797
INFO:root:Testing 2528 out of 17728 hypotheses for tuna_fish_can (evidence > 1.1227272963304227)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 5.47
INFO:root:Testing 5194 out of 19024 hypotheses for potted_meat_can (evidence > 1.1227272963304227)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 5.99
DEBUG:root:evidences for each object: [6.08093716 4.43218008 5.80437182 5.86128582 6.08140016 6.04430051
 6.04300877 5.79742872 5.46998305 5.99011745]
DEBUG:root:mean evidence: 5.761, std: 0.478 -> th=4.865120124371228
INFO:root:current most likely hypothesis: hot_sauce with evidence 6.08
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'tuna_fish_can', 'numenta_mug', 'montys_heart', 'mustard_bottle', 'potted_meat_can', 'tomato_soup_can', 'harissa_oil', 'ramen_pack'}
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([[ 0.94166328,  0.18830628,  0.27894624],
       [-0.19608972,  0.98058596,  0.        ],
       [-0.27353077, -0.05469849,  0.96030672]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00203884, -0.00124859, -0.00365596])}]
INFO:root:Testing 1976 out of 14424 hypotheses for numenta_mug (evidence > 1.2162800310928068)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 6.571
INFO:root:Testing 53 out of 10992 hypotheses for montys_brain (evidence > 1.2162800310928068)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 4.714
INFO:root:Testing 665 out of 14880 hypotheses for montys_heart (evidence > 1.2162800310928068)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.239
INFO:root:Testing 5927 out of 23200 hypotheses for ramen_pack (evidence > 1.2162800310928068)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 6.312
INFO:root:Testing 1849 out of 14864 hypotheses for hot_sauce (evidence > 1.2162800310928068)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.545
INFO:root:Testing 1469 out of 12560 hypotheses for harissa_oil (evidence > 1.2162800310928068)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 6.516
INFO:root:Testing 2924 out of 21832 hypotheses for tomato_soup_can (evidence > 1.2162800310928068)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 6.532
INFO:root:Testing 3803 out of 16976 hypotheses for mustard_bottle (evidence > 1.2162800310928068)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 6.245
INFO:root:Testing 2326 out of 17728 hypotheses for tuna_fish_can (evidence > 1.2162800310928068)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 5.597
INFO:root:Testing 4849 out of 19024 hypotheses for potted_meat_can (evidence > 1.2162800310928068)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 6.424
DEBUG:root:evidences for each object: [6.57111456 4.71368876 6.2389957  6.31218634 6.54543128 6.5162611
 6.53225054 6.24525858 5.59684183 6.4238756 ]
DEBUG:root:mean evidence: 6.17, std: 0.557 -> th=5.2568916505952465
INFO:root:current most likely hypothesis: numenta_mug with evidence 6.57
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'tuna_fish_can', 'numenta_mug', 'montys_heart', 'mustard_bottle', 'potted_meat_can', 'tomato_soup_can', 'harissa_oil', 'ramen_pack'}
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([[ 0.97263405,  0.17851029,  0.14871814],
       [-0.18051771,  0.98357173,  0.        ],
       [-0.14627495, -0.02684626,  0.98887963]]), 'pose_fully_defined': False}}, {'patch': array([-0.00125614,  0.00758925, -0.00264249])}]
INFO:root:Testing 1881 out of 14424 hypotheses for numenta_mug (evidence > 1.3142229126488116)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 7.061
INFO:root:Testing 32 out of 10992 hypotheses for montys_brain (evidence > 1.3142229126488116)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 4.934
INFO:root:Testing 605 out of 14880 hypotheses for montys_heart (evidence > 1.3142229126488116)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.714
INFO:root:Testing 5669 out of 23200 hypotheses for ramen_pack (evidence > 1.3142229126488116)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 6.636
INFO:root:Testing 1705 out of 14864 hypotheses for hot_sauce (evidence > 1.3142229126488116)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.017
INFO:root:Testing 1387 out of 12560 hypotheses for harissa_oil (evidence > 1.3142229126488116)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 6.999
INFO:root:Testing 2761 out of 21832 hypotheses for tomato_soup_can (evidence > 1.3142229126488116)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 7.021
INFO:root:Testing 3635 out of 16976 hypotheses for mustard_bottle (evidence > 1.3142229126488116)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 6.668
INFO:root:Testing 2075 out of 17728 hypotheses for tuna_fish_can (evidence > 1.3142229126488116)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 5.749
INFO:root:Testing 4583 out of 19024 hypotheses for potted_meat_can (evidence > 1.3142229126488116)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 6.853
DEBUG:root:evidences for each object: [7.06138437 4.93403252 6.71353283 6.63550361 7.01700299 6.99925192
 7.02074409 6.66814882 5.74908689 6.85289706]
DEBUG:root:mean evidence: 6.565, std: 0.655 -> th=5.649107492611813
INFO:root:current most likely hypothesis: numenta_mug with evidence 7.06
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'tuna_fish_can', 'numenta_mug', 'montys_heart', 'mustard_bottle', 'potted_meat_can', 'tomato_soup_can', 'harissa_oil', 'ramen_pack'}
INFO:root:--- Global Matching Step 16 ---
INFO:uvicorn.access:192.168.1.217:64462 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.9701923 ,  0.18480157,  0.15676508],
       [-0.18711507,  0.982338  ,  0.        ],
       [-0.1539963 , -0.02933311,  0.98763592]]), 'pose_fully_defined': False}}, {'patch': array([-0.00140426,  0.00569068,  0.00683231])}]
INFO:root:Testing 1724 out of 14424 hypotheses for numenta_mug (evidence > 1.412276873152953)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.525
INFO:root:Testing 24 out of 10992 hypotheses for montys_brain (evidence > 1.412276873152953)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 4.863
INFO:root:Testing 556 out of 14880 hypotheses for montys_heart (evidence > 1.412276873152953)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.092
INFO:root:Testing 5486 out of 23200 hypotheses for ramen_pack (evidence > 1.412276873152953)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 7.076
INFO:root:Testing 1518 out of 14864 hypotheses for hot_sauce (evidence > 1.412276873152953)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.451
INFO:root:Testing 1251 out of 12560 hypotheses for harissa_oil (evidence > 1.412276873152953)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 7.448
INFO:root:Testing 2526 out of 21832 hypotheses for tomato_soup_can (evidence > 1.412276873152953)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 7.5
INFO:root:Testing 3467 out of 16976 hypotheses for mustard_bottle (evidence > 1.412276873152953)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 7.058
INFO:root:Testing 1858 out of 17728 hypotheses for tuna_fish_can (evidence > 1.412276873152953)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 5.977
INFO:root:Testing 4283 out of 19024 hypotheses for potted_meat_can (evidence > 1.412276873152953)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 7.284
DEBUG:root:evidences for each object: [7.52512891 4.86296855 7.09224288 7.07556845 7.45136454 7.44783729
 7.50028999 7.05809545 5.97657958 7.28412655]
DEBUG:root:mean evidence: 6.927, std: 0.812 -> th=6.020103130929697
INFO:root:current most likely hypothesis: numenta_mug with evidence 7.53
DEBUG:root:evidences for each object: [7.52512891 4.86296855 7.09224288 7.07556845 7.45136454 7.44783729
 7.50028999 7.05809545 5.97657958 7.28412655]
DEBUG:root:mean evidence: 6.927, std: 0.812 -> th=6.020103130929697
DEBUG:root:evidences for each object: [7.52512891 4.86296855 7.09224288 7.07556845 7.45136454 7.44783729
 7.50028999 7.05809545 5.97657958 7.28412655]
DEBUG:root:mean evidence: 6.927, std: 0.812 -> th=6.396359576612803
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', 'numenta_mug', 'montys_heart', 'mustard_bottle', 'potted_meat_can', 'tomato_soup_can', 'harissa_oil', 'ramen_pack'}
INFO:root:--- Global Matching Step 17 ---
INFO:uvicorn.access:192.168.1.217:64462 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64462 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.91907679,  0.19943038,  0.33989025],
       [-0.21205506,  0.97725772,  0.        ],
       [-0.33216037, -0.07207545,  0.94046511]]), 'pose_fully_defined': False}}, {'patch': array([-0.00299792,  0.0022148 ,  0.00830212])}]
INFO:root:Testing 1567 out of 14424 hypotheses for numenta_mug (evidence > 1.5050257827324236)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.889
INFO:root:Testing 13 out of 10992 hypotheses for montys_brain (evidence > 1.5050257827324236)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.863
INFO:root:Testing 506 out of 14880 hypotheses for montys_heart (evidence > 1.5050257827324236)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.486
INFO:root:Testing 5221 out of 23200 hypotheses for ramen_pack (evidence > 1.5050257827324236)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 7.498
INFO:root:Testing 1337 out of 14864 hypotheses for hot_sauce (evidence > 1.5050257827324236)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.927
INFO:root:Testing 1136 out of 12560 hypotheses for harissa_oil (evidence > 1.5050257827324236)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 7.881
INFO:root:Testing 2326 out of 21832 hypotheses for tomato_soup_can (evidence > 1.5050257827324236)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 7.892
INFO:root:Testing 3263 out of 16976 hypotheses for mustard_bottle (evidence > 1.5050257827324236)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 7.52
INFO:root:Testing 1592 out of 17728 hypotheses for tuna_fish_can (evidence > 1.5050257827324236)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.318
INFO:root:Testing 3913 out of 19024 hypotheses for potted_meat_can (evidence > 1.5050257827324236)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 7.608
DEBUG:root:evidences for each object: [7.88940545 3.86296855 7.48647233 7.49835457 7.92712437 7.88122226
 7.89223594 7.51988793 6.31815774 7.60755322]
DEBUG:root:mean evidence: 7.188, std: 1.196 -> th=6.3416994955408335
INFO:root:current most likely hypothesis: hot_sauce with evidence 7.93
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'numenta_mug', 'montys_heart', 'mustard_bottle', 'potted_meat_can', 'tomato_soup_can', 'harissa_oil', 'ramen_pack'}
INFO:root:--- Global Matching Step 18 ---
INFO:uvicorn.access:192.168.1.217:64462 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64462 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.79410499,  0.19410715,  0.5759511 ],
       [-0.23744455,  0.97140109,  0.        ],
       [-0.55947953, -0.13675645,  0.81748414]]), 'pose_fully_defined': False}}, {'patch': array([-0.00536985, -0.00070623,  0.00693017])}]
INFO:root:Testing 1311 out of 14424 hypotheses for numenta_mug (evidence > 1.5854248738852084)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.349
INFO:root:Testing 6 out of 10992 hypotheses for montys_brain (evidence > 1.5854248738852084)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.863
INFO:root:Testing 426 out of 14880 hypotheses for montys_heart (evidence > 1.5854248738852084)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.953
INFO:root:Testing 4968 out of 23200 hypotheses for ramen_pack (evidence > 1.5854248738852084)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 7.944
INFO:root:Testing 1170 out of 14864 hypotheses for hot_sauce (evidence > 1.5854248738852084)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.339
INFO:root:Testing 980 out of 12560 hypotheses for harissa_oil (evidence > 1.5854248738852084)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 8.333
INFO:root:Testing 1959 out of 21832 hypotheses for tomato_soup_can (evidence > 1.5854248738852084)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 8.359
INFO:root:Testing 2984 out of 16976 hypotheses for mustard_bottle (evidence > 1.5854248738852084)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 7.951
INFO:root:Testing 1268 out of 17728 hypotheses for tuna_fish_can (evidence > 1.5854248738852084)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.675
INFO:root:Testing 3556 out of 19024 hypotheses for potted_meat_can (evidence > 1.5854248738852084)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 8.068
DEBUG:root:evidences for each object: [8.34940444 2.86296855 7.95285986 7.94394524 8.33926565 8.33327345
 8.358571   7.95134959 6.67462848 8.06832117]
DEBUG:root:mean evidence: 7.483, std: 1.611 -> th=6.68685679643053
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 8.36
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'numenta_mug', 'montys_heart', 'mustard_bottle', 'potted_meat_can', 'tomato_soup_can', 'harissa_oil', 'ramen_pack'}
INFO:root:--- Global Matching Step 19 ---
INFO:uvicorn.access:192.168.1.217:64462 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64463 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.64749376,  0.1460006 ,  0.74795431],
       [-0.21996316,  0.97550818,  0.        ],
       [-0.72963555, -0.1645224 ,  0.66375021]]), 'pose_fully_defined': False}}, {'patch': array([-0.00332727,  0.01405057,  0.00288842])}]
INFO:root:Testing 1130 out of 14424 hypotheses for numenta_mug (evidence > 1.6717141991076323)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.711
INFO:root:Testing 3 out of 10992 hypotheses for montys_brain (evidence > 1.6717141991076323)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.863
INFO:root:Testing 352 out of 14880 hypotheses for montys_heart (evidence > 1.6717141991076323)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.33
INFO:root:Testing 4654 out of 23200 hypotheses for ramen_pack (evidence > 1.6717141991076323)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 8.402
INFO:root:Testing 1028 out of 14864 hypotheses for hot_sauce (evidence > 1.6717141991076323)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.734
INFO:root:Testing 822 out of 12560 hypotheses for harissa_oil (evidence > 1.6717141991076323)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 8.438
INFO:root:Testing 1720 out of 21832 hypotheses for tomato_soup_can (evidence > 1.6717141991076323)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 8.757
INFO:root:Testing 2598 out of 16976 hypotheses for mustard_bottle (evidence > 1.6717141991076323)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 8.159
INFO:root:Testing 1069 out of 17728 hypotheses for tuna_fish_can (evidence > 1.6717141991076323)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.132
INFO:root:Testing 3229 out of 19024 hypotheses for potted_meat_can (evidence > 1.6717141991076323)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 8.547
DEBUG:root:evidences for each object: [8.711403   1.86296855 8.33046374 8.40220384 8.73441589 8.43762522
 8.75701233 8.1591981  7.1317294  8.54684826]
DEBUG:root:mean evidence: 7.707, std: 1.999 -> th=7.005609867604417
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 8.76
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'tuna_fish_can', 'numenta_mug', 'montys_heart', 'mustard_bottle', 'potted_meat_can', 'tomato_soup_can', 'harissa_oil', 'ramen_pack'}
INFO:root:--- Global Matching Step 20 ---
INFO:uvicorn.access:192.168.1.217:64462 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.57973464,  0.16693116,  0.79752225],
       [-0.27670157,  0.9609559 ,  0.        ],
       [-0.76638371, -0.22067566,  0.60328954]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00509141, -0.00734956, -0.0068057 ])}]
INFO:root:Testing 917 out of 14424 hypotheses for numenta_mug (evidence > 1.7514024669011041)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.132
INFO:root:Testing 1 out of 10992 hypotheses for montys_brain (evidence > 1.7514024669011041)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 256 out of 14880 hypotheses for montys_heart (evidence > 1.7514024669011041)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.709
INFO:root:Testing 4336 out of 23200 hypotheses for ramen_pack (evidence > 1.7514024669011041)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 8.882
INFO:root:Testing 878 out of 14864 hypotheses for hot_sauce (evidence > 1.7514024669011041)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No 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
INFO:root:Testing 656 out of 12560 hypotheses for harissa_oil (evidence > 1.7514024669011041)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 8.89
INFO:root:Testing 1497 out of 21832 hypotheses for tomato_soup_can (evidence > 1.7514024669011041)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.228
INFO:root:Testing 2224 out of 16976 hypotheses for mustard_bottle (evidence > 1.7514024669011041)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 8.583
INFO:root:Testing 912 out of 17728 hypotheses for tuna_fish_can (evidence > 1.7514024669011041)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.569
INFO:root:Testing 2875 out of 19024 hypotheses for potted_meat_can (evidence > 1.7514024669011041)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 9.011
DEBUG:root:evidences for each object: [9.13156209 1.53204344 8.70890177 8.88195569 9.17906609 8.8903803
 9.22757191 8.58257352 7.56852274 9.01144813]
DEBUG:root:mean evidence: 8.071, std: 2.227 -> th=7.382057528703707
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 9.23
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'tuna_fish_can', 'numenta_mug', 'montys_heart', 'mustard_bottle', 'potted_meat_can', 'tomato_soup_can', 'harissa_oil', 'ramen_pack'}
INFO:root:--- Global Matching Step 21 ---
INFO:uvicorn.access:192.168.1.217:64462 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.80764285,  0.10658974,  0.57995832],
       [-0.13084176,  0.99140327,  0.        ],
       [-0.57497258, -0.07588277,  0.81464615]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01195118,  0.00735144, -0.00513105])}]
INFO:root:Testing 608 out of 14424 hypotheses for numenta_mug (evidence > 1.8455143821759261)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.234
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 160 out of 14880 hypotheses for montys_heart (evidence > 1.8455143821759261)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.911
INFO:root:Testing 3958 out of 23200 hypotheses for ramen_pack (evidence > 1.8455143821759261)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 9.013
INFO:root:Testing 729 out of 14864 hypotheses for hot_sauce (evidence > 1.8455143821759261)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.645
INFO:root:Testing 393 out of 12560 hypotheses for harissa_oil (evidence > 1.8455143821759261)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 8.69
INFO:root:Testing 1226 out of 21832 hypotheses for tomato_soup_can (evidence > 1.8455143821759261)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.04
INFO:root:Testing 1904 out of 16976 hypotheses for mustard_bottle (evidence > 1.8455143821759261)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 8.806
INFO:root:Testing 849 out of 17728 hypotheses for tuna_fish_can (evidence > 1.8455143821759261)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.907
INFO:root:Testing 2535 out of 19024 hypotheses for potted_meat_can (evidence > 1.8455143821759261)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 9.029
DEBUG:root:evidences for each object: [9.23439453 1.53204344 8.91137741 9.01309616 9.64509004 8.69042574
 9.0400068  8.80557866 7.90705721 9.0289044 ]
DEBUG:root:mean evidence: 8.181, std: 2.255 -> th=7.71607203251109
INFO:root:current most likely hypothesis: hot_sauce with evidence 9.65
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'tuna_fish_can', 'numenta_mug', 'montys_heart', 'mustard_bottle', 'potted_meat_can', 'tomato_soup_can', 'harissa_oil', 'ramen_pack'}
INFO:root:--- Global Matching Step 22 ---
INFO:uvicorn.access:192.168.1.217:64465 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.00572426,  0.07114004,  0.99744991],
       [-0.99677835,  0.08020544,  0.        ],
       [-0.08000091, -0.99423648,  0.07136997]]), 'pose_fully_defined': False}}, {'patch': array([-0.01575014, -0.06762101,  0.01132145])}]
INFO:root:Testing 488 out of 14424 hypotheses for numenta_mug (evidence > 1.9290180081277724)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.469
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 113 out of 14880 hypotheses for montys_heart (evidence > 1.9290180081277724)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.325
INFO:root:Testing 3541 out of 23200 hypotheses for ramen_pack (evidence > 1.9290180081277724)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 9.474
INFO:root:Testing 644 out of 14864 hypotheses for hot_sauce (evidence > 1.9290180081277724)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.996
INFO:root:Testing 309 out of 12560 hypotheses for harissa_oil (evidence > 1.9290180081277724)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 8.958
INFO:root:Testing 1084 out of 21832 hypotheses for tomato_soup_can (evidence > 1.9290180081277724)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.276
INFO:root:Testing 1578 out of 16976 hypotheses for mustard_bottle (evidence > 1.9290180081277724)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.058
INFO:root:Testing 748 out of 17728 hypotheses for tuna_fish_can (evidence > 1.9290180081277724)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.072
INFO:root:Testing 2254 out of 19024 hypotheses for potted_meat_can (evidence > 1.9290180081277724)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 9.279
DEBUG:root:evidences for each object: [9.46946462 1.53204344 9.32544188 9.47368583 9.9962967  8.95751779
 9.27575624 9.05808631 8.07190002 9.27934012]
DEBUG:root:mean evidence: 8.444, std: 2.35 -> th=7.997037357015851
INFO:root:current most likely hypothesis: hot_sauce with evidence 10.0
DEBUG:root:evidences for each object: [9.46946462 1.53204344 9.32544188 9.47368583 9.9962967  8.95751779
 9.27575624 9.05808631 8.07190002 9.27934012]
DEBUG:root:mean evidence: 8.444, std: 2.35 -> th=7.997037357015851
DEBUG:root:evidences for each object: [9.46946462 1.53204344 9.32544188 9.47368583 9.9962967  8.95751779
 9.27575624 9.05808631 8.07190002 9.27934012]
DEBUG:root:mean evidence: 8.444, std: 2.35 -> th=8.496852191829342
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', 'tuna_fish_can', 'numenta_mug', 'montys_heart', 'mustard_bottle', 'potted_meat_can', 'tomato_soup_can', 'harissa_oil', 'ramen_pack'}
INFO:root:--- Global Matching Step 23 ---
INFO:uvicorn.access:192.168.1.217:64465 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.96965913,  0.02989102,  0.24262665],
       [-0.03081168, -0.99952521,  0.        ],
       [ 0.24251145, -0.00747573,  0.97011974]]), 'pose_fully_defined': False}}, {'patch': array([0.00334689, 0.00119193, 0.00111549])}]
INFO:root:Testing 488 out of 14424 hypotheses for numenta_mug (evidence > 1.9992593392539622)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.148
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 113 out of 14880 hypotheses for montys_heart (evidence > 1.9992593392539622)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.145
INFO:root:Testing 3542 out of 23200 hypotheses for ramen_pack (evidence > 1.9992593392539622)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 9.33
INFO:root:Testing 657 out of 14864 hypotheses for hot_sauce (evidence > 1.9992593392539622)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.822
INFO:root:Testing 333 out of 12560 hypotheses for harissa_oil (evidence > 1.9992593392539622)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 8.696
INFO:root:Testing 1084 out of 21832 hypotheses for tomato_soup_can (evidence > 1.9992593392539622)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.002
INFO:root:Testing 1603 out of 16976 hypotheses for mustard_bottle (evidence > 1.9992593392539622)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.803
INFO:root:Testing 754 out of 17728 hypotheses for tuna_fish_can (evidence > 1.9992593392539622)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.855
INFO:root:Testing 2254 out of 19024 hypotheses for potted_meat_can (evidence > 1.9992593392539622)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 9.009
DEBUG:root:evidences for each object: [9.14760692 1.53204344 9.14533467 9.32983161 9.82160508 8.69587062
 9.00224411 8.80279872 7.85503864 9.00900472]
DEBUG:root:mean evidence: 8.234, std: 2.284 -> th=7.857284067747896
INFO:root:current most likely hypothesis: hot_sauce with evidence 9.82
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'numenta_mug', 'montys_heart', 'mustard_bottle', 'potted_meat_can', 'tomato_soup_can', 'harissa_oil', 'ramen_pack'}
INFO:root:--- Global Matching Step 24 ---
INFO:uvicorn.access:192.168.1.217:64465 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64465 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.0364163 ,  0.06457361,  0.99724826],
       [-0.87103524, -0.49122052,  0.        ],
       [ 0.48986882, -0.86863839,  0.07413432]]), 'pose_fully_defined': False}}, {'patch': array([-1.45833531e-02,  8.61310088e-06, -4.98222192e-03])}]
INFO:root:Testing 483 out of 14424 hypotheses for numenta_mug (evidence > 1.9643210169369736)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.533
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 113 out of 14880 hypotheses for montys_heart (evidence > 1.9643210169369736)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.552
INFO:root:Testing 3542 out of 23200 hypotheses for ramen_pack (evidence > 1.9643210169369736)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 9.7
INFO:root:Testing 651 out of 14864 hypotheses for hot_sauce (evidence > 1.9643210169369736)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.195
INFO:root:Testing 319 out of 12560 hypotheses for harissa_oil (evidence > 1.9643210169369736)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 9.167
INFO:root:Testing 1075 out of 21832 hypotheses for tomato_soup_can (evidence > 1.9643210169369736)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.421
INFO:root:Testing 1579 out of 16976 hypotheses for mustard_bottle (evidence > 1.9643210169369736)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.267
INFO:root:Testing 741 out of 17728 hypotheses for tuna_fish_can (evidence > 1.9643210169369736)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.035
INFO:root:Testing 2236 out of 19024 hypotheses for potted_meat_can (evidence > 1.9643210169369736)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 9.5
DEBUG:root:evidences for each object: [ 9.53269641  1.53204344  9.55213814  9.70005823 10.19540435  9.16683717
  9.42084238  9.26660811  8.03452332  9.49975461]
DEBUG:root:mean evidence: 8.59, std: 2.409 -> th=8.156323476659335
INFO:root:current most likely hypothesis: hot_sauce with evidence 10.2
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'numenta_mug', 'montys_heart', 'mustard_bottle', 'potted_meat_can', 'tomato_soup_can', 'harissa_oil', 'ramen_pack'}
INFO:root:--- Global Matching Step 25 ---
INFO:uvicorn.access:192.168.1.217:64465 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.3934693 ,  0.06112283,  0.91730361],
       [-0.15350225, -0.9881483 ,  0.        ],
       [ 0.906432  , -0.14080817,  0.39818851]]), 'pose_fully_defined': False}}, {'patch': array([-0.00403108,  0.00880105, -0.00092349])}]
INFO:root:Testing 482 out of 14424 hypotheses for numenta_mug (evidence > 2.0390808691648328)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.761
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 112 out of 14880 hypotheses for montys_heart (evidence > 2.0390808691648328)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.836
INFO:root:Testing 3522 out of 23200 hypotheses for ramen_pack (evidence > 2.0390808691648328)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 10.163
INFO:root:Testing 651 out of 14864 hypotheses for hot_sauce (evidence > 2.0390808691648328)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.596
INFO:root:Testing 316 out of 12560 hypotheses for harissa_oil (evidence > 2.0390808691648328)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 9.589
INFO:root:Testing 1070 out of 21832 hypotheses for tomato_soup_can (evidence > 2.0390808691648328)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.715
INFO:root:Testing 1575 out of 16976 hypotheses for mustard_bottle (evidence > 2.0390808691648328)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.35
INFO:root:Testing 733 out of 17728 hypotheses for tuna_fish_can (evidence > 2.0390808691648328)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.049
INFO:root:Testing 2230 out of 19024 hypotheses for potted_meat_can (evidence > 2.0390808691648328)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 9.948
DEBUG:root:evidences for each object: [ 9.76108587  1.53204344  9.83619399 10.16262387 10.59590266  9.58944724
  9.71471488  9.34971259  8.04907642  9.94768345]
DEBUG:root:mean evidence: 8.854, std: 2.52 -> th=8.476722129570165
INFO:root:current most likely hypothesis: hot_sauce with evidence 10.6
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'numenta_mug', 'montys_heart', 'mustard_bottle', 'potted_meat_can', 'tomato_soup_can', 'harissa_oil', 'ramen_pack'}
INFO:root:--- Global Matching Step 26 ---
INFO:uvicorn.access:192.168.1.217:64465 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64465 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.39838143,  0.1000866 ,  0.91174279],
       [-0.24366104, -0.96986045,  0.        ],
       [ 0.88426327, -0.2221562 ,  0.4107616 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00495776, -0.00522838, -0.00406758])}]
INFO:root:Testing 468 out of 14424 hypotheses for numenta_mug (evidence > 2.119180532392541)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.761
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 104 out of 14880 hypotheses for montys_heart (evidence > 2.119180532392541)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.836
INFO:root:Testing 3277 out of 23200 hypotheses for ramen_pack (evidence > 2.119180532392541)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 10.532
INFO:root:Testing 649 out of 14864 hypotheses for hot_sauce (evidence > 2.119180532392541)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.41
INFO:root:Testing 294 out of 12560 hypotheses for harissa_oil (evidence > 2.119180532392541)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 8.589
INFO:root:Testing 1009 out of 21832 hypotheses for tomato_soup_can (evidence > 2.119180532392541)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.148
INFO:root:Testing 1508 out of 16976 hypotheses for mustard_bottle (evidence > 2.119180532392541)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.404
INFO:root:Testing 615 out of 17728 hypotheses for tuna_fish_can (evidence > 2.119180532392541)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.095
INFO:root:Testing 2092 out of 19024 hypotheses for potted_meat_can (evidence > 2.119180532392541)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 9.532
DEBUG:root:evidences for each object: [ 8.76108587  1.53204344  8.83619399 10.53212374 10.40952278  8.58944724
  9.14770091  9.4040628   8.09487657  9.53216964]
DEBUG:root:mean evidence: 8.484, std: 2.429 -> th=8.425698994457505
INFO:root:current most likely hypothesis: ramen_pack with evidence 10.53
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'numenta_mug', 'montys_heart', 'mustard_bottle', 'potted_meat_can', 'tomato_soup_can', 'harissa_oil', 'ramen_pack'}
INFO:root:--- Global Matching Step 27 ---
INFO:uvicorn.access:192.168.1.217:64465 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64465 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.23006197,  0.04241052,  0.97225143],
       [-0.18128927, -0.98342982,  0.        ],
       [ 0.95614104, -0.17625875,  0.23393837]]), 'pose_fully_defined': False}}, {'patch': array([0.00948963, 0.00492469, 0.0082383 ])}]
INFO:root:Testing 368 out of 14424 hypotheses for numenta_mug (evidence > 2.1064247486143763)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.063
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 92 out of 14880 hypotheses for montys_heart (evidence > 2.1064247486143763)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.096
INFO:root:Testing 3055 out of 23200 hypotheses for ramen_pack (evidence > 2.1064247486143763)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 10.989
INFO:root:Testing 613 out of 14864 hypotheses for hot_sauce (evidence > 2.1064247486143763)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.702
INFO:root:Testing 241 out of 12560 hypotheses for harissa_oil (evidence > 2.1064247486143763)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 8.76
INFO:root:Testing 855 out of 21832 hypotheses for tomato_soup_can (evidence > 2.1064247486143763)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.329
INFO:root:Testing 1399 out of 16976 hypotheses for mustard_bottle (evidence > 2.1064247486143763)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.833
INFO:root:Testing 481 out of 17728 hypotheses for tuna_fish_can (evidence > 2.1064247486143763)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures 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 1940 out of 19024 hypotheses for potted_meat_can (evidence > 2.1064247486143763)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 9.712
DEBUG:root:evidences for each object: [ 9.06340037  1.53204344  9.09559924 10.98922679 10.70208823  8.75963553
  9.32941661  9.8325417   8.21216463  9.71162391]
DEBUG:root:mean evidence: 8.723, std: 2.527 -> th=8.791381431509667
INFO:root:current most likely hypothesis: ramen_pack with evidence 10.99
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'numenta_mug', 'montys_heart', 'mustard_bottle', 'potted_meat_can', 'tomato_soup_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 28 ---
INFO:uvicorn.access:192.168.1.217:64465 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.75192052,  0.07036845,  0.65548746],
       [-0.09317782, -0.99564948,  0.        ],
       [ 0.65263575, -0.06107689,  0.75520606]]), 'pose_fully_defined': False}}, {'patch': array([0.00630392, 0.01470683, 0.00195472])}]
INFO:root:Testing 368 out of 14424 hypotheses for numenta_mug (evidence > 2.1978453578774158)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.995
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 91 out of 14880 hypotheses for montys_heart (evidence > 2.1978453578774158)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.955
INFO:root:Testing 3055 out of 23200 hypotheses for ramen_pack (evidence > 2.1978453578774158)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 10.977
INFO:root:Testing 613 out of 14864 hypotheses for hot_sauce (evidence > 2.1978453578774158)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.621
INFO:root:Testing 241 out of 12560 hypotheses for harissa_oil (evidence > 2.1978453578774158)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 8.629
INFO:root:Testing 855 out of 21832 hypotheses for tomato_soup_can (evidence > 2.1978453578774158)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.178
INFO:root:Testing 1399 out of 16976 hypotheses for mustard_bottle (evidence > 2.1978453578774158)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.831
INFO:root:Testing 481 out of 17728 hypotheses for tuna_fish_can (evidence > 2.1978453578774158)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.618
INFO:root:Testing 1938 out of 19024 hypotheses for potted_meat_can (evidence > 2.1978453578774158)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 8.99
DEBUG:root:evidences for each object: [ 8.99549972  1.53204344  8.95535056 10.97650726 10.62137592  8.62915643
  9.1776564   9.8313531   7.61843529  8.99045295]
DEBUG:root:mean evidence: 8.533, std: 2.508 -> th=8.78120580670068
INFO:root:current most likely hypothesis: ramen_pack with evidence 10.98
DEBUG:root:evidences for each object: [ 8.99549972  1.53204344  8.95535056 10.97650726 10.62137592  8.62915643
  9.1776564   9.8313531   7.61843529  8.99045295]
DEBUG:root:mean evidence: 8.533, std: 2.508 -> th=8.78120580670068
DEBUG:root:evidences for each object: [ 8.99549972  1.53204344  8.95535056 10.97650726 10.62137592  8.62915643
  9.1776564   9.8313531   7.61843529  8.99045295]
DEBUG:root:mean evidence: 8.533, std: 2.508 -> th=9.33003116961947
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', 'numenta_mug', 'montys_heart', 'mustard_bottle', 'potted_meat_can', 'tomato_soup_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 29 ---
INFO:uvicorn.access:192.168.1.217:64465 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64465 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64465 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.17997645,  0.0404889 ,  0.98283728],
       [-0.21948227, -0.97561649,  0.        ],
       [ 0.95887226, -0.21571535,  0.18447458]]), 'pose_fully_defined': False}}, {'patch': array([-0.01505233, -0.00077289, -0.00179271])}]
INFO:root:Testing 354 out of 14424 hypotheses for numenta_mug (evidence > 2.195301451675169)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.374
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 91 out of 14880 hypotheses for montys_heart (evidence > 2.195301451675169)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.181
INFO:root:Testing 2727 out of 23200 hypotheses for ramen_pack (evidence > 2.195301451675169)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 11.452
INFO:root:Testing 602 out of 14864 hypotheses for hot_sauce (evidence > 2.195301451675169)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.998
INFO:root:Testing 236 out of 12560 hypotheses for harissa_oil (evidence > 2.195301451675169)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 9.031
INFO:root:Testing 825 out of 21832 hypotheses for tomato_soup_can (evidence > 2.195301451675169)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.458
INFO:root:Testing 1360 out of 16976 hypotheses for mustard_bottle (evidence > 2.195301451675169)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.259
INFO:root:Testing 431 out of 17728 hypotheses for tuna_fish_can (evidence > 2.195301451675169)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.865
INFO:root:Testing 1818 out of 19024 hypotheses for potted_meat_can (evidence > 2.195301451675169)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 9.447
DEBUG:root:evidences for each object: [ 9.37372582  1.53204344  9.18109734 11.45154738 10.9981619   9.03092977
  9.45789502 10.25924041  7.86485293  9.44682405]
DEBUG:root:mean evidence: 8.86, std: 2.627 -> th=9.16123790579345
INFO:root:current most likely hypothesis: ramen_pack with evidence 11.45
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'numenta_mug', 'montys_heart', 'mustard_bottle', 'potted_meat_can', 'tomato_soup_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 30 ---
INFO:uvicorn.access:192.168.1.217:64465 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.37005468,  0.12067851,  0.92113855],
       [-0.31004035, -0.9507234 ,  0.        ],
       [ 0.87574797, -0.28559012,  0.38923485]]), 'pose_fully_defined': False}}, {'patch': array([-0.01117239, -0.00521434, -0.0031528 ])}]
INFO:root:Testing 353 out of 14424 hypotheses for numenta_mug (evidence > 2.2903094764483622)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.797
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 90 out of 14880 hypotheses for montys_heart (evidence > 2.2903094764483622)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.589
INFO:root:Testing 2726 out of 23200 hypotheses for ramen_pack (evidence > 2.2903094764483622)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 11.664
INFO:root:Testing 602 out of 14864 hypotheses for hot_sauce (evidence > 2.2903094764483622)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.398
INFO:root:Testing 241 out of 12560 hypotheses for harissa_oil (evidence > 2.2903094764483622)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 9.505
INFO:root:Testing 825 out of 21832 hypotheses for tomato_soup_can (evidence > 2.2903094764483622)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.795
INFO:root:Testing 1353 out of 16976 hypotheses for mustard_bottle (evidence > 2.2903094764483622)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.651
INFO:root:Testing 431 out of 17728 hypotheses for tuna_fish_can (evidence > 2.2903094764483622)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.048
INFO:root:Testing 1810 out of 19024 hypotheses for potted_meat_can (evidence > 2.2903094764483622)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 9.889
DEBUG:root:evidences for each object: [ 9.7966207   1.53204344  9.58921596 11.66410169 11.39790842  9.50480657
  9.7954987  10.65088006  8.04798759  9.88883066]
DEBUG:root:mean evidence: 9.187, std: 2.731 -> th=9.3312813554576
INFO:root:current most likely hypothesis: ramen_pack with evidence 11.66
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'numenta_mug', 'montys_heart', 'mustard_bottle', 'potted_meat_can', 'tomato_soup_can', 'harissa_oil', 'ramen_pack'}
INFO:root:--- Global Matching Step 31 ---
INFO:uvicorn.access:192.168.1.217:64467 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.06652459,  0.12862259,  0.98945981],
       [-0.88822987, -0.45939928,  0.        ],
       [ 0.45455712, -0.87886775,  0.14480777]]), 'pose_fully_defined': False}}, {'patch': array([ 0.02310197,  0.03710548, -0.00603289])}]
INFO:root:Testing 347 out of 14424 hypotheses for numenta_mug (evidence > 2.3328203388643995)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.004
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 87 out of 14880 hypotheses for montys_heart (evidence > 2.3328203388643995)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.795
INFO:root:Testing 1836 out of 23200 hypotheses for ramen_pack (evidence > 2.3328203388643995)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 11.855
INFO:root:Testing 599 out of 14864 hypotheses for hot_sauce (evidence > 2.3328203388643995)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.723
INFO:root:Testing 235 out of 12560 hypotheses for harissa_oil (evidence > 2.3328203388643995)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 9.727
INFO:root:Testing 796 out of 21832 hypotheses for tomato_soup_can (evidence > 2.3328203388643995)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.031
INFO:root:Testing 1265 out of 16976 hypotheses for mustard_bottle (evidence > 2.3328203388643995)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.979
INFO:root:Testing 335 out of 17728 hypotheses for tuna_fish_can (evidence > 2.3328203388643995)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.311
INFO:root:Testing 1492 out of 19024 hypotheses for potted_meat_can (evidence > 2.3328203388643995)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.065
DEBUG:root:evidences for each object: [10.00443612  1.53204344  9.79499874 11.85524324 11.7232569   9.7267129
 10.03126937 10.97941166  8.31088975 10.06479925]
DEBUG:root:mean evidence: 9.402, std: 2.801 -> th=9.48419459347664
INFO:root:current most likely hypothesis: ramen_pack with evidence 11.86
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'numenta_mug', 'montys_heart', 'mustard_bottle', 'potted_meat_can', 'tomato_soup_can', 'harissa_oil', 'ramen_pack'}
INFO:root:--- Global Matching Step 32 ---
INFO:uvicorn.access:192.168.1.217:64468 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.05117508,  0.1391545 ,  0.98894749],
       [-0.93854505,  0.34515677,  0.        ],
       [-0.34134192, -0.92817177,  0.14826619]]), 'pose_fully_defined': False}}, {'patch': array([-0.00051605, -0.02819171,  0.01065362])}]
INFO:root:Testing 346 out of 14424 hypotheses for numenta_mug (evidence > 2.3710486483691593)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.368
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 86 out of 14880 hypotheses for montys_heart (evidence > 2.3710486483691593)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No 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 1833 out of 23200 hypotheses for ramen_pack (evidence > 2.3710486483691593)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 12.256
INFO:root:Testing 598 out of 14864 hypotheses for hot_sauce (evidence > 2.3710486483691593)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.076
INFO:root:Testing 234 out of 12560 hypotheses for harissa_oil (evidence > 2.3710486483691593)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 10.039
INFO:root:Testing 794 out of 21832 hypotheses for tomato_soup_can (evidence > 2.3710486483691593)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.352
INFO:root:Testing 1263 out of 16976 hypotheses for mustard_bottle (evidence > 2.3710486483691593)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.43
INFO:root:Testing 334 out of 17728 hypotheses for tuna_fish_can (evidence > 2.3710486483691593)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.608
INFO:root:Testing 1486 out of 19024 hypotheses for potted_meat_can (evidence > 2.3710486483691593)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.494
DEBUG:root:evidences for each object: [10.36849244  1.53204344 10.10201927 12.25563293 12.07630121 10.03896803
 10.35207737 11.42953831  8.60843721 10.4941309 ]
DEBUG:root:mean evidence: 9.726, std: 2.913 -> th=9.804506343373108
INFO:root:current most likely hypothesis: ramen_pack with evidence 12.26
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'numenta_mug', 'montys_heart', 'mustard_bottle', 'potted_meat_can', 'tomato_soup_can', 'harissa_oil', 'ramen_pack'}
INFO:root:--- Global Matching Step 33 ---
INFO:uvicorn.access:192.168.1.217:64468 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.63672932,  0.09611155,  0.76507408],
       [-0.14925492,  0.98879875,  0.        ],
       [-0.75650429, -0.11419107,  0.64394228]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00331024,  0.00799501, -0.00345431])}]
INFO:root:Testing 342 out of 14424 hypotheses for numenta_mug (evidence > 2.4511265858432765)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.863
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 86 out of 14880 hypotheses for montys_heart (evidence > 2.4511265858432765)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.591
INFO:root:Testing 1830 out of 23200 hypotheses for ramen_pack (evidence > 2.4511265858432765)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 12.741
INFO:root:Testing 598 out of 14864 hypotheses for hot_sauce (evidence > 2.4511265858432765)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.507
INFO:root:Testing 239 out of 12560 hypotheses for harissa_oil (evidence > 2.4511265858432765)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 10.516
INFO:root:Testing 791 out of 21832 hypotheses for tomato_soup_can (evidence > 2.4511265858432765)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.802
INFO:root:Testing 1261 out of 16976 hypotheses for mustard_bottle (evidence > 2.4511265858432765)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.828
INFO:root:Testing 323 out of 17728 hypotheses for tuna_fish_can (evidence > 2.4511265858432765)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 9.06
INFO:root:Testing 1486 out of 19024 hypotheses for potted_meat_can (evidence > 2.4511265858432765)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.945
DEBUG:root:evidences for each object: [10.8629862   1.53204344 10.59064862 12.74085249 12.5067802  10.51630254
 10.80238843 11.82798177  9.06021954 10.94500522]
DEBUG:root:mean evidence: 10.139, std: 3.04 -> th=10.192681993125412
INFO:root:current most likely hypothesis: ramen_pack with evidence 12.74
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'numenta_mug', 'montys_heart', 'mustard_bottle', 'potted_meat_can', 'tomato_soup_can', 'harissa_oil', 'ramen_pack'}
INFO:root:--- Global Matching Step 34 ---
INFO:uvicorn.access:192.168.1.217:64468 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64468 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.00197469,  0.09941804,  0.9950438 ],
       [-0.9998028 , -0.01985859,  0.        ],
       [ 0.01976017, -0.99484757,  0.09943764]]), 'pose_fully_defined': False}}, {'patch': array([-0.00144936,  0.00798449,  0.00718904])}]
INFO:root:Testing 341 out of 14424 hypotheses for numenta_mug (evidence > 2.548170498281353)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.863
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 86 out of 14880 hypotheses for montys_heart (evidence > 2.548170498281353)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.884
INFO:root:Testing 1823 out of 23200 hypotheses for ramen_pack (evidence > 2.548170498281353)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 12.942
INFO:root:Testing 598 out of 14864 hypotheses for hot_sauce (evidence > 2.548170498281353)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.872
INFO:root:Testing 426 out of 12560 hypotheses for harissa_oil (evidence > 2.548170498281353)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 10.74
INFO:root:Testing 787 out of 21832 hypotheses for tomato_soup_can (evidence > 2.548170498281353)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.071
INFO:root:Testing 1258 out of 16976 hypotheses for mustard_bottle (evidence > 2.548170498281353)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.285
INFO:root:Testing 318 out of 17728 hypotheses for tuna_fish_can (evidence > 2.548170498281353)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.06
INFO:root:Testing 1482 out of 19024 hypotheses for potted_meat_can (evidence > 2.548170498281353)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.34
DEBUG:root:evidences for each object: [ 9.8629862   1.53204344 10.88420394 12.94240425 12.87215364 10.74001691
 11.07120788 12.28486777  8.06021954 10.34042316]
DEBUG:root:mean evidence: 10.059, std: 3.165 -> th=10.353923403321266
INFO:root:current most likely hypothesis: ramen_pack with evidence 12.94
DEBUG:root:evidences for each object: [ 9.8629862   1.53204344 10.88420394 12.94240425 12.87215364 10.74001691
 11.07120788 12.28486777  8.06021954 10.34042316]
DEBUG:root:mean evidence: 10.059, std: 3.165 -> th=10.353923403321266
DEBUG:root:evidences for each object: [ 9.8629862   1.53204344 10.88420394 12.94240425 12.87215364 10.74001691
 11.07120788 12.28486777  8.06021954 10.34042316]
DEBUG:root:mean evidence: 10.059, std: 3.165 -> th=11.001043616028845
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'montys_heart', 'mustard_bottle', 'tomato_soup_can', 'harissa_oil', 'ramen_pack'}
INFO:root:--- Global Matching Step 35 ---
INFO:uvicorn.access:192.168.1.217:64468 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64468 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.00212755,  0.12180277,  0.99255204],
       [-0.99984748,  0.01746453,  0.        ],
       [-0.01733445, -0.99240066,  0.12182135]]), 'pose_fully_defined': False}}, {'patch': array([-0.01458776,  0.00041529, -0.00242603])}]
INFO:root:Testing 338 out of 14424 hypotheses for numenta_mug (evidence > 2.588480850830315)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.344
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 86 out of 14880 hypotheses for montys_heart (evidence > 2.588480850830315)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 11.229
INFO:root:Testing 1681 out of 23200 hypotheses for ramen_pack (evidence > 2.588480850830315)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.399
INFO:root:Testing 593 out of 14864 hypotheses for hot_sauce (evidence > 2.588480850830315)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.309
INFO:root:Testing 234 out of 12560 hypotheses for harissa_oil (evidence > 2.588480850830315)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 11.217
INFO:root:Testing 776 out of 21832 hypotheses for tomato_soup_can (evidence > 2.588480850830315)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.532
INFO:root:Testing 1175 out of 16976 hypotheses for mustard_bottle (evidence > 2.588480850830315)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.716
INFO:root:Testing 282 out of 17728 hypotheses for tuna_fish_can (evidence > 2.588480850830315)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.466
INFO:root:Testing 1352 out of 19024 hypotheses for potted_meat_can (evidence > 2.588480850830315)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.729
DEBUG:root:evidences for each object: [10.34421516  1.53204344 11.22854057 13.39878356 13.30896305 11.21675871
 11.53248085 12.71636476  8.4660725  10.72863152]
DEBUG:root:mean evidence: 10.447, std: 3.285 -> th=10.719026846245592
INFO:root:current most likely hypothesis: ramen_pack with evidence 13.4
DEBUG:root:evidences for each object: [10.34421516  1.53204344 11.22854057 13.39878356 13.30896305 11.21675871
 11.53248085 12.71636476  8.4660725  10.72863152]
DEBUG:root:mean evidence: 10.447, std: 3.285 -> th=10.719026846245592
DEBUG:root:evidences for each object: [10.34421516  1.53204344 11.22854057 13.39878356 13.30896305 11.21675871
 11.53248085 12.71636476  8.4660725  10.72863152]
DEBUG:root:mean evidence: 10.447, std: 3.285 -> th=11.388966024135941
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'mustard_bottle', 'tomato_soup_can', 'harissa_oil', 'ramen_pack'}
INFO:root:--- Global Matching Step 36 ---
INFO:uvicorn.access:192.168.1.217:64468 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64468 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.53629204,  0.09431826,  0.83874604],
       [-0.17321268, -0.98488444,  0.        ],
       [ 0.82606793, -0.14528145,  0.5445228 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00503566,  0.01239358, -0.00024613])}]
INFO:root:Testing 330 out of 14424 hypotheses for numenta_mug (evidence > 2.6797567115613976)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.59
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 84 out of 14880 hypotheses for montys_heart (evidence > 2.6797567115613976)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 11.583
INFO:root:Testing 1657 out of 23200 hypotheses for ramen_pack (evidence > 2.6797567115613976)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 13.836
INFO:root:Testing 587 out of 14864 hypotheses for hot_sauce (evidence > 2.6797567115613976)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No 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
INFO:root:Testing 229 out of 12560 hypotheses for harissa_oil (evidence > 2.6797567115613976)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 11.516
INFO:root:Testing 766 out of 21832 hypotheses for tomato_soup_can (evidence > 2.6797567115613976)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.823
INFO:root:Testing 1160 out of 16976 hypotheses for mustard_bottle (evidence > 2.6797567115613976)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.1
INFO:root:Testing 281 out of 17728 hypotheses for tuna_fish_can (evidence > 2.6797567115613976)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.736
INFO:root:Testing 1338 out of 19024 hypotheses for potted_meat_can (evidence > 2.6797567115613976)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.03
DEBUG:root:evidences for each object: [10.59001787  1.53204344 11.58315258 13.83602126 13.7306654  11.51570674
 11.82293724 13.09953301  8.73623066 11.02953254]
DEBUG:root:mean evidence: 10.748, std: 3.398 -> th=11.068817011944555
INFO:root:current most likely hypothesis: ramen_pack with evidence 13.84
DEBUG:root:evidences for each object: [10.59001787  1.53204344 11.58315258 13.83602126 13.7306654  11.51570674
 11.82293724 13.09953301  8.73623066 11.02953254]
DEBUG:root:mean evidence: 10.748, std: 3.398 -> th=11.068817011944555
DEBUG:root:evidences for each object: [10.59001787  1.53204344 11.58315258 13.83602126 13.7306654  11.51570674
 11.82293724 13.09953301  8.73623066 11.02953254]
DEBUG:root:mean evidence: 10.748, std: 3.398 -> th=11.76061807519109
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'montys_heart', 'mustard_bottle', 'tomato_soup_can', 'harissa_oil', 'ramen_pack'}
INFO:root:--- Global Matching Step 37 ---
INFO:uvicorn.access:192.168.1.217:64468 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64468 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.21518466,  0.10335081,  0.97108917],
       [-0.43294274, -0.90142143,  0.        ],
       [ 0.87536058, -0.420426  ,  0.23871705]]), 'pose_fully_defined': False}}, {'patch': array([0.01222155, 0.00038396, 0.0036799 ])}]
INFO:root:Testing 318 out of 14424 hypotheses for numenta_mug (evidence > 2.7672042529861383)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.914
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 80 out of 14880 hypotheses for montys_heart (evidence > 2.7672042529861383)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 11.88
INFO:root:Testing 1580 out of 23200 hypotheses for ramen_pack (evidence > 2.7672042529861383)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 14.3
INFO:root:Testing 566 out of 14864 hypotheses for hot_sauce (evidence > 2.7672042529861383)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.114
INFO:root:Testing 216 out of 12560 hypotheses for harissa_oil (evidence > 2.7672042529861383)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 11.83
INFO:root:Testing 721 out of 21832 hypotheses for tomato_soup_can (evidence > 2.7672042529861383)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.123
INFO:root:Testing 1121 out of 16976 hypotheses for mustard_bottle (evidence > 2.7672042529861383)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.553
INFO:root:Testing 274 out of 17728 hypotheses for tuna_fish_can (evidence > 2.7672042529861383)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 9.001
INFO:root:Testing 1258 out of 19024 hypotheses for potted_meat_can (evidence > 2.7672042529861383)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.353
DEBUG:root:evidences for each object: [ 9.91413624  1.53204344 11.87957034 14.30000461 14.11427451 11.83018042
 12.12292326 13.55301534  9.00067098 11.35293182]
DEBUG:root:mean evidence: 10.96, std: 3.532 -> th=11.44000369063459
INFO:root:current most likely hypothesis: ramen_pack with evidence 14.3
DEBUG:root:evidences for each object: [ 9.91413624  1.53204344 11.87957034 14.30000461 14.11427451 11.83018042
 12.12292326 13.55301534  9.00067098 11.35293182]
DEBUG:root:mean evidence: 10.96, std: 3.532 -> th=11.44000369063459
DEBUG:root:evidences for each object: [ 9.91413624  1.53204344 11.87957034 14.30000461 14.11427451 11.83018042
 12.12292326 13.55301534  9.00067098 11.35293182]
DEBUG:root:mean evidence: 10.96, std: 3.532 -> th=12.155003921299253
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'montys_heart', 'mustard_bottle', 'tomato_soup_can', 'harissa_oil', 'ramen_pack'}
INFO:root:--- Global Matching Step 38 ---
INFO:uvicorn.access:192.168.1.217:64468 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64468 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.04364616,  0.106332  ,  0.9933723 ],
       [-0.92509903,  0.37972593,  0.        ],
       [-0.37720922, -0.91896775,  0.11494121]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00106457,  0.01077963, -0.0015369 ])}]
INFO:root:Testing 279 out of 14424 hypotheses for numenta_mug (evidence > 2.8600009226586476)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.061
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 68 out of 14880 hypotheses for montys_heart (evidence > 2.8600009226586476)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 12.082
INFO:root:Testing 1111 out of 23200 hypotheses for ramen_pack (evidence > 2.8600009226586476)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.526
INFO:root:Testing 519 out of 14864 hypotheses for hot_sauce (evidence > 2.8600009226586476)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.581
INFO:root:Testing 193 out of 12560 hypotheses for harissa_oil (evidence > 2.8600009226586476)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 12.244
INFO:root:Testing 669 out of 21832 hypotheses for tomato_soup_can (evidence > 2.8600009226586476)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.555
INFO:root:Testing 989 out of 16976 hypotheses for mustard_bottle (evidence > 2.8600009226586476)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.003
INFO:root:Testing 249 out of 17728 hypotheses for tuna_fish_can (evidence > 2.8600009226586476)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.683
INFO:root:Testing 1032 out of 19024 hypotheses for potted_meat_can (evidence > 2.8600009226586476)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.536
DEBUG:root:evidences for each object: [10.06106039  1.53204344 12.08233839 14.52572663 14.58131695 12.24436591
 12.55544814 14.00311033  8.6827308  11.53634216]
DEBUG:root:mean evidence: 11.18, std: 3.678 -> th=11.665053562086689
INFO:root:current most likely hypothesis: hot_sauce with evidence 14.58
DEBUG:root:evidences for each object: [10.06106039  1.53204344 12.08233839 14.52572663 14.58131695 12.24436591
 12.55544814 14.00311033  8.6827308  11.53634216]
DEBUG:root:mean evidence: 11.18, std: 3.678 -> th=11.665053562086689
DEBUG:root:evidences for each object: [10.06106039  1.53204344 12.08233839 14.52572663 14.58131695 12.24436591
 12.55544814 14.00311033  8.6827308  11.53634216]
DEBUG:root:mean evidence: 11.18, std: 3.678 -> th=12.394119409717106
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_heart', 'mustard_bottle', 'tomato_soup_can', 'harissa_oil', 'ramen_pack'}
INFO:root:--- Global Matching Step 39 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.08676104,  0.11126627,  0.98999613],
       [-0.7885939 ,  0.61491435,  0.        ],
       [-0.60876283, -0.78070491,  0.14109451]]), 'pose_fully_defined': False}}, {'patch': array([-0.00351534, -0.00812698,  0.00448463])}]
INFO:root:Testing 227 out of 14424 hypotheses for numenta_mug (evidence > 2.916263390521671)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.471
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 55 out of 14880 hypotheses for montys_heart (evidence > 2.916263390521671)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 12.491
INFO:root:Testing 569 out of 23200 hypotheses for ramen_pack (evidence > 2.916263390521671)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.1
INFO:root:Testing 480 out of 14864 hypotheses for hot_sauce (evidence > 2.916263390521671)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 15.061
INFO:root:Testing 168 out of 12560 hypotheses for harissa_oil (evidence > 2.916263390521671)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 11.893
INFO:root:Testing 584 out of 21832 hypotheses for tomato_soup_can (evidence > 2.916263390521671)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 13.0
INFO:root:Testing 755 out of 16976 hypotheses for mustard_bottle (evidence > 2.916263390521671)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No 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 212 out of 17728 hypotheses for tuna_fish_can (evidence > 2.916263390521671)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 9.045
INFO:root:Testing 839 out of 19024 hypotheses for potted_meat_can (evidence > 2.916263390521671)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.935
DEBUG:root:evidences for each object: [10.47076527  1.53204344 12.49086479 14.10047405 15.06111252 11.89317115
 12.9995238  14.33292043  9.04463899 11.93528126]
DEBUG:root:mean evidence: 11.386, std: 3.706 -> th=12.04889001559797
INFO:root:current most likely hypothesis: hot_sauce with evidence 15.06
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'montys_heart', 'tomato_soup_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 40 ---
INFO:uvicorn.access:192.168.1.217:64470 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.80638009,  0.09696509, -0.58339431],
       [-0.11938733, -0.99284775,  0.        ],
       [-0.57922173,  0.06964989,  0.81218907]]), 'pose_fully_defined': False}}, {'patch': array([-0.02100543, -0.07109602, -0.05332612])}]
INFO:root:Testing 173 out of 14424 hypotheses for numenta_mug (evidence > 3.0122225038994923)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.471
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 49 out of 14880 hypotheses for montys_heart (evidence > 3.0122225038994923)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 12.778
INFO:root:Testing 394 out of 23200 hypotheses for ramen_pack (evidence > 3.0122225038994923)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.478
INFO:root:Testing 410 out of 14864 hypotheses for hot_sauce (evidence > 3.0122225038994923)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.061
INFO:root:Testing 128 out of 12560 hypotheses for harissa_oil (evidence > 3.0122225038994923)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 11.9
INFO:root:Testing 481 out of 21832 hypotheses for tomato_soup_can (evidence > 3.0122225038994923)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.744
INFO:root:Testing 543 out of 16976 hypotheses for mustard_bottle (evidence > 3.0122225038994923)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.815
INFO:root:Testing 184 out of 17728 hypotheses for tuna_fish_can (evidence > 3.0122225038994923)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.045
INFO:root:Testing 704 out of 19024 hypotheses for potted_meat_can (evidence > 3.0122225038994923)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.716
DEBUG:root:evidences for each object: [ 9.47076527  1.53204344 12.77822076 13.478439   14.06111252 11.8998255
 12.74449314 13.81489264  8.04463899 11.71558365]
DEBUG:root:mean evidence: 10.954, std: 3.628 -> th=11.248890015597969
INFO:root:current most likely hypothesis: hot_sauce with evidence 14.06
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'mustard_bottle', 'tomato_soup_can', 'harissa_oil', 'ramen_pack'}
INFO:root:--- Global Matching Step 41 ---
INFO:uvicorn.access:192.168.1.217:64470 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.91494871,  0.09725518, -0.39167626],
       [-0.10570031, -0.99439803,  0.        ],
       [-0.3894821 ,  0.0414003 ,  0.9201031 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00336517,  0.00484286,  0.00638594])}]
INFO:root:Testing 157 out of 14424 hypotheses for numenta_mug (evidence > 2.8122225038994912)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.459
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 53 out of 14880 hypotheses for montys_heart (evidence > 2.8122225038994912)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.244
INFO:root:Testing 384 out of 23200 hypotheses for ramen_pack (evidence > 2.8122225038994912)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.534
INFO:root:Testing 422 out of 14864 hypotheses for hot_sauce (evidence > 2.8122225038994912)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.001
INFO:root:Testing 126 out of 12560 hypotheses for harissa_oil (evidence > 2.8122225038994912)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 11.653
INFO:root:Testing 463 out of 21832 hypotheses for tomato_soup_can (evidence > 2.8122225038994912)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.843
INFO:root:Testing 577 out of 16976 hypotheses for mustard_bottle (evidence > 2.8122225038994912)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.815
INFO:root:Testing 155 out of 17728 hypotheses for tuna_fish_can (evidence > 2.8122225038994912)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.045
INFO:root:Testing 707 out of 19024 hypotheses for potted_meat_can (evidence > 2.8122225038994912)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.47
DEBUG:root:evidences for each object: [ 9.458753    1.53204344 13.2436499  13.53433903 14.00145906 11.65309139
 12.84265995 12.81489264  7.04463899 11.4699057 ]
DEBUG:root:mean evidence: 10.76, std: 3.673 -> th=11.201167246202186
INFO:root:current most likely hypothesis: hot_sauce with evidence 14.0
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'mustard_bottle', 'tomato_soup_can', 'harissa_oil', 'ramen_pack'}
INFO:root:--- Global Matching Step 42 ---
INFO:uvicorn.access:192.168.1.217:64470 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.68479932,  0.03769048, -0.72775636],
       [-0.05495555, -0.9984888 ,  0.        ],
       [-0.72665658,  0.03999425,  0.68583575]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01308299,  0.0052997 , -0.01966337])}]
INFO:root:Testing 63 out of 14424 hypotheses for numenta_mug (evidence > 2.8002918115505455)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.779
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 43 out of 14880 hypotheses for montys_heart (evidence > 2.8002918115505455)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 12.244
INFO:root:Testing 269 out of 23200 hypotheses for ramen_pack (evidence > 2.8002918115505455)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.243
INFO:root:Testing 402 out of 14864 hypotheses for hot_sauce (evidence > 2.8002918115505455)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.001
INFO:root:Testing 85 out of 12560 hypotheses for harissa_oil (evidence > 2.8002918115505455)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 11.811
INFO:root:Testing 292 out of 21832 hypotheses for tomato_soup_can (evidence > 2.8002918115505455)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.927
INFO:root:Testing 575 out of 16976 hypotheses for mustard_bottle (evidence > 2.8002918115505455)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.565
INFO:root:Testing 87 out of 17728 hypotheses for tuna_fish_can (evidence > 2.8002918115505455)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.045
INFO:root:Testing 660 out of 19024 hypotheses for potted_meat_can (evidence > 2.8002918115505455)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.342
DEBUG:root:evidences for each object: [ 9.77874177  1.53204344 12.2436499  13.24315341 13.00145906 11.81102263
 12.92680529 12.56514486  6.04463899 11.3420569 ]
DEBUG:root:mean evidence: 10.449, std: 3.608 -> th=10.594522726181427
INFO:root:current most likely hypothesis: ramen_pack with evidence 13.24
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'mustard_bottle', 'tomato_soup_can', 'harissa_oil', 'ramen_pack'}
INFO:root:--- Global Matching Step 43 ---
INFO:uvicorn.access:192.168.1.217:64470 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64470 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.32994727,  0.0123536 , -0.94391853],
       [-0.03741491, -0.99929982,  0.        ],
       [-0.94325761,  0.03531662,  0.33017846]]), 'pose_fully_defined': False}}, {'patch': array([0.00932548, 0.00483906, 0.00026612])}]
INFO:root:Testing 92 out of 14424 hypotheses for numenta_mug (evidence > 2.648630681545356)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.789
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 42 out of 14880 hypotheses for montys_heart (evidence > 2.648630681545356)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 12.382
INFO:root:Testing 337 out of 23200 hypotheses for ramen_pack (evidence > 2.648630681545356)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.109
INFO:root:Testing 387 out of 14864 hypotheses for hot_sauce (evidence > 2.648630681545356)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.001
INFO:root:Testing 153 out of 12560 hypotheses for harissa_oil (evidence > 2.648630681545356)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 12.081
INFO:root:Testing 375 out of 21832 hypotheses for tomato_soup_can (evidence > 2.648630681545356)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 13.115
INFO:root:Testing 635 out of 16976 hypotheses for mustard_bottle (evidence > 2.648630681545356)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.83
INFO:root:Testing 61 out of 17728 hypotheses for tuna_fish_can (evidence > 2.648630681545356)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.045
INFO:root:Testing 708 out of 19024 hypotheses for potted_meat_can (evidence > 2.648630681545356)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.617
DEBUG:root:evidences for each object: [ 8.78913895  1.53204344 12.38233136 13.109304   12.00145906 12.08107373
 13.11450533 12.83007172  5.04463899 11.61683659]
DEBUG:root:mean evidence: 10.25, std: 3.756 -> th=10.491604262812608
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 13.11
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'mustard_bottle', 'tomato_soup_can', 'harissa_oil', 'ramen_pack'}
INFO:root:--- Global Matching Step 44 ---
INFO:uvicorn.access:192.168.1.217:64470 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64470 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.59463942,  0.11552952, -0.79564872],
       [-0.19071884, -0.9816447 ,  0.        ],
       [-0.78104435,  0.1517452 ,  0.60575829]]), 'pose_fully_defined': False}}, {'patch': array([-0.01452486,  0.00650569,  0.01080004])}]
INFO:root:Testing 81 out of 14424 hypotheses for numenta_mug (evidence > 2.622901065703152)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.789
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 44 out of 14880 hypotheses for montys_heart (evidence > 2.622901065703152)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 12.571
INFO:root:Testing 202 out of 23200 hypotheses for ramen_pack (evidence > 2.622901065703152)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.109
INFO:root:Testing 309 out of 14864 hypotheses for hot_sauce (evidence > 2.622901065703152)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.245
INFO:root:Testing 173 out of 12560 hypotheses for harissa_oil (evidence > 2.622901065703152)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 11.081
INFO:root:Testing 380 out of 21832 hypotheses for tomato_soup_can (evidence > 2.622901065703152)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.115
INFO:root:Testing 589 out of 16976 hypotheses for mustard_bottle (evidence > 2.622901065703152)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.175
INFO:root:Testing 27 out of 17728 hypotheses for tuna_fish_can (evidence > 2.622901065703152)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.045
INFO:root:Testing 650 out of 19024 hypotheses for potted_meat_can (evidence > 2.622901065703152)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.015
DEBUG:root:evidences for each object: [ 7.78913895  1.53204344 12.5708945  12.109304   12.2448393  11.08107373
 12.11450533 13.17481549  4.04463899 12.01503949]
DEBUG:root:mean evidence: 9.868, std: 3.844 -> th=10.539852390014705
INFO:root:current most likely hypothesis: mustard_bottle with evidence 13.17
DEBUG:root:evidences for each object: [ 7.78913895  1.53204344 12.5708945  12.109304   12.2448393  11.08107373
 12.11450533 13.17481549  4.04463899 12.01503949]
DEBUG:root:mean evidence: 9.868, std: 3.844 -> th=10.539852390014705
DEBUG:root:evidences for each object: [ 7.78913895  1.53204344 12.5708945  12.109304   12.2448393  11.08107373
 12.11450533 13.17481549  4.04463899 12.01503949]
DEBUG:root:mean evidence: 9.868, std: 3.844 -> th=11.198593164390623
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', 'potted_meat_can', 'montys_heart', 'mustard_bottle', 'tomato_soup_can', 'harissa_oil', 'ramen_pack'}
INFO:root:--- Global Matching Step 45 ---
INFO:uvicorn.access:192.168.1.217:64470 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.72624295,  0.13229117, -0.67458893],
       [-0.17920932, -0.98381097,  0.        ],
       [-0.66366799,  0.12089262,  0.73819359]]), 'pose_fully_defined': False}}, {'patch': array([-7.68403634e-03, -7.84630331e-05,  5.80685276e-03])}]
INFO:root:Testing 28 out of 14424 hypotheses for numenta_mug (evidence > 2.6349630975036753)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.91
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 40 out of 14880 hypotheses for montys_heart (evidence > 2.6349630975036753)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 12.893
INFO:root:Testing 152 out of 23200 hypotheses for ramen_pack (evidence > 2.6349630975036753)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.01
INFO:root:Testing 286 out of 14864 hypotheses for hot_sauce (evidence > 2.6349630975036753)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.245
INFO:root:Testing 61 out of 12560 hypotheses for harissa_oil (evidence > 2.6349630975036753)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 11.27
INFO:root:Testing 249 out of 21832 hypotheses for tomato_soup_can (evidence > 2.6349630975036753)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.899
INFO:root:Testing 568 out of 16976 hypotheses for mustard_bottle (evidence > 2.6349630975036753)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.575
INFO:root:Testing 3 out of 17728 hypotheses for tuna_fish_can (evidence > 2.6349630975036753)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.045
INFO:root:Testing 574 out of 19024 hypotheses for potted_meat_can (evidence > 2.6349630975036753)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.464
DEBUG:root:evidences for each object: [ 7.90954832  1.53204344 12.89319964 12.00998723 11.2448393  11.2698696
 11.898854   13.57544708  3.04463899 12.46390733]
DEBUG:root:mean evidence: 9.784, std: 4.025 -> th=10.860357663796643
INFO:root:current most likely hypothesis: mustard_bottle with evidence 13.58
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'mustard_bottle', 'tomato_soup_can', 'harissa_oil', 'ramen_pack'}
INFO:root:--- Global Matching Step 46 ---
INFO:uvicorn.access:192.168.1.217:64470 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.8628317 ,  0.12157775, -0.49065294],
       [-0.13952722, -0.99021824,  0.        ],
       [-0.48585349,  0.06845944,  0.87135509]]), 'pose_fully_defined': False}}, {'patch': array([-0.00620158,  0.00879054,  0.00198109])}]
INFO:root:Testing 15 out of 14424 hypotheses for numenta_mug (evidence > 2.7150894159491603)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.14
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 37 out of 14880 hypotheses for montys_heart (evidence > 2.7150894159491603)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.28
INFO:root:Testing 132 out of 23200 hypotheses for ramen_pack (evidence > 2.7150894159491603)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.007
INFO:root:Testing 273 out of 14864 hypotheses for hot_sauce (evidence > 2.7150894159491603)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.245
INFO:root:Testing 29 out of 12560 hypotheses for harissa_oil (evidence > 2.7150894159491603)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 11.715
INFO:root:Testing 146 out of 21832 hypotheses for tomato_soup_can (evidence > 2.7150894159491603)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.899
INFO:root:Testing 553 out of 16976 hypotheses for mustard_bottle (evidence > 2.7150894159491603)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.033
INFO:root:Testing 2 out of 17728 hypotheses for tuna_fish_can (evidence > 2.7150894159491603)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 508 out of 19024 hypotheses for potted_meat_can (evidence > 2.7150894159491603)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.86
DEBUG:root:evidences for each object: [ 8.14029276  1.53204344 13.27987918 12.00705386 10.2448393  11.71479568
 10.898854   14.03255618  2.61828895 12.85960315]
DEBUG:root:mean evidence: 9.733, std: 4.147 -> th=11.226044945811465
INFO:root:current most likely hypothesis: mustard_bottle with evidence 14.03
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'montys_heart', 'mustard_bottle', 'harissa_oil', 'ramen_pack'}
INFO:root:--- Global Matching Step 47 ---
INFO:uvicorn.access:192.168.1.217:64470 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64470 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.90539379,  0.07751378, -0.41743705],
       [-0.08530129, -0.9963552 ,  0.        ],
       [-0.41591558,  0.03560792,  0.90870584]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00652924,  0.01307023, -0.01008278])}]
INFO:root:Testing 9 out of 14424 hypotheses for numenta_mug (evidence > 2.806511236452865)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.345
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 35 out of 14880 hypotheses for montys_heart (evidence > 2.806511236452865)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.543
INFO:root:Testing 114 out of 23200 hypotheses for ramen_pack (evidence > 2.806511236452865)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.042
INFO:root:Testing 253 out of 14864 hypotheses for hot_sauce (evidence > 2.806511236452865)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.787
INFO:root:Testing 23 out of 12560 hypotheses for harissa_oil (evidence > 2.806511236452865)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 12.063
INFO:root:Testing 103 out of 21832 hypotheses for tomato_soup_can (evidence > 2.806511236452865)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.221
INFO:root:Testing 538 out of 16976 hypotheses for mustard_bottle (evidence > 2.806511236452865)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.492
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 484 out of 19024 hypotheses for potted_meat_can (evidence > 2.806511236452865)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.181
DEBUG:root:evidences for each object: [ 8.34514595  1.53204344 13.54290194 12.04202914  9.78664677 12.06293837
 11.22116377 14.49160082  2.61828895 13.18088497]
DEBUG:root:mean evidence: 9.882, std: 4.261 -> th=11.593280658055116
INFO:root:current most likely hypothesis: mustard_bottle with evidence 14.49
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'montys_heart', 'mustard_bottle', 'harissa_oil', 'ramen_pack'}
INFO:root:--- Global Matching Step 48 ---
INFO:uvicorn.access:192.168.1.217:64470 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64470 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.70446128,  0.07117816, -0.70616427],
       [-0.1005273 , -0.9949343 ,  0.        ],
       [-0.70258706,  0.07098879,  0.70804803]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00649645,  0.00160682, -0.00616807])}]
INFO:root:Testing 6 out of 14424 hypotheses for numenta_mug (evidence > 2.8983201645137786)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.674
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 34 out of 14880 hypotheses for montys_heart (evidence > 2.8983201645137786)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.716
INFO:root:Testing 97 out of 23200 hypotheses for ramen_pack (evidence > 2.8983201645137786)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.042
INFO:root:Testing 234 out of 14864 hypotheses for hot_sauce (evidence > 2.8983201645137786)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.149
INFO:root:Testing 22 out of 12560 hypotheses for harissa_oil (evidence > 2.8983201645137786)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 12.404
INFO:root:Testing 78 out of 21832 hypotheses for tomato_soup_can (evidence > 2.8983201645137786)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.612
INFO:root:Testing 526 out of 16976 hypotheses for mustard_bottle (evidence > 2.8983201645137786)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.947
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 466 out of 19024 hypotheses for potted_meat_can (evidence > 2.8983201645137786)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.626
DEBUG:root:evidences for each object: [ 8.67392844  1.53204344 13.71600263 11.04202914 10.1491291  12.40383627
 11.61237356 14.94672354  2.61828895 13.62597004]
DEBUG:root:mean evidence: 10.032, std: 4.346 -> th=11.95737882879192
INFO:root:current most likely hypothesis: mustard_bottle with evidence 14.95
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'harissa_oil', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 49 ---
INFO:uvicorn.access:192.168.1.217:64470 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.20852829,  0.04670213, -0.97690064],
       [-0.21854671, -0.97582649,  0.        ],
       [-0.95328552,  0.21349842,  0.21369403]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01312137,  0.00830095, -0.00385781])}]
INFO:root:Testing 6 out of 14424 hypotheses for numenta_mug (evidence > 2.9893447071979793)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.964
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 32 out of 14880 hypotheses for montys_heart (evidence > 2.9893447071979793)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.162
INFO:root:Testing 86 out of 23200 hypotheses for ramen_pack (evidence > 2.9893447071979793)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.959
INFO:root:Testing 196 out of 14864 hypotheses for hot_sauce (evidence > 2.9893447071979793)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.528
INFO:root:Testing 22 out of 12560 hypotheses for harissa_oil (evidence > 2.9893447071979793)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 12.798
INFO:root:Testing 73 out of 21832 hypotheses for tomato_soup_can (evidence > 2.9893447071979793)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.082
INFO:root:Testing 512 out of 16976 hypotheses for mustard_bottle (evidence > 2.9893447071979793)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.16
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 449 out of 19024 hypotheses for potted_meat_can (evidence > 2.9893447071979793)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.83
DEBUG:root:evidences for each object: [ 8.9638304   1.53204344 14.16157542 10.95875714 10.52818984 12.79794116
 12.0816878  15.15960099  2.61828895 13.82957644]
DEBUG:root:mean evidence: 10.263, std: 4.456 -> th=12.127680794994806
INFO:root:current most likely hypothesis: mustard_bottle with evidence 15.16
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'harissa_oil', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 50 ---
INFO:uvicorn.access:192.168.1.217:64470 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64470 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.42237556,  0.11467068, -0.89913821],
       [-0.26200571, -0.96506632,  0.        ],
       [-0.86772801,  0.23557934,  0.4376648 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.01334406, -0.00191919,  0.01046799])}]
INFO:root:Testing 5 out of 14424 hypotheses for numenta_mug (evidence > 3.0319201987487006)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.964
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 31 out of 14880 hypotheses for montys_heart (evidence > 3.0319201987487006)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.217
INFO:root:Testing 72 out of 23200 hypotheses for ramen_pack (evidence > 3.0319201987487006)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.959
INFO:root:Testing 168 out of 14864 hypotheses for hot_sauce (evidence > 3.0319201987487006)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.928
INFO:root:Testing 105 out of 12560 hypotheses for harissa_oil (evidence > 3.0319201987487006)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 13.285
INFO:root:Testing 73 out of 21832 hypotheses for tomato_soup_can (evidence > 3.0319201987487006)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.082
INFO:root:Testing 493 out of 16976 hypotheses for mustard_bottle (evidence > 3.0319201987487006)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.399
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 441 out of 19024 hypotheses for potted_meat_can (evidence > 3.0319201987487006)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.133
DEBUG:root:evidences for each object: [ 7.9638304   1.53204344 14.2171826   9.95875714 10.92768148 13.28484264
 11.0816878  15.39858843  2.61828895 14.13266486]
DEBUG:root:mean evidence: 10.112, std: 4.55 -> th=12.318870746627557
INFO:root:current most likely hypothesis: mustard_bottle with evidence 15.4
DEBUG:root:evidences for each object: [ 7.9638304   1.53204344 14.2171826   9.95875714 10.92768148 13.28484264
 11.0816878  15.39858843  2.61828895 14.13266486]
DEBUG:root:mean evidence: 10.112, std: 4.55 -> th=12.318870746627557
DEBUG:root:evidences for each object: [ 7.9638304   1.53204344 14.2171826   9.95875714 10.92768148 13.28484264
 11.0816878  15.39858843  2.61828895 14.13266486]
DEBUG:root:mean evidence: 10.112, std: 4.55 -> th=13.08880016829178
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'harissa_oil', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 51 ---
INFO:uvicorn.access:192.168.1.217:64470 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64470 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.75292161,  0.16833919, -0.63621613],
       [-0.21819419, -0.97590537,  0.        ],
       [-0.62088674,  0.13881866,  0.77151088]]), 'pose_fully_defined': False}}, {'patch': array([-1.27462454e-02,  1.46703506e-05,  7.38830054e-03])}]
INFO:root:Testing 5 out of 14424 hypotheses for numenta_mug (evidence > 3.0797176866568883)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.964
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 31 out of 14880 hypotheses for montys_heart (evidence > 3.0797176866568883)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.593
INFO:root:Testing 62 out of 23200 hypotheses for ramen_pack (evidence > 3.0797176866568883)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.88
INFO:root:Testing 160 out of 14864 hypotheses for hot_sauce (evidence > 3.0797176866568883)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.291
INFO:root:Testing 33 out of 12560 hypotheses for harissa_oil (evidence > 3.0797176866568883)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 13.71
INFO:root:Testing 62 out of 21832 hypotheses for tomato_soup_can (evidence > 3.0797176866568883)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.539
INFO:root:Testing 488 out of 16976 hypotheses for mustard_bottle (evidence > 3.0797176866568883)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.777
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 436 out of 19024 hypotheses for potted_meat_can (evidence > 3.0797176866568883)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.52
DEBUG:root:evidences for each object: [ 6.9638304   1.53204344 14.5929905   9.87970597 11.29136194 13.71013556
 11.53939803 15.77666925  2.61828895 14.51952421]
DEBUG:root:mean evidence: 10.242, std: 4.77 -> th=12.621335397955917
INFO:root:current most likely hypothesis: mustard_bottle with evidence 15.78
DEBUG:root:evidences for each object: [ 6.9638304   1.53204344 14.5929905   9.87970597 11.29136194 13.71013556
 11.53939803 15.77666925  2.61828895 14.51952421]
DEBUG:root:mean evidence: 10.242, std: 4.77 -> th=12.621335397955917
DEBUG:root:evidences for each object: [ 6.9638304   1.53204344 14.5929905   9.87970597 11.29136194 13.71013556
 11.53939803 15.77666925  2.61828895 14.51952421]
DEBUG:root:mean evidence: 10.242, std: 4.77 -> th=13.410168860328163
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'harissa_oil', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 52 ---
INFO:uvicorn.access:192.168.1.217:64470 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64470 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.84341058,  0.13705525, -0.51949443],
       [-0.16039724, -0.98705254,  0.        ],
       [-0.5127683 ,  0.08332547,  0.85447384]]), 'pose_fully_defined': False}}, {'patch': array([-0.00438307,  0.01407726,  0.00520399])}]
INFO:root:Testing 4 out of 14424 hypotheses for numenta_mug (evidence > 3.1553338494889793)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.964
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 30 out of 14880 hypotheses for montys_heart (evidence > 3.1553338494889793)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.986
INFO:root:Testing 56 out of 23200 hypotheses for ramen_pack (evidence > 3.1553338494889793)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.86
INFO:root:Testing 155 out of 14864 hypotheses for hot_sauce (evidence > 3.1553338494889793)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.678
INFO:root:Testing 27 out of 12560 hypotheses for harissa_oil (evidence > 3.1553338494889793)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 14.162
INFO:root:Testing 51 out of 21832 hypotheses for tomato_soup_can (evidence > 3.1553338494889793)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.974
INFO:root:Testing 485 out of 16976 hypotheses for mustard_bottle (evidence > 3.1553338494889793)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.777
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 434 out of 19024 hypotheses for potted_meat_can (evidence > 3.1553338494889793)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.918
DEBUG:root:evidences for each object: [ 5.9638304   1.53204344 14.98631489  9.86002577 11.67780559 14.16204027
 11.97377947 14.77666925  2.61828895 14.9179783 ]
DEBUG:root:mean evidence: 10.247, std: 4.876 -> th=11.989051908021327
INFO:root:current most likely hypothesis: montys_heart with evidence 14.99
DEBUG:root:evidences for each object: [ 5.9638304   1.53204344 14.98631489  9.86002577 11.67780559 14.16204027
 11.97377947 14.77666925  2.61828895 14.9179783 ]
DEBUG:root:mean evidence: 10.247, std: 4.876 -> th=11.989051908021327
DEBUG:root:evidences for each object: [ 5.9638304   1.53204344 14.98631489  9.86002577 11.67780559 14.16204027
 11.97377947 14.77666925  2.61828895 14.9179783 ]
DEBUG:root:mean evidence: 10.247, std: 4.876 -> th=12.738367652272661
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', 'harissa_oil', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 53 ---
INFO:uvicorn.access:192.168.1.217:64470 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64470 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.9902553 ,  0.11882018, -0.07263754],
       [-0.11913489, -0.99287808,  0.        ],
       [-0.07212022,  0.00865367,  0.9973584 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00640841,  0.0070869 , -0.00506433])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 2.997262977005331)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.912
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 29 out of 14880 hypotheses for montys_heart (evidence > 2.997262977005331)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 15.366
INFO:root:Testing 56 out of 23200 hypotheses for ramen_pack (evidence > 2.997262977005331)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No 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 157 out of 14864 hypotheses for hot_sauce (evidence > 2.997262977005331)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.938
INFO:root:Testing 80 out of 12560 hypotheses for harissa_oil (evidence > 2.997262977005331)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 14.382
INFO:root:Testing 44 out of 21832 hypotheses for tomato_soup_can (evidence > 2.997262977005331)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.389
INFO:root:Testing 481 out of 16976 hypotheses for mustard_bottle (evidence > 2.997262977005331)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No 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
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 433 out of 19024 hypotheses for potted_meat_can (evidence > 2.997262977005331)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.091
DEBUG:root:evidences for each object: [ 5.91180081  1.53204344 15.3663193  10.05794581 11.93836121 14.3817166
 12.38890444 15.08865411  2.61828895 15.09099643]
DEBUG:root:mean evidence: 10.438, std: 5.003 -> th=12.293055442828512
INFO:root:current most likely hypothesis: montys_heart with evidence 15.37
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 54 ---
INFO:uvicorn.access:192.168.1.217:64470 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64470 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.62202419,  0.13529304, -0.77122092],
       [-0.21253523, -0.9771534 ,  0.        ],
       [-0.75360115,  0.16391161,  0.63656759]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01028161, -0.00219524, -0.01567098])}]
INFO:root:Testing 2 out of 14424 hypotheses for numenta_mug (evidence > 3.0732638607071276)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.22
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 26 out of 14880 hypotheses for montys_heart (evidence > 3.0732638607071276)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 15.799
INFO:root:Testing 47 out of 23200 hypotheses for ramen_pack (evidence > 3.0732638607071276)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.058
INFO:root:Testing 155 out of 14864 hypotheses for hot_sauce (evidence > 3.0732638607071276)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.345
INFO:root:Testing 31 out of 12560 hypotheses for harissa_oil (evidence > 3.0732638607071276)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 14.749
INFO:root:Testing 37 out of 21832 hypotheses for tomato_soup_can (evidence > 3.0732638607071276)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.845
INFO:root:Testing 471 out of 16976 hypotheses for mustard_bottle (evidence > 3.0732638607071276)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.479
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 432 out of 19024 hypotheses for potted_meat_can (evidence > 3.0732638607071276)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.499
DEBUG:root:evidences for each object: [ 6.21963549  1.53204344 15.79869739  9.05794581 12.34528309 14.74932342
 12.84476197 15.47892436  2.61828895 15.49933838]
DEBUG:root:mean evidence: 10.614, std: 5.173 -> th=12.638957914052229
INFO:root:current most likely hypothesis: montys_heart with evidence 15.8
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 55 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.4148885 ,  0.10249105, -0.90408136],
       [-0.23982348, -0.97081651,  0.        ],
       [-0.87769712,  0.21681994,  0.42736037]]), 'pose_fully_defined': False}}, {'patch': array([0.00162275, 0.009894  , 0.00500122])}]
INFO:root:Testing 2 out of 14424 hypotheses for numenta_mug (evidence > 3.159739478513057)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 23 out of 14880 hypotheses for montys_heart (evidence > 3.159739478513057)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 16.129
INFO:root:Testing 33 out of 23200 hypotheses for ramen_pack (evidence > 3.159739478513057)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.19
INFO:root:Testing 149 out of 14864 hypotheses for hot_sauce (evidence > 3.159739478513057)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.81
INFO:root:Testing 30 out of 12560 hypotheses for harissa_oil (evidence > 3.159739478513057)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 15.079
INFO:root:Testing 36 out of 21832 hypotheses for tomato_soup_can (evidence > 3.159739478513057)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 13.327
INFO:root:Testing 466 out of 16976 hypotheses for mustard_bottle (evidence > 3.159739478513057)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.758
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 425 out of 19024 hypotheses for potted_meat_can (evidence > 3.159739478513057)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures 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: [ 6.40482558  1.53204344 16.12909197  8.19045226 12.80972361 15.07857948
 13.32738451 15.75784784  2.61828895 15.76750239]
DEBUG:root:mean evidence: 10.762, std: 5.342 -> th=12.903273579331875
INFO:root:current most likely hypothesis: montys_heart with evidence 16.13
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 56 ---
INFO:uvicorn.access:192.168.1.217:64473 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.93978568,  0.17103819, -0.29588648],
       [-0.17905575, -0.98383893,  0.        ],
       [-0.29110464,  0.05298018,  0.95522311]]), 'pose_fully_defined': False}}, {'patch': array([-0.02139415, -0.00806202,  0.02496171])}]
INFO:root:Testing 2 out of 14424 hypotheses for numenta_mug (evidence > 3.2258183948329684)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 21 out of 14880 hypotheses for montys_heart (evidence > 3.2258183948329684)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 16.594
INFO:root:Testing 32 out of 23200 hypotheses for ramen_pack (evidence > 3.2258183948329684)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.334
INFO:root:Testing 148 out of 14864 hypotheses for hot_sauce (evidence > 3.2258183948329684)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.212
INFO:root:Testing 25 out of 12560 hypotheses for harissa_oil (evidence > 3.2258183948329684)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 15.512
INFO:root:Testing 35 out of 21832 hypotheses for tomato_soup_can (evidence > 3.2258183948329684)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 13.67
INFO:root:Testing 459 out of 16976 hypotheses for mustard_bottle (evidence > 3.2258183948329684)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.758
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 418 out of 19024 hypotheses for potted_meat_can (evidence > 3.2258183948329684)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.194
DEBUG:root:evidences for each object: [ 5.40482558  1.53204344 16.59419827  7.33390119 13.212444   15.51220272
 13.67041887 14.75784784  2.61828895 16.19395197]
DEBUG:root:mean evidence: 10.683, std: 5.554 -> th=13.27535861751972
INFO:root:current most likely hypothesis: montys_heart with evidence 16.59
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 57 ---
INFO:uvicorn.access:192.168.1.217:64473 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64473 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.95751384,  0.18751732, -0.21909928],
       [-0.19218697, -0.98135833,  0.        ],
       [-0.2150149 ,  0.04210803,  0.97570257]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00134565, -0.01613533, -0.00400858])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 3.3188396543799286)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 19 out of 14880 hypotheses for montys_heart (evidence > 3.3188396543799286)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 17.092
INFO:root:Testing 24 out of 23200 hypotheses for ramen_pack (evidence > 3.3188396543799286)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.362
INFO:root:Testing 147 out of 14864 hypotheses for hot_sauce (evidence > 3.3188396543799286)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.588
INFO:root:Testing 21 out of 12560 hypotheses for harissa_oil (evidence > 3.3188396543799286)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 15.908
INFO:root:Testing 34 out of 21832 hypotheses for tomato_soup_can (evidence > 3.3188396543799286)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 14.129
INFO:root:Testing 453 out of 16976 hypotheses for mustard_bottle (evidence > 3.3188396543799286)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.842
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 414 out of 19024 hypotheses for potted_meat_can (evidence > 3.3188396543799286)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.547
DEBUG:root:evidences for each object: [ 4.40482558  1.53204344 17.09228306  7.36209641 13.58754108 15.90806856
 14.12905522 14.84171956  2.61828895 16.54728441]
DEBUG:root:mean evidence: 10.802, std: 5.826 -> th=13.673826444726654
INFO:root:current most likely hypothesis: montys_heart with evidence 17.09
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 58 ---
INFO:uvicorn.access:192.168.1.217:64475 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.20240862,  0.13483139, -0.96997487],
       [-0.55439361,  0.8322546 ,  0.        ],
       [ 0.80726605,  0.53774787,  0.24320516]]), 'pose_fully_defined': False}}, {'patch': array([ 0.03726573, -0.03968806, -0.02619591])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 3.4184566111816626)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 19 out of 14880 hypotheses for montys_heart (evidence > 3.4184566111816626)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 17.325
INFO:root:Testing 19 out of 23200 hypotheses for ramen_pack (evidence > 3.4184566111816626)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.544
INFO:root:Testing 144 out of 14864 hypotheses for hot_sauce (evidence > 3.4184566111816626)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.992
INFO:root:Testing 19 out of 12560 hypotheses for harissa_oil (evidence > 3.4184566111816626)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 16.386
INFO:root:Testing 28 out of 21832 hypotheses for tomato_soup_can (evidence > 3.4184566111816626)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 14.547
INFO:root:Testing 446 out of 16976 hypotheses for mustard_bottle (evidence > 3.4184566111816626)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.983
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 408 out of 19024 hypotheses for potted_meat_can (evidence > 3.4184566111816626)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.551
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.32454055  7.54379128 13.99202848 16.38621792
 14.54674445 14.98290041  2.61828895 16.55066954]
DEBUG:root:mean evidence: 10.888, std: 6.055 -> th=13.85963244391417
INFO:root:current most likely hypothesis: montys_heart with evidence 17.32
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.32454055  7.54379128 13.99202848 16.38621792
 14.54674445 14.98290041  2.61828895 16.55066954]
DEBUG:root:mean evidence: 10.888, std: 6.055 -> th=13.85963244391417
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.32454055  7.54379128 13.99202848 16.38621792
 14.54674445 14.98290041  2.61828895 16.55066954]
DEBUG:root:mean evidence: 10.888, std: 6.055 -> th=14.725859471658806
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'mustard_bottle', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 59 ---
INFO:uvicorn.access:192.168.1.217:64475 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.65508584,  0.11584882, -0.74662011],
       [-0.17414311,  0.98472035,  0.        ],
       [ 0.73521202,  0.13001875,  0.66525063]]), 'pose_fully_defined': False}}, {'patch': array([-0.00120378, -0.0003188 ,  0.00064069])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 19 out of 14880 hypotheses for montys_heart (evidence > 3.4649081109785413)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 17.355
INFO:root:Testing 17 out of 23200 hypotheses for ramen_pack (evidence > 3.4649081109785413)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.966
INFO:root:Testing 136 out of 14864 hypotheses for hot_sauce (evidence > 3.4649081109785413)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.238
INFO:root:Testing 19 out of 12560 hypotheses for harissa_oil (evidence > 3.4649081109785413)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 16.64
INFO:root:Testing 28 out of 21832 hypotheses for tomato_soup_can (evidence > 3.4649081109785413)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 14.371
INFO:root:Testing 440 out of 16976 hypotheses for mustard_bottle (evidence > 3.4649081109785413)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.905
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 404 out of 19024 hypotheses for potted_meat_can (evidence > 3.4649081109785413)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.362
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.35487015  7.96640329 14.23803847 16.6397995
 14.37091677 14.90508073  2.61828895 16.36177753]
DEBUG:root:mean evidence: 10.939, std: 6.04 -> th=13.883896122210013
INFO:root:current most likely hypothesis: montys_heart with evidence 17.35
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.35487015  7.96640329 14.23803847 16.6397995
 14.37091677 14.90508073  2.61828895 16.36177753]
DEBUG:root:mean evidence: 10.939, std: 6.04 -> th=13.883896122210013
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.35487015  7.96640329 14.23803847 16.6397995
 14.37091677 14.90508073  2.61828895 16.36177753]
DEBUG:root:mean evidence: 10.939, std: 6.04 -> th=14.751639629848139
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', 'potted_meat_can', 'montys_heart', 'mustard_bottle', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 60 ---
INFO:uvicorn.access:192.168.1.217:64475 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.00306096,  0.09584694, -0.99539138],
       [-0.99949044, -0.03191961,  0.        ],
       [-0.0317725 ,  0.99488417,  0.0958958 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.01149271, -0.00288625, -0.00374459])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 19 out of 14880 hypotheses for montys_heart (evidence > 3.4709740305525028)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 17.678
INFO:root:Testing 16 out of 23200 hypotheses for ramen_pack (evidence > 3.4709740305525028)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.05
INFO:root:Testing 126 out of 14864 hypotheses for hot_sauce (evidence > 3.4709740305525028)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.238
INFO:root:Testing 140 out of 12560 hypotheses for harissa_oil (evidence > 3.4709740305525028)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 17.06
INFO:root:Testing 28 out of 21832 hypotheses for tomato_soup_can (evidence > 3.4709740305525028)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 14.825
INFO:root:Testing 437 out of 16976 hypotheses for mustard_bottle (evidence > 3.4709740305525028)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.135
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 397 out of 19024 hypotheses for potted_meat_can (evidence > 3.4709740305525028)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.471
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.67778866  8.05003887 13.23803847 17.06047753
 14.82519067 15.13546913  2.61828895 16.47126793]
DEBUG:root:mean evidence: 11.001, std: 6.118 -> th=14.14223092709191
INFO:root:current most likely hypothesis: montys_heart with evidence 17.68
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 61 ---
INFO:uvicorn.access:192.168.1.217:64475 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64475 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.03616075,  0.12154303, -0.99192726],
       [-0.9584796 , -0.28516111,  0.        ],
       [-0.28285908,  0.95074204,  0.12680815]]), 'pose_fully_defined': False}}, {'patch': array([0.00886932, 0.0111034 , 0.00400489])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 18 out of 14880 hypotheses for montys_heart (evidence > 3.535557731772977)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 17.975
INFO:root:Testing 14 out of 23200 hypotheses for ramen_pack (evidence > 3.535557731772977)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.121
INFO:root:Testing 109 out of 14864 hypotheses for hot_sauce (evidence > 3.535557731772977)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.653
INFO:root:Testing 84 out of 12560 hypotheses for harissa_oil (evidence > 3.535557731772977)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 17.543
INFO:root:Testing 29 out of 21832 hypotheses for tomato_soup_can (evidence > 3.535557731772977)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 15.193
INFO:root:Testing 431 out of 16976 hypotheses for mustard_bottle (evidence > 3.535557731772977)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.383
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 393 out of 19024 hypotheses for potted_meat_can (evidence > 3.535557731772977)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.588
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.97528226  8.12118023 13.65293609 17.54268691
 15.19299768 15.3826565   2.61828895 16.58780285]
DEBUG:root:mean evidence: 11.201, std: 6.261 -> th=14.380225807883761
INFO:root:current most likely hypothesis: montys_heart with evidence 17.98
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 62 ---
INFO:uvicorn.access:192.168.1.217:64475 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.18260693,  0.08779387, -0.97925837],
       [-0.43330277,  0.90124842,  0.        ],
       [ 0.88255505,  0.42431537,  0.20261553]]), 'pose_fully_defined': False}}, {'patch': array([0.00777256, 0.0038221 , 0.00312488])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 18 out of 14880 hypotheses for montys_heart (evidence > 3.5950564519709403)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 17.976
INFO:root:Testing 14 out of 23200 hypotheses for ramen_pack (evidence > 3.5950564519709403)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.29
INFO:root:Testing 100 out of 14864 hypotheses for hot_sauce (evidence > 3.5950564519709403)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.099
INFO:root:Testing 72 out of 12560 hypotheses for harissa_oil (evidence > 3.5950564519709403)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 18.015
INFO:root:Testing 31 out of 21832 hypotheses for tomato_soup_can (evidence > 3.5950564519709403)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 15.556
INFO:root:Testing 431 out of 16976 hypotheses for mustard_bottle (evidence > 3.5950564519709403)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.504
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 389 out of 19024 hypotheses for potted_meat_can (evidence > 3.5950564519709403)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.749
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.97636122  8.29015277 14.09899143 18.01507748
 15.55583156 14.50360749  2.61828895 15.7493932 ]
DEBUG:root:mean evidence: 11.174, std: 6.227 -> th=14.412061987153308
INFO:root:current most likely hypothesis: harissa_oil with evidence 18.02
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 63 ---
INFO:uvicorn.access:192.168.1.217:64475 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.35558402,  0.05293502, -0.93314409],
       [-0.14724516,  0.98910003,  0.        ],
       [ 0.92297284,  0.13740095,  0.35950259]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00386915,  0.00941673, -0.00088888])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 18 out of 14880 hypotheses for montys_heart (evidence > 3.603015496788327)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.476
INFO:root:Testing 14 out of 23200 hypotheses for ramen_pack (evidence > 3.603015496788327)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.29
INFO:root:Testing 98 out of 14864 hypotheses for hot_sauce (evidence > 3.603015496788327)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.573
INFO:root:Testing 65 out of 12560 hypotheses for harissa_oil (evidence > 3.603015496788327)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 18.44
INFO:root:Testing 31 out of 21832 hypotheses for tomato_soup_can (evidence > 3.603015496788327)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 16.02
INFO:root:Testing 429 out of 16976 hypotheses for mustard_bottle (evidence > 3.603015496788327)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.948
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 385 out of 19024 hypotheses for potted_meat_can (evidence > 3.603015496788327)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.723
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.47636122  7.29015277 14.57250105 18.43977836
 16.02045817 14.94757528  2.61828895 15.72321324]
DEBUG:root:mean evidence: 11.303, std: 6.462 -> th=14.781088978179142
INFO:root:current most likely hypothesis: montys_heart with evidence 18.48
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 64 ---
INFO:uvicorn.access:192.168.1.217:64475 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64475 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64475 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.25344305,  0.05921699, -0.9655361 ],
       [-0.22752214,  0.97377291,  0.        ],
       [ 0.9402129 ,  0.21968084,  0.26026915]]), 'pose_fully_defined': False}}, {'patch': array([-0.01712576, -0.00135195, -0.00184777])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 17 out of 14880 hypotheses for montys_heart (evidence > 3.6952722445447854)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.717
INFO:root:Testing 13 out of 23200 hypotheses for ramen_pack (evidence > 3.6952722445447854)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.489
INFO:root:Testing 88 out of 14864 hypotheses for hot_sauce (evidence > 3.6952722445447854)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.973
INFO:root:Testing 63 out of 12560 hypotheses for harissa_oil (evidence > 3.6952722445447854)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 18.859
INFO:root:Testing 45 out of 21832 hypotheses for tomato_soup_can (evidence > 3.6952722445447854)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 16.411
INFO:root:Testing 419 out of 16976 hypotheses for mustard_bottle (evidence > 3.6952722445447854)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.063
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 379 out of 19024 hypotheses for potted_meat_can (evidence > 3.6952722445447854)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.069
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.71723802  7.48875166 14.97275565 18.85850657
 16.4112532  15.06297414  2.61828895 16.06905595]
DEBUG:root:mean evidence: 11.514, std: 6.602 -> th=15.08680525285896
INFO:root:current most likely hypothesis: harissa_oil with evidence 18.86
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'harissa_oil', 'tomato_soup_can', 'montys_heart', 'potted_meat_can'}
INFO:root:--- Global Matching Step 65 ---
INFO:uvicorn.access:192.168.1.217:64475 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.21931792,  0.05545681, -0.97407607],
       [-0.24514474, -0.96948649,  0.        ],
       [-0.94435359,  0.23878962,  0.2262207 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00703677,  0.01327336, -0.00048301])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 17 out of 14880 hypotheses for montys_heart (evidence > 3.7717013132147397)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 19.071
INFO:root:Testing 13 out of 23200 hypotheses for ramen_pack (evidence > 3.7717013132147397)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.474
INFO:root:Testing 89 out of 14864 hypotheses for hot_sauce (evidence > 3.7717013132147397)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 15.411
INFO:root:Testing 62 out of 12560 hypotheses for harissa_oil (evidence > 3.7717013132147397)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 19.33
INFO:root:Testing 43 out of 21832 hypotheses for tomato_soup_can (evidence > 3.7717013132147397)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 16.885
INFO:root:Testing 417 out of 16976 hypotheses for mustard_bottle (evidence > 3.7717013132147397)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.373
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 379 out of 19024 hypotheses for potted_meat_can (evidence > 3.7717013132147397)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.553
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.07143205  7.47387576 15.41091119 19.32973759
 16.88479784 15.37311415  2.61828895 16.55310588]
DEBUG:root:mean evidence: 11.765, std: 6.803 -> th=15.463790071748026
INFO:root:current most likely hypothesis: harissa_oil with evidence 19.33
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.07143205  7.47387576 15.41091119 19.32973759
 16.88479784 15.37311415  2.61828895 16.55310588]
DEBUG:root:mean evidence: 11.765, std: 6.803 -> th=15.463790071748026
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.07143205  7.47387576 15.41091119 19.32973759
 16.88479784 15.37311415  2.61828895 16.55310588]
DEBUG:root:mean evidence: 11.765, std: 6.803 -> th=16.430276951232276
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: {'harissa_oil', 'tomato_soup_can', 'montys_heart', 'potted_meat_can'}
INFO:root:--- Global Matching Step 66 ---
INFO:uvicorn.access:192.168.1.217:64475 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64475 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.02319793,  0.07752115, -0.99672079],
       [-0.95802474, -0.28668553,  0.        ],
       [-0.28574543,  0.95488317,  0.08091769]]), 'pose_fully_defined': False}}, {'patch': array([0.01036294, 0.00311726, 0.00260296])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 17 out of 14880 hypotheses for montys_heart (evidence > 3.8659475179370055)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 19.471
INFO:root:Testing 10 out of 23200 hypotheses for ramen_pack (evidence > 3.8659475179370055)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.548
INFO:root:Testing 88 out of 14864 hypotheses for hot_sauce (evidence > 3.8659475179370055)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 15.856
INFO:root:Testing 57 out of 12560 hypotheses for harissa_oil (evidence > 3.8659475179370055)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 19.797
INFO:root:Testing 42 out of 21832 hypotheses for tomato_soup_can (evidence > 3.8659475179370055)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 15.885
INFO:root:Testing 417 out of 16976 hypotheses for mustard_bottle (evidence > 3.8659475179370055)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.586
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 379 out of 19024 hypotheses for potted_meat_can (evidence > 3.8659475179370055)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.04
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.47099901  7.54752681 15.85631483 19.79726038
 15.88479784 15.58609976  2.61828895 17.03991846]
DEBUG:root:mean evidence: 11.874, std: 6.899 -> th=15.83780830231774
INFO:root:current most likely hypothesis: harissa_oil with evidence 19.8
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 67 ---
INFO:uvicorn.access:192.168.1.217:64475 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64475 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.31529853,  0.00435676, -0.94898254],
       [-0.01381655,  0.99990455,  0.        ],
       [ 0.94889195,  0.01311167,  0.31532863]]), 'pose_fully_defined': False}}, {'patch': array([0.01196199, 0.00500503, 0.00267964])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 3.959452075579435)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.495
INFO:root:Testing 8 out of 23200 hypotheses for ramen_pack (evidence > 3.959452075579435)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.548
INFO:root:Testing 98 out of 14864 hypotheses for hot_sauce (evidence > 3.959452075579435)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 16.33
INFO:root:Testing 57 out of 12560 hypotheses for harissa_oil (evidence > 3.959452075579435)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 20.212
INFO:root:Testing 40 out of 21832 hypotheses for tomato_soup_can (evidence > 3.959452075579435)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 16.354
INFO:root:Testing 405 out of 16976 hypotheses for mustard_bottle (evidence > 3.959452075579435)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.047
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 375 out of 19024 hypotheses for potted_meat_can (evidence > 3.959452075579435)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.435
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.49525607  6.54752681 16.32951518 20.21163378
 16.35371378 15.04686554  2.61828895 17.43476013]
DEBUG:root:mean evidence: 11.797, std: 6.978 -> th=16.16930702597115
INFO:root:current most likely hypothesis: harissa_oil with evidence 20.21
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 68 ---
INFO:uvicorn.access:192.168.1.217:64475 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.54735609, -0.05690111, -0.83496321],
       [ 0.10339909,  0.99463995, -0.        ],
       [ 0.83048777, -0.08633444,  0.55030576]]), 'pose_fully_defined': False}}, {'patch': array([0.00325483, 0.00939992, 0.00288832])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 4.042326756492788)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.861
INFO:root:Testing 5 out of 23200 hypotheses for ramen_pack (evidence > 4.042326756492788)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.548
INFO:root:Testing 95 out of 14864 hypotheses for hot_sauce (evidence > 4.042326756492788)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 16.784
INFO:root:Testing 51 out of 12560 hypotheses for harissa_oil (evidence > 4.042326756492788)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 20.592
INFO:root:Testing 39 out of 21832 hypotheses for tomato_soup_can (evidence > 4.042326756492788)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 15.354
INFO:root:Testing 396 out of 16976 hypotheses for mustard_bottle (evidence > 4.042326756492788)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.476
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 371 out of 19024 hypotheses for potted_meat_can (evidence > 4.042326756492788)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.833
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.860767    5.54752681 16.78362286 20.59172382
 15.35371378 15.47630404  2.61828895 17.83334037]
DEBUG:root:mean evidence: 11.8, std: 7.168 -> th=16.473379058863408
INFO:root:current most likely hypothesis: harissa_oil with evidence 20.59
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 69 ---
INFO:uvicorn.access:192.168.1.217:64475 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.49819588, -0.03374873, -0.86640746],
       [ 0.067587  ,  0.99771338, -0.        ],
       [ 0.86442632, -0.05855788,  0.49933767]]), 'pose_fully_defined': False}}, {'patch': array([-0.01217514,  0.00319679, -0.00568512])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 4.11834476471585)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 19.137
INFO:root:Testing 3 out of 23200 hypotheses for ramen_pack (evidence > 4.11834476471585)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.848
INFO:root:Testing 92 out of 14864 hypotheses for hot_sauce (evidence > 4.11834476471585)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 17.209
INFO:root:Testing 43 out of 12560 hypotheses for harissa_oil (evidence > 4.11834476471585)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 20.917
INFO:root:Testing 38 out of 21832 hypotheses for tomato_soup_can (evidence > 4.11834476471585)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 15.618
INFO:root:Testing 376 out of 16976 hypotheses for mustard_bottle (evidence > 4.11834476471585)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.56
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 365 out of 19024 hypotheses for potted_meat_can (evidence > 4.11834476471585)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.248
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.13710473  5.84842027 17.20888169 20.91697478
 15.61763741 15.56023482  2.61828895 18.24825415]
DEBUG:root:mean evidence: 12.009, std: 7.292 -> th=16.733579820457766
INFO:root:current most likely hypothesis: harissa_oil with evidence 20.92
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 70 ---
INFO:uvicorn.access:192.168.1.217:64475 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64475 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.07607573,  0.05375703, -0.99565188],
       [-0.57708807,  0.81668192,  0.        ],
       [ 0.81313089,  0.57457882,  0.09315221]]), 'pose_fully_defined': False}}, {'patch': array([-0.01836011, -0.00156034, -0.00826855])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 4.183394955114441)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 19.494
INFO:root:Testing 3 out of 23200 hypotheses for ramen_pack (evidence > 4.183394955114441)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.964
INFO:root:Testing 92 out of 14864 hypotheses for hot_sauce (evidence > 4.183394955114441)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 16.209
INFO:root:Testing 40 out of 12560 hypotheses for harissa_oil (evidence > 4.183394955114441)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 19.917
INFO:root:Testing 38 out of 21832 hypotheses for tomato_soup_can (evidence > 4.183394955114441)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 15.952
INFO:root:Testing 355 out of 16976 hypotheses for mustard_bottle (evidence > 4.183394955114441)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.56
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 356 out of 19024 hypotheses for potted_meat_can (evidence > 4.183394955114441)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.248
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.4943825   5.96392882 16.20888169 19.91697478
 15.95207646 14.56023482  2.61828895 17.24825415]
DEBUG:root:mean evidence: 11.69, std: 7.023 -> th=15.933579820457766
INFO:root:current most likely hypothesis: harissa_oil with evidence 19.92
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 71 ---
INFO:uvicorn.access:192.168.1.217:64475 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.29734613,  0.08823379, -0.950684  ],
       [-0.28447726, -0.95868279,  0.        ],
       [-0.91140439,  0.27044798,  0.31016112]]), 'pose_fully_defined': False}}, {'patch': array([0.00030578, 0.01225355, 0.00616568])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 3.9833949551144414)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 19.841
INFO:root:Testing 7 out of 23200 hypotheses for ramen_pack (evidence > 3.9833949551144414)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.902
INFO:root:Testing 91 out of 14864 hypotheses for hot_sauce (evidence > 3.9833949551144414)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 16.66
INFO:root:Testing 39 out of 12560 hypotheses for harissa_oil (evidence > 3.9833949551144414)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 20.345
INFO:root:Testing 40 out of 21832 hypotheses for tomato_soup_can (evidence > 3.9833949551144414)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 16.423
INFO:root:Testing 352 out of 16976 hypotheses for mustard_bottle (evidence > 3.9833949551144414)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.245
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 351 out of 19024 hypotheses for potted_meat_can (evidence > 3.9833949551144414)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.666
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.84061002  5.90200037 16.65971369 20.34454445
 16.42291376 14.24509841  2.61828895 17.66567705]
DEBUG:root:mean evidence: 11.864, std: 7.197 -> th=16.275635559064966
INFO:root:current most likely hypothesis: harissa_oil with evidence 20.34
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.84061002  5.90200037 16.65971369 20.34454445
 16.42291376 14.24509841  2.61828895 17.66567705]
DEBUG:root:mean evidence: 11.864, std: 7.197 -> th=16.275635559064966
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.84061002  5.90200037 16.65971369 20.34454445
 16.42291376 14.24509841  2.61828895 17.66567705]
DEBUG:root:mean evidence: 11.864, std: 7.197 -> th=17.29286278150653
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 72 ---
INFO:uvicorn.access:192.168.1.217:64475 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64475 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.14038551,  0.09681547, -0.98535206],
       [-0.56772453, -0.82321859,  0.        ],
       [-0.81116013,  0.55940854,  0.17053248]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01127107, -0.00374237,  0.00168745])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 4.0689088897662415)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 20.214
INFO:root:Testing 5 out of 23200 hypotheses for ramen_pack (evidence > 4.0689088897662415)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.923
INFO:root:Testing 88 out of 14864 hypotheses for hot_sauce (evidence > 4.0689088897662415)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 17.096
INFO:root:Testing 36 out of 12560 hypotheses for harissa_oil (evidence > 4.0689088897662415)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 20.787
INFO:root:Testing 39 out of 21832 hypotheses for tomato_soup_can (evidence > 4.0689088897662415)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 16.9
INFO:root:Testing 340 out of 16976 hypotheses for mustard_bottle (evidence > 4.0689088897662415)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.682
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 341 out of 19024 hypotheses for potted_meat_can (evidence > 4.0689088897662415)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.102
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 20.21370296  5.92335023 17.09587709 20.78712238
 16.9001123  14.68155733  2.61828895 18.10217649]
DEBUG:root:mean evidence: 12.126, std: 7.398 -> th=16.629697904169497
INFO:root:current most likely hypothesis: harissa_oil with evidence 20.79
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 20.21370296  5.92335023 17.09587709 20.78712238
 16.9001123  14.68155733  2.61828895 18.10217649]
DEBUG:root:mean evidence: 12.126, std: 7.398 -> th=16.629697904169497
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 20.21370296  5.92335023 17.09587709 20.78712238
 16.9001123  14.68155733  2.61828895 18.10217649]
DEBUG:root:mean evidence: 12.126, std: 7.398 -> th=17.669054023180088
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 73 ---
INFO:uvicorn.access:192.168.1.217:64475 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.39293421,  0.08328025, -0.9157877 ],
       [-0.2073388 ,  0.9782692 ,  0.        ],
       [ 0.89588689,  0.18987832,  0.40166267]]), 'pose_fully_defined': False}}, {'patch': array([ 0.015551  , -0.01234502, -0.0207236 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 4.157424476042372)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 19.214
INFO:root:Testing 3 out of 23200 hypotheses for ramen_pack (evidence > 4.157424476042372)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.923
INFO:root:Testing 88 out of 14864 hypotheses for hot_sauce (evidence > 4.157424476042372)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 16.096
INFO:root:Testing 33 out of 12560 hypotheses for harissa_oil (evidence > 4.157424476042372)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 19.787
INFO:root:Testing 38 out of 21832 hypotheses for tomato_soup_can (evidence > 4.157424476042372)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 15.9
INFO:root:Testing 332 out of 16976 hypotheses for mustard_bottle (evidence > 4.157424476042372)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.682
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 336 out of 19024 hypotheses for potted_meat_can (evidence > 4.157424476042372)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.102
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.21370296  4.92335023 16.09587709 19.78712238
 15.9001123  13.68155733  2.61828895 17.10217649]
DEBUG:root:mean evidence: 11.426, std: 7.013 -> th=15.829697904169496
INFO:root:current most likely hypothesis: harissa_oil with evidence 19.79
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.21370296  4.92335023 16.09587709 19.78712238
 15.9001123  13.68155733  2.61828895 17.10217649]
DEBUG:root:mean evidence: 11.426, std: 7.013 -> th=15.829697904169496
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.21370296  4.92335023 16.09587709 19.78712238
 15.9001123  13.68155733  2.61828895 17.10217649]
DEBUG:root:mean evidence: 11.426, std: 7.013 -> th=16.819054023180087
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 74 ---
INFO:uvicorn.access:192.168.1.217:64477 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.97326195,  0.1041906 ,  0.2047083 ],
       [-0.10644478,  0.99431862,  0.        ],
       [-0.20354528, -0.02179013,  0.97882302]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01802574, -0.05584129,  0.05215162])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 3.957424476042373)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 19.635
INFO:root:Testing 5 out of 23200 hypotheses for ramen_pack (evidence > 3.957424476042373)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.386
INFO:root:Testing 86 out of 14864 hypotheses for hot_sauce (evidence > 3.957424476042373)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 16.586
INFO:root:Testing 32 out of 12560 hypotheses for harissa_oil (evidence > 3.957424476042373)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 20.216
INFO:root:Testing 36 out of 21832 hypotheses for tomato_soup_can (evidence > 3.957424476042373)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 16.383
INFO:root:Testing 329 out of 16976 hypotheses for mustard_bottle (evidence > 3.957424476042373)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.999
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 330 out of 19024 hypotheses for potted_meat_can (evidence > 3.957424476042373)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.574
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.6349612   5.38602593 16.58563867 20.21569105
 16.38283675 13.99925002  2.61828895 17.57410843]
DEBUG:root:mean evidence: 11.733, std: 7.181 -> th=16.17255284175901
INFO:root:current most likely hypothesis: harissa_oil with evidence 20.22
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.6349612   5.38602593 16.58563867 20.21569105
 16.38283675 13.99925002  2.61828895 17.57410843]
DEBUG:root:mean evidence: 11.733, std: 7.181 -> th=16.17255284175901
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.6349612   5.38602593 16.58563867 20.21569105
 16.38283675 13.99925002  2.61828895 17.57410843]
DEBUG:root:mean evidence: 11.733, std: 7.181 -> th=17.183337394368948
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 75 ---
INFO:uvicorn.access:192.168.1.217:64477 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98464803,  0.10845136,  0.13677195],
       [-0.10948019,  0.99398898,  0.        ],
       [-0.13594981, -0.01497382,  0.99060256]]), 'pose_fully_defined': False}}, {'patch': array([-0.02566049,  0.00520798, -0.00891636])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 4.0431382104397535)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.635
INFO:root:Testing 4 out of 23200 hypotheses for ramen_pack (evidence > 4.0431382104397535)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.386
INFO:root:Testing 85 out of 14864 hypotheses for hot_sauce (evidence > 4.0431382104397535)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 15.586
INFO:root:Testing 41 out of 12560 hypotheses for harissa_oil (evidence > 4.0431382104397535)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 19.216
INFO:root:Testing 36 out of 21832 hypotheses for tomato_soup_can (evidence > 4.0431382104397535)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 16.367
INFO:root:Testing 328 out of 16976 hypotheses for mustard_bottle (evidence > 4.0431382104397535)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.999
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 327 out of 19024 hypotheses for potted_meat_can (evidence > 4.0431382104397535)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.211
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.6349612   4.38602593 15.58563867 19.21569105
 16.36702161 12.99925002  2.61828895 17.21057341]
DEBUG:root:mean evidence: 11.195, std: 6.922 -> th=15.372552841759012
INFO:root:current most likely hypothesis: harissa_oil with evidence 19.22
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.6349612   4.38602593 15.58563867 19.21569105
 16.36702161 12.99925002  2.61828895 17.21057341]
DEBUG:root:mean evidence: 11.195, std: 6.922 -> th=15.372552841759012
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.6349612   4.38602593 15.58563867 19.21569105
 16.36702161 12.99925002  2.61828895 17.21057341]
DEBUG:root:mean evidence: 11.195, std: 6.922 -> th=16.33333739436895
DEBUG:root:Hypothesis jump indicated: sufficient steps elapsed with no jump
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 76 ---
INFO:uvicorn.access:192.168.1.217:64477 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64477 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99196863,  0.11592493,  0.05059303],
       [-0.11607358,  0.99324062,  0.        ],
       [-0.05025105, -0.00587251,  0.99871935]]), 'pose_fully_defined': False}}, {'patch': array([0.02247958, 0.00861191, 0.0168613 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 17 out of 14880 hypotheses for montys_heart (evidence > 3.8431382104397525)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.982
INFO:root:Testing 2 out of 23200 hypotheses for ramen_pack (evidence > 3.8431382104397525)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.672
INFO:root:Testing 88 out of 14864 hypotheses for hot_sauce (evidence > 3.8431382104397525)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 16.065
INFO:root:Testing 39 out of 12560 hypotheses for harissa_oil (evidence > 3.8431382104397525)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 19.547
INFO:root:Testing 37 out of 21832 hypotheses for tomato_soup_can (evidence > 3.8431382104397525)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 16.7
INFO:root:Testing 330 out of 16976 hypotheses for mustard_bottle (evidence > 3.8431382104397525)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.185
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 317 out of 19024 hypotheses for potted_meat_can (evidence > 3.8431382104397525)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures 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: [ 3.40482558  1.53204344 18.98189594  4.6720931  16.06504961 19.54700585
 16.70038199 13.18473368  2.61828895 17.47966642]
DEBUG:root:mean evidence: 11.419, std: 7.054 -> th=15.637604676286031
INFO:root:current most likely hypothesis: harissa_oil with evidence 19.55
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 77 ---
INFO:uvicorn.access:192.168.1.217:64477 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64477 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64477 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.77048001,  0.09986265,  0.62959353],
       [-0.12853582,  0.99170487,  0.        ],
       [-0.62437097, -0.08092532,  0.7769247 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00643918,  0.00548993, -0.0017272 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 17 out of 14880 hypotheses for montys_heart (evidence > 3.909401169071508)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 19.464
INFO:root:Testing 3 out of 23200 hypotheses for ramen_pack (evidence > 3.909401169071508)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.134
INFO:root:Testing 87 out of 14864 hypotheses for hot_sauce (evidence > 3.909401169071508)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 16.54
INFO:root:Testing 293 out of 12560 hypotheses for harissa_oil (evidence > 3.909401169071508)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 19.992
INFO:root:Testing 38 out of 21832 hypotheses for tomato_soup_can (evidence > 3.909401169071508)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 17.118
INFO:root:Testing 330 out of 16976 hypotheses for mustard_bottle (evidence > 3.909401169071508)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.627
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 317 out of 19024 hypotheses for potted_meat_can (evidence > 3.909401169071508)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.921
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.46443401  5.13359511 16.53973496 19.99182543
 17.11833679 13.62667748  2.61828895 17.92086972]
DEBUG:root:mean evidence: 11.735, std: 7.225 -> th=15.993460340011447
INFO:root:current most likely hypothesis: harissa_oil with evidence 19.99
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 78 ---
INFO:uvicorn.access:192.168.1.217:64477 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 9.94675162e-01,  1.03059609e-01,  1.98218803e-04],
       [-1.03059611e-01,  9.94675181e-01,  0.00000000e+00],
       [-1.97163324e-04, -2.04283528e-05,  9.99999980e-01]]), 'pose_fully_defined': False}}, {'patch': array([-0.00600078, -0.0046031 , -0.01688963])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 17 out of 14880 hypotheses for montys_heart (evidence > 3.9983650850028614)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.464
INFO:root:Testing 12 out of 23200 hypotheses for ramen_pack (evidence > 3.9983650850028614)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.291
INFO:root:Testing 88 out of 14864 hypotheses for hot_sauce (evidence > 3.9983650850028614)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 15.54
INFO:root:Testing 289 out of 12560 hypotheses for harissa_oil (evidence > 3.9983650850028614)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 18.992
INFO:root:Testing 89 out of 21832 hypotheses for tomato_soup_can (evidence > 3.9983650850028614)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 16.118
INFO:root:Testing 329 out of 16976 hypotheses for mustard_bottle (evidence > 3.9983650850028614)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.627
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 317 out of 19024 hypotheses for potted_meat_can (evidence > 3.9983650850028614)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.504
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.46443401  5.29099104 15.53973496 18.99182543
 16.11833679 12.62667748  2.61828895 17.5043993 ]
DEBUG:root:mean evidence: 11.209, std: 6.79 -> th=15.193460340011447
INFO:root:current most likely hypothesis: harissa_oil with evidence 18.99
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 79 ---
INFO:uvicorn.access:192.168.1.217:64477 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64477 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.96695299,  0.05519903, -0.24890757],
       [-0.05699275,  0.99837459,  0.        ],
       [ 0.248503  ,  0.01418593,  0.96852724]]), 'pose_fully_defined': False}}, {'patch': array([-0.01685576,  0.008857  , -0.00189893])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 3.7983650850028603)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 17.464
INFO:root:Testing 28 out of 23200 hypotheses for ramen_pack (evidence > 3.7983650850028603)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.291
INFO:root:Testing 101 out of 14864 hypotheses for hot_sauce (evidence > 3.7983650850028603)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.54
INFO:root:Testing 323 out of 12560 hypotheses for harissa_oil (evidence > 3.7983650850028603)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 17.992
INFO:root:Testing 217 out of 21832 hypotheses for tomato_soup_can (evidence > 3.7983650850028603)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 15.118
INFO:root:Testing 323 out of 16976 hypotheses for mustard_bottle (evidence > 3.7983650850028603)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.627
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 308 out of 19024 hypotheses for potted_meat_can (evidence > 3.7983650850028603)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.504
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.46443401  4.29099104 14.53973496 17.99182543
 15.11833679 11.62667748  2.61828895 16.5043993 ]
DEBUG:root:mean evidence: 10.509, std: 6.411 -> th=14.393460340011448
INFO:root:current most likely hypothesis: harissa_oil with evidence 17.99
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 80 ---
INFO:uvicorn.access:192.168.1.217:64477 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64477 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.92941222,  0.02055306, -0.36847048],
       [-0.02210863,  0.99975557,  0.        ],
       [ 0.36838042,  0.00814638,  0.92963945]]), 'pose_fully_defined': False}}, {'patch': array([0.02337007, 0.00692335, 0.00437606])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 17 out of 14880 hypotheses for montys_heart (evidence > 3.598365085002861)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 17.755
INFO:root:Testing 28 out of 23200 hypotheses for ramen_pack (evidence > 3.598365085002861)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.611
INFO:root:Testing 117 out of 14864 hypotheses for hot_sauce (evidence > 3.598365085002861)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 15.011
INFO:root:Testing 630 out of 12560 hypotheses for harissa_oil (evidence > 3.598365085002861)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 18.418
INFO:root:Testing 216 out of 21832 hypotheses for tomato_soup_can (evidence > 3.598365085002861)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 15.553
INFO:root:Testing 308 out of 16976 hypotheses for mustard_bottle (evidence > 3.598365085002861)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.962
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 303 out of 19024 hypotheses for potted_meat_can (evidence > 3.598365085002861)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.941
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.75490226  4.61145057 15.01138578 18.41821129
 15.55250257 10.96198516  2.61828895 16.94092715]
DEBUG:root:mean evidence: 10.681, std: 6.559 -> th=14.734569029229963
INFO:root:current most likely hypothesis: harissa_oil with evidence 18.42
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 81 ---
INFO:uvicorn.access:192.168.1.217:64477 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64477 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.91790722,  0.07166681,  0.3902694 ],
       [-0.07783942,  0.99696591,  0.        ],
       [-0.38908529, -0.03037834,  0.92070071]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00224005, -0.00032085,  0.0080939 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 3.68364225730749)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.084
INFO:root:Testing 26 out of 23200 hypotheses for ramen_pack (evidence > 3.68364225730749)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.979
INFO:root:Testing 114 out of 14864 hypotheses for hot_sauce (evidence > 3.68364225730749)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 15.484
INFO:root:Testing 377 out of 12560 hypotheses for harissa_oil (evidence > 3.68364225730749)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 18.826
INFO:root:Testing 178 out of 21832 hypotheses for tomato_soup_can (evidence > 3.68364225730749)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 15.972
INFO:root:Testing 245 out of 16976 hypotheses for mustard_bottle (evidence > 3.68364225730749)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.345
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 249 out of 19024 hypotheses for potted_meat_can (evidence > 3.68364225730749)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.401
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.08447047  4.97931246 15.48389005 18.82597902
 15.97206059 11.345256    2.61828895 17.40146829]
DEBUG:root:mean evidence: 10.965, std: 6.717 -> th=15.060783218235091
INFO:root:current most likely hypothesis: harissa_oil with evidence 18.83
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.08447047  4.97931246 15.48389005 18.82597902
 15.97206059 11.345256    2.61828895 17.40146829]
DEBUG:root:mean evidence: 10.965, std: 6.717 -> th=15.060783218235091
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.08447047  4.97931246 15.48389005 18.82597902
 15.97206059 11.345256    2.61828895 17.40146829]
DEBUG:root:mean evidence: 10.965, std: 6.717 -> th=16.002082169374784
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 82 ---
INFO:uvicorn.access:192.168.1.217:64477 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.95059552, -0.04078183, -0.30774178],
       [ 0.04286192,  0.99908101, -0.        ],
       [ 0.30745897, -0.0131904 ,  0.95146991]]), 'pose_fully_defined': False}}, {'patch': array([-0.00325148,  0.01807793, -0.00442332])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 3.765195804558772)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.459
INFO:root:Testing 26 out of 23200 hypotheses for ramen_pack (evidence > 3.765195804558772)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.443
INFO:root:Testing 121 out of 14864 hypotheses for hot_sauce (evidence > 3.765195804558772)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 15.949
INFO:root:Testing 358 out of 12560 hypotheses for harissa_oil (evidence > 3.765195804558772)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 19.233
INFO:root:Testing 178 out of 21832 hypotheses for tomato_soup_can (evidence > 3.765195804558772)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 16.41
INFO:root:Testing 240 out of 16976 hypotheses for mustard_bottle (evidence > 3.765195804558772)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.566
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 239 out of 19024 hypotheses for potted_meat_can (evidence > 3.765195804558772)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.794
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.45860881  5.44305935 15.94899378 19.23310409
 16.41026422 11.56556087  2.61828895 17.79401276]
DEBUG:root:mean evidence: 11.241, std: 6.867 -> th=15.386483275605471
INFO:root:current most likely hypothesis: harissa_oil with evidence 19.23
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.45860881  5.44305935 15.94899378 19.23310409
 16.41026422 11.56556087  2.61828895 17.79401276]
DEBUG:root:mean evidence: 11.241, std: 6.867 -> th=15.386483275605471
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.45860881  5.44305935 15.94899378 19.23310409
 16.41026422 11.56556087  2.61828895 17.79401276]
DEBUG:root:mean evidence: 11.241, std: 6.867 -> th=16.348138480330814
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 83 ---
INFO:uvicorn.access:192.168.1.217:64477 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64477 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98481449,  0.03232915,  0.1705733 ],
       [-0.03280998,  0.99946161,  0.        ],
       [-0.17048147, -0.00559651,  0.98534499]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00232138, -0.00304025,  0.01866025])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 3.8466208189013678)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.747
INFO:root:Testing 26 out of 23200 hypotheses for ramen_pack (evidence > 3.8466208189013678)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.758
INFO:root:Testing 120 out of 14864 hypotheses for hot_sauce (evidence > 3.8466208189013678)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 16.322
INFO:root:Testing 259 out of 12560 hypotheses for harissa_oil (evidence > 3.8466208189013678)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 19.536
INFO:root:Testing 177 out of 21832 hypotheses for tomato_soup_can (evidence > 3.8466208189013678)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 16.802
INFO:root:Testing 218 out of 16976 hypotheses for mustard_bottle (evidence > 3.8466208189013678)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.788
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 201 out of 19024 hypotheses for potted_meat_can (evidence > 3.8466208189013678)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.142
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.74710833  5.75822098 16.32185272 19.5364896
 16.80151298 11.78802762  2.61828895 18.14227575]
DEBUG:root:mean evidence: 11.465, std: 6.996 -> th=15.629191676469583
INFO:root:current most likely hypothesis: harissa_oil with evidence 19.54
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.74710833  5.75822098 16.32185272 19.5364896
 16.80151298 11.78802762  2.61828895 18.14227575]
DEBUG:root:mean evidence: 11.465, std: 6.996 -> th=15.629191676469583
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.74710833  5.75822098 16.32185272 19.5364896
 16.80151298 11.78802762  2.61828895 18.14227575]
DEBUG:root:mean evidence: 11.465, std: 6.996 -> th=16.60601615624893
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 84 ---
INFO:uvicorn.access:192.168.1.217:64477 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.74914734,  0.06042845,  0.65964131],
       [-0.08040183,  0.99676253,  0.        ],
       [-0.65750575, -0.05303637,  0.75158056]]), 'pose_fully_defined': False}}, {'patch': array([-0.0074678 ,  0.01335512, -0.02256056])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 3.9072979191173953)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 17.747
INFO:root:Testing 26 out of 23200 hypotheses for ramen_pack (evidence > 3.9072979191173953)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.964
INFO:root:Testing 117 out of 14864 hypotheses for hot_sauce (evidence > 3.9072979191173953)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 15.957
INFO:root:Testing 185 out of 12560 hypotheses for harissa_oil (evidence > 3.9072979191173953)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 18.536
INFO:root:Testing 156 out of 21832 hypotheses for tomato_soup_can (evidence > 3.9072979191173953)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 15.802
INFO:root:Testing 218 out of 16976 hypotheses for mustard_bottle (evidence > 3.9072979191173953)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.722
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 203 out of 19024 hypotheses for potted_meat_can (evidence > 3.9072979191173953)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.093
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.74710833  5.96418618 15.95650919 18.5364896
 15.80151298 11.72198006  2.61828895 18.09296899]
DEBUG:root:mean evidence: 11.138, std: 6.66 -> th=14.829191676469582
INFO:root:current most likely hypothesis: harissa_oil with evidence 18.54
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.74710833  5.96418618 15.95650919 18.5364896
 15.80151298 11.72198006  2.61828895 18.09296899]
DEBUG:root:mean evidence: 11.138, std: 6.66 -> th=14.829191676469582
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.74710833  5.96418618 15.95650919 18.5364896
 15.80151298 11.72198006  2.61828895 18.09296899]
DEBUG:root:mean evidence: 11.138, std: 6.66 -> th=15.756016156248933
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', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 85 ---
INFO:uvicorn.access:192.168.1.217:64477 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64477 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.89040168,  0.10457492, -0.44299992],
       [-0.11664517,  0.99317365,  0.        ],
       [ 0.43997585,  0.0516738 ,  0.89652165]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00696434, -0.01010454,  0.00112013])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 3.7072979191173943)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.115
INFO:root:Testing 26 out of 23200 hypotheses for ramen_pack (evidence > 3.7072979191173943)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.398
INFO:root:Testing 130 out of 14864 hypotheses for hot_sauce (evidence > 3.7072979191173943)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 16.403
INFO:root:Testing 172 out of 12560 hypotheses for harissa_oil (evidence > 3.7072979191173943)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 18.999
INFO:root:Testing 165 out of 21832 hypotheses for tomato_soup_can (evidence > 3.7072979191173943)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 16.212
INFO:root:Testing 195 out of 16976 hypotheses for mustard_bottle (evidence > 3.7072979191173943)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.082
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 193 out of 19024 hypotheses for potted_meat_can (evidence > 3.7072979191173943)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.563
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.11479577  6.39804232 16.40306316 18.9993406
 16.21157059 12.08150634  2.61828895 18.56277112]
DEBUG:root:mean evidence: 11.433, std: 6.828 -> th=15.199472480659045
INFO:root:current most likely hypothesis: harissa_oil with evidence 19.0
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 86 ---
INFO:uvicorn.access:192.168.1.217:64477 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64477 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.83306862,  0.15706822,  0.53040196],
       [-0.1852774 ,  0.98268626,  0.        ],
       [-0.52121872, -0.09827149,  0.84774628]]), 'pose_fully_defined': False}}, {'patch': array([-0.00135268,  0.00945938,  0.00316513])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 3.79986812016476)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.459
INFO:root:Testing 25 out of 23200 hypotheses for ramen_pack (evidence > 3.79986812016476)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.714
INFO:root:Testing 143 out of 14864 hypotheses for hot_sauce (evidence > 3.79986812016476)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 16.819
INFO:root:Testing 140 out of 12560 hypotheses for harissa_oil (evidence > 3.79986812016476)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 19.176
INFO:root:Testing 163 out of 21832 hypotheses for tomato_soup_can (evidence > 3.79986812016476)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 16.457
INFO:root:Testing 164 out of 16976 hypotheses for mustard_bottle (evidence > 3.79986812016476)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.571
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 158 out of 19024 hypotheses for potted_meat_can (evidence > 3.79986812016476)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.796
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.45906819  6.71398881 16.81949142 19.17606813
 16.45674256 12.57096637  2.61828895 18.79572401]
DEBUG:root:mean evidence: 11.655, std: 6.936 -> th=15.340854501407126
INFO:root:current most likely hypothesis: harissa_oil with evidence 19.18
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 87 ---
INFO:uvicorn.access:192.168.1.217:64477 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.79630407,  0.01659567, -0.60466885],
       [-0.02083634,  0.9997829 ,  0.        ],
       [ 0.60453758,  0.01259909,  0.79647698]]), 'pose_fully_defined': False}}, {'patch': array([-0.0031256 ,  0.00517464, -0.00348614])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 3.8352136253517806)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.86
INFO:root:Testing 25 out of 23200 hypotheses for ramen_pack (evidence > 3.8352136253517806)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.039
INFO:root:Testing 142 out of 14864 hypotheses for hot_sauce (evidence > 3.8352136253517806)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 17.169
INFO:root:Testing 117 out of 12560 hypotheses for harissa_oil (evidence > 3.8352136253517806)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 19.573
INFO:root:Testing 163 out of 21832 hypotheses for tomato_soup_can (evidence > 3.8352136253517806)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 15.457
INFO:root:Testing 147 out of 16976 hypotheses for mustard_bottle (evidence > 3.8352136253517806)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.979
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 138 out of 19024 hypotheses for potted_meat_can (evidence > 3.8352136253517806)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 19.213
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.85951777  7.03905095 17.16932315 19.57316836
 15.45674256 12.97935275  2.61828895 19.21333787]
DEBUG:root:mean evidence: 11.785, std: 7.012 -> th=15.658534688749564
INFO:root:current most likely hypothesis: harissa_oil with evidence 19.57
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 88 ---
INFO:uvicorn.access:192.168.1.217:64477 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64477 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99016338,  0.12340922, -0.06592907],
       [-0.12367831,  0.99232237,  0.        ],
       [ 0.06542289,  0.008154  ,  0.99782431]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00683403, -0.00348803,  0.0162749 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 3.9146336721873904)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 19.053
INFO:root:Testing 22 out of 23200 hypotheses for ramen_pack (evidence > 3.9146336721873904)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.374
INFO:root:Testing 141 out of 14864 hypotheses for hot_sauce (evidence > 3.9146336721873904)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 17.453
INFO:root:Testing 103 out of 12560 hypotheses for harissa_oil (evidence > 3.9146336721873904)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 20.016
INFO:root:Testing 146 out of 21832 hypotheses for tomato_soup_can (evidence > 3.9146336721873904)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 15.833
INFO:root:Testing 124 out of 16976 hypotheses for mustard_bottle (evidence > 3.9146336721873904)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.164
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 133 out of 19024 hypotheses for potted_meat_can (evidence > 3.9146336721873904)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 19.67
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.053245    7.37365731 17.45250202 20.01579577
 15.83282619 13.1638905   2.61828895 19.66953281]
DEBUG:root:mean evidence: 12.012, std: 7.152 -> th=16.012636619356563
INFO:root:current most likely hypothesis: harissa_oil with evidence 20.02
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 89 ---
INFO:uvicorn.access:192.168.1.217:64477 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64477 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.80835367,  0.17573348,  0.56185593],
       [-0.21243474,  0.97717526,  0.        ],
       [-0.54903171, -0.11935772,  0.8272351 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00788792,  0.00475457,  0.01070093])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 4.003159154839139)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 19.489
INFO:root:Testing 22 out of 23200 hypotheses for ramen_pack (evidence > 4.003159154839139)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.857
INFO:root:Testing 128 out of 14864 hypotheses for hot_sauce (evidence > 4.003159154839139)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 17.838
INFO:root:Testing 79 out of 12560 hypotheses for harissa_oil (evidence > 4.003159154839139)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 20.422
INFO:root:Testing 126 out of 21832 hypotheses for tomato_soup_can (evidence > 4.003159154839139)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 16.138
INFO:root:Testing 123 out of 16976 hypotheses for mustard_bottle (evidence > 4.003159154839139)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.602
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 130 out of 19024 hypotheses for potted_meat_can (evidence > 4.003159154839139)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 20.061
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.48903519  7.8574515  17.83816511 20.42198951
 16.13821803 13.60246943  2.61828895 20.06144776]
DEBUG:root:mean evidence: 12.296, std: 7.304 -> th=16.337591607849284
INFO:root:current most likely hypothesis: harissa_oil with evidence 20.42
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 90 ---
INFO:uvicorn.access:192.168.1.217:64477 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.82484199,  0.1565469 ,  0.54325754],
       [-0.18646167,  0.98246224,  0.        ],
       [-0.53373002, -0.10129671,  0.8395661 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00146347,  0.00297842, -0.01210187])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 4.084397901962319)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 19.908
INFO:root:Testing 21 out of 23200 hypotheses for ramen_pack (evidence > 4.084397901962319)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.262
INFO:root:Testing 124 out of 14864 hypotheses for hot_sauce (evidence > 4.084397901962319)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 18.326
INFO:root:Testing 59 out of 12560 hypotheses for harissa_oil (evidence > 4.084397901962319)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 20.287
INFO:root:Testing 109 out of 21832 hypotheses for tomato_soup_can (evidence > 4.084397901962319)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 16.561
INFO:root:Testing 122 out of 16976 hypotheses for mustard_bottle (evidence > 4.084397901962319)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.082
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 129 out of 19024 hypotheses for potted_meat_can (evidence > 4.084397901962319)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 20.517
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.90765467  8.26204251 18.32643505 20.28696136
 16.56077446 14.08246943  2.61828895 20.5169864 ]
DEBUG:root:mean evidence: 12.55, std: 7.425 -> th=16.41358911939428
INFO:root:current most likely hypothesis: potted_meat_can with evidence 20.52
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.90765467  8.26204251 18.32643505 20.28696136
 16.56077446 14.08246943  2.61828895 20.5169864 ]
DEBUG:root:mean evidence: 12.55, std: 7.425 -> th=16.41358911939428
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.90765467  8.26204251 18.32643505 20.28696136
 16.56077446 14.08246943  2.61828895 20.5169864 ]
DEBUG:root:mean evidence: 12.55, std: 7.425 -> th=17.439438439356422
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', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 91 ---
INFO:uvicorn.access:192.168.1.217:64477 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64477 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99337677,  0.11399425, -0.01441871],
       [-0.11400611,  0.99348005,  0.        ],
       [ 0.01432471,  0.00164382,  0.99989604]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00611249, -0.00464245, -0.01397419])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 4.1033972798485685)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 20.338
INFO:root:Testing 21 out of 23200 hypotheses for ramen_pack (evidence > 4.1033972798485685)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.699
INFO:root:Testing 123 out of 14864 hypotheses for hot_sauce (evidence > 4.1033972798485685)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 18.816
INFO:root:Testing 49 out of 12560 hypotheses for harissa_oil (evidence > 4.1033972798485685)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 20.678
INFO:root:Testing 104 out of 21832 hypotheses for tomato_soup_can (evidence > 4.1033972798485685)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 16.996
INFO:root:Testing 122 out of 16976 hypotheses for mustard_bottle (evidence > 4.1033972798485685)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.493
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 129 out of 19024 hypotheses for potted_meat_can (evidence > 4.1033972798485685)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 20.836
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 20.33754195  8.69907147 18.81586904 20.67756351
 16.99616712 14.4930805   2.61828895 20.83636567]
DEBUG:root:mean evidence: 12.841, std: 7.588 -> th=16.669092534584316
INFO:root:current most likely hypothesis: potted_meat_can with evidence 20.84
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 92 ---
INFO:uvicorn.access:192.168.1.217:64477 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.97244505,  0.04562286, -0.22862453],
       [-0.04686407,  0.99890128,  0.        ],
       [ 0.22837334,  0.01071428,  0.97351468]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00142243,  0.002439  , -0.00191548])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 4.167273133646077)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 20.761
INFO:root:Testing 20 out of 23200 hypotheses for ramen_pack (evidence > 4.167273133646077)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.109
INFO:root:Testing 120 out of 14864 hypotheses for hot_sauce (evidence > 4.167273133646077)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 19.273
INFO:root:Testing 48 out of 12560 hypotheses for harissa_oil (evidence > 4.167273133646077)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 21.115
INFO:root:Testing 102 out of 21832 hypotheses for tomato_soup_can (evidence > 4.167273133646077)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 17.468
INFO:root:Testing 122 out of 16976 hypotheses for mustard_bottle (evidence > 4.167273133646077)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.911
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 128 out of 19024 hypotheses for potted_meat_can (evidence > 4.167273133646077)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 21.23
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 20.76074955  9.10925379 19.27267068 21.11498218
 17.46839421 14.91059162  2.61828895 21.22989308]
DEBUG:root:mean evidence: 13.142, std: 7.766 -> th=16.983914461653864
INFO:root:current most likely hypothesis: potted_meat_can with evidence 21.23
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 93 ---
INFO:uvicorn.access:192.168.1.217:64480 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.387309  ,  0.20838579,  0.89809081],
       [-0.47380859,  0.88062786,  0.        ],
       [-0.79088378, -0.42552314,  0.43981007]]), 'pose_fully_defined': False}}, {'patch': array([-0.00667003, -0.06643504,  0.02558832])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 4.245978615413467)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 21.081
INFO:root:Testing 19 out of 23200 hypotheses for ramen_pack (evidence > 4.245978615413467)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.476
INFO:root:Testing 119 out of 14864 hypotheses for hot_sauce (evidence > 4.245978615413467)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 19.662
INFO:root:Testing 45 out of 12560 hypotheses for harissa_oil (evidence > 4.245978615413467)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 21.492
INFO:root:Testing 99 out of 21832 hypotheses for tomato_soup_can (evidence > 4.245978615413467)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 17.826
INFO:root:Testing 121 out of 16976 hypotheses for mustard_bottle (evidence > 4.245978615413467)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.3
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 125 out of 19024 hypotheses for potted_meat_can (evidence > 4.245978615413467)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 21.612
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 21.08102653  9.47617147 19.66176846 21.49240333
 17.8263612  15.29968925  2.61828895 21.6123192 ]
DEBUG:root:mean evidence: 13.4, std: 7.917 -> th=17.289855357630323
INFO:root:current most likely hypothesis: potted_meat_can with evidence 21.61
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 94 ---
INFO:uvicorn.access:192.168.1.217:64480 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64480 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.74553817,  0.19759461,  0.63649761],
       [-0.25619095,  0.96662619,  0.        ],
       [-0.61525526, -0.16306493,  0.77127867]]), 'pose_fully_defined': False}}, {'patch': array([-0.00712802, -0.00017335, -0.0007679 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 4.322463839407579)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 21.514
INFO:root:Testing 19 out of 23200 hypotheses for ramen_pack (evidence > 4.322463839407579)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.844
INFO:root:Testing 119 out of 14864 hypotheses for hot_sauce (evidence > 4.322463839407579)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.042
INFO:root:Testing 45 out of 12560 hypotheses for harissa_oil (evidence > 4.322463839407579)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 21.86
INFO:root:Testing 100 out of 21832 hypotheses for tomato_soup_can (evidence > 4.322463839407579)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 18.238
INFO:root:Testing 122 out of 16976 hypotheses for mustard_bottle (evidence > 4.322463839407579)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.734
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 125 out of 19024 hypotheses for potted_meat_can (evidence > 4.322463839407579)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 22.026
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 21.5140039   9.84399077 20.04210395 21.86022263
 18.23837307 15.73445092  2.61828895 22.02596096]
DEBUG:root:mean evidence: 13.681, std: 8.085 -> th=17.620768766367583
INFO:root:current most likely hypothesis: potted_meat_can with evidence 22.03
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 95 ---
INFO:uvicorn.access:192.168.1.217:64480 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64480 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.47282604,  0.18813725,  0.86083675],
       [-0.36970759,  0.92914816,  0.        ],
       [-0.79984488, -0.31825788,  0.50888122]]), 'pose_fully_defined': False}}, {'patch': array([0.0073867 , 0.01309306, 0.00118623])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 4.405192191591894)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 21.868
INFO:root:Testing 20 out of 23200 hypotheses for ramen_pack (evidence > 4.405192191591894)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.112
INFO:root:Testing 122 out of 14864 hypotheses for hot_sauce (evidence > 4.405192191591894)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.468
INFO:root:Testing 59 out of 12560 hypotheses for harissa_oil (evidence > 4.405192191591894)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 22.231
INFO:root:Testing 100 out of 21832 hypotheses for tomato_soup_can (evidence > 4.405192191591894)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 18.635
INFO:root:Testing 205 out of 16976 hypotheses for mustard_bottle (evidence > 4.405192191591894)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.13
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 125 out of 19024 hypotheses for potted_meat_can (evidence > 4.405192191591894)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 22.433
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 21.86789078 10.11167386 20.46808725 22.23121551
 18.63459312 16.13046633  2.61828895 22.43272321]
DEBUG:root:mean evidence: 13.943, std: 8.252 -> th=17.946178565857426
INFO:root:current most likely hypothesis: potted_meat_can with evidence 22.43
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 96 ---
INFO:uvicorn.access:192.168.1.217:64480 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64480 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.54182227,  0.19033693,  0.81865773],
       [-0.33143476,  0.94347814,  0.        ],
       [-0.77238567, -0.27133163,  0.57428174]]), 'pose_fully_defined': False}}, {'patch': array([-0.00143618,  0.01126765, -0.00214373])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 4.486544641464356)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 22.264
INFO:root:Testing 21 out of 23200 hypotheses for ramen_pack (evidence > 4.486544641464356)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.484
INFO:root:Testing 132 out of 14864 hypotheses for hot_sauce (evidence > 4.486544641464356)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 20.926
INFO:root:Testing 210 out of 12560 hypotheses for harissa_oil (evidence > 4.486544641464356)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 22.613
INFO:root:Testing 108 out of 21832 hypotheses for tomato_soup_can (evidence > 4.486544641464356)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 19.03
INFO:root:Testing 278 out of 16976 hypotheses for mustard_bottle (evidence > 4.486544641464356)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.533
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 127 out of 19024 hypotheses for potted_meat_can (evidence > 4.486544641464356)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 22.868
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 22.26443212 10.48436741 20.92551753 22.61284404
 19.03021292 16.53314737  2.61828895 22.86824223]
DEBUG:root:mean evidence: 14.227, std: 8.426 -> th=18.294593781488587
INFO:root:current most likely hypothesis: potted_meat_can with evidence 22.87
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 22.26443212 10.48436741 20.92551753 22.61284404
 19.03021292 16.53314737  2.61828895 22.86824223]
DEBUG:root:mean evidence: 14.227, std: 8.426 -> th=18.294593781488587
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 22.26443212 10.48436741 20.92551753 22.61284404
 19.03021292 16.53314737  2.61828895 22.86824223]
DEBUG:root:mean evidence: 14.227, std: 8.426 -> th=19.438005892831622
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 97 ---
INFO:uvicorn.access:192.168.1.217:64480 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64480 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.31614485,  0.20506697,  0.92628288],
       [-0.54419119,  0.83896123,  0.        ],
       [-0.77711543, -0.50407498,  0.37682891]]), 'pose_fully_defined': False}}, {'patch': array([-0.00533388,  0.00669759,  0.00023984])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 4.573648445372147)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 22.542
INFO:root:Testing 60 out of 23200 hypotheses for ramen_pack (evidence > 4.573648445372147)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.902
INFO:root:Testing 193 out of 14864 hypotheses for hot_sauce (evidence > 4.573648445372147)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.367
INFO:root:Testing 1441 out of 12560 hypotheses for harissa_oil (evidence > 4.573648445372147)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 22.94
INFO:root:Testing 124 out of 21832 hypotheses for tomato_soup_can (evidence > 4.573648445372147)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 19.43
INFO:root:Testing 328 out of 16976 hypotheses for mustard_bottle (evidence > 4.573648445372147)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.839
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 132 out of 19024 hypotheses for potted_meat_can (evidence > 4.573648445372147)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 23.207
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 22.54235491 10.90218454 21.36700625 22.94036112
 19.4300432  16.83903125  2.61828895 23.20684207]
DEBUG:root:mean evidence: 14.478, std: 8.568 -> th=18.565473655062647
INFO:root:current most likely hypothesis: potted_meat_can with evidence 23.21
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 22.54235491 10.90218454 21.36700625 22.94036112
 19.4300432  16.83903125  2.61828895 23.20684207]
DEBUG:root:mean evidence: 14.478, std: 8.568 -> th=18.565473655062647
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 22.54235491 10.90218454 21.36700625 22.94036112
 19.4300432  16.83903125  2.61828895 23.20684207]
DEBUG:root:mean evidence: 14.478, std: 8.568 -> th=19.725815758504062
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 98 ---
INFO:uvicorn.access:192.168.1.217:64480 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64480 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64480 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.28164976,  0.2173364 ,  0.93457921],
       [-0.61091575,  0.79169562,  0.        ],
       [-0.73990226, -0.57094916,  0.35575512]]), 'pose_fully_defined': False}}, {'patch': array([ 0.006969  ,  0.00038128, -0.00181253])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 4.641368413765662)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 22.802
INFO:root:Testing 59 out of 23200 hypotheses for ramen_pack (evidence > 4.641368413765662)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.141
INFO:root:Testing 193 out of 14864 hypotheses for hot_sauce (evidence > 4.641368413765662)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.664
INFO:root:Testing 1437 out of 12560 hypotheses for harissa_oil (evidence > 4.641368413765662)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 23.216
INFO:root:Testing 139 out of 21832 hypotheses for tomato_soup_can (evidence > 4.641368413765662)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 19.738
INFO:root:Testing 327 out of 16976 hypotheses for mustard_bottle (evidence > 4.641368413765662)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.089
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 157 out of 19024 hypotheses for potted_meat_can (evidence > 4.641368413765662)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 23.527
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 22.80204313 11.14145492 21.66352072 23.21643934
 19.73766302 17.08936247  2.61828895 23.52698621]
DEBUG:root:mean evidence: 14.673, std: 8.691 -> th=18.821588969554877
INFO:root:current most likely hypothesis: potted_meat_can with evidence 23.53
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 22.80204313 11.14145492 21.66352072 23.21643934
 19.73766302 17.08936247  2.61828895 23.52698621]
DEBUG:root:mean evidence: 14.673, std: 8.691 -> th=18.821588969554877
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 22.80204313 11.14145492 21.66352072 23.21643934
 19.73766302 17.08936247  2.61828895 23.52698621]
DEBUG:root:mean evidence: 14.673, std: 8.691 -> th=19.99793828015206
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 99 ---
INFO:uvicorn.access:192.168.1.217:64480 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64480 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64480 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.75265855,  0.1666114 ,  0.63698175],
       [-0.21613175,  0.97636421,  0.        ],
       [-0.62192618, -0.13767198,  0.77087888]]), 'pose_fully_defined': False}}, {'patch': array([-0.00022436,  0.01448332, -0.00079924])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 4.70539724238872)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 23.297
INFO:root:Testing 59 out of 23200 hypotheses for ramen_pack (evidence > 4.70539724238872)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.598
INFO:root:Testing 193 out of 14864 hypotheses for hot_sauce (evidence > 4.70539724238872)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 22.125
INFO:root:Testing 1338 out of 12560 hypotheses for harissa_oil (evidence > 4.70539724238872)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 23.619
INFO:root:Testing 181 out of 21832 hypotheses for tomato_soup_can (evidence > 4.70539724238872)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 20.122
INFO:root:Testing 327 out of 16976 hypotheses for mustard_bottle (evidence > 4.70539724238872)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.561
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 167 out of 19024 hypotheses for potted_meat_can (evidence > 4.70539724238872)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 23.973
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 23.2972317  11.59764664 22.1245654  23.61896265
 20.12155317 17.56061731  2.61828895 23.9727531 ]
DEBUG:root:mean evidence: 14.985, std: 8.876 -> th=19.178202477822474
INFO:root:current most likely hypothesis: potted_meat_can with evidence 23.97
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 23.2972317  11.59764664 22.1245654  23.61896265
 20.12155317 17.56061731  2.61828895 23.9727531 ]
DEBUG:root:mean evidence: 14.985, std: 8.876 -> th=19.178202477822474
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 23.2972317  11.59764664 22.1245654  23.61896265
 20.12155317 17.56061731  2.61828895 23.9727531 ]
DEBUG:root:mean evidence: 14.985, std: 8.876 -> th=20.37684013268638
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 100 ---
INFO:uvicorn.access:192.168.1.217:64480 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64480 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64480 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.37389768,  0.21736717,  0.90163853],
       [-0.50259419,  0.86452246,  0.        ],
       [-0.77948675, -0.45315829,  0.43249042]]), 'pose_fully_defined': False}}, {'patch': array([-0.00864194,  0.00062509,  0.00854397])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 19 out of 14880 hypotheses for montys_heart (evidence > 4.794550619455617)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 23.759
INFO:root:Testing 59 out of 23200 hypotheses for ramen_pack (evidence > 4.794550619455617)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.039
INFO:root:Testing 193 out of 14864 hypotheses for hot_sauce (evidence > 4.794550619455617)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 22.555
INFO:root:Testing 709 out of 12560 hypotheses for harissa_oil (evidence > 4.794550619455617)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 23.972
INFO:root:Testing 443 out of 21832 hypotheses for tomato_soup_can (evidence > 4.794550619455617)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 20.491
INFO:root:Testing 369 out of 16976 hypotheses for mustard_bottle (evidence > 4.794550619455617)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.882
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 240 out of 19024 hypotheses for potted_meat_can (evidence > 4.794550619455617)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 24.338
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 23.75888965 12.0388111  22.5551646  23.97213764
 20.49079851 17.88156448  2.61828895 24.33833791]
DEBUG:root:mean evidence: 15.259, std: 9.04 -> th=19.470670327803305
INFO:root:current most likely hypothesis: potted_meat_can with evidence 24.34
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 23.75888965 12.0388111  22.5551646  23.97213764
 20.49079851 17.88156448  2.61828895 24.33833791]
DEBUG:root:mean evidence: 15.259, std: 9.04 -> th=19.470670327803305
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 23.75888965 12.0388111  22.5551646  23.97213764
 20.49079851 17.88156448  2.61828895 24.33833791]
DEBUG:root:mean evidence: 15.259, std: 9.04 -> th=20.68758722329101
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 101 ---
INFO:uvicorn.access:192.168.1.217:64480 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64480 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64480 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.39449304,  0.19174526,  0.89867068],
       [-0.4371518 ,  0.89938774,  0.        ],
       [-0.80825339, -0.3928555 ,  0.43862399]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01261803,  0.0133144 , -0.00407971])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 32 out of 14880 hypotheses for montys_heart (evidence > 4.867667581950826)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 24.08
INFO:root:Testing 85 out of 23200 hypotheses for ramen_pack (evidence > 4.867667581950826)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.798
INFO:root:Testing 259 out of 14864 hypotheses for hot_sauce (evidence > 4.867667581950826)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 22.313
INFO:root:Testing 585 out of 12560 hypotheses for harissa_oil (evidence > 4.867667581950826)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 24.305
INFO:root:Testing 507 out of 21832 hypotheses for tomato_soup_can (evidence > 4.867667581950826)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 20.874
INFO:root:Testing 369 out of 16976 hypotheses for mustard_bottle (evidence > 4.867667581950826)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.783
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 301 out of 19024 hypotheses for potted_meat_can (evidence > 4.867667581950826)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 24.697
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 24.08002069 11.79803193 22.31320716 24.30461067
 20.87432561 17.78335083  2.61828895 24.69658839]
DEBUG:root:mean evidence: 15.341, std: 9.149 -> th=19.757270712451877
INFO:root:current most likely hypothesis: potted_meat_can with evidence 24.7
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 24.08002069 11.79803193 22.31320716 24.30461067
 20.87432561 17.78335083  2.61828895 24.69658839]
DEBUG:root:mean evidence: 15.341, std: 9.149 -> th=19.757270712451877
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 24.08002069 11.79803193 22.31320716 24.30461067
 20.87432561 17.78335083  2.61828895 24.69658839]
DEBUG:root:mean evidence: 15.341, std: 9.149 -> th=20.99210013198012
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 102 ---
INFO:uvicorn.access:192.168.1.217:64480 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64480 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.78395635,  0.13150058,  0.60672896],
       [-0.16542852,  0.98622178,  0.        ],
       [-0.59836932, -0.10037027,  0.79490878]]), 'pose_fully_defined': False}}, {'patch': array([ 1.16435889e-05,  5.49148976e-03, -5.98810620e-03])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 25 out of 14880 hypotheses for montys_heart (evidence > 4.9393176781129675)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 24.539
INFO:root:Testing 62 out of 23200 hypotheses for ramen_pack (evidence > 4.9393176781129675)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.259
INFO:root:Testing 221 out of 14864 hypotheses for hot_sauce (evidence > 4.9393176781129675)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 22.794
INFO:root:Testing 448 out of 12560 hypotheses for harissa_oil (evidence > 4.9393176781129675)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 24.75
INFO:root:Testing 223 out of 21832 hypotheses for tomato_soup_can (evidence > 4.9393176781129675)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 21.295
INFO:root:Testing 359 out of 16976 hypotheses for mustard_bottle (evidence > 4.9393176781129675)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.244
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 256 out of 19024 hypotheses for potted_meat_can (evidence > 4.9393176781129675)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 25.163
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 24.53934672 12.25862371 22.79380637 24.7504932
 21.29548696 18.24395988  2.61828895 25.16264547]
DEBUG:root:mean evidence: 15.66, std: 9.341 -> th=20.130116373584997
INFO:root:current most likely hypothesis: potted_meat_can with evidence 25.16
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 24.53934672 12.25862371 22.79380637 24.7504932
 21.29548696 18.24395988  2.61828895 25.16264547]
DEBUG:root:mean evidence: 15.66, std: 9.341 -> th=20.130116373584997
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 24.53934672 12.25862371 22.79380637 24.7504932
 21.29548696 18.24395988  2.61828895 25.16264547]
DEBUG:root:mean evidence: 15.66, std: 9.341 -> th=21.38824864693406
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 103 ---
INFO:uvicorn.access:192.168.1.217:64480 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64480 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64480 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.36356867,  0.20148376,  0.90951752],
       [-0.48472562,  0.87466627,  0.        ],
       [-0.79552429, -0.44086644,  0.41566559]]), 'pose_fully_defined': False}}, {'patch': array([-0.01138022,  0.00068317,  0.01136783])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 24 out of 14880 hypotheses for montys_heart (evidence > 5.032529093396249)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 24.913
INFO:root:Testing 58 out of 23200 hypotheses for ramen_pack (evidence > 5.032529093396249)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.48
INFO:root:Testing 190 out of 14864 hypotheses for hot_sauce (evidence > 5.032529093396249)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 23.247
INFO:root:Testing 95 out of 12560 hypotheses for harissa_oil (evidence > 5.032529093396249)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 25.039
INFO:root:Testing 172 out of 21832 hypotheses for tomato_soup_can (evidence > 5.032529093396249)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 21.669
INFO:root:Testing 347 out of 16976 hypotheses for mustard_bottle (evidence > 5.032529093396249)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.594
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 254 out of 19024 hypotheses for potted_meat_can (evidence > 5.032529093396249)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 25.513
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 24.91290596 12.48023566 23.24685539 25.0386596
 21.6690199  18.59427328  2.61828895 25.51295059]
DEBUG:root:mean evidence: 15.901, std: 9.499 -> th=20.410360474326772
INFO:root:current most likely hypothesis: potted_meat_can with evidence 25.51
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 24.91290596 12.48023566 23.24685539 25.0386596
 21.6690199  18.59427328  2.61828895 25.51295059]
DEBUG:root:mean evidence: 15.901, std: 9.499 -> th=20.410360474326772
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 24.91290596 12.48023566 23.24685539 25.0386596
 21.6690199  18.59427328  2.61828895 25.51295059]
DEBUG:root:mean evidence: 15.901, std: 9.499 -> th=21.686008003972198
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 104 ---
INFO:uvicorn.access:192.168.1.217:64480 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.42409968,  0.18931985,  0.8856057 ],
       [-0.40763224,  0.91314619,  0.        ],
       [-0.80868747, -0.36100143,  0.46443788]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00330484,  0.00261117, -0.00184636])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 23 out of 14880 hypotheses for montys_heart (evidence > 5.102590118581691)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 25.267
INFO:root:Testing 52 out of 23200 hypotheses for ramen_pack (evidence > 5.102590118581691)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.859
INFO:root:Testing 177 out of 14864 hypotheses for hot_sauce (evidence > 5.102590118581691)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 23.695
INFO:root:Testing 69 out of 12560 hypotheses for harissa_oil (evidence > 5.102590118581691)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 25.392
INFO:root:Testing 156 out of 21832 hypotheses for tomato_soup_can (evidence > 5.102590118581691)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 22.057
INFO:root:Testing 332 out of 16976 hypotheses for mustard_bottle (evidence > 5.102590118581691)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.959
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 250 out of 19024 hypotheses for potted_meat_can (evidence > 5.102590118581691)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 25.879
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 25.26721616 12.85933991 23.6950499  25.39156812
 22.05708087 18.95939986  2.61828895 25.87860645]
DEBUG:root:mean evidence: 16.166, std: 9.659 -> th=20.702885159741207
INFO:root:current most likely hypothesis: potted_meat_can with evidence 25.88
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 25.26721616 12.85933991 23.6950499  25.39156812
 22.05708087 18.95939986  2.61828895 25.87860645]
DEBUG:root:mean evidence: 16.166, std: 9.659 -> th=20.702885159741207
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 25.26721616 12.85933991 23.6950499  25.39156812
 22.05708087 18.95939986  2.61828895 25.87860645]
DEBUG:root:mean evidence: 16.166, std: 9.659 -> th=21.99681548222503
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 105 ---
INFO:uvicorn.access:192.168.1.217:64480 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.47625531,  0.16441625,  0.86379869],
       [-0.32632818,  0.94525653,  0.        ],
       [-0.81651135, -0.28188186,  0.5038371 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00946045,  0.00032457, -0.01043476])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 22 out of 14880 hypotheses for montys_heart (evidence > 5.1757212899353)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 25.617
INFO:root:Testing 48 out of 23200 hypotheses for ramen_pack (evidence > 5.1757212899353)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.163
INFO:root:Testing 171 out of 14864 hypotheses for hot_sauce (evidence > 5.1757212899353)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 24.051
INFO:root:Testing 54 out of 12560 hypotheses for harissa_oil (evidence > 5.1757212899353)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 25.576
INFO:root:Testing 145 out of 21832 hypotheses for tomato_soup_can (evidence > 5.1757212899353)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 22.296
INFO:root:Testing 323 out of 16976 hypotheses for mustard_bottle (evidence > 5.1757212899353)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 19.33
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 247 out of 19024 hypotheses for potted_meat_can (evidence > 5.1757212899353)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 26.111
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 25.61749272 13.16267478 24.05097088 25.57587257
 22.29568101 19.32995634  2.61828895 26.11095564]
DEBUG:root:mean evidence: 16.37, std: 9.776 -> th=20.88876450905662
INFO:root:current most likely hypothesis: potted_meat_can with evidence 26.11
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 25.61749272 13.16267478 24.05097088 25.57587257
 22.29568101 19.32995634  2.61828895 26.11095564]
DEBUG:root:mean evidence: 16.37, std: 9.776 -> th=20.88876450905662
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 25.61749272 13.16267478 24.05097088 25.57587257
 22.29568101 19.32995634  2.61828895 26.11095564]
DEBUG:root:mean evidence: 16.37, std: 9.776 -> th=22.194312290872663
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', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 106 ---
INFO:uvicorn.access:192.168.1.217:64483 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.430475  ,  0.00173775,  0.90260083],
       [-0.00403678, -0.99999185,  0.        ],
       [ 0.90259348, -0.0036436 ,  0.4304785 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.02814392, -0.07049216,  0.00852503])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 22 out of 14880 hypotheses for montys_heart (evidence > 5.2221911272641535)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 25.876
INFO:root:Testing 47 out of 23200 hypotheses for ramen_pack (evidence > 5.2221911272641535)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.567
INFO:root:Testing 167 out of 14864 hypotheses for hot_sauce (evidence > 5.2221911272641535)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 24.494
INFO:root:Testing 47 out of 12560 hypotheses for harissa_oil (evidence > 5.2221911272641535)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 25.961
INFO:root:Testing 126 out of 21832 hypotheses for tomato_soup_can (evidence > 5.2221911272641535)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 22.524
INFO:root:Testing 318 out of 16976 hypotheses for mustard_bottle (evidence > 5.2221911272641535)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.33
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 246 out of 19024 hypotheses for potted_meat_can (evidence > 5.2221911272641535)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 25.848
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 25.87570194 13.56695064 24.49386656 25.96111081
 22.52396358 18.32995634  2.61828895 25.84837358]
DEBUG:root:mean evidence: 16.416, std: 9.824 -> th=20.76888864939797
INFO:root:current most likely hypothesis: harissa_oil with evidence 25.96
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 107 ---
INFO:uvicorn.access:192.168.1.217:64483 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.20043121, -0.05321071,  0.9782617 ],
       [ 0.25659273,  0.96651962, -0.        ],
       [-0.94550912,  0.25101484,  0.20737418]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01101252, -0.00648824, -0.01961339])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 21 out of 14880 hypotheses for montys_heart (evidence > 5.192222162349491)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 25.795
INFO:root:Testing 46 out of 23200 hypotheses for ramen_pack (evidence > 5.192222162349491)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.8
INFO:root:Testing 167 out of 14864 hypotheses for hot_sauce (evidence > 5.192222162349491)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 23.494
INFO:root:Testing 47 out of 12560 hypotheses for harissa_oil (evidence > 5.192222162349491)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 25.722
INFO:root:Testing 123 out of 21832 hypotheses for tomato_soup_can (evidence > 5.192222162349491)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 21.524
INFO:root:Testing 311 out of 16976 hypotheses for mustard_bottle (evidence > 5.192222162349491)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.08
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 240 out of 19024 hypotheses for potted_meat_can (evidence > 5.192222162349491)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 25.98
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 25.79538539 12.80026627 23.49386656 25.72213704
 21.52396358 18.08032381  2.61828895 25.98014374]
DEBUG:root:mean evidence: 16.095, std: 9.686 -> th=20.784114989120706
INFO:root:current most likely hypothesis: potted_meat_can with evidence 25.98
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 108 ---
INFO:uvicorn.access:192.168.1.217:64483 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.80909337,  0.09610436,  0.57976881],
       [-0.11795115, -0.9930194 ,  0.        ],
       [ 0.57572168, -0.0683844 ,  0.81478103]]), 'pose_fully_defined': False}}, {'patch': array([-0.01061839,  0.00428243, -0.0077756 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 21 out of 14880 hypotheses for montys_heart (evidence > 5.196028747280174)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 24.795
INFO:root:Testing 40 out of 23200 hypotheses for ramen_pack (evidence > 5.196028747280174)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.115
INFO:root:Testing 160 out of 14864 hypotheses for hot_sauce (evidence > 5.196028747280174)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 22.494
INFO:root:Testing 47 out of 12560 hypotheses for harissa_oil (evidence > 5.196028747280174)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 25.43
INFO:root:Testing 113 out of 21832 hypotheses for tomato_soup_can (evidence > 5.196028747280174)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 21.691
INFO:root:Testing 283 out of 16976 hypotheses for mustard_bottle (evidence > 5.196028747280174)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.08
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 231 out of 19024 hypotheses for potted_meat_can (evidence > 5.196028747280174)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 25.717
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 24.79538539 12.1151366  22.49386656 25.43033525
 21.69107213 17.08032381  2.61828895 25.71669231]
DEBUG:root:mean evidence: 15.688, std: 9.474 -> th=20.573353851288495
INFO:root:current most likely hypothesis: potted_meat_can with evidence 25.72
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 109 ---
INFO:uvicorn.access:192.168.1.217:64483 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64483 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.72396724,  0.13919481,  0.67564505],
       [-0.1888086 , -0.98201391,  0.        ],
       [ 0.66349284, -0.12756759,  0.73722708]]), 'pose_fully_defined': False}}, {'patch': array([-0.00125332,  0.00479553,  0.02933498])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 20 out of 14880 hypotheses for montys_heart (evidence > 5.143338462822122)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 25.052
INFO:root:Testing 37 out of 23200 hypotheses for ramen_pack (evidence > 5.143338462822122)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.45
INFO:root:Testing 152 out of 14864 hypotheses for hot_sauce (evidence > 5.143338462822122)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 22.891
INFO:root:Testing 42 out of 12560 hypotheses for harissa_oil (evidence > 5.143338462822122)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 25.623
INFO:root:Testing 105 out of 21832 hypotheses for tomato_soup_can (evidence > 5.143338462822122)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 21.844
INFO:root:Testing 232 out of 16976 hypotheses for mustard_bottle (evidence > 5.143338462822122)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.003
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 219 out of 19024 hypotheses for potted_meat_can (evidence > 5.143338462822122)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 25.559
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 25.05170058 12.45044303 22.89085313 25.62334697
 21.84366878 17.00309781  2.61828895 25.5586255 ]
DEBUG:root:mean evidence: 15.798, std: 9.528 -> th=20.498677578719246
INFO:root:current most likely hypothesis: harissa_oil with evidence 25.62
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 110 ---
INFO:uvicorn.access:192.168.1.217:64483 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.32242707, -0.05777141,  0.94482975],
       [ 0.17636796, -0.98432431,  0.        ],
       [ 0.93001889,  0.16663769,  0.32756183]]), 'pose_fully_defined': False}}, {'patch': array([-0.01311281,  0.01763795, -0.00924344])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 20 out of 14880 hypotheses for montys_heart (evidence > 5.12466939467981)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 25.305
INFO:root:Testing 37 out of 23200 hypotheses for ramen_pack (evidence > 5.12466939467981)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.825
INFO:root:Testing 154 out of 14864 hypotheses for hot_sauce (evidence > 5.12466939467981)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 23.168
INFO:root:Testing 45 out of 12560 hypotheses for harissa_oil (evidence > 5.12466939467981)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 25.903
INFO:root:Testing 105 out of 21832 hypotheses for tomato_soup_can (evidence > 5.12466939467981)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 20.844
INFO:root:Testing 224 out of 16976 hypotheses for mustard_bottle (evidence > 5.12466939467981)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.003
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 212 out of 19024 hypotheses for potted_meat_can (evidence > 5.12466939467981)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 24.559
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 25.30501843 12.82462474 23.16795286 25.90257184
 20.84366878 16.00309781  2.61828895 24.5586255 ]
DEBUG:root:mean evidence: 15.616, std: 9.425 -> th=20.722057470004344
INFO:root:current most likely hypothesis: harissa_oil with evidence 25.9
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 111 ---
INFO:uvicorn.access:192.168.1.217:64483 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64483 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.6475734 ,  0.00665311,  0.76197403],
       [-0.01027336, -0.99994723,  0.        ],
       [ 0.76193382, -0.00782803,  0.64760758]]), 'pose_fully_defined': False}}, {'patch': array([-0.00240998, -0.00955086,  0.00351585])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 20 out of 14880 hypotheses for montys_heart (evidence > 5.180514367501086)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 25.697
INFO:root:Testing 35 out of 23200 hypotheses for ramen_pack (evidence > 5.180514367501086)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.155
INFO:root:Testing 152 out of 14864 hypotheses for hot_sauce (evidence > 5.180514367501086)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 23.62
INFO:root:Testing 42 out of 12560 hypotheses for harissa_oil (evidence > 5.180514367501086)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 26.317
INFO:root:Testing 93 out of 21832 hypotheses for tomato_soup_can (evidence > 5.180514367501086)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 21.309
INFO:root:Testing 145 out of 16976 hypotheses for mustard_bottle (evidence > 5.180514367501086)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.003
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 189 out of 19024 hypotheses for potted_meat_can (evidence > 5.180514367501086)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 23.559
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 25.69695948 13.15523966 23.61967812 26.31740805
 21.30875962 15.00309781  2.61828895 23.5586255 ]
DEBUG:root:mean evidence: 15.621, std: 9.479 -> th=21.053926437882907
INFO:root:current most likely hypothesis: harissa_oil with evidence 26.32
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 25.69695948 13.15523966 23.61967812 26.31740805
 21.30875962 15.00309781  2.61828895 23.5586255 ]
DEBUG:root:mean evidence: 15.621, std: 9.479 -> th=21.053926437882907
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 25.69695948 13.15523966 23.61967812 26.31740805
 21.30875962 15.00309781  2.61828895 23.5586255 ]
DEBUG:root:mean evidence: 15.621, std: 9.479 -> th=22.36979684025059
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', 'potted_meat_can', 'montys_heart', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 112 ---
INFO:uvicorn.access:192.168.1.217:64483 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.94925773,  0.13159909,  0.28564216],
       [-0.13732036, -0.99052669,  0.        ],
       [ 0.28293619, -0.03922448,  0.95833635]]), 'pose_fully_defined': False}}, {'patch': array([-0.0006895 ,  0.01108216, -0.01369959])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 20 out of 14880 hypotheses for montys_heart (evidence > 5.263481609470727)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 24.697
INFO:root:Testing 34 out of 23200 hypotheses for ramen_pack (evidence > 5.263481609470727)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.215
INFO:root:Testing 143 out of 14864 hypotheses for hot_sauce (evidence > 5.263481609470727)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 24.022
INFO:root:Testing 42 out of 12560 hypotheses for harissa_oil (evidence > 5.263481609470727)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 26.644
INFO:root:Testing 92 out of 21832 hypotheses for tomato_soup_can (evidence > 5.263481609470727)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 20.309
INFO:root:Testing 129 out of 16976 hypotheses for mustard_bottle (evidence > 5.263481609470727)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.003
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 167 out of 19024 hypotheses for potted_meat_can (evidence > 5.263481609470727)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 22.559
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 24.69695948 13.21529029 24.02155088 26.64381164
 20.30875962 14.00309781  2.61828895 22.5586255 ]
DEBUG:root:mean evidence: 15.3, std: 9.321 -> th=21.31504930952237
INFO:root:current most likely hypothesis: harissa_oil with evidence 26.64
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 113 ---
INFO:uvicorn.access:192.168.1.217:64483 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.96935833,  0.04437433,  0.2416099 ],
       [-0.04572913, -0.99895388,  0.        ],
       [ 0.24135715, -0.01104861,  0.97037346]]), 'pose_fully_defined': False}}, {'patch': array([-0.0001149 ,  0.01188118, -0.00978892])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 18 out of 14880 hypotheses for montys_heart (evidence > 5.328762327380591)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 23.697
INFO:root:Testing 32 out of 23200 hypotheses for ramen_pack (evidence > 5.328762327380591)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.215
INFO:root:Testing 132 out of 14864 hypotheses for hot_sauce (evidence > 5.328762327380591)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 24.366
INFO:root:Testing 39 out of 12560 hypotheses for harissa_oil (evidence > 5.328762327380591)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 25.644
INFO:root:Testing 82 out of 21832 hypotheses for tomato_soup_can (evidence > 5.328762327380591)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 19.309
INFO:root:Testing 109 out of 16976 hypotheses for mustard_bottle (evidence > 5.328762327380591)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.003
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 154 out of 19024 hypotheses for potted_meat_can (evidence > 5.328762327380591)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 22.496
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 23.69695948 12.21529029 24.36597824 25.64381164
 19.30875962 13.00309781  2.61828895 22.49564657]
DEBUG:root:mean evidence: 14.828, std: 9.121 -> th=20.515049309522368
INFO:root:current most likely hypothesis: harissa_oil with evidence 25.64
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 114 ---
INFO:uvicorn.access:192.168.1.217:64483 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64483 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64483 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.92063192,  0.12566353,  0.36965598],
       [-0.13524296, -0.99081247,  0.        ],
       [ 0.36625976, -0.04999337,  0.92916869]]), 'pose_fully_defined': False}}, {'patch': array([-0.00869769, -0.01837884,  0.02772113])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 18 out of 14880 hypotheses for montys_heart (evidence > 5.128762327380592)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 23.995
INFO:root:Testing 32 out of 23200 hypotheses for ramen_pack (evidence > 5.128762327380592)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.215
INFO:root:Testing 129 out of 14864 hypotheses for hot_sauce (evidence > 5.128762327380592)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 23.366
INFO:root:Testing 36 out of 12560 hypotheses for harissa_oil (evidence > 5.128762327380592)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 25.939
INFO:root:Testing 74 out of 21832 hypotheses for tomato_soup_can (evidence > 5.128762327380592)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 19.658
INFO:root:Testing 117 out of 16976 hypotheses for mustard_bottle (evidence > 5.128762327380592)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.003
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 158 out of 19024 hypotheses for potted_meat_can (evidence > 5.128762327380592)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 21.496
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 23.99541531 11.21529029 23.36597824 25.93890378
 19.65838252 12.00309781  2.61828895 21.49564657]
DEBUG:root:mean evidence: 14.523, std: 9.081 -> th=20.75112302614518
INFO:root:current most likely hypothesis: harissa_oil with evidence 25.94
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 115 ---
INFO:uvicorn.access:192.168.1.217:64483 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.707982  ,  0.04414228,  0.70484959],
       [-0.0622286 , -0.99806192,  0.        ],
       [ 0.70348354, -0.0438618 ,  0.70935679]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01659973,  0.01147828, -0.00845512])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 18 out of 14880 hypotheses for montys_heart (evidence > 5.187780756536295)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 22.995
INFO:root:Testing 27 out of 23200 hypotheses for ramen_pack (evidence > 5.187780756536295)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.506
INFO:root:Testing 121 out of 14864 hypotheses for hot_sauce (evidence > 5.187780756536295)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 23.85
INFO:root:Testing 36 out of 12560 hypotheses for harissa_oil (evidence > 5.187780756536295)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 24.939
INFO:root:Testing 74 out of 21832 hypotheses for tomato_soup_can (evidence > 5.187780756536295)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 18.658
INFO:root:Testing 101 out of 16976 hypotheses for mustard_bottle (evidence > 5.187780756536295)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.101
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 145 out of 19024 hypotheses for potted_meat_can (evidence > 5.187780756536295)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 20.496
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 22.99541531 11.50627389 23.84967841 24.93890378
 18.65838252 11.1006947   2.61828895 20.49564657]
DEBUG:root:mean evidence: 14.11, std: 8.793 -> th=19.95112302614518
INFO:root:current most likely hypothesis: harissa_oil with evidence 24.94
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 116 ---
INFO:uvicorn.access:192.168.1.217:64483 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64483 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64483 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.95765095,  0.14172577,  0.2506361 ],
       [-0.14639861, -0.98922568,  0.        ],
       [ 0.24793567, -0.03669278,  0.96808137]]), 'pose_fully_defined': False}}, {'patch': array([-0.00676964,  0.00373799, -0.00891583])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 19 out of 14880 hypotheses for montys_heart (evidence > 4.987780756536292)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 21.995
INFO:root:Testing 31 out of 23200 hypotheses for ramen_pack (evidence > 4.987780756536292)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.549
INFO:root:Testing 131 out of 14864 hypotheses for hot_sauce (evidence > 4.987780756536292)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 24.253
INFO:root:Testing 40 out of 12560 hypotheses for harissa_oil (evidence > 4.987780756536292)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 23.939
INFO:root:Testing 78 out of 21832 hypotheses for tomato_soup_can (evidence > 4.987780756536292)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 17.658
INFO:root:Testing 117 out of 16976 hypotheses for mustard_bottle (evidence > 4.987780756536292)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.738
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 149 out of 19024 hypotheses for potted_meat_can (evidence > 4.987780756536292)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 19.496
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 21.99541531 11.54868137 24.25264608 23.93890378
 17.65838252 10.73767498  2.61828895 19.49564657]
DEBUG:root:mean evidence: 13.718, std: 8.512 -> th=19.402116861909615
INFO:root:current most likely hypothesis: hot_sauce with evidence 24.25
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 117 ---
INFO:uvicorn.access:192.168.1.217:64483 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.87098769,  0.12254028,  0.47577759],
       [-0.13931908, -0.99024754,  0.        ],
       [ 0.47113759, -0.0662849 ,  0.87956562]]), 'pose_fully_defined': False}}, {'patch': array([0.00525061, 0.00020964, 0.00846196])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 20 out of 14880 hypotheses for montys_heart (evidence > 4.850529215477401)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 20.995
INFO:root:Testing 61 out of 23200 hypotheses for ramen_pack (evidence > 4.850529215477401)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.703
INFO:root:Testing 159 out of 14864 hypotheses for hot_sauce (evidence > 4.850529215477401)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 24.646
INFO:root:Testing 69 out of 12560 hypotheses for harissa_oil (evidence > 4.850529215477401)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 22.939
INFO:root:Testing 105 out of 21832 hypotheses for tomato_soup_can (evidence > 4.850529215477401)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 16.658
INFO:root:Testing 114 out of 16976 hypotheses for mustard_bottle (evidence > 4.850529215477401)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.055
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 148 out of 19024 hypotheses for potted_meat_can (evidence > 4.850529215477401)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.496
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 20.99541531 11.70292546 24.6462652  22.93890378
 16.65838252 11.054812    2.61828895 18.49564657]
DEBUG:root:mean evidence: 13.405, std: 8.229 -> th=19.717012163694072
INFO:root:current most likely hypothesis: hot_sauce with evidence 24.65
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 20.99541531 11.70292546 24.6462652  22.93890378
 16.65838252 11.054812    2.61828895 18.49564657]
DEBUG:root:mean evidence: 13.405, std: 8.229 -> th=19.717012163694072
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 20.99541531 11.70292546 24.6462652  22.93890378
 16.65838252 11.054812    2.61828895 18.49564657]
DEBUG:root:mean evidence: 13.405, std: 8.229 -> th=20.94932542392495
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', 'harissa_oil', 'montys_heart'}
INFO:root:--- Global Matching Step 118 ---
INFO:uvicorn.access:192.168.1.217:64483 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64483 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.71576971,  0.11339862,  0.68906783],
       [-0.15647733, -0.98768155,  0.        ],
       [ 0.68057958, -0.10782349,  0.72469685]]), 'pose_fully_defined': False}}, {'patch': array([0.00124204, 0.00881692, 0.00294958])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 4.929253040923516)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 20.254
INFO:root:Testing 43 out of 23200 hypotheses for ramen_pack (evidence > 4.929253040923516)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.984
INFO:root:Testing 148 out of 14864 hypotheses for hot_sauce (evidence > 4.929253040923516)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 25.091
INFO:root:Testing 48 out of 12560 hypotheses for harissa_oil (evidence > 4.929253040923516)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 21.939
INFO:root:Testing 56 out of 21832 hypotheses for tomato_soup_can (evidence > 4.929253040923516)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 15.658
INFO:root:Testing 57 out of 16976 hypotheses for mustard_bottle (evidence > 4.929253040923516)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.35
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 99 out of 19024 hypotheses for potted_meat_can (evidence > 4.929253040923516)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.496
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 20.25435772 11.9842405  25.0906939  21.93890378
 15.65838252 11.34979327  2.61828895 17.49564657]
DEBUG:root:mean evidence: 13.133, std: 8.006 -> th=20.07255511970382
INFO:root:current most likely hypothesis: hot_sauce with evidence 25.09
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil', 'montys_heart'}
INFO:root:--- Global Matching Step 119 ---
INFO:uvicorn.access:192.168.1.217:64483 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64483 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64483 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.91238649,  0.20231693,  0.3558353 ],
       [-0.21648624, -0.97628567,  0.        ],
       [ 0.3473969 , -0.07703345,  0.93454868]]), 'pose_fully_defined': False}}, {'patch': array([-0.00687751, -0.00059297, -0.0084886 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 5.018138779925955)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 19.254
INFO:root:Testing 39 out of 23200 hypotheses for ramen_pack (evidence > 5.018138779925955)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.291
INFO:root:Testing 139 out of 14864 hypotheses for hot_sauce (evidence > 5.018138779925955)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 25.462
INFO:root:Testing 47 out of 12560 hypotheses for harissa_oil (evidence > 5.018138779925955)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 20.939
INFO:root:Testing 47 out of 21832 hypotheses for tomato_soup_can (evidence > 5.018138779925955)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 14.658
INFO:root:Testing 49 out of 16976 hypotheses for mustard_bottle (evidence > 5.018138779925955)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.597
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 86 out of 19024 hypotheses for potted_meat_can (evidence > 5.018138779925955)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.496
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.25435772 12.29138801 25.46153715 20.93890378
 14.65838252 11.59722524  2.61828895 16.49564657]
DEBUG:root:mean evidence: 12.825, std: 7.784 -> th=20.369229723849724
INFO:root:current most likely hypothesis: hot_sauce with evidence 25.46
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 120 ---
INFO:uvicorn.access:192.168.1.217:64483 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.83663025,  0.13440598,  0.53102247],
       [-0.15861775, -0.98734007,  0.        ],
       [ 0.52429976, -0.08422959,  0.84735774]]), 'pose_fully_defined': False}}, {'patch': array([0.00403393, 0.01650545, 0.01283374])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 5.092307430962428)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 19.588
INFO:root:Testing 38 out of 23200 hypotheses for ramen_pack (evidence > 5.092307430962428)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.696
INFO:root:Testing 134 out of 14864 hypotheses for hot_sauce (evidence > 5.092307430962428)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 25.799
INFO:root:Testing 46 out of 12560 hypotheses for harissa_oil (evidence > 5.092307430962428)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 20.841
INFO:root:Testing 39 out of 21832 hypotheses for tomato_soup_can (evidence > 5.092307430962428)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 14.852
INFO:root:Testing 40 out of 16976 hypotheses for mustard_bottle (evidence > 5.092307430962428)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.872
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 75 out of 19024 hypotheses for potted_meat_can (evidence > 5.092307430962428)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.411
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.5878575  12.69598812 25.79873197 20.84133342
 14.8519208  11.87197271  2.61828895 16.41140581]
DEBUG:root:mean evidence: 12.961, std: 7.852 -> th=20.638985576111335
INFO:root:current most likely hypothesis: hot_sauce with evidence 25.8
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 121 ---
INFO:uvicorn.access:192.168.1.217:64483 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64483 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.47828157,  0.14697022,  0.86582129],
       [-0.29373284, -0.95588756,  0.        ],
       [ 0.82762779, -0.25432015,  0.50035338]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00313443, -0.00650234, -0.00531573])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 5.159746394027831)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.588
INFO:root:Testing 34 out of 23200 hypotheses for ramen_pack (evidence > 5.159746394027831)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.113
INFO:root:Testing 130 out of 14864 hypotheses for hot_sauce (evidence > 5.159746394027831)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 26.242
INFO:root:Testing 30 out of 12560 hypotheses for harissa_oil (evidence > 5.159746394027831)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 19.841
INFO:root:Testing 30 out of 21832 hypotheses for tomato_soup_can (evidence > 5.159746394027831)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 13.852
INFO:root:Testing 35 out of 16976 hypotheses for mustard_bottle (evidence > 5.159746394027831)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.372
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 74 out of 19024 hypotheses for potted_meat_can (evidence > 5.159746394027831)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.885
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.5878575  13.11332555 26.24179443 19.84133342
 13.8519208  12.37197271  2.61828895 16.88457329]
DEBUG:root:mean evidence: 12.845, std: 7.751 -> th=20.99343554055458
INFO:root:current most likely hypothesis: hot_sauce with evidence 26.24
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 122 ---
INFO:uvicorn.access:192.168.1.217:64483 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64483 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.85383954,  0.24120149,  0.46128069],
       [-0.2718516 , -0.96233919,  0.        ],
       [ 0.44390848, -0.12539989,  0.88725426]]), 'pose_fully_defined': False}}, {'patch': array([-0.00088548, -0.0067483 , -0.0013169 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 13 out of 14880 hypotheses for montys_heart (evidence > 5.248358885138643)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.804
INFO:root:Testing 34 out of 23200 hypotheses for ramen_pack (evidence > 5.248358885138643)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.493
INFO:root:Testing 127 out of 14864 hypotheses for hot_sauce (evidence > 5.248358885138643)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 26.565
INFO:root:Testing 30 out of 12560 hypotheses for harissa_oil (evidence > 5.248358885138643)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 18.841
INFO:root:Testing 25 out of 21832 hypotheses for tomato_soup_can (evidence > 5.248358885138643)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.852
INFO:root:Testing 30 out of 16976 hypotheses for mustard_bottle (evidence > 5.248358885138643)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.823
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 71 out of 19024 hypotheses for potted_meat_can (evidence > 5.248358885138643)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.214
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.80371474 13.49322779 26.56488762 18.84133342
 12.8519208  12.82250208  2.61828895 17.2137195 ]
DEBUG:root:mean evidence: 12.815, std: 7.752 -> th=21.25191009771204
INFO:root:current most likely hypothesis: hot_sauce with evidence 26.56
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 123 ---
INFO:uvicorn.access:192.168.1.217:64486 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.0150126 ,  0.16415495, -0.98632032],
       [-0.99584415, -0.09107379,  0.        ],
       [-0.08982793,  0.98222132,  0.16484   ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00252968, -0.01376698, -0.04020192])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 13 out of 14880 hypotheses for montys_heart (evidence > 5.31297752442801)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.993
INFO:root:Testing 34 out of 23200 hypotheses for ramen_pack (evidence > 5.31297752442801)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.393
INFO:root:Testing 125 out of 14864 hypotheses for hot_sauce (evidence > 5.31297752442801)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 26.889
INFO:root:Testing 28 out of 12560 hypotheses for harissa_oil (evidence > 5.31297752442801)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 19.287
INFO:root:Testing 22 out of 21832 hypotheses for tomato_soup_can (evidence > 5.31297752442801)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.852
INFO:root:Testing 27 out of 16976 hypotheses for mustard_bottle (evidence > 5.31297752442801)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.84
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 67 out of 19024 hypotheses for potted_meat_can (evidence > 5.31297752442801)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.316
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.9928515  13.39337904 26.88880471 19.28692579
 11.8519208  12.83950797  2.61828895 17.3159908 ]
DEBUG:root:mean evidence: 12.812, std: 7.871 -> th=21.511043770658954
INFO:root:current most likely hypothesis: hot_sauce with evidence 26.89
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.9928515  13.39337904 26.88880471 19.28692579
 11.8519208  12.83950797  2.61828895 17.3159908 ]
DEBUG:root:mean evidence: 12.812, std: 7.871 -> th=21.511043770658954
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.9928515  13.39337904 26.88880471 19.28692579
 11.8519208  12.83950797  2.61828895 17.3159908 ]
DEBUG:root:mean evidence: 12.812, std: 7.871 -> th=22.855484006325142
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 124 ---
INFO:uvicorn.access:192.168.1.217:64486 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.4203679 ,  0.08869121, -0.90300869],
       [-0.20643996,  0.97845927,  0.        ],
       [ 0.88355723,  0.18641708,  0.42962228]]), 'pose_fully_defined': False}}, {'patch': array([-0.01276558,  0.00738505,  0.00588999])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 13 out of 14880 hypotheses for montys_heart (evidence > 5.377760942664736)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.879
INFO:root:Testing 33 out of 23200 hypotheses for ramen_pack (evidence > 5.377760942664736)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.393
INFO:root:Testing 122 out of 14864 hypotheses for hot_sauce (evidence > 5.377760942664736)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 26.738
INFO:root:Testing 28 out of 12560 hypotheses for harissa_oil (evidence > 5.377760942664736)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 19.251
INFO:root:Testing 19 out of 21832 hypotheses for tomato_soup_can (evidence > 5.377760942664736)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.785
INFO:root:Testing 27 out of 16976 hypotheses for mustard_bottle (evidence > 5.377760942664736)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.84
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 67 out of 19024 hypotheses for potted_meat_can (evidence > 5.377760942664736)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.236
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.87901276 12.39337904 26.73797198 19.25129532
 11.78524804 11.83950797  2.61828895 17.23610701]
DEBUG:root:mean evidence: 12.568, std: 7.829 -> th=21.39037758476035
INFO:root:current most likely hypothesis: hot_sauce with evidence 26.74
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 125 ---
INFO:uvicorn.access:192.168.1.217:64486 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64486 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.20460822,  0.15303182, -0.9668075 ],
       [-0.59893655, -0.80079648,  0.        ],
       [-0.77421605,  0.57905635,  0.25550589]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00432207,  0.01015539, -0.00138931])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 13 out of 14880 hypotheses for montys_heart (evidence > 5.347594396190086)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 19.074
INFO:root:Testing 28 out of 23200 hypotheses for ramen_pack (evidence > 5.347594396190086)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.491
INFO:root:Testing 116 out of 14864 hypotheses for hot_sauce (evidence > 5.347594396190086)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 26.894
INFO:root:Testing 28 out of 12560 hypotheses for harissa_oil (evidence > 5.347594396190086)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 19.65
INFO:root:Testing 16 out of 21832 hypotheses for tomato_soup_can (evidence > 5.347594396190086)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.785
INFO:root:Testing 26 out of 16976 hypotheses for mustard_bottle (evidence > 5.347594396190086)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.84
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 67 out of 19024 hypotheses for potted_meat_can (evidence > 5.347594396190086)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.44
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.07367539 12.49110724 26.89437638 19.65046033
 10.78524804 10.83950797  2.61828895 17.4396149 ]
DEBUG:root:mean evidence: 12.473, std: 7.952 -> th=21.51550110243587
INFO:root:current most likely hypothesis: hot_sauce with evidence 26.89
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 126 ---
INFO:uvicorn.access:192.168.1.217:64486 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64486 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.15942553,  0.07246959, -0.98454642],
       [-0.41381921,  0.91035908,  0.        ],
       [ 0.89629078,  0.40742422,  0.17512379]]), 'pose_fully_defined': False}}, {'patch': array([0.01865665, 0.00555836, 0.00158686])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 13 out of 14880 hypotheses for montys_heart (evidence > 5.378875275608966)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.074
INFO:root:Testing 22 out of 23200 hypotheses for ramen_pack (evidence > 5.378875275608966)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.853
INFO:root:Testing 113 out of 14864 hypotheses for hot_sauce (evidence > 5.378875275608966)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 27.363
INFO:root:Testing 25 out of 12560 hypotheses for harissa_oil (evidence > 5.378875275608966)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 20.095
INFO:root:Testing 11 out of 21832 hypotheses for tomato_soup_can (evidence > 5.378875275608966)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.099
INFO:root:Testing 26 out of 16976 hypotheses for mustard_bottle (evidence > 5.378875275608966)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.686
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 67 out of 19024 hypotheses for potted_meat_can (evidence > 5.378875275608966)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.44
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.07367539 12.85327296 27.36295892 20.09530451
 10.09934533 10.68612422  2.61828895 16.4396149 ]
DEBUG:root:mean evidence: 12.317, std: 7.967 -> th=21.89036713462979
INFO:root:current most likely hypothesis: hot_sauce with evidence 27.36
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 127 ---
INFO:uvicorn.access:192.168.1.217:64486 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64486 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.01746162,  0.09584187, -0.9952434 ],
       [-0.98380512,  0.17924142,  0.        ],
       [ 0.17838884,  0.97912555,  0.09741957]]), 'pose_fully_defined': False}}, {'patch': array([-0.01123249,  0.01476106, -0.00373462])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 11 out of 14880 hypotheses for montys_heart (evidence > 5.472591783657446)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.398
INFO:root:Testing 20 out of 23200 hypotheses for ramen_pack (evidence > 5.472591783657446)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.154
INFO:root:Testing 112 out of 14864 hypotheses for hot_sauce (evidence > 5.472591783657446)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 27.68
INFO:root:Testing 19 out of 12560 hypotheses for harissa_oil (evidence > 5.472591783657446)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 20.55
INFO:root:Testing 9 out of 21832 hypotheses for tomato_soup_can (evidence > 5.472591783657446)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.574
INFO:root:Testing 26 out of 16976 hypotheses for mustard_bottle (evidence > 5.472591783657446)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.591
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 65 out of 19024 hypotheses for potted_meat_can (evidence > 5.472591783657446)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.596
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.39753757 13.15422089 27.6795373  20.54999357
 10.573855   10.59061155  2.61828895 16.59576801]
DEBUG:root:mean evidence: 12.51, std: 8.095 -> th=22.143629838455634
INFO:root:current most likely hypothesis: hot_sauce with evidence 27.68
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 128 ---
INFO:uvicorn.access:192.168.1.217:64486 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64486 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.21484331,  0.04149482, -0.97576664],
       [-0.18963534,  0.98185459,  0.        ],
       [ 0.95806095,  0.18503983,  0.21881378]]), 'pose_fully_defined': False}}, {'patch': array([0.01070467, 0.00349793, 0.00333554])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 10 out of 14880 hypotheses for montys_heart (evidence > 5.535907459613906)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.674
INFO:root:Testing 18 out of 23200 hypotheses for ramen_pack (evidence > 5.535907459613906)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.556
INFO:root:Testing 112 out of 14864 hypotheses for hot_sauce (evidence > 5.535907459613906)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 28.174
INFO:root:Testing 18 out of 12560 hypotheses for harissa_oil (evidence > 5.535907459613906)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 20.981
INFO:root:Testing 9 out of 21832 hypotheses for tomato_soup_can (evidence > 5.535907459613906)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.016
INFO:root:Testing 26 out of 16976 hypotheses for mustard_bottle (evidence > 5.535907459613906)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.413
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 65 out of 19024 hypotheses for potted_meat_can (evidence > 5.535907459613906)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.458
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.67374453 13.55598733 28.17365265 20.9807436
 11.01595375 10.41270951  2.61828895 16.45773268]
DEBUG:root:mean evidence: 12.683, std: 8.242 -> th=22.538922122220704
INFO:root:current most likely hypothesis: hot_sauce with evidence 28.17
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 129 ---
INFO:uvicorn.access:192.168.1.217:64486 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64486 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64486 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.33724709,  0.00715582, -0.94138897],
       [-0.02121355,  0.99977497,  0.        ],
       [ 0.94117713,  0.01997021,  0.337323  ]]), 'pose_fully_defined': False}}, {'patch': array([-0.0140726 , -0.00419986,  0.00273769])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 8 out of 14880 hypotheses for montys_heart (evidence > 5.634730530555174)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.697
INFO:root:Testing 18 out of 23200 hypotheses for ramen_pack (evidence > 5.634730530555174)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.034
INFO:root:Testing 111 out of 14864 hypotheses for hot_sauce (evidence > 5.634730530555174)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 28.184
INFO:root:Testing 17 out of 12560 hypotheses for harissa_oil (evidence > 5.634730530555174)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 21.109
INFO:root:Testing 8 out of 21832 hypotheses for tomato_soup_can (evidence > 5.634730530555174)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.016
INFO:root:Testing 22 out of 16976 hypotheses for mustard_bottle (evidence > 5.634730530555174)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.181
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 64 out of 19024 hypotheses for potted_meat_can (evidence > 5.634730530555174)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.511
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.69696456 14.0342636  28.18377199 21.10879139
 10.01595375 10.18105484  2.61828895 16.51108535]
DEBUG:root:mean evidence: 12.629, std: 8.301 -> th=22.547017588748183
INFO:root:current most likely hypothesis: hot_sauce with evidence 28.18
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.69696456 14.0342636  28.18377199 21.10879139
 10.01595375 10.18105484  2.61828895 16.51108535]
DEBUG:root:mean evidence: 12.629, std: 8.301 -> th=22.547017588748183
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.69696456 14.0342636  28.18377199 21.10879139
 10.01595375 10.18105484  2.61828895 16.51108535]
DEBUG:root:mean evidence: 12.629, std: 8.301 -> th=23.956206188044945
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 130 ---
INFO:uvicorn.access:192.168.1.217:64486 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.03269324,  0.06634681, -0.99726087],
       [-0.89700885,  0.44201258,  0.        ],
       [ 0.44080186,  0.89455183,  0.0739645 ]]), 'pose_fully_defined': False}}, {'patch': array([-9.81552161e-03, -8.51977383e-05, -5.75638428e-03])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 8 out of 14880 hypotheses for montys_heart (evidence > 5.636754397187044)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.745
INFO:root:Testing 16 out of 23200 hypotheses for ramen_pack (evidence > 5.636754397187044)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.366
INFO:root:Testing 111 out of 14864 hypotheses for hot_sauce (evidence > 5.636754397187044)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 28.21
INFO:root:Testing 17 out of 12560 hypotheses for harissa_oil (evidence > 5.636754397187044)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 21.335
INFO:root:Testing 8 out of 21832 hypotheses for tomato_soup_can (evidence > 5.636754397187044)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.321
INFO:root:Testing 21 out of 16976 hypotheses for mustard_bottle (evidence > 5.636754397187044)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.181
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 64 out of 19024 hypotheses for potted_meat_can (evidence > 5.636754397187044)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.703
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.74546815 14.3659987  28.2096393  21.33509816
 10.32149815  9.18105484  2.61828895 16.70335332]
DEBUG:root:mean evidence: 12.642, std: 8.374 -> th=22.567711441330772
INFO:root:current most likely hypothesis: hot_sauce with evidence 28.21
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 131 ---
INFO:uvicorn.access:192.168.1.217:64486 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64486 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.06054062,  0.03541272, -0.99753735],
       [-0.50490635, -0.86317413,  0.        ],
       [-0.86104844,  0.50366294,  0.0701372 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0057075,  0.001276 , -0.0051953])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 8 out of 14880 hypotheses for montys_heart (evidence > 5.641927860332693)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 19.036
INFO:root:Testing 14 out of 23200 hypotheses for ramen_pack (evidence > 5.641927860332693)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.654
INFO:root:Testing 111 out of 14864 hypotheses for hot_sauce (evidence > 5.641927860332693)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 28.469
INFO:root:Testing 17 out of 12560 hypotheses for harissa_oil (evidence > 5.641927860332693)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 21.683
INFO:root:Testing 8 out of 21832 hypotheses for tomato_soup_can (evidence > 5.641927860332693)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.769
INFO:root:Testing 20 out of 16976 hypotheses for mustard_bottle (evidence > 5.641927860332693)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.7
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 63 out of 19024 hypotheses for potted_meat_can (evidence > 5.641927860332693)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.028
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.03566978 14.65403555 28.46921504 21.68255925
 10.76868139  8.69979225  2.61828895 17.02789947]
DEBUG:root:mean evidence: 12.789, std: 8.512 -> th=22.775372034779963
INFO:root:current most likely hypothesis: hot_sauce with evidence 28.47
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 132 ---
INFO:uvicorn.access:192.168.1.217:64486 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64486 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.12635438,  0.05285006, -0.99057632],
       [-0.38587425,  0.92255139,  0.        ],
       [ 0.91385756,  0.38223789,  0.13696189]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00331886, -0.02920857,  0.00119152])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 8 out of 14880 hypotheses for montys_heart (evidence > 5.693843008694991)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 19.189
INFO:root:Testing 13 out of 23200 hypotheses for ramen_pack (evidence > 5.693843008694991)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.026
INFO:root:Testing 106 out of 14864 hypotheses for hot_sauce (evidence > 5.693843008694991)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 28.662
INFO:root:Testing 17 out of 12560 hypotheses for harissa_oil (evidence > 5.693843008694991)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 22.008
INFO:root:Testing 8 out of 21832 hypotheses for tomato_soup_can (evidence > 5.693843008694991)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.098
INFO:root:Testing 17 out of 16976 hypotheses for mustard_bottle (evidence > 5.693843008694991)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.706
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 62 out of 19024 hypotheses for potted_meat_can (evidence > 5.693843008694991)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.171
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.18889966 15.02578436 28.66239005 22.00828931
 11.09767407  8.70570914  2.61828895 17.17106996]
DEBUG:root:mean evidence: 12.941, std: 8.6 -> th=22.92991204073317
INFO:root:current most likely hypothesis: hot_sauce with evidence 28.66
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 133 ---
INFO:uvicorn.access:192.168.1.217:64486 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.12212777,  0.06622618, -0.99030243],
       [-0.47669291, -0.87906989,  0.        ],
       [-0.87054504,  0.47207015,  0.1389284 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00179106,  0.01397294,  0.00546116])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 8 out of 14880 hypotheses for montys_heart (evidence > 5.732478010183293)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 19.355
INFO:root:Testing 10 out of 23200 hypotheses for ramen_pack (evidence > 5.732478010183293)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.277
INFO:root:Testing 102 out of 14864 hypotheses for hot_sauce (evidence > 5.732478010183293)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 28.974
INFO:root:Testing 17 out of 12560 hypotheses for harissa_oil (evidence > 5.732478010183293)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 22.419
INFO:root:Testing 8 out of 21832 hypotheses for tomato_soup_can (evidence > 5.732478010183293)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.515
INFO:root:Testing 15 out of 16976 hypotheses for mustard_bottle (evidence > 5.732478010183293)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.835
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 62 out of 19024 hypotheses for potted_meat_can (evidence > 5.732478010183293)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.435
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.35458039 15.27727814 28.97411344 22.41901573
 11.51505024  8.83463828  2.61828895 17.43546325]
DEBUG:root:mean evidence: 13.137, std: 8.717 -> th=23.17929075345359
INFO:root:current most likely hypothesis: hot_sauce with evidence 28.97
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 134 ---
INFO:uvicorn.access:192.168.1.217:64488 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.02417543,  0.11054009, -0.9935776 ],
       [-0.97690964, -0.21365287,  0.        ],
       [-0.2122807 ,  0.97063553,  0.11315283]]), 'pose_fully_defined': False}}, {'patch': array([0.00147676, 0.00456379, 0.00137697])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 7 out of 14880 hypotheses for montys_heart (evidence > 5.794822688363396)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 19.474
INFO:root:Testing 9 out of 23200 hypotheses for ramen_pack (evidence > 5.794822688363396)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.569
INFO:root:Testing 101 out of 14864 hypotheses for hot_sauce (evidence > 5.794822688363396)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 29.35
INFO:root:Testing 17 out of 12560 hypotheses for harissa_oil (evidence > 5.794822688363396)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 22.785
INFO:root:Testing 8 out of 21832 hypotheses for tomato_soup_can (evidence > 5.794822688363396)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.928
INFO:root:Testing 15 out of 16976 hypotheses for mustard_bottle (evidence > 5.794822688363396)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.915
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 62 out of 19024 hypotheses for potted_meat_can (evidence > 5.794822688363396)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.64
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.47389029 15.56949451 29.34994156 22.78519064
 11.92817616  8.9151582   2.61828895 17.6395089 ]
DEBUG:root:mean evidence: 13.322, std: 8.839 -> th=23.479953246423857
INFO:root:current most likely hypothesis: hot_sauce with evidence 29.35
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 135 ---
INFO:uvicorn.access:192.168.1.217:64489 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.14410621,  0.06243251, -0.9875908 ],
       [-0.39753497,  0.91758702,  0.        ],
       [ 0.9062005 ,  0.39260188,  0.1570491 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00250142, -0.0146755 , -0.00534264])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 7 out of 14880 hypotheses for montys_heart (evidence > 5.869988311605962)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 19.625
INFO:root:Testing 8 out of 23200 hypotheses for ramen_pack (evidence > 5.869988311605962)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.948
INFO:root:Testing 101 out of 14864 hypotheses for hot_sauce (evidence > 5.869988311605962)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 29.645
INFO:root:Testing 17 out of 12560 hypotheses for harissa_oil (evidence > 5.869988311605962)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 23.103
INFO:root:Testing 7 out of 21832 hypotheses for tomato_soup_can (evidence > 5.869988311605962)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.277
INFO:root:Testing 15 out of 16976 hypotheses for mustard_bottle (evidence > 5.869988311605962)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.911
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 63 out of 19024 hypotheses for potted_meat_can (evidence > 5.869988311605962)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.779
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.6250978  15.9479519  29.64496447 23.10294501
 12.2773336   8.91128215  2.61828895 17.77872819]
DEBUG:root:mean evidence: 13.484, std: 8.949 -> th=23.71597157646326
INFO:root:current most likely hypothesis: hot_sauce with evidence 29.64
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.6250978  15.9479519  29.64496447 23.10294501
 12.2773336   8.91128215  2.61828895 17.77872819]
DEBUG:root:mean evidence: 13.484, std: 8.949 -> th=23.71597157646326
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.6250978  15.9479519  29.64496447 23.10294501
 12.2773336   8.91128215  2.61828895 17.77872819]
DEBUG:root:mean evidence: 13.484, std: 8.949 -> th=25.198219799992216
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 136 ---
INFO:uvicorn.access:192.168.1.217:64489 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64489 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.21312195,  0.02391506, -0.97673287],
       [-0.11151318, -0.99376296,  0.        ],
       [-0.97064095,  0.10891859,  0.21445954]]), 'pose_fully_defined': False}}, {'patch': array([-0.00573419,  0.00283101,  0.00143381])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 7 out of 14880 hypotheses for montys_heart (evidence > 5.928992894115815)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 19.885
INFO:root:Testing 8 out of 23200 hypotheses for ramen_pack (evidence > 5.928992894115815)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.158
INFO:root:Testing 98 out of 14864 hypotheses for hot_sauce (evidence > 5.928992894115815)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 30.021
INFO:root:Testing 17 out of 12560 hypotheses for harissa_oil (evidence > 5.928992894115815)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 23.528
INFO:root:Testing 7 out of 21832 hypotheses for tomato_soup_can (evidence > 5.928992894115815)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.729
INFO:root:Testing 15 out of 16976 hypotheses for mustard_bottle (evidence > 5.928992894115815)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.049
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 63 out of 19024 hypotheses for potted_meat_can (evidence > 5.928992894115815)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.091
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.88485232 16.15829059 30.0210707  23.52791195
 12.72927098  9.04854633  2.61828895 18.09128441]
DEBUG:root:mean evidence: 13.702, std: 9.088 -> th=24.016856559886996
INFO:root:current most likely hypothesis: hot_sauce with evidence 30.02
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 137 ---
INFO:uvicorn.access:192.168.1.217:64489 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64489 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.18225428,  0.03074617, -0.9827706 ],
       [-0.16634882,  0.98606697,  0.        ],
       [ 0.96907763,  0.16348273,  0.18482952]]), 'pose_fully_defined': False}}, {'patch': array([0.01272942, 0.00761407, 0.00094473])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 8 out of 14880 hypotheses for montys_heart (evidence > 6.004214139971747)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 20.289
INFO:root:Testing 8 out of 23200 hypotheses for ramen_pack (evidence > 6.004214139971747)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.56
INFO:root:Testing 96 out of 14864 hypotheses for hot_sauce (evidence > 6.004214139971747)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 30.475
INFO:root:Testing 17 out of 12560 hypotheses for harissa_oil (evidence > 6.004214139971747)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 23.928
INFO:root:Testing 7 out of 21832 hypotheses for tomato_soup_can (evidence > 6.004214139971747)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 13.182
INFO:root:Testing 13 out of 16976 hypotheses for mustard_bottle (evidence > 6.004214139971747)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.007
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 64 out of 19024 hypotheses for potted_meat_can (evidence > 6.004214139971747)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.203
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 20.28934311 16.56006484 30.47481477 23.92769428
 13.18219099  9.00720743  2.61828895 18.20252817]
DEBUG:root:mean evidence: 13.92, std: 9.255 -> th=24.379851812155785
INFO:root:current most likely hypothesis: hot_sauce with evidence 30.47
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 138 ---
INFO:uvicorn.access:192.168.1.217:64489 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.37903607,  0.00469356, -0.92537   ],
       [-0.01238192,  0.99992334,  0.        ],
       [ 0.92529906,  0.01145786,  0.37906513]]), 'pose_fully_defined': False}}, {'patch': array([0.00131998, 0.00587885, 0.00457489])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 8 out of 14880 hypotheses for montys_heart (evidence > 6.094962953038944)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 19.289
INFO:root:Testing 8 out of 23200 hypotheses for ramen_pack (evidence > 6.094962953038944)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.055
INFO:root:Testing 96 out of 14864 hypotheses for hot_sauce (evidence > 6.094962953038944)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 30.828
INFO:root:Testing 17 out of 12560 hypotheses for harissa_oil (evidence > 6.094962953038944)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 24.217
INFO:root:Testing 6 out of 21832 hypotheses for tomato_soup_can (evidence > 6.094962953038944)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.182
INFO:root:Testing 13 out of 16976 hypotheses for mustard_bottle (evidence > 6.094962953038944)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.041
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 63 out of 19024 hypotheses for potted_meat_can (evidence > 6.094962953038944)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.223
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.28934311 17.05481255 30.82789444 24.21721649
 12.18219099  8.04093391  2.61828895 18.22276047]
DEBUG:root:mean evidence: 13.739, std: 9.371 -> th=24.662315554773564
INFO:root:current most likely hypothesis: hot_sauce with evidence 30.83
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 139 ---
INFO:uvicorn.access:192.168.1.217:64489 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.29152255,  0.0064007 , -0.95654254],
       [-0.02195082,  0.99975905,  0.        ],
       [ 0.95631206,  0.02099689,  0.29159281]]), 'pose_fully_defined': False}}, {'patch': array([-0.00518049,  0.00120793, -0.0005665 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 7 out of 14880 hypotheses for montys_heart (evidence > 6.165578888693389)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 19.226
INFO:root:Testing 9 out of 23200 hypotheses for ramen_pack (evidence > 6.165578888693389)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.513
INFO:root:Testing 96 out of 14864 hypotheses for hot_sauce (evidence > 6.165578888693389)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 31.182
INFO:root:Testing 17 out of 12560 hypotheses for harissa_oil (evidence > 6.165578888693389)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 24.484
INFO:root:Testing 6 out of 21832 hypotheses for tomato_soup_can (evidence > 6.165578888693389)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.182
INFO:root:Testing 11 out of 16976 hypotheses for mustard_bottle (evidence > 6.165578888693389)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.978
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 63 out of 19024 hypotheses for potted_meat_can (evidence > 6.165578888693389)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.373
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.22566681 17.5132628  31.18226385 24.48416551
 11.18219099  7.97757204  2.61828895 18.37275025]
DEBUG:root:mean evidence: 13.749, std: 9.512 -> th=24.945811080852042
INFO:root:current most likely hypothesis: hot_sauce with evidence 31.18
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 140 ---
INFO:uvicorn.access:192.168.1.217:64489 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64489 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.14452799,  0.02745019, -0.98911988],
       [-0.18659422,  0.98243707,  0.        ],
       [ 0.97174804,  0.18456405,  0.1471117 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00854438,  0.01629147, -0.0024015 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 6 out of 14880 hypotheses for montys_heart (evidence > 6.23645277021301)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 19.327
INFO:root:Testing 8 out of 23200 hypotheses for ramen_pack (evidence > 6.23645277021301)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.903
INFO:root:Testing 96 out of 14864 hypotheses for hot_sauce (evidence > 6.23645277021301)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 31.36
INFO:root:Testing 17 out of 12560 hypotheses for harissa_oil (evidence > 6.23645277021301)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 24.663
INFO:root:Testing 5 out of 21832 hypotheses for tomato_soup_can (evidence > 6.23645277021301)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.468
INFO:root:Testing 11 out of 16976 hypotheses for mustard_bottle (evidence > 6.23645277021301)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.937
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 63 out of 19024 hypotheses for potted_meat_can (evidence > 6.23645277021301)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.515
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.32735843 17.9026997  31.35985339 24.66334909
 11.46765982  7.93740684  2.61828895 18.51536499]
DEBUG:root:mean evidence: 13.873, std: 9.588 -> th=25.08788271198143
INFO:root:current most likely hypothesis: hot_sauce with evidence 31.36
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 141 ---
INFO:uvicorn.access:192.168.1.217:64489 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64489 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64489 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.18815164,  0.00817189, -0.98210599],
       [-0.04339155,  0.99905814,  0.        ],
       [ 0.98118099,  0.0426151 ,  0.18832902]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01304691, -0.01215812,  0.00249712])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 6 out of 14880 hypotheses for montys_heart (evidence > 6.2719706779953555)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.327
INFO:root:Testing 8 out of 23200 hypotheses for ramen_pack (evidence > 6.2719706779953555)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 18.31
INFO:root:Testing 96 out of 14864 hypotheses for hot_sauce (evidence > 6.2719706779953555)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 31.806
INFO:root:Testing 17 out of 12560 hypotheses for harissa_oil (evidence > 6.2719706779953555)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 25.04
INFO:root:Testing 5 out of 21832 hypotheses for tomato_soup_can (evidence > 6.2719706779953555)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.899
INFO:root:Testing 10 out of 16976 hypotheses for mustard_bottle (evidence > 6.2719706779953555)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.905
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 62 out of 19024 hypotheses for potted_meat_can (evidence > 6.2719706779953555)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.712
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.32735843 18.31030776 31.80633875 25.03976289
 11.89924102  7.90465793  2.61828895 18.71240482]
DEBUG:root:mean evidence: 13.956, std: 9.681 -> th=25.445070996278034
INFO:root:current most likely hypothesis: hot_sauce with evidence 31.81
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.32735843 18.31030776 31.80633875 25.03976289
 11.89924102  7.90465793  2.61828895 18.71240482]
DEBUG:root:mean evidence: 13.956, std: 9.681 -> th=25.445070996278034
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.32735843 18.31030776 31.80633875 25.03976289
 11.89924102  7.90465793  2.61828895 18.71240482]
DEBUG:root:mean evidence: 13.956, std: 9.681 -> th=27.03538793354541
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 142 ---
INFO:uvicorn.access:192.168.1.217:64489 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64489 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.3833033 , -0.01888553, -0.92342943],
       [ 0.04921077,  0.99878842, -0.        ],
       [ 0.92231062, -0.04544267,  0.38376826]]), 'pose_fully_defined': False}}, {'patch': array([-0.01024759,  0.00635432, -0.00204814])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 6 out of 14880 hypotheses for montys_heart (evidence > 6.361267749069508)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.326
INFO:root:Testing 10 out of 23200 hypotheses for ramen_pack (evidence > 6.361267749069508)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 18.793
INFO:root:Testing 96 out of 14864 hypotheses for hot_sauce (evidence > 6.361267749069508)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 32.071
INFO:root:Testing 17 out of 12560 hypotheses for harissa_oil (evidence > 6.361267749069508)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 25.128
INFO:root:Testing 4 out of 21832 hypotheses for tomato_soup_can (evidence > 6.361267749069508)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.14
INFO:root:Testing 5 out of 16976 hypotheses for mustard_bottle (evidence > 6.361267749069508)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.782
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 62 out of 19024 hypotheses for potted_meat_can (evidence > 6.361267749069508)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.832
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.32634137 18.7931193  32.07131979 25.12811945
 12.14039826  7.78189246  2.61828895 18.83155785]
DEBUG:root:mean evidence: 14.063, std: 9.771 -> th=25.65705583381572
INFO:root:current most likely hypothesis: hot_sauce with evidence 32.07
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 143 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.55862054, -0.13638485, -0.8181334 ],
       [ 0.23717931,  0.97146589, -0.        ],
       [ 0.7947887 , -0.19404432,  0.57502846]]), 'pose_fully_defined': False}}, {'patch': array([ 0.05434914,  0.01551437, -0.07379156])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 6 out of 14880 hypotheses for montys_heart (evidence > 6.41426395845393)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 17.326
INFO:root:Testing 8 out of 23200 hypotheses for ramen_pack (evidence > 6.41426395845393)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.793
INFO:root:Testing 96 out of 14864 hypotheses for hot_sauce (evidence > 6.41426395845393)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 31.071
INFO:root:Testing 16 out of 12560 hypotheses for harissa_oil (evidence > 6.41426395845393)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 24.128
INFO:root:Testing 4 out of 21832 hypotheses for tomato_soup_can (evidence > 6.41426395845393)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.14
INFO:root:Testing 5 out of 16976 hypotheses for mustard_bottle (evidence > 6.41426395845393)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.782
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 61 out of 19024 hypotheses for potted_meat_can (evidence > 6.41426395845393)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.832
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.32634137 17.7931193  31.07131979 24.12811945
 11.14039826  6.78189246  2.61828895 17.83155785]
DEBUG:root:mean evidence: 13.363, std: 9.421 -> th=24.857055833815718
INFO:root:current most likely hypothesis: hot_sauce with evidence 31.07
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 144 ---
INFO:uvicorn.access:192.168.1.217:64491 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.47882222,  0.11485399, -0.8703665 ],
       [-0.23325132,  0.97241649,  0.        ],
       [ 0.84635873,  0.20301414,  0.49240447]]), 'pose_fully_defined': False}}, {'patch': array([-0.03645648, -0.04865113,  0.0595629 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 6 out of 14880 hypotheses for montys_heart (evidence > 6.214263958453927)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 17.613
INFO:root:Testing 10 out of 23200 hypotheses for ramen_pack (evidence > 6.214263958453927)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.793
INFO:root:Testing 94 out of 14864 hypotheses for hot_sauce (evidence > 6.214263958453927)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 30.071
INFO:root:Testing 15 out of 12560 hypotheses for harissa_oil (evidence > 6.214263958453927)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 24.483
INFO:root:Testing 3 out of 21832 hypotheses for tomato_soup_can (evidence > 6.214263958453927)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.554
INFO:root:Testing 3 out of 16976 hypotheses for mustard_bottle (evidence > 6.214263958453927)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.746
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 62 out of 19024 hypotheses for potted_meat_can (evidence > 6.214263958453927)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.794
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.61346179 16.7931193  30.07131979 24.48266036
 11.55362125  6.74624492  2.61828895 17.79356338]
DEBUG:root:mean evidence: 13.261, std: 9.24 -> th=24.057055833815717
INFO:root:current most likely hypothesis: hot_sauce with evidence 30.07
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 145 ---
INFO:uvicorn.access:192.168.1.217:64492 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.28335849, -0.00628361, -0.95899347],
       [ 0.02217002,  0.99975421, -0.        ],
       [ 0.95875777, -0.0212609 ,  0.28342815]]), 'pose_fully_defined': False}}, {'patch': array([-0.00901635, -0.00153228, -0.00331049])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 8 out of 14880 hypotheses for montys_heart (evidence > 6.0142639584539275)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 17.849
INFO:root:Testing 14 out of 23200 hypotheses for ramen_pack (evidence > 6.0142639584539275)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.793
INFO:root:Testing 94 out of 14864 hypotheses for hot_sauce (evidence > 6.0142639584539275)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 29.071
INFO:root:Testing 17 out of 12560 hypotheses for harissa_oil (evidence > 6.0142639584539275)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 23.483
INFO:root:Testing 9 out of 21832 hypotheses for tomato_soup_can (evidence > 6.0142639584539275)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.917
INFO:root:Testing 6 out of 16976 hypotheses for mustard_bottle (evidence > 6.0142639584539275)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.776
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 62 out of 19024 hypotheses for potted_meat_can (evidence > 6.0142639584539275)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.794
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.84858691 15.7931193  29.07131979 23.48266036
 11.91747179  6.77603363  2.61828895 16.79356338]
DEBUG:root:mean evidence: 12.924, std: 8.861 -> th=23.25705583381572
INFO:root:current most likely hypothesis: hot_sauce with evidence 29.07
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 146 ---
INFO:uvicorn.access:192.168.1.217:64492 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64492 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.30075264,  0.01759117, -0.95353993],
       [-0.0583907 ,  0.99829381,  0.        ],
       [ 0.95191301,  0.05567786,  0.30126666]]), 'pose_fully_defined': False}}, {'patch': array([0.00244795, 0.03077519, 0.00299876])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 9 out of 14880 hypotheses for montys_heart (evidence > 5.814263958453928)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.144
INFO:root:Testing 16 out of 23200 hypotheses for ramen_pack (evidence > 5.814263958453928)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.793
INFO:root:Testing 95 out of 14864 hypotheses for hot_sauce (evidence > 5.814263958453928)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 28.071
INFO:root:Testing 18 out of 12560 hypotheses for harissa_oil (evidence > 5.814263958453928)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 22.483
INFO:root:Testing 185 out of 21832 hypotheses for tomato_soup_can (evidence > 5.814263958453928)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.301
INFO:root:Testing 8 out of 16976 hypotheses for mustard_bottle (evidence > 5.814263958453928)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.773
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 61 out of 19024 hypotheses for potted_meat_can (evidence > 5.814263958453928)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.87
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.14362215 14.7931193  28.07131979 22.48266036
 12.30112082  6.7731288   2.61828895 16.86951439]
DEBUG:root:mean evidence: 12.699, std: 8.552 -> th=22.45705583381572
INFO:root:current most likely hypothesis: hot_sauce with evidence 28.07
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 147 ---
INFO:uvicorn.access:192.168.1.217:64492 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.57056565,  0.00279446, -0.82124724],
       [-0.00489764,  0.99998801,  0.        ],
       [ 0.82123739,  0.00402217,  0.57057249]]), 'pose_fully_defined': False}}, {'patch': array([0.00683908, 0.01399658, 0.00646907])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 12 out of 14880 hypotheses for montys_heart (evidence > 5.614263958453929)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.343
INFO:root:Testing 74 out of 23200 hypotheses for ramen_pack (evidence > 5.614263958453929)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.793
INFO:root:Testing 94 out of 14864 hypotheses for hot_sauce (evidence > 5.614263958453929)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 28.368
INFO:root:Testing 21 out of 12560 hypotheses for harissa_oil (evidence > 5.614263958453929)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 22.738
INFO:root:Testing 494 out of 21832 hypotheses for tomato_soup_can (evidence > 5.614263958453929)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.654
INFO:root:Testing 12 out of 16976 hypotheses for mustard_bottle (evidence > 5.614263958453929)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.654
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 69 out of 19024 hypotheses for potted_meat_can (evidence > 5.614263958453929)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.741
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.3429323  13.7931193  28.36834336 22.7378562
 12.65377383  6.65374759  2.61828895 16.74076913]
DEBUG:root:mean evidence: 12.685, std: 8.631 -> th=22.69467469149069
INFO:root:current most likely hypothesis: hot_sauce with evidence 28.37
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.3429323  13.7931193  28.36834336 22.7378562
 12.65377383  6.65374759  2.61828895 16.74076913]
DEBUG:root:mean evidence: 12.685, std: 8.631 -> th=22.69467469149069
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.3429323  13.7931193  28.36834336 22.7378562
 12.65377383  6.65374759  2.61828895 16.74076913]
DEBUG:root:mean evidence: 12.685, std: 8.631 -> th=24.11309185970886
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 148 ---
INFO:uvicorn.access:192.168.1.217:64492 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.62165765, -0.05962379, -0.7810165 ],
       [ 0.09547285,  0.99543203, -0.        ],
       [ 0.77744884, -0.07456587,  0.62451039]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00448132, -0.0343435 , -0.00014955])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 10 out of 14880 hypotheses for montys_heart (evidence > 5.673668672872672)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.602
INFO:root:Testing 16 out of 23200 hypotheses for ramen_pack (evidence > 5.673668672872672)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.793
INFO:root:Testing 93 out of 14864 hypotheses for hot_sauce (evidence > 5.673668672872672)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 28.78
INFO:root:Testing 16 out of 12560 hypotheses for harissa_oil (evidence > 5.673668672872672)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 23.095
INFO:root:Testing 130 out of 21832 hypotheses for tomato_soup_can (evidence > 5.673668672872672)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 13.037
INFO:root:Testing 5 out of 16976 hypotheses for mustard_bottle (evidence > 5.673668672872672)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.547
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 59 out of 19024 hypotheses for potted_meat_can (evidence > 5.673668672872672)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.643
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.60205315 12.7931193  28.78027828 23.09547542
 13.03683458  6.54742555  2.61828895 16.64291539]
DEBUG:root:mean evidence: 12.705, std: 8.762 -> th=23.024222621864027
INFO:root:current most likely hypothesis: hot_sauce with evidence 28.78
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 149 ---
INFO:uvicorn.access:192.168.1.217:64492 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.26943376,  0.00884287, -0.96297832],
       [-0.03280256,  0.99946185,  0.        ],
       [ 0.9624601 ,  0.03158815,  0.26957883]]), 'pose_fully_defined': False}}, {'patch': array([-0.01647993,  0.00067248, -0.01136819])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 10 out of 14880 hypotheses for montys_heart (evidence > 5.756055655466007)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.79
INFO:root:Testing 10 out of 23200 hypotheses for ramen_pack (evidence > 5.756055655466007)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.793
INFO:root:Testing 91 out of 14864 hypotheses for hot_sauce (evidence > 5.756055655466007)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 27.78
INFO:root:Testing 14 out of 12560 hypotheses for harissa_oil (evidence > 5.756055655466007)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 22.095
INFO:root:Testing 107 out of 21832 hypotheses for tomato_soup_can (evidence > 5.756055655466007)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.037
INFO:root:Testing 3 out of 16976 hypotheses for mustard_bottle (evidence > 5.756055655466007)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.912
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 56 out of 19024 hypotheses for potted_meat_can (evidence > 5.756055655466007)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.643
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.78969324 11.7931193  27.78027828 22.09547542
 12.03683458  6.91157598  2.61828895 15.64291539]
DEBUG:root:mean evidence: 12.261, std: 8.409 -> th=22.224222621864026
INFO:root:current most likely hypothesis: hot_sauce with evidence 27.78
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 150 ---
INFO:uvicorn.access:192.168.1.217:64492 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64492 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.08732997,  0.04874426, -0.99498617],
       [-0.48738102,  0.87318941,  0.        ],
       [ 0.86881138,  0.48493737,  0.10001263]]), 'pose_fully_defined': False}}, {'patch': array([-0.00134415, -0.0312664 ,  0.00289307])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 27 out of 14880 hypotheses for montys_heart (evidence > 5.556055655466004)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.962
INFO:root:Testing 111 out of 23200 hypotheses for ramen_pack (evidence > 5.556055655466004)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.793
INFO:root:Testing 89 out of 14864 hypotheses for hot_sauce (evidence > 5.556055655466004)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 26.78
INFO:root:Testing 15 out of 12560 hypotheses for harissa_oil (evidence > 5.556055655466004)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 22.393
INFO:root:Testing 260 out of 21832 hypotheses for tomato_soup_can (evidence > 5.556055655466004)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.454
INFO:root:Testing 6 out of 16976 hypotheses for mustard_bottle (evidence > 5.556055655466004)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.236
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 56 out of 19024 hypotheses for potted_meat_can (evidence > 5.556055655466004)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.643
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.96219266 10.7931193  26.78027828 22.39342407
 12.45373194  7.23620964  2.61828895 14.64291539]
DEBUG:root:mean evidence: 12.082, std: 8.232 -> th=21.424222621864025
INFO:root:current most likely hypothesis: hot_sauce with evidence 26.78
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 151 ---
INFO:uvicorn.access:192.168.1.217:64492 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64492 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.33589265,  0.03679393, -0.94118135],
       [-0.10888938,  0.99405387,  0.        ],
       [ 0.93558497,  0.10248466,  0.33790186]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00401725,  0.04605324, -0.00386933])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 54 out of 14880 hypotheses for montys_heart (evidence > 5.356055655466005)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 17.962
INFO:root:Testing 422 out of 23200 hypotheses for ramen_pack (evidence > 5.356055655466005)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.793
INFO:root:Testing 95 out of 14864 hypotheses for hot_sauce (evidence > 5.356055655466005)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 25.78
INFO:root:Testing 209 out of 12560 hypotheses for harissa_oil (evidence > 5.356055655466005)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 21.393
INFO:root:Testing 834 out of 21832 hypotheses for tomato_soup_can (evidence > 5.356055655466005)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.454
INFO:root:Testing 11 out of 16976 hypotheses for mustard_bottle (evidence > 5.356055655466005)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.708
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 152 out of 19024 hypotheses for potted_meat_can (evidence > 5.356055655466005)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.643
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.96219266  9.7931193  25.78027828 21.39342407
 11.45373194  7.7075755   2.61828895 13.64291539]
DEBUG:root:mean evidence: 11.529, std: 7.805 -> th=20.62422262186403
INFO:root:current most likely hypothesis: hot_sauce with evidence 25.78
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 152 ---
INFO:uvicorn.access:192.168.1.217:64492 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64492 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.1441011 ,  0.06721297, -0.98727772],
       [-0.42270877,  0.90626558,  0.        ],
       [ 0.89473581,  0.41733095,  0.15900538]]), 'pose_fully_defined': False}}, {'patch': array([-0.00188449,  0.01770084,  0.0046562 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 92 out of 14880 hypotheses for montys_heart (evidence > 5.156055655466005)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 16.962
INFO:root:Testing 808 out of 23200 hypotheses for ramen_pack (evidence > 5.156055655466005)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.793
INFO:root:Testing 100 out of 14864 hypotheses for hot_sauce (evidence > 5.156055655466005)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 24.78
INFO:root:Testing 1346 out of 12560 hypotheses for harissa_oil (evidence > 5.156055655466005)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 20.393
INFO:root:Testing 1049 out of 21832 hypotheses for tomato_soup_can (evidence > 5.156055655466005)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.454
INFO:root:Testing 13 out of 16976 hypotheses for mustard_bottle (evidence > 5.156055655466005)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.071
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 193 out of 19024 hypotheses for potted_meat_can (evidence > 5.156055655466005)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.092
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 16.96219266  8.7931193  24.78027828 20.39342407
 10.45373194  8.07127691  2.61828895 13.09164944]
DEBUG:root:mean evidence: 11.01, std: 7.412 -> th=19.824222621864028
INFO:root:current most likely hypothesis: hot_sauce with evidence 24.78
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 153 ---
INFO:uvicorn.access:192.168.1.217:64492 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64492 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.27837073,  0.0501923 , -0.95916134],
       [-0.17744601,  0.98413054,  0.        ],
       [ 0.94393996,  0.17019935,  0.28285956]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00165725, -0.02596039, -0.00235614])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 149 out of 14880 hypotheses for montys_heart (evidence > 4.956055655466006)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 17.316
INFO:root:Testing 726 out of 23200 hypotheses for ramen_pack (evidence > 4.956055655466006)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.793
INFO:root:Testing 123 out of 14864 hypotheses for hot_sauce (evidence > 4.956055655466006)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 23.78
INFO:root:Testing 2626 out of 12560 hypotheses for harissa_oil (evidence > 4.956055655466006)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 19.393
INFO:root:Testing 1231 out of 21832 hypotheses for tomato_soup_can (evidence > 4.956055655466006)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.05
INFO:root:Testing 15 out of 16976 hypotheses for mustard_bottle (evidence > 4.956055655466006)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.485
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 408 out of 19024 hypotheses for potted_meat_can (evidence > 4.956055655466006)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.805
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.31565254  7.7931193  23.78027828 19.39342407
 10.05024237  8.48546512  2.61828895 12.8047477 ]
DEBUG:root:mean evidence: 10.718, std: 7.15 -> th=19.024222621864027
INFO:root:current most likely hypothesis: hot_sauce with evidence 23.78
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.31565254  7.7931193  23.78027828 19.39342407
 10.05024237  8.48546512  2.61828895 12.8047477 ]
DEBUG:root:mean evidence: 10.718, std: 7.15 -> th=19.024222621864027
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.31565254  7.7931193  23.78027828 19.39342407
 10.05024237  8.48546512  2.61828895 12.8047477 ]
DEBUG:root:mean evidence: 10.718, std: 7.15 -> th=20.21323653573053
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 154 ---
INFO:uvicorn.access:192.168.1.217:64494 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.73414448,  0.16391291,  0.65891155],
       [-0.21790543,  0.97596989,  0.        ],
       [-0.64307783, -0.14358041,  0.75222042]]), 'pose_fully_defined': False}}, {'patch': array([ 0.03534969, -0.00683261,  0.04934514])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 201 out of 14880 hypotheses for montys_heart (evidence > 4.756055655466007)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 17.794
INFO:root:Testing 803 out of 23200 hypotheses for ramen_pack (evidence > 4.756055655466007)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.121
INFO:root:Testing 238 out of 14864 hypotheses for hot_sauce (evidence > 4.756055655466007)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 24.087
INFO:root:Testing 3065 out of 12560 hypotheses for harissa_oil (evidence > 4.756055655466007)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 19.747
INFO:root:Testing 2230 out of 21832 hypotheses for tomato_soup_can (evidence > 4.756055655466007)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 10.469
INFO:root:Testing 62 out of 16976 hypotheses for mustard_bottle (evidence > 4.756055655466007)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.898
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 575 out of 19024 hypotheses for potted_meat_can (evidence > 4.756055655466007)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.265
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.79382698  8.12146017 24.08652991 19.74698976
 10.46903624  8.89822745  2.61828895 13.26472576]
DEBUG:root:mean evidence: 10.994, std: 7.277 -> th=19.269223929970565
INFO:root:current most likely hypothesis: hot_sauce with evidence 24.09
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 155 ---
INFO:uvicorn.access:192.168.1.217:64494 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.74270689,  0.16793299,  0.64821678],
       [-0.22054199,  0.97537748,  0.        ],
       [-0.63225605, -0.14295902,  0.76145585]]), 'pose_fully_defined': False}}, {'patch': array([-0.00360839,  0.02053076, -0.00329593])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 139 out of 14880 hypotheses for montys_heart (evidence > 4.817305982492641)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.228
INFO:root:Testing 740 out of 23200 hypotheses for ramen_pack (evidence > 4.817305982492641)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.487
INFO:root:Testing 179 out of 14864 hypotheses for hot_sauce (evidence > 4.817305982492641)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 24.382
INFO:root:Testing 594 out of 12560 hypotheses for harissa_oil (evidence > 4.817305982492641)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 19.982
INFO:root:Testing 1448 out of 21832 hypotheses for tomato_soup_can (evidence > 4.817305982492641)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.808
INFO:root:Testing 252 out of 16976 hypotheses for mustard_bottle (evidence > 4.817305982492641)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.334
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 553 out of 19024 hypotheses for potted_meat_can (evidence > 4.817305982492641)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.728
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.22844217  8.48728484 24.38172864 19.98155397
 10.80830191  9.33381682  2.61828895 13.72798897]
DEBUG:root:mean evidence: 11.25, std: 7.386 -> th=19.50538291146149
INFO:root:current most likely hypothesis: hot_sauce with evidence 24.38
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 156 ---
INFO:uvicorn.access:192.168.1.217:64494 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64494 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.75868412,  0.18899792,  0.6234406 ],
       [-0.24172528,  0.97034473,  0.        ],
       [-0.6049523 , -0.15070136,  0.78187071]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0036026 , -0.06795374, -0.0014168 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 87 out of 14880 hypotheses for montys_heart (evidence > 4.87634572786537)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.532
INFO:root:Testing 630 out of 23200 hypotheses for ramen_pack (evidence > 4.87634572786537)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.744
INFO:root:Testing 158 out of 14864 hypotheses for hot_sauce (evidence > 4.87634572786537)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 24.723
INFO:root:Testing 142 out of 12560 hypotheses for harissa_oil (evidence > 4.87634572786537)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 20.144
INFO:root:Testing 924 out of 21832 hypotheses for tomato_soup_can (evidence > 4.87634572786537)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.098
INFO:root:Testing 249 out of 16976 hypotheses for mustard_bottle (evidence > 4.87634572786537)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.774
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 508 out of 19024 hypotheses for potted_meat_can (evidence > 4.87634572786537)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.208
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.5316476   8.74427523 24.72326881 20.1437052
 11.097625    9.77393204  2.61828895 14.20795341]
DEBUG:root:mean evidence: 11.478, std: 7.489 -> th=19.778615048057553
INFO:root:current most likely hypothesis: hot_sauce with evidence 24.72
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 157 ---
INFO:uvicorn.access:192.168.1.217:64494 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64494 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.49180633,  0.03435861,  0.87002645],
       [-0.06969221,  0.99756854,  0.        ],
       [-0.86791102, -0.06063406,  0.49300505]]), 'pose_fully_defined': False}}, {'patch': array([0.02709072, 0.04051903, 0.00754192])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 84 out of 14880 hypotheses for montys_heart (evidence > 4.9446537620143864)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 17.532
INFO:root:Testing 537 out of 23200 hypotheses for ramen_pack (evidence > 4.9446537620143864)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.744
INFO:root:Testing 142 out of 14864 hypotheses for hot_sauce (evidence > 4.9446537620143864)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 23.723
INFO:root:Testing 151 out of 12560 hypotheses for harissa_oil (evidence > 4.9446537620143864)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 19.144
INFO:root:Testing 907 out of 21832 hypotheses for tomato_soup_can (evidence > 4.9446537620143864)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.098
INFO:root:Testing 242 out of 16976 hypotheses for mustard_bottle (evidence > 4.9446537620143864)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.774
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 446 out of 19024 hypotheses for potted_meat_can (evidence > 4.9446537620143864)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.208
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.5316476   7.74427523 23.72326881 19.1437052
 10.097625    8.77393204  2.61828895 13.20795341]
DEBUG:root:mean evidence: 10.778, std: 7.136 -> th=18.978615048057556
INFO:root:current most likely hypothesis: hot_sauce with evidence 23.72
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 158 ---
INFO:uvicorn.access:192.168.1.217:64496 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.20839023,  0.0930397 ,  0.97361036],
       [-0.40768136, -0.91312426,  0.        ],
       [ 0.88902724, -0.39692279,  0.22821672]]), 'pose_fully_defined': False}}, {'patch': array([-0.04030917, -0.04083874,  0.0138753 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 78 out of 14880 hypotheses for montys_heart (evidence > 4.744653762014387)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 17.849
INFO:root:Testing 501 out of 23200 hypotheses for ramen_pack (evidence > 4.744653762014387)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.14
INFO:root:Testing 130 out of 14864 hypotheses for hot_sauce (evidence > 4.744653762014387)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 23.997
INFO:root:Testing 2128 out of 12560 hypotheses for harissa_oil (evidence > 4.744653762014387)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 19.34
INFO:root:Testing 871 out of 21832 hypotheses for tomato_soup_can (evidence > 4.744653762014387)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.227
INFO:root:Testing 272 out of 16976 hypotheses for mustard_bottle (evidence > 4.744653762014387)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.196
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 374 out of 19024 hypotheses for potted_meat_can (evidence > 4.744653762014387)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.394
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.84920572  8.13962197 23.99677132 19.33952131
 10.22705257  9.19568752  2.61828895 13.3936509 ]
DEBUG:root:mean evidence: 10.97, std: 7.216 -> th=19.197417052017215
INFO:root:current most likely hypothesis: hot_sauce with evidence 24.0
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 159 ---
INFO:uvicorn.access:192.168.1.217:64496 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.28157572,  0.0168818 ,  0.95939049],
       [-0.05984728, -0.99820755,  0.        ],
       [ 0.95767083, -0.05741691,  0.28208134]]), 'pose_fully_defined': False}}, {'patch': array([-0.00419281,  0.01032855,  0.00226607])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 78 out of 14880 hypotheses for montys_heart (evidence > 4.799354263004304)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.234
INFO:root:Testing 690 out of 23200 hypotheses for ramen_pack (evidence > 4.799354263004304)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.619
INFO:root:Testing 174 out of 14864 hypotheses for hot_sauce (evidence > 4.799354263004304)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 24.328
INFO:root:Testing 2204 out of 12560 hypotheses for harissa_oil (evidence > 4.799354263004304)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 19.589
INFO:root:Testing 868 out of 21832 hypotheses for tomato_soup_can (evidence > 4.799354263004304)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.462
INFO:root:Testing 379 out of 16976 hypotheses for mustard_bottle (evidence > 4.799354263004304)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.633
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 466 out of 19024 hypotheses for potted_meat_can (evidence > 4.799354263004304)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.657
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.23401406  8.61925619 24.32776208 19.58908962
 10.46188367  9.63342704  2.61828895 13.65687236]
DEBUG:root:mean evidence: 11.208, std: 7.32 -> th=19.462209661819067
INFO:root:current most likely hypothesis: hot_sauce with evidence 24.33
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.23401406  8.61925619 24.32776208 19.58908962
 10.46188367  9.63342704  2.61828895 13.65687236]
DEBUG:root:mean evidence: 11.208, std: 7.32 -> th=19.462209661819067
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.23401406  8.61925619 24.32776208 19.58908962
 10.46188367  9.63342704  2.61828895 13.65687236]
DEBUG:root:mean evidence: 11.208, std: 7.32 -> th=20.67859776568276
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 160 ---
INFO:uvicorn.access:192.168.1.217:64496 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64496 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64496 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.22060875,  0.06464284,  0.9732179 ],
       [-0.28119693, -0.95965009,  0.        ],
       [ 0.93394864, -0.27366589,  0.22988458]]), 'pose_fully_defined': False}}, {'patch': array([7.27217890e-05, 1.99206897e-02, 2.25116140e-03])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 78 out of 14880 hypotheses for montys_heart (evidence > 4.865552415454765)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.639
INFO:root:Testing 690 out of 23200 hypotheses for ramen_pack (evidence > 4.865552415454765)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.031
INFO:root:Testing 174 out of 14864 hypotheses for hot_sauce (evidence > 4.865552415454765)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 24.612
INFO:root:Testing 2193 out of 12560 hypotheses for harissa_oil (evidence > 4.865552415454765)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 19.905
INFO:root:Testing 868 out of 21832 hypotheses for tomato_soup_can (evidence > 4.865552415454765)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.721
INFO:root:Testing 379 out of 16976 hypotheses for mustard_bottle (evidence > 4.865552415454765)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.057
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 461 out of 19024 hypotheses for potted_meat_can (evidence > 4.865552415454765)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.835
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.63896534  9.03093933 24.6118137  19.90527911
 10.72112696 10.05743497  2.61828895 13.83504383]
DEBUG:root:mean evidence: 11.436, std: 7.426 -> th=19.689450958976714
INFO:root:current most likely hypothesis: hot_sauce with evidence 24.61
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 161 ---
INFO:uvicorn.access:192.168.1.217:64496 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64496 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.26674898,  0.09469567,  0.95910255],
       [-0.33454414, -0.94238008,  0.        ],
       [ 0.90383914, -0.32086214,  0.28305881]]), 'pose_fully_defined': False}}, {'patch': array([-0.0026884 ,  0.01450361,  0.0027247 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 73 out of 14880 hypotheses for montys_heart (evidence > 4.922362739744177)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.97
INFO:root:Testing 631 out of 23200 hypotheses for ramen_pack (evidence > 4.922362739744177)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.386
INFO:root:Testing 161 out of 14864 hypotheses for hot_sauce (evidence > 4.922362739744177)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 24.877
INFO:root:Testing 465 out of 12560 hypotheses for harissa_oil (evidence > 4.922362739744177)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 20.237
INFO:root:Testing 555 out of 21832 hypotheses for tomato_soup_can (evidence > 4.922362739744177)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.896
INFO:root:Testing 365 out of 16976 hypotheses for mustard_bottle (evidence > 4.922362739744177)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.478
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 450 out of 19024 hypotheses for potted_meat_can (evidence > 4.922362739744177)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.835
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.97015362  9.38576436 24.87736577 20.2366159
 10.89569238 10.47782925  2.61828895 12.83504383]
DEBUG:root:mean evidence: 11.523, std: 7.5 -> th=19.90189261473065
INFO:root:current most likely hypothesis: hot_sauce with evidence 24.88
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 162 ---
INFO:uvicorn.access:192.168.1.217:64496 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64496 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.29181868,  0.1274421 ,  0.94794534],
       [-0.40021626, -0.91642072,  0.        ],
       [ 0.86871675, -0.37938314,  0.31843309]]), 'pose_fully_defined': False}}, {'patch': array([-1.77347659e-03,  1.36689269e-02, -3.35500398e-05])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 50 out of 14880 hypotheses for montys_heart (evidence > 4.97547315368266)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 19.317
INFO:root:Testing 209 out of 23200 hypotheses for ramen_pack (evidence > 4.97547315368266)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.386
INFO:root:Testing 101 out of 14864 hypotheses for hot_sauce (evidence > 4.97547315368266)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 25.121
INFO:root:Testing 90 out of 12560 hypotheses for harissa_oil (evidence > 4.97547315368266)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 20.465
INFO:root:Testing 346 out of 21832 hypotheses for tomato_soup_can (evidence > 4.97547315368266)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.122
INFO:root:Testing 192 out of 16976 hypotheses for mustard_bottle (evidence > 4.97547315368266)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.899
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 302 out of 19024 hypotheses for potted_meat_can (evidence > 4.97547315368266)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.872
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.31691374  8.38576436 25.12066571 20.46503811
 11.12186628 10.89870548  2.61828895 12.87178515]
DEBUG:root:mean evidence: 11.574, std: 7.634 -> th=20.096532570169014
INFO:root:current most likely hypothesis: hot_sauce with evidence 25.12
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 163 ---
INFO:uvicorn.access:192.168.1.217:64496 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64496 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.25988125,  0.12344822,  0.95771722],
       [-0.42906993, -0.90327128,  0.        ],
       [ 0.86507846, -0.41092766,  0.28771118]]), 'pose_fully_defined': False}}, {'patch': array([0.00116739, 0.01221311, 0.00348136])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 23 out of 14880 hypotheses for montys_heart (evidence > 5.024133142542251)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.317
INFO:root:Testing 83 out of 23200 hypotheses for ramen_pack (evidence > 5.024133142542251)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.633
INFO:root:Testing 89 out of 14864 hypotheses for hot_sauce (evidence > 5.024133142542251)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 24.121
INFO:root:Testing 35 out of 12560 hypotheses for harissa_oil (evidence > 5.024133142542251)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 20.62
INFO:root:Testing 196 out of 21832 hypotheses for tomato_soup_can (evidence > 5.024133142542251)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.538
INFO:root:Testing 155 out of 16976 hypotheses for mustard_bottle (evidence > 5.024133142542251)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.341
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 220 out of 19024 hypotheses for potted_meat_can (evidence > 5.024133142542251)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.872
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.31691374  7.6325222  24.12066571 20.61953489
 10.53752358 11.34108446  2.61828895 11.87178515]
DEBUG:root:mean evidence: 11.2, std: 7.402 -> th=19.296532570169013
INFO:root:current most likely hypothesis: hot_sauce with evidence 24.12
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 164 ---
INFO:uvicorn.access:192.168.1.217:64496 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.18028645,  0.13335613,  0.97453216],
       [-0.5946821 , -0.80396094,  0.        ],
       [ 0.7834858 , -0.57953683,  0.22424777]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01097957, -0.01787093,  0.0017026 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 27 out of 14880 hypotheses for montys_heart (evidence > 4.824133142542252)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 17.317
INFO:root:Testing 105 out of 23200 hypotheses for ramen_pack (evidence > 4.824133142542252)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.692
INFO:root:Testing 98 out of 14864 hypotheses for hot_sauce (evidence > 4.824133142542252)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 23.121
INFO:root:Testing 43 out of 12560 hypotheses for harissa_oil (evidence > 4.824133142542252)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 19.62
INFO:root:Testing 176 out of 21832 hypotheses for tomato_soup_can (evidence > 4.824133142542252)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.538
INFO:root:Testing 66 out of 16976 hypotheses for mustard_bottle (evidence > 4.824133142542252)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.499
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 98 out of 19024 hypotheses for potted_meat_can (evidence > 4.824133142542252)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.872
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.31691374  6.69198853 23.12066571 19.61953489
  9.53752358 11.49856325  2.61828895 10.87178515]
DEBUG:root:mean evidence: 10.621, std: 7.058 -> th=18.496532570169016
INFO:root:current most likely hypothesis: hot_sauce with evidence 23.12
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 165 ---
INFO:uvicorn.access:192.168.1.217:64496 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64496 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64496 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.16988007,  0.16297388,  0.9718952 ],
       [-0.69228644, -0.72162281,  0.        ],
       [ 0.70134175, -0.67282987,  0.23541394]]), 'pose_fully_defined': False}}, {'patch': array([-0.00441949, -0.03069933, -0.0087229 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 182 out of 14880 hypotheses for montys_heart (evidence > 4.624133142542252)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 17.672
INFO:root:Testing 1492 out of 23200 hypotheses for ramen_pack (evidence > 4.624133142542252)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.906
INFO:root:Testing 279 out of 14864 hypotheses for hot_sauce (evidence > 4.624133142542252)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 23.4
INFO:root:Testing 1777 out of 12560 hypotheses for harissa_oil (evidence > 4.624133142542252)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 19.829
INFO:root:Testing 1444 out of 21832 hypotheses for tomato_soup_can (evidence > 4.624133142542252)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.751
INFO:root:Testing 381 out of 16976 hypotheses for mustard_bottle (evidence > 4.624133142542252)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.807
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 614 out of 19024 hypotheses for potted_meat_can (evidence > 4.624133142542252)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.127
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.67211473  6.90645613 23.3997664  19.82908395
  9.75051923 11.80671696  2.61828895 11.12732631]
DEBUG:root:mean evidence: 10.805, std: 7.158 -> th=18.719813116841145
INFO:root:current most likely hypothesis: hot_sauce with evidence 23.4
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.67211473  6.90645613 23.3997664  19.82908395
  9.75051923 11.80671696  2.61828895 11.12732631]
DEBUG:root:mean evidence: 10.805, std: 7.158 -> th=18.719813116841145
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.67211473  6.90645613 23.3997664  19.82908395
  9.75051923 11.80671696  2.61828895 11.12732631]
DEBUG:root:mean evidence: 10.805, std: 7.158 -> th=19.889801436643715
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 166 ---
INFO:uvicorn.access:192.168.1.217:64496 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.08452548,  0.14683879,  0.9855424 ],
       [-0.86666857, -0.49888434,  0.        ],
       [ 0.49167167, -0.85413862,  0.169429  ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00416458, -0.02441757, -0.00610125])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 176 out of 14880 hypotheses for montys_heart (evidence > 4.6799532792102845)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 17.732
INFO:root:Testing 1412 out of 23200 hypotheses for ramen_pack (evidence > 4.6799532792102845)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.182
INFO:root:Testing 271 out of 14864 hypotheses for hot_sauce (evidence > 4.6799532792102845)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 23.636
INFO:root:Testing 484 out of 12560 hypotheses for harissa_oil (evidence > 4.6799532792102845)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 20.067
INFO:root:Testing 1139 out of 21832 hypotheses for tomato_soup_can (evidence > 4.6799532792102845)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.919
INFO:root:Testing 371 out of 16976 hypotheses for mustard_bottle (evidence > 4.6799532792102845)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.199
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 604 out of 19024 hypotheses for potted_meat_can (evidence > 4.6799532792102845)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.242
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.73162331  7.181873   23.63562114 20.06664411
  9.91852133 12.19917778  2.61828895 11.24219959]
DEBUG:root:mean evidence: 10.953, std: 7.225 -> th=18.90849691547287
INFO:root:current most likely hypothesis: hot_sauce with evidence 23.64
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.73162331  7.181873   23.63562114 20.06664411
  9.91852133 12.19917778  2.61828895 11.24219959]
DEBUG:root:mean evidence: 10.953, std: 7.225 -> th=18.90849691547287
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.73162331  7.181873   23.63562114 20.06664411
  9.91852133 12.19917778  2.61828895 11.24219959]
DEBUG:root:mean evidence: 10.953, std: 7.225 -> th=20.090277972689925
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 167 ---
INFO:uvicorn.access:192.168.1.217:64496 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64496 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.01427209,  0.1747472 ,  0.98450989],
       [-0.99668137, -0.08140173,  0.        ],
       [ 0.08014081, -0.98124267,  0.17532905]]), 'pose_fully_defined': False}}, {'patch': array([-0.0040593 ,  0.03976632,  0.00533536])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 176 out of 14880 hypotheses for montys_heart (evidence > 4.727124228868217)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.166
INFO:root:Testing 1412 out of 23200 hypotheses for ramen_pack (evidence > 4.727124228868217)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.47
INFO:root:Testing 271 out of 14864 hypotheses for hot_sauce (evidence > 4.727124228868217)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 23.958
INFO:root:Testing 484 out of 12560 hypotheses for harissa_oil (evidence > 4.727124228868217)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 20.306
INFO:root:Testing 1135 out of 21832 hypotheses for tomato_soup_can (evidence > 4.727124228868217)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.174
INFO:root:Testing 420 out of 16976 hypotheses for mustard_bottle (evidence > 4.727124228868217)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.56
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 604 out of 19024 hypotheses for potted_meat_can (evidence > 4.727124228868217)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.51
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.16634276  7.47000481 23.95828209 20.30610886
 10.17417501 12.56025826  2.61828895 11.5103821 ]
DEBUG:root:mean evidence: 11.17, std: 7.342 -> th=19.166625669212337
INFO:root:current most likely hypothesis: hot_sauce with evidence 23.96
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 168 ---
INFO:uvicorn.access:192.168.1.217:64496 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64496 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.09791739,  0.20051819,  0.97478441],
       [-0.89858536,  0.43879876,  0.        ],
       [-0.42773419, -0.875927  ,  0.22314874]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00153987,  0.01835085, -0.00211761])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 117 out of 14880 hypotheses for montys_heart (evidence > 4.791656417303084)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.601
INFO:root:Testing 984 out of 23200 hypotheses for ramen_pack (evidence > 4.791656417303084)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.88
INFO:root:Testing 209 out of 14864 hypotheses for hot_sauce (evidence > 4.791656417303084)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 24.233
INFO:root:Testing 124 out of 12560 hypotheses for harissa_oil (evidence > 4.791656417303084)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 20.563
INFO:root:Testing 622 out of 21832 hypotheses for tomato_soup_can (evidence > 4.791656417303084)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.446
INFO:root:Testing 344 out of 16976 hypotheses for mustard_bottle (evidence > 4.791656417303084)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.945
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 543 out of 19024 hypotheses for potted_meat_can (evidence > 4.791656417303084)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.706
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.6008324   7.88008535 24.23271977 20.56277059
 10.44575393 12.94487686  2.61828895 11.70550943]
DEBUG:root:mean evidence: 11.393, std: 7.448 -> th=19.386175817926862
INFO:root:current most likely hypothesis: hot_sauce with evidence 24.23
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 169 ---
INFO:uvicorn.access:192.168.1.217:64496 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64496 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.13938216,  0.22549471,  0.96422235],
       [-0.85061915, -0.52578234,  0.        ],
       [ 0.50697109, -0.820186  ,  0.2650948 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00164824, -0.03590829,  0.00212722])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 35 out of 14880 hypotheses for montys_heart (evidence > 4.846543954481714)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.949
INFO:root:Testing 186 out of 23200 hypotheses for ramen_pack (evidence > 4.846543954481714)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.114
INFO:root:Testing 149 out of 14864 hypotheses for hot_sauce (evidence > 4.846543954481714)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 24.514
INFO:root:Testing 48 out of 12560 hypotheses for harissa_oil (evidence > 4.846543954481714)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 20.763
INFO:root:Testing 271 out of 21832 hypotheses for tomato_soup_can (evidence > 4.846543954481714)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.661
INFO:root:Testing 230 out of 16976 hypotheses for mustard_bottle (evidence > 4.846543954481714)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.236
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 422 out of 19024 hypotheses for potted_meat_can (evidence > 4.846543954481714)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.964
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.94887233  8.11355501 24.51373294 20.76301535
 10.66101971 13.23565962  2.61828895 11.96371374]
DEBUG:root:mean evidence: 11.575, std: 7.548 -> th=19.61098635478636
INFO:root:current most likely hypothesis: hot_sauce with evidence 24.51
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 170 ---
INFO:uvicorn.access:192.168.1.217:64496 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64496 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.16233288,  0.18893008,  0.96847997],
       [-0.75847684,  0.6517    ,  0.        ],
       [-0.6311584 , -0.73456963,  0.24909143]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01143705, -0.02297967, -0.00394757])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 35 out of 14880 hypotheses for montys_heart (evidence > 4.902746588696587)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 17.949
INFO:root:Testing 186 out of 23200 hypotheses for ramen_pack (evidence > 4.902746588696587)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.378
INFO:root:Testing 149 out of 14864 hypotheses for hot_sauce (evidence > 4.902746588696587)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 24.715
INFO:root:Testing 48 out of 12560 hypotheses for harissa_oil (evidence > 4.902746588696587)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 21.046
INFO:root:Testing 271 out of 21832 hypotheses for tomato_soup_can (evidence > 4.902746588696587)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.81
INFO:root:Testing 230 out of 16976 hypotheses for mustard_bottle (evidence > 4.902746588696587)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.483
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 422 out of 19024 hypotheses for potted_meat_can (evidence > 4.902746588696587)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.151
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.94887233  8.37786308 24.71504626 21.04600741
 10.80981942 13.4828786   2.61828895 12.1511867 ]
DEBUG:root:mean evidence: 11.609, std: 7.521 -> th=19.772037011895964
INFO:root:current most likely hypothesis: hot_sauce with evidence 24.72
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 171 ---
INFO:uvicorn.access:192.168.1.217:64496 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64496 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64496 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.30273768,  0.2043168 ,  0.93091597],
       [-0.55941429,  0.8288882 ,  0.        ],
       [-0.77162527, -0.5207677 ,  0.36523342]]), 'pose_fully_defined': False}}, {'patch': array([-0.00515775,  0.05238401,  0.00337663])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 32 out of 14880 hypotheses for montys_heart (evidence > 4.94300925297399)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.385
INFO:root:Testing 167 out of 23200 hypotheses for ramen_pack (evidence > 4.94300925297399)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.8
INFO:root:Testing 145 out of 14864 hypotheses for hot_sauce (evidence > 4.94300925297399)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 23.715
INFO:root:Testing 41 out of 12560 hypotheses for harissa_oil (evidence > 4.94300925297399)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 21.387
INFO:root:Testing 244 out of 21832 hypotheses for tomato_soup_can (evidence > 4.94300925297399)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.106
INFO:root:Testing 205 out of 16976 hypotheses for mustard_bottle (evidence > 4.94300925297399)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.835
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 380 out of 19024 hypotheses for potted_meat_can (evidence > 4.94300925297399)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.151
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.38452166  8.79968314 23.71504626 21.3874204
 11.1060337  13.83462634  2.61828895 11.1511867 ]
DEBUG:root:mean evidence: 11.593, std: 7.423 -> th=18.972037011895964
INFO:root:current most likely hypothesis: hot_sauce with evidence 23.72
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 172 ---
INFO:uvicorn.access:192.168.1.217:64496 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.03361134,  0.26181551,  0.96453249],
       [-0.99186003,  0.12733295,  0.        ],
       [-0.12281677, -0.95668122,  0.26396417]]), 'pose_fully_defined': False}}, {'patch': array([-0.00545762,  0.00973282,  0.00245034])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 32 out of 14880 hypotheses for montys_heart (evidence > 4.743009252973991)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.806
INFO:root:Testing 174 out of 23200 hypotheses for ramen_pack (evidence > 4.743009252973991)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.053
INFO:root:Testing 146 out of 14864 hypotheses for hot_sauce (evidence > 4.743009252973991)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 22.715
INFO:root:Testing 38 out of 12560 hypotheses for harissa_oil (evidence > 4.743009252973991)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 21.605
INFO:root:Testing 252 out of 21832 hypotheses for tomato_soup_can (evidence > 4.743009252973991)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.324
INFO:root:Testing 181 out of 16976 hypotheses for mustard_bottle (evidence > 4.743009252973991)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.233
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 367 out of 19024 hypotheses for potted_meat_can (evidence > 4.743009252973991)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.31
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.80589272  9.052589   22.71504626 21.60526322
 11.32389148 14.23332047  2.61828895 11.30962972]
DEBUG:root:mean evidence: 11.66, std: 7.337 -> th=18.172037011895963
INFO:root:current most likely hypothesis: hot_sauce with evidence 22.72
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.80589272  9.052589   22.71504626 21.60526322
 11.32389148 14.23332047  2.61828895 11.30962972]
DEBUG:root:mean evidence: 11.66, std: 7.337 -> th=18.172037011895963
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.80589272  9.052589   22.71504626 21.60526322
 11.32389148 14.23332047  2.61828895 11.30962972]
DEBUG:root:mean evidence: 11.66, std: 7.337 -> th=19.30778932513946
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil', 'montys_heart'}
INFO:root:--- Global Matching Step 173 ---
INFO:uvicorn.access:192.168.1.217:64496 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64496 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.08484044,  0.28614669,  0.95442243],
       [-0.95874678, -0.28426154,  0.        ],
       [ 0.27130558, -0.91504942,  0.29845909]]), 'pose_fully_defined': False}}, {'patch': array([-0.0070954 ,  0.00468093,  0.00252878])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 214 out of 14880 hypotheses for montys_heart (evidence > 4.543009252973992)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 17.806
INFO:root:Testing 1226 out of 23200 hypotheses for ramen_pack (evidence > 4.543009252973992)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.287
INFO:root:Testing 402 out of 14864 hypotheses for hot_sauce (evidence > 4.543009252973992)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.715
INFO:root:Testing 2597 out of 12560 hypotheses for harissa_oil (evidence > 4.543009252973992)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 21.88
INFO:root:Testing 1918 out of 21832 hypotheses for tomato_soup_can (evidence > 4.543009252973992)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 11.54
INFO:root:Testing 466 out of 16976 hypotheses for mustard_bottle (evidence > 4.543009252973992)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.66
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 419 out of 19024 hypotheses for potted_meat_can (evidence > 4.543009252973992)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.531
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.80589272  9.28748457 21.71504626 21.87978314
 11.53956237 14.65979667  2.61828895 11.53120149]
DEBUG:root:mean evidence: 11.597, std: 7.144 -> th=17.503826511300733
INFO:root:current most likely hypothesis: harissa_oil with evidence 21.88
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.80589272  9.28748457 21.71504626 21.87978314
 11.53956237 14.65979667  2.61828895 11.53120149]
DEBUG:root:mean evidence: 11.597, std: 7.144 -> th=17.503826511300733
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.80589272  9.28748457 21.71504626 21.87978314
 11.53956237 14.65979667  2.61828895 11.53120149]
DEBUG:root:mean evidence: 11.597, std: 7.144 -> th=18.597815668257027
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', 'harissa_oil', 'montys_heart'}
INFO:root:--- Global Matching Step 174 ---
INFO:uvicorn.access:192.168.1.217:64496 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.22208469,  0.28832291,  0.93142272],
       [-0.79222833, -0.61022477,  0.        ],
       [ 0.56837722, -0.73789947,  0.36393916]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00055658, -0.03248275, -0.00164423])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 706 out of 14880 hypotheses for montys_heart (evidence > 4.3759566278251825)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.151
INFO:root:Testing 1665 out of 23200 hypotheses for ramen_pack (evidence > 4.3759566278251825)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 9.539
INFO:root:Testing 437 out of 14864 hypotheses for hot_sauce (evidence > 4.3759566278251825)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 22.048
INFO:root:Testing 2759 out of 12560 hypotheses for harissa_oil (evidence > 4.3759566278251825)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 22.136
INFO:root:Testing 3352 out of 21832 hypotheses for tomato_soup_can (evidence > 4.3759566278251825)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 11.687
INFO:root:Testing 577 out of 16976 hypotheses for mustard_bottle (evidence > 4.3759566278251825)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.981
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 756 out of 19024 hypotheses for potted_meat_can (evidence > 4.3759566278251825)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures 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: [ 3.40482558  1.53204344 18.15147258  9.53866442 22.04824706 22.13628683
 11.68708217 14.98111862  2.61828895 11.81972776]
DEBUG:root:mean evidence: 11.792, std: 7.264 -> th=17.70902946134061
INFO:root:current most likely hypothesis: harissa_oil with evidence 22.14
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil', 'montys_heart'}
INFO:root:--- Global Matching Step 175 ---
INFO:uvicorn.access:192.168.1.217:64496 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64496 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.30808296,  0.22323264,  0.9247984 ],
       [-0.58674788,  0.80976968,  0.        ],
       [-0.7488737 , -0.54262349,  0.38045752]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01696461, -0.01607555, -0.00384023])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 285 out of 14880 hypotheses for montys_heart (evidence > 4.4272573653351515)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 17.151
INFO:root:Testing 1475 out of 23200 hypotheses for ramen_pack (evidence > 4.4272573653351515)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.823
INFO:root:Testing 334 out of 14864 hypotheses for hot_sauce (evidence > 4.4272573653351515)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.048
INFO:root:Testing 723 out of 12560 hypotheses for harissa_oil (evidence > 4.4272573653351515)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 22.435
INFO:root:Testing 1132 out of 21832 hypotheses for tomato_soup_can (evidence > 4.4272573653351515)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.687
INFO:root:Testing 531 out of 16976 hypotheses for mustard_bottle (evidence > 4.4272573653351515)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.981
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 726 out of 19024 hypotheses for potted_meat_can (evidence > 4.4272573653351515)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.82
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.15147258  9.82291341 21.04824706 22.4354659
 10.68708217 13.98111862  2.61828895 10.81972776]
DEBUG:root:mean evidence: 11.35, std: 7.045 -> th=17.948372720797643
INFO:root:current most likely hypothesis: harissa_oil with evidence 22.44
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 176 ---
INFO:uvicorn.access:192.168.1.217:64496 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64496 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.003114  ,  0.28203431,  0.95939927],
       [-0.99993905,  0.01104054,  0.        ],
       [-0.01059228, -0.95934079,  0.2820515 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00694104, -0.02642588, -0.0020104 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 78 out of 14880 hypotheses for montys_heart (evidence > 4.487093180199409)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 16.151
INFO:root:Testing 79 out of 23200 hypotheses for ramen_pack (evidence > 4.487093180199409)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.01
INFO:root:Testing 107 out of 14864 hypotheses for hot_sauce (evidence > 4.487093180199409)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.395
INFO:root:Testing 17 out of 12560 hypotheses for harissa_oil (evidence > 4.487093180199409)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 22.556
INFO:root:Testing 341 out of 21832 hypotheses for tomato_soup_can (evidence > 4.487093180199409)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.936
INFO:root:Testing 72 out of 16976 hypotheses for mustard_bottle (evidence > 4.487093180199409)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.369
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 76 out of 19024 hypotheses for potted_meat_can (evidence > 4.487093180199409)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.018
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 16.15147258 10.00957237 21.39451562 22.55632939
 10.9357774  14.3694874   2.61828895 11.01840309]
DEBUG:root:mean evidence: 11.399, std: 7.046 -> th=18.045063508860913
INFO:root:current most likely hypothesis: harissa_oil with evidence 22.56
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 177 ---
INFO:uvicorn.access:192.168.1.217:64496 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.22501784,  0.28154168,  0.93279218],
       [-0.78116041, -0.62433038,  0.        ],
       [ 0.58237049, -0.72866032,  0.36041468]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00098809, -0.00949249, -0.00080215])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 62 out of 14880 hypotheses for montys_heart (evidence > 4.5112658772152265)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 15.151
INFO:root:Testing 69 out of 23200 hypotheses for ramen_pack (evidence > 4.5112658772152265)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.286
INFO:root:Testing 107 out of 14864 hypotheses for hot_sauce (evidence > 4.5112658772152265)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 21.581
INFO:root:Testing 17 out of 12560 hypotheses for harissa_oil (evidence > 4.5112658772152265)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 21.556
INFO:root:Testing 281 out of 21832 hypotheses for tomato_soup_can (evidence > 4.5112658772152265)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.021
INFO:root:Testing 65 out of 16976 hypotheses for mustard_bottle (evidence > 4.5112658772152265)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.697
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 72 out of 19024 hypotheses for potted_meat_can (evidence > 4.5112658772152265)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.018
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 15.15147258 10.28632395 21.58079491 21.55632939
 11.02120335 14.69700863  2.61828895 10.01840309]
DEBUG:root:mean evidence: 11.187, std: 6.877 -> th=17.264635926372737
INFO:root:current most likely hypothesis: hot_sauce with evidence 21.58
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 178 ---
INFO:uvicorn.access:192.168.1.217:64499 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.98289356,  0.02827219, -0.18199156],
       [-0.02875235, -0.99958657,  0.        ],
       [-0.18191632,  0.00523269,  0.98330009]]), 'pose_fully_defined': False}}, {'patch': array([-0.04095957,  0.03946724, -0.02396861])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 355 out of 14880 hypotheses for montys_heart (evidence > 4.316158981593183)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 15.584
INFO:root:Testing 756 out of 23200 hypotheses for ramen_pack (evidence > 4.316158981593183)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.286
INFO:root:Testing 232 out of 14864 hypotheses for hot_sauce (evidence > 4.316158981593183)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 22.013
INFO:root:Testing 980 out of 12560 hypotheses for harissa_oil (evidence > 4.316158981593183)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 21.98
INFO:root:Testing 1566 out of 21832 hypotheses for tomato_soup_can (evidence > 4.316158981593183)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 11.115
INFO:root:Testing 212 out of 16976 hypotheses for mustard_bottle (evidence > 4.316158981593183)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.697
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 284 out of 19024 hypotheses for potted_meat_can (evidence > 4.316158981593183)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.446
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 15.58370007  9.28632395 22.01309232 21.98003825
 11.11489145 13.69700863  2.61828895 10.44641652]
DEBUG:root:mean evidence: 11.168, std: 7.005 -> th=17.610473852655947
INFO:root:current most likely hypothesis: hot_sauce with evidence 22.01
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 179 ---
INFO:uvicorn.access:192.168.1.217:64499 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64499 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64499 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.98093056,  0.05835676, -0.18539075],
       [-0.05938623, -0.99823508,  0.        ],
       [-0.18506355,  0.01100966,  0.98266488]]), 'pose_fully_defined': False}}, {'patch': array([-0.00301072,  0.03410824,  0.00408002])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 134 out of 14880 hypotheses for montys_heart (evidence > 4.402618463163986)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 16.003
INFO:root:Testing 579 out of 23200 hypotheses for ramen_pack (evidence > 4.402618463163986)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No 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 193 out of 14864 hypotheses for hot_sauce (evidence > 4.402618463163986)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 22.409
INFO:root:Testing 276 out of 12560 hypotheses for harissa_oil (evidence > 4.402618463163986)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 22.34
INFO:root:Testing 397 out of 21832 hypotheses for tomato_soup_can (evidence > 4.402618463163986)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.507
INFO:root:Testing 93 out of 16976 hypotheses for mustard_bottle (evidence > 4.402618463163986)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.697
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 92 out of 19024 hypotheses for potted_meat_can (evidence > 4.402618463163986)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.596
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 16.00262563  9.50957723 22.40883866 22.33958032
 11.50653926 12.69700863  2.61828895 10.59604769]
DEBUG:root:mean evidence: 11.262, std: 7.115 -> th=17.92707092554244
INFO:root:current most likely hypothesis: hot_sauce with evidence 22.41
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 16.00262563  9.50957723 22.40883866 22.33958032
 11.50653926 12.69700863  2.61828895 10.59604769]
DEBUG:root:mean evidence: 11.262, std: 7.115 -> th=17.92707092554244
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 16.00262563  9.50957723 22.40883866 22.33958032
 11.50653926 12.69700863  2.61828895 10.59604769]
DEBUG:root:mean evidence: 11.262, std: 7.115 -> th=19.047512858388842
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', 'harissa_oil'}
INFO:root:--- Global Matching Step 180 ---
INFO:uvicorn.access:192.168.1.217:64499 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.9875149 ,  0.05461848, -0.14775365],
       [-0.05522461, -0.99847396,  0.        ],
       [-0.14752817,  0.00815964,  0.98902419]]), 'pose_fully_defined': False}}, {'patch': array([-0.002951  ,  0.02233918, -0.00046373])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 50 out of 14880 hypotheses for montys_heart (evidence > 4.4817677313856095)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 16.371
INFO:root:Testing 447 out of 23200 hypotheses for ramen_pack (evidence > 4.4817677313856095)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.751
INFO:root:Testing 144 out of 14864 hypotheses for hot_sauce (evidence > 4.4817677313856095)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 22.756
INFO:root:Testing 26 out of 12560 hypotheses for harissa_oil (evidence > 4.4817677313856095)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 22.434
INFO:root:Testing 72 out of 21832 hypotheses for tomato_soup_can (evidence > 4.4817677313856095)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.787
INFO:root:Testing 53 out of 16976 hypotheses for mustard_bottle (evidence > 4.4817677313856095)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.589
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 49 out of 19024 hypotheses for potted_meat_can (evidence > 4.4817677313856095)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.468
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 16.37122349  9.75115195 22.7557572  22.43415698
 11.78663424 12.58860464  2.61828895 10.46836294]
DEBUG:root:mean evidence: 11.371, std: 7.204 -> th=18.20460575650737
INFO:root:current most likely hypothesis: hot_sauce with evidence 22.76
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 181 ---
INFO:uvicorn.access:192.168.1.217:64499 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64499 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.9592087 ,  0.07963389, -0.27125101],
       [-0.08273576, -0.99657152,  0.        ],
       [-0.27032103,  0.02244216,  0.96250864]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00495194, -0.02900544, -0.00130925])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 18 out of 14880 hypotheses for montys_heart (evidence > 4.551151439126841)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 16.871
INFO:root:Testing 300 out of 23200 hypotheses for ramen_pack (evidence > 4.551151439126841)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No 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 117 out of 14864 hypotheses for hot_sauce (evidence > 4.551151439126841)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 23.133
INFO:root:Testing 10 out of 12560 hypotheses for harissa_oil (evidence > 4.551151439126841)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 21.434
INFO:root:Testing 31 out of 21832 hypotheses for tomato_soup_can (evidence > 4.551151439126841)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.083
INFO:root:Testing 38 out of 16976 hypotheses for mustard_bottle (evidence > 4.551151439126841)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.589
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 23 out of 19024 hypotheses for potted_meat_can (evidence > 4.551151439126841)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.733
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 16.87122349  9.93298628 23.13337707 21.43415698
 12.08332428 11.58860464  2.61828895 10.73326333]
DEBUG:root:mean evidence: 11.333, std: 7.14 -> th=18.50670165371171
INFO:root:current most likely hypothesis: hot_sauce with evidence 23.13
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 182 ---
INFO:uvicorn.access:192.168.1.217:64499 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-9.97880292e-01,  6.41358829e-02, -1.10232545e-02],
       [-6.41397799e-02, -9.97940924e-01,  0.00000000e+00],
       [-1.10005568e-02,  7.07029117e-04,  9.99939242e-01]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00367692, -0.02431051,  0.00242405])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 18 out of 14880 hypotheses for montys_heart (evidence > 4.626675413427925)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 17.221
INFO:root:Testing 297 out of 23200 hypotheses for ramen_pack (evidence > 4.626675413427925)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.23
INFO:root:Testing 110 out of 14864 hypotheses for hot_sauce (evidence > 4.626675413427925)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 23.557
INFO:root:Testing 10 out of 12560 hypotheses for harissa_oil (evidence > 4.626675413427925)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 21.463
INFO:root:Testing 25 out of 21832 hypotheses for tomato_soup_can (evidence > 4.626675413427925)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.341
INFO:root:Testing 31 out of 16976 hypotheses for mustard_bottle (evidence > 4.626675413427925)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.614
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 20 out of 19024 hypotheses for potted_meat_can (evidence > 4.626675413427925)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.0
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.22054646 10.22950032 23.55705144 21.46311531
 12.34110503 11.61377048  2.61828895 10.99995767]
DEBUG:root:mean evidence: 11.498, std: 7.237 -> th=18.845641152888074
INFO:root:current most likely hypothesis: hot_sauce with evidence 23.56
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 183 ---
INFO:uvicorn.access:192.168.1.217:64499 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-9.99187528e-01,  2.94504344e-03,  4.01946603e-02],
       [-2.94742535e-03, -9.99995656e-01,  0.00000000e+00],
       [ 4.01944857e-02, -1.18470761e-04,  9.99191868e-01]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00163807, -0.00464751, -0.00689638])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 18 out of 14880 hypotheses for montys_heart (evidence > 4.7114102882220195)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 16.221
INFO:root:Testing 289 out of 23200 hypotheses for ramen_pack (evidence > 4.7114102882220195)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.564
INFO:root:Testing 106 out of 14864 hypotheses for hot_sauce (evidence > 4.7114102882220195)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 23.95
INFO:root:Testing 9 out of 12560 hypotheses for harissa_oil (evidence > 4.7114102882220195)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 20.463
INFO:root:Testing 19 out of 21832 hypotheses for tomato_soup_can (evidence > 4.7114102882220195)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.341
INFO:root:Testing 26 out of 16976 hypotheses for mustard_bottle (evidence > 4.7114102882220195)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.614
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 16 out of 19024 hypotheses for potted_meat_can (evidence > 4.7114102882220195)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.0
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 16.22054646 10.56374876 23.95034024 20.46311531
 11.34110503 10.61377048  2.61828895  9.99995767]
DEBUG:root:mean evidence: 11.071, std: 7.096 -> th=19.16027219516972
INFO:root:current most likely hypothesis: hot_sauce with evidence 23.95
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 184 ---
INFO:uvicorn.access:192.168.1.217:64499 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.99659634,  0.07894092, -0.0237499 ],
       [-0.07896319, -0.99687753,  0.        ],
       [-0.02367574,  0.00187537,  0.99971793]]), 'pose_fully_defined': False}}, {'patch': array([-0.00290576, -0.01200214,  0.00274939])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 4.790068048792431)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 16.497
INFO:root:Testing 247 out of 23200 hypotheses for ramen_pack (evidence > 4.790068048792431)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.336
INFO:root:Testing 96 out of 14864 hypotheses for hot_sauce (evidence > 4.790068048792431)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 24.359
INFO:root:Testing 6 out of 12560 hypotheses for harissa_oil (evidence > 4.790068048792431)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 20.914
INFO:root:Testing 12 out of 21832 hypotheses for tomato_soup_can (evidence > 4.790068048792431)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.668
INFO:root:Testing 21 out of 16976 hypotheses for mustard_bottle (evidence > 4.790068048792431)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.643
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 13 out of 19024 hypotheses for potted_meat_can (evidence > 4.790068048792431)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.395
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 16.49718366 10.33627061 24.35932982 20.91439087
 11.66797027 10.64259753  2.61828895 10.39470662]
DEBUG:root:mean evidence: 11.237, std: 7.248 -> th=19.48746385569042
INFO:root:current most likely hypothesis: hot_sauce with evidence 24.36
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 185 ---
INFO:uvicorn.access:192.168.1.217:64499 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.98178317,  0.08455133,  0.17015545],
       [-0.08580257, -0.99631216,  0.        ],
       [ 0.16952795, -0.01459978,  0.98541723]]), 'pose_fully_defined': False}}, {'patch': array([-0.00630873,  0.02214077,  0.0022826 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 4.871865963922605)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 16.944
INFO:root:Testing 208 out of 23200 hypotheses for ramen_pack (evidence > 4.871865963922605)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.336
INFO:root:Testing 86 out of 14864 hypotheses for hot_sauce (evidence > 4.871865963922605)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 24.776
INFO:root:Testing 4 out of 12560 hypotheses for harissa_oil (evidence > 4.871865963922605)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 21.402
INFO:root:Testing 8 out of 21832 hypotheses for tomato_soup_can (evidence > 4.871865963922605)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.128
INFO:root:Testing 19 out of 16976 hypotheses for mustard_bottle (evidence > 4.871865963922605)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.801
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 11 out of 19024 hypotheses for potted_meat_can (evidence > 4.871865963922605)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.788
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 16.94388159  9.33627061 24.77633247 21.40195702
 12.12785577 10.80052235  2.61828895 10.78771162]
DEBUG:root:mean evidence: 11.373, std: 7.441 -> th=19.821065977152923
INFO:root:current most likely hypothesis: hot_sauce with evidence 24.78
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 16.94388159  9.33627061 24.77633247 21.40195702
 12.12785577 10.80052235  2.61828895 10.78771162]
DEBUG:root:mean evidence: 11.373, std: 7.441 -> th=19.821065977152923
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 16.94388159  9.33627061 24.77633247 21.40195702
 12.12785577 10.80052235  2.61828895 10.78771162]
DEBUG:root:mean evidence: 11.373, std: 7.441 -> th=21.059882600724983
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 186 ---
INFO:uvicorn.access:192.168.1.217:64499 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64499 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.99851395,  0.03623863,  0.04070205],
       [-0.03626868, -0.99934207,  0.        ],
       [ 0.04067527, -0.00147621,  0.99917133]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00420508, -0.00266315, -0.00055597])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 4.955266494288228)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 17.444
INFO:root:Testing 142 out of 23200 hypotheses for ramen_pack (evidence > 4.955266494288228)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.628
INFO:root:Testing 81 out of 14864 hypotheses for hot_sauce (evidence > 4.955266494288228)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 25.219
INFO:root:Testing 5 out of 12560 hypotheses for harissa_oil (evidence > 4.955266494288228)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 21.885
INFO:root:Testing 10 out of 21832 hypotheses for tomato_soup_can (evidence > 4.955266494288228)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.566
INFO:root:Testing 19 out of 16976 hypotheses for mustard_bottle (evidence > 4.955266494288228)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.925
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 11 out of 19024 hypotheses for potted_meat_can (evidence > 4.955266494288228)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.203
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.44388159  9.62825942 25.21862598 21.88486167
 12.56602529 10.92497978  2.61828895 11.20298373]
DEBUG:root:mean evidence: 11.642, std: 7.616 -> th=20.17490078115232
INFO:root:current most likely hypothesis: hot_sauce with evidence 25.22
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.44388159  9.62825942 25.21862598 21.88486167
 12.56602529 10.92497978  2.61828895 11.20298373]
DEBUG:root:mean evidence: 11.642, std: 7.616 -> th=20.17490078115232
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.44388159  9.62825942 25.21862598 21.88486167
 12.56602529 10.92497978  2.61828895 11.20298373]
DEBUG:root:mean evidence: 11.642, std: 7.616 -> th=21.43583207997434
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 187 ---
INFO:uvicorn.access:192.168.1.217:64499 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.98611671,  0.10902227, -0.12525169],
       [-0.10988764, -0.99394402,  0.        ],
       [-0.12449316,  0.01376361,  0.992125  ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00401549,  0.00569072, -0.00289504])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 5.043725195288079)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 17.866
INFO:root:Testing 113 out of 23200 hypotheses for ramen_pack (evidence > 5.043725195288079)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.834
INFO:root:Testing 80 out of 14864 hypotheses for hot_sauce (evidence > 5.043725195288079)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 25.609
INFO:root:Testing 4 out of 12560 hypotheses for harissa_oil (evidence > 5.043725195288079)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 22.326
INFO:root:Testing 8 out of 21832 hypotheses for tomato_soup_can (evidence > 5.043725195288079)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.974
INFO:root:Testing 19 out of 16976 hypotheses for mustard_bottle (evidence > 5.043725195288079)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.379
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 11 out of 19024 hypotheses for potted_meat_can (evidence > 5.043725195288079)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.592
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.86606914  9.83412941 25.60919014 22.32550727
 12.97399295 11.37900137  2.61828895 11.59154342]
DEBUG:root:mean evidence: 11.913, std: 7.771 -> th=20.487352115709676
INFO:root:current most likely hypothesis: hot_sauce with evidence 25.61
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.86606914  9.83412941 25.60919014 22.32550727
 12.97399295 11.37900137  2.61828895 11.59154342]
DEBUG:root:mean evidence: 11.913, std: 7.771 -> th=20.487352115709676
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.86606914  9.83412941 25.60919014 22.32550727
 12.97399295 11.37900137  2.61828895 11.59154342]
DEBUG:root:mean evidence: 11.913, std: 7.771 -> th=21.76781162294153
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 188 ---
INFO:uvicorn.access:192.168.1.217:64499 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.97818262,  0.08362358,  0.19017323],
       [-0.08517803, -0.99636575,  0.        ],
       [ 0.1894821 , -0.01619858,  0.98175055]]), 'pose_fully_defined': False}}, {'patch': array([-0.00055043, -0.00354165,  0.00807616])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 17 out of 14880 hypotheses for montys_heart (evidence > 5.121838028927417)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.309
INFO:root:Testing 106 out of 23200 hypotheses for ramen_pack (evidence > 5.121838028927417)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.108
INFO:root:Testing 76 out of 14864 hypotheses for hot_sauce (evidence > 5.121838028927417)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 26.029
INFO:root:Testing 59 out of 12560 hypotheses for harissa_oil (evidence > 5.121838028927417)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 22.826
INFO:root:Testing 58 out of 21832 hypotheses for tomato_soup_can (evidence > 5.121838028927417)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 13.393
INFO:root:Testing 19 out of 16976 hypotheses for mustard_bottle (evidence > 5.121838028927417)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.752
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 11 out of 19024 hypotheses for potted_meat_can (evidence > 5.121838028927417)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.982
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.30930648  9.10756822 26.02926867 22.82550727
 13.3934596  11.75170018  2.61828895 11.98234276]
DEBUG:root:mean evidence: 12.095, std: 7.972 -> th=20.82341493569581
INFO:root:current most likely hypothesis: hot_sauce with evidence 26.03
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.30930648  9.10756822 26.02926867 22.82550727
 13.3934596  11.75170018  2.61828895 11.98234276]
DEBUG:root:mean evidence: 12.095, std: 7.972 -> th=20.82341493569581
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.30930648  9.10756822 26.02926867 22.82550727
 13.3934596  11.75170018  2.61828895 11.98234276]
DEBUG:root:mean evidence: 12.095, std: 7.972 -> th=22.1248783691768
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 189 ---
INFO:uvicorn.access:192.168.1.217:64502 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.76623001,  0.10746264,  0.63351665],
       [-0.13888924,  0.99030792,  0.        ],
       [-0.62737656, -0.08798864,  0.77372905]]), 'pose_fully_defined': False}}, {'patch': array([0.05080479, 0.00146251, 0.0031188 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 90 out of 14880 hypotheses for montys_heart (evidence > 5.205853733923952)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.738
INFO:root:Testing 84 out of 23200 hypotheses for ramen_pack (evidence > 5.205853733923952)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.362
INFO:root:Testing 76 out of 14864 hypotheses for hot_sauce (evidence > 5.205853733923952)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 26.51
INFO:root:Testing 24 out of 12560 hypotheses for harissa_oil (evidence > 5.205853733923952)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 23.252
INFO:root:Testing 33 out of 21832 hypotheses for tomato_soup_can (evidence > 5.205853733923952)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 13.821
INFO:root:Testing 19 out of 16976 hypotheses for mustard_bottle (evidence > 5.205853733923952)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.176
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 11 out of 19024 hypotheses for potted_meat_can (evidence > 5.205853733923952)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.457
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.73806436  9.36179751 26.51040351 23.2522189
 13.82102691 12.17594763  2.61828895 12.4565353 ]
DEBUG:root:mean evidence: 12.387, std: 8.143 -> th=21.208322811269703
INFO:root:current most likely hypothesis: hot_sauce with evidence 26.51
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.73806436  9.36179751 26.51040351 23.2522189
 13.82102691 12.17594763  2.61828895 12.4565353 ]
DEBUG:root:mean evidence: 12.387, std: 8.143 -> th=21.208322811269703
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.73806436  9.36179751 26.51040351 23.2522189
 13.82102691 12.17594763  2.61828895 12.4565353 ]
DEBUG:root:mean evidence: 12.387, std: 8.143 -> th=22.533842986974058
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 190 ---
INFO:uvicorn.access:192.168.1.217:64502 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64502 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.45026478,  0.15376178,  0.8795561 ],
       [-0.323168  ,  0.94634161,  0.        ],
       [-0.83236054, -0.28424438,  0.47579519]]), 'pose_fully_defined': False}}, {'patch': array([-0.00962643,  0.02371694, -0.0005654 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 82 out of 14880 hypotheses for montys_heart (evidence > 5.302080702817424)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 17.738
INFO:root:Testing 84 out of 23200 hypotheses for ramen_pack (evidence > 5.302080702817424)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.676
INFO:root:Testing 76 out of 14864 hypotheses for hot_sauce (evidence > 5.302080702817424)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 26.848
INFO:root:Testing 7 out of 12560 hypotheses for harissa_oil (evidence > 5.302080702817424)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 22.252
INFO:root:Testing 28 out of 21832 hypotheses for tomato_soup_can (evidence > 5.302080702817424)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.821
INFO:root:Testing 19 out of 16976 hypotheses for mustard_bottle (evidence > 5.302080702817424)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.176
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 11 out of 19024 hypotheses for potted_meat_can (evidence > 5.302080702817424)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.781
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.73806436  9.67554633 26.84773744 22.2522189
 12.82102691 11.17594763  2.61828895 12.78112641]
DEBUG:root:mean evidence: 12.085, std: 7.983 -> th=21.4781899543127
INFO:root:current most likely hypothesis: hot_sauce with evidence 26.85
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.73806436  9.67554633 26.84773744 22.2522189
 12.82102691 11.17594763  2.61828895 12.78112641]
DEBUG:root:mean evidence: 12.085, std: 7.983 -> th=21.4781899543127
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 17.73806436  9.67554633 26.84773744 22.2522189
 12.82102691 11.17594763  2.61828895 12.78112641]
DEBUG:root:mean evidence: 12.085, std: 7.983 -> th=22.820576826457245
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 191 ---
INFO:uvicorn.access:192.168.1.217:64502 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.86047676,  0.13315143,  0.49178293],
       [-0.15292145,  0.98823835,  0.        ],
       [-0.48599875, -0.07520416,  0.87071784]]), 'pose_fully_defined': False}}, {'patch': array([0.01554714, 0.00943346, 0.00189325])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 42 out of 14880 hypotheses for montys_heart (evidence > 5.369547488578174)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.227
INFO:root:Testing 83 out of 23200 hypotheses for ramen_pack (evidence > 5.369547488578174)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.959
INFO:root:Testing 76 out of 14864 hypotheses for hot_sauce (evidence > 5.369547488578174)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 25.848
INFO:root:Testing 6 out of 12560 hypotheses for harissa_oil (evidence > 5.369547488578174)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 22.713
INFO:root:Testing 18 out of 21832 hypotheses for tomato_soup_can (evidence > 5.369547488578174)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 13.259
INFO:root:Testing 17 out of 16976 hypotheses for mustard_bottle (evidence > 5.369547488578174)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.521
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 10 out of 19024 hypotheses for potted_meat_can (evidence > 5.369547488578174)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.159
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.22692006  9.9585907  25.84773744 22.71260242
 13.25906575 11.52141947  2.61828895 13.15893481]
DEBUG:root:mean evidence: 12.224, std: 7.897 -> th=20.6781899543127
INFO:root:current most likely hypothesis: hot_sauce with evidence 25.85
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.22692006  9.9585907  25.84773744 22.71260242
 13.25906575 11.52141947  2.61828895 13.15893481]
DEBUG:root:mean evidence: 12.224, std: 7.897 -> th=20.6781899543127
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.22692006  9.9585907  25.84773744 22.71260242
 13.25906575 11.52141947  2.61828895 13.15893481]
DEBUG:root:mean evidence: 12.224, std: 7.897 -> th=21.970576826457243
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 192 ---
INFO:uvicorn.access:192.168.1.217:64503 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.97671708, -0.01205082, -0.21419272],
       [ 0.01233715, -0.99992389,  0.        ],
       [-0.21417641, -0.00264253,  0.97679142]]), 'pose_fully_defined': False}}, {'patch': array([-0.04973402, -0.04538881, -0.0130066 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 227 out of 14880 hypotheses for montys_heart (evidence > 5.169547488578175)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 18.649
INFO:root:Testing 86 out of 23200 hypotheses for ramen_pack (evidence > 5.169547488578175)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.397
INFO:root:Testing 74 out of 14864 hypotheses for hot_sauce (evidence > 5.169547488578175)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 26.298
INFO:root:Testing 10 out of 12560 hypotheses for harissa_oil (evidence > 5.169547488578175)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 23.086
INFO:root:Testing 13 out of 21832 hypotheses for tomato_soup_can (evidence > 5.169547488578175)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.259
INFO:root:Testing 18 out of 16976 hypotheses for mustard_bottle (evidence > 5.169547488578175)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.927
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 10 out of 19024 hypotheses for potted_meat_can (evidence > 5.169547488578175)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.612
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.64868837 10.39732946 26.29780133 23.08590667
 12.25906575 11.92721878  2.61828895 13.61159528]
DEBUG:root:mean evidence: 12.378, std: 8.042 -> th=21.038241067404055
INFO:root:current most likely hypothesis: hot_sauce with evidence 26.3
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.64868837 10.39732946 26.29780133 23.08590667
 12.25906575 11.92721878  2.61828895 13.61159528]
DEBUG:root:mean evidence: 12.378, std: 8.042 -> th=21.038241067404055
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 18.64868837 10.39732946 26.29780133 23.08590667
 12.25906575 11.92721878  2.61828895 13.61159528]
DEBUG:root:mean evidence: 12.378, std: 8.042 -> th=22.353131134116808
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 193 ---
INFO:uvicorn.access:192.168.1.217:64503 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.86230398,  0.01256634, -0.50623506],
       [-0.01457143, -0.99989383,  0.        ],
       [-0.50618131,  0.00737657,  0.86239554]]), 'pose_fully_defined': False}}, {'patch': array([-0.00270077,  0.02268856, -0.00648939])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 73 out of 14880 hypotheses for montys_heart (evidence > 5.259560266851011)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 19.098
INFO:root:Testing 86 out of 23200 hypotheses for ramen_pack (evidence > 5.259560266851011)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.87
INFO:root:Testing 71 out of 14864 hypotheses for hot_sauce (evidence > 5.259560266851011)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 26.707
INFO:root:Testing 5 out of 12560 hypotheses for harissa_oil (evidence > 5.259560266851011)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 23.572
INFO:root:Testing 13 out of 21832 hypotheses for tomato_soup_can (evidence > 5.259560266851011)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.632
INFO:root:Testing 18 out of 16976 hypotheses for mustard_bottle (evidence > 5.259560266851011)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.407
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 10 out of 19024 hypotheses for potted_meat_can (evidence > 5.259560266851011)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.059
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.09840556 10.87044111 26.70723932 23.57210231
 12.63167999 12.40724855  2.61828895 14.05889079]
DEBUG:root:mean evidence: 12.69, std: 8.206 -> th=21.365791454917023
INFO:root:current most likely hypothesis: hot_sauce with evidence 26.71
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.09840556 10.87044111 26.70723932 23.57210231
 12.63167999 12.40724855  2.61828895 14.05889079]
DEBUG:root:mean evidence: 12.69, std: 8.206 -> th=21.365791454917023
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.09840556 10.87044111 26.70723932 23.57210231
 12.63167999 12.40724855  2.61828895 14.05889079]
DEBUG:root:mean evidence: 12.69, std: 8.206 -> th=22.701153420849337
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 194 ---
INFO:uvicorn.access:192.168.1.217:64503 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.87134563,  0.02584478, -0.48998861],
       [-0.02964773, -0.99956041,  0.        ],
       [-0.48977322,  0.01452705,  0.87172883]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00394302,  0.00052099, -0.00146761])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 42 out of 14880 hypotheses for montys_heart (evidence > 5.341447863729254)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 19.521
INFO:root:Testing 74 out of 23200 hypotheses for ramen_pack (evidence > 5.341447863729254)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.337
INFO:root:Testing 74 out of 14864 hypotheses for hot_sauce (evidence > 5.341447863729254)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 27.128
INFO:root:Testing 4 out of 12560 hypotheses for harissa_oil (evidence > 5.341447863729254)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 22.572
INFO:root:Testing 9 out of 21832 hypotheses for tomato_soup_can (evidence > 5.341447863729254)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.632
INFO:root:Testing 17 out of 16976 hypotheses for mustard_bottle (evidence > 5.341447863729254)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.884
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 10 out of 19024 hypotheses for potted_meat_can (evidence > 5.341447863729254)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.431
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.52145364 11.33685859 27.12821731 22.57210231
 11.63167999 12.88439528  2.61828895 14.43109488]
DEBUG:root:mean evidence: 12.706, std: 8.191 -> th=21.702573850369852
INFO:root:current most likely hypothesis: hot_sauce with evidence 27.13
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.52145364 11.33685859 27.12821731 22.57210231
 11.63167999 12.88439528  2.61828895 14.43109488]
DEBUG:root:mean evidence: 12.706, std: 8.191 -> th=21.702573850369852
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.52145364 11.33685859 27.12821731 22.57210231
 11.63167999 12.88439528  2.61828895 14.43109488]
DEBUG:root:mean evidence: 12.706, std: 8.191 -> th=23.058984716017967
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 195 ---
INFO:uvicorn.access:192.168.1.217:64503 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.82356669,  0.03371891, -0.56621634],
       [-0.04090827, -0.99916291,  0.        ],
       [-0.56574236,  0.02316293,  0.82425667]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00137347,  0.01820745, -0.0020072 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 37 out of 14880 hypotheses for montys_heart (evidence > 5.425643462592461)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 19.897
INFO:root:Testing 64 out of 23200 hypotheses for ramen_pack (evidence > 5.425643462592461)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.78
INFO:root:Testing 74 out of 14864 hypotheses for hot_sauce (evidence > 5.425643462592461)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 27.56
INFO:root:Testing 4 out of 12560 hypotheses for harissa_oil (evidence > 5.425643462592461)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 23.031
INFO:root:Testing 8 out of 21832 hypotheses for tomato_soup_can (evidence > 5.425643462592461)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.632
INFO:root:Testing 16 out of 16976 hypotheses for mustard_bottle (evidence > 5.425643462592461)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.372
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 9 out of 19024 hypotheses for potted_meat_can (evidence > 5.425643462592461)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.826
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.8966173  11.78048674 27.5599294  23.03056226
 10.63167999 13.37204566  2.61828895 14.82574927]
DEBUG:root:mean evidence: 12.865, std: 8.378 -> th=22.04794352223545
INFO:root:current most likely hypothesis: hot_sauce with evidence 27.56
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.8966173  11.78048674 27.5599294  23.03056226
 10.63167999 13.37204566  2.61828895 14.82574927]
DEBUG:root:mean evidence: 12.865, std: 8.378 -> th=22.04794352223545
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.8966173  11.78048674 27.5599294  23.03056226
 10.63167999 13.37204566  2.61828895 14.82574927]
DEBUG:root:mean evidence: 12.865, std: 8.378 -> th=23.425939992375167
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 196 ---
INFO:uvicorn.access:192.168.1.217:64503 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.61371966,  0.04779738, -0.78807588],
       [-0.07764633, -0.99698097,  0.        ],
       [-0.78569665,  0.0611912 ,  0.61557811]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00375817,  0.00994502, -0.00834091])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 24 out of 14880 hypotheses for montys_heart (evidence > 5.511985880558861)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 20.269
INFO:root:Testing 58 out of 23200 hypotheses for ramen_pack (evidence > 5.511985880558861)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.175
INFO:root:Testing 73 out of 14864 hypotheses for hot_sauce (evidence > 5.511985880558861)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 28.042
INFO:root:Testing 4 out of 12560 hypotheses for harissa_oil (evidence > 5.511985880558861)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 23.475
INFO:root:Testing 8 out of 21832 hypotheses for tomato_soup_can (evidence > 5.511985880558861)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.503
INFO:root:Testing 15 out of 16976 hypotheses for mustard_bottle (evidence > 5.511985880558861)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.757
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 8 out of 19024 hypotheses for potted_meat_can (evidence > 5.511985880558861)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.235
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 20.26854277 12.1749339  28.04178229 23.47534964
 10.5031875  13.75676087  2.61828895 15.23472106]
DEBUG:root:mean evidence: 13.101, std: 8.559 -> th=22.433425834528016
INFO:root:current most likely hypothesis: hot_sauce with evidence 28.04
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 197 ---
INFO:uvicorn.access:192.168.1.217:64503 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.90817236, -0.02573517, -0.41780457],
       [ 0.02832595, -0.99959874,  0.        ],
       [-0.41763693, -0.01183471,  0.90853692]]), 'pose_fully_defined': False}}, {'patch': array([-0.0043293 , -0.00392288,  0.00793475])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 22 out of 14880 hypotheses for montys_heart (evidence > 5.608356458632002)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 20.716
INFO:root:Testing 46 out of 23200 hypotheses for ramen_pack (evidence > 5.608356458632002)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.643
INFO:root:Testing 73 out of 14864 hypotheses for hot_sauce (evidence > 5.608356458632002)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 28.526
INFO:root:Testing 4 out of 12560 hypotheses for harissa_oil (evidence > 5.608356458632002)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 23.943
INFO:root:Testing 7 out of 21832 hypotheses for tomato_soup_can (evidence > 5.608356458632002)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.358
INFO:root:Testing 13 out of 16976 hypotheses for mustard_bottle (evidence > 5.608356458632002)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.203
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 8 out of 19024 hypotheses for potted_meat_can (evidence > 5.608356458632002)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.56
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 20.71582556 12.64341825 28.52563651 23.94269574
 10.35791599 14.20343104  2.61828895 15.56008366]
DEBUG:root:mean evidence: 13.35, std: 8.75 -> th=22.820509209987478
INFO:root:current most likely hypothesis: hot_sauce with evidence 28.53
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 198 ---
INFO:uvicorn.access:192.168.1.217:64503 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64503 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.68591143,  0.02466733, -0.72726682],
       [-0.03593961, -0.99935396,  0.        ],
       [-0.72679698,  0.02613769,  0.68635484]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00676932, -0.01484209, -0.00907586])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 20 out of 14880 hypotheses for montys_heart (evidence > 5.705127302496869)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 19.716
INFO:root:Testing 43 out of 23200 hypotheses for ramen_pack (evidence > 5.705127302496869)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.643
INFO:root:Testing 73 out of 14864 hypotheses for hot_sauce (evidence > 5.705127302496869)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 28.941
INFO:root:Testing 4 out of 12560 hypotheses for harissa_oil (evidence > 5.705127302496869)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 24.422
INFO:root:Testing 7 out of 21832 hypotheses for tomato_soup_can (evidence > 5.705127302496869)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.358
INFO:root:Testing 12 out of 16976 hypotheses for mustard_bottle (evidence > 5.705127302496869)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No 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
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 8 out of 19024 hypotheses for potted_meat_can (evidence > 5.705127302496869)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.014
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 19.71582556 11.64341825 28.94054155 24.42153268
  9.35791599 14.66132202  2.61828895 16.01376969]
DEBUG:root:mean evidence: 13.231, std: 8.874 -> th=23.15243324332392
INFO:root:current most likely hypothesis: hot_sauce with evidence 28.94
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 199 ---
INFO:uvicorn.access:192.168.1.217:64503 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.70123723,  0.01712835, -0.71272222],
       [-0.02441862, -0.99970182,  0.        ],
       [-0.7125097 ,  0.01740369,  0.70144639]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00265972, -0.02540437, -0.00630786])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.532
INFO:root:Testing 18 out of 14880 hypotheses for montys_heart (evidence > 5.788108310830978)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 20.15
INFO:root:Testing 39 out of 23200 hypotheses for ramen_pack (evidence > 5.788108310830978)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.643
INFO:root:Testing 69 out of 14864 hypotheses for hot_sauce (evidence > 5.788108310830978)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 29.282
INFO:root:Testing 3 out of 12560 hypotheses for harissa_oil (evidence > 5.788108310830978)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 24.822
INFO:root:Testing 7 out of 21832 hypotheses for tomato_soup_can (evidence > 5.788108310830978)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.358
INFO:root:Testing 10 out of 16976 hypotheses for mustard_bottle (evidence > 5.788108310830978)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.138
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.618
INFO:root:Testing 9 out of 19024 hypotheses for potted_meat_can (evidence > 5.788108310830978)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.48
DEBUG:root:evidences for each object: [ 3.40482558  1.53204344 20.14952408 10.64341825 29.2823825  24.82237275
  8.35791599 15.13792434  2.61828895 16.48011708]
DEBUG:root:mean evidence: 13.243, std: 9.113 -> th=23.42590599646241
INFO:root:current most likely hypothesis: hot_sauce with evidence 29.28
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'harissa_oil'}
INFO:root:--- Global Matching Step 200 ---
INFO:uvicorn.access:192.168.1.217:64503 - "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/soup_can/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/soup_can/log.txt (NOTSET)>
