INFO:root:Logger initialized at 2025-09-29 15:28:20.663168
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/mustard_bottle/observations',
                                    'vive_url': 'http://192.168.1.237:3001/pose'},
                  'env_init_func': <class 'custom_classes.probe_triggered_environment.ProbeTriggeredUltrasoundEnvironment'>,
                  'rng': RandomState(MT19937) at 0x7FDDD1565440,
                  '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/mustard_bottle',
                    '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': 'zfdaifgu'},
 '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([[ 0.87563926, -0.04596285, -0.48077365],
       [ 0.05241846,  0.99862521, -0.        ],
       [ 0.48011269, -0.02520141,  0.87684474]]), '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', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
INFO:root:--- Global Matching Step 1 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.83915825, -0.07501463, -0.53868937],
       [ 0.08903767,  0.99602826, -0.        ],
       [ 0.53654984, -0.04796365,  0.84250446]]), 'pose_fully_defined': False}}, {'patch': array([-0.00658461,  0.00152766, -0.01000252])}]
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: 0.499
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_heart with evidence 0.5
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
INFO:root:--- Global Matching Step 2 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.71883326, -0.05174486, -0.69325408],
       [ 0.07179873,  0.99741914, -0.        ],
       [ 0.69146488, -0.04977476,  0.72069327]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00938629, -0.00447342,  0.01322218])}]
INFO:root:Testing 13920 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 10981 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: 0.983
INFO:root:Testing 14291 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: 0.992
INFO:root:Testing 22610 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 0.04 seconds. New max evidence: 0.989
INFO:root:Testing 14777 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: 0.987
INFO:root:Testing 12281 out of 12560 hypotheses for harissa_oil (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.02 seconds. New max evidence: 0.982
INFO:root:Testing 20013 out of 21832 hypotheses for tomato_soup_can (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.04 seconds. New max evidence: 0.986
INFO:root:Testing 16782 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: 0.982
INFO:root:Testing 16106 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 0.03 seconds. New max evidence: 0.986
INFO:root:Testing 17652 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: 0.978
INFO:root:current most likely hypothesis: montys_heart with evidence 0.99
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
INFO:root:--- Global Matching Step 3 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.92366032, -0.02307286, -0.382517  ],
       [ 0.02497202,  0.99968815, -0.        ],
       [ 0.38239771, -0.00955222,  0.92394845]]), 'pose_fully_defined': False}}, {'patch': array([-0.00049164, -0.00570902,  0.0059443 ])}]
INFO:root:Testing 13920 out of 14424 hypotheses for numenta_mug (evidence > 0.1984491035896253)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 1.441
INFO:root:Testing 10981 out of 10992 hypotheses for montys_brain (evidence > 0.1984491035896253)
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: 1.44
INFO:root:Testing 14289 out of 14880 hypotheses for montys_heart (evidence > 0.1984491035896253)
DEBUG:root:Calculating evidence for montys_heart using input 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: 1.452
INFO:root:Testing 22610 out of 23200 hypotheses for ramen_pack (evidence > 0.1984491035896253)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 1.459
INFO:root:Testing 14777 out of 14864 hypotheses for hot_sauce (evidence > 0.1984491035896253)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 1.442
INFO:root:Testing 12281 out of 12560 hypotheses for harissa_oil (evidence > 0.1984491035896253)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 1.445
INFO:root:Testing 20001 out of 21832 hypotheses for tomato_soup_can (evidence > 0.1984491035896253)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 1.448
INFO:root:Testing 16891 out of 16976 hypotheses for mustard_bottle (evidence > 0.1984491035896253)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 1.459
INFO:root:Testing 16102 out of 17728 hypotheses for tuna_fish_can (evidence > 0.1984491035896253)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 1.472
INFO:root:Testing 17646 out of 19024 hypotheses for potted_meat_can (evidence > 0.1984491035896253)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 1.461
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 1.47
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
INFO:root:--- Global Matching Step 4 ---
INFO:uvicorn.access:192.168.1.217:64569 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.89375737, -0.05150559, -0.44558381],
       [ 0.0575327 ,  0.99834362, -0.        ],
       [ 0.44484576, -0.02563564,  0.89524023]]), 'pose_fully_defined': False}}, {'patch': array([-0.00482149,  0.00646451, -0.01252755])}]
INFO:root:Testing 13735 out of 14424 hypotheses for numenta_mug (evidence > 0.2943636691461451)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 1.921
INFO:root:Testing 10981 out of 10992 hypotheses for montys_brain (evidence > 0.2943636691461451)
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: 1.92
INFO:root:Testing 14180 out of 14880 hypotheses for montys_heart (evidence > 0.2943636691461451)
DEBUG:root:Calculating evidence for montys_heart using input 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: 1.941
INFO:root:Testing 22430 out of 23200 hypotheses for ramen_pack (evidence > 0.2943636691461451)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.04 seconds. New max evidence: 1.939
INFO:root:Testing 14772 out of 14864 hypotheses for hot_sauce (evidence > 0.2943636691461451)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 1.922
INFO:root:Testing 12191 out of 12560 hypotheses for harissa_oil (evidence > 0.2943636691461451)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 1.933
INFO:root:Testing 19119 out of 21832 hypotheses for tomato_soup_can (evidence > 0.2943636691461451)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 1.937
INFO:root:Testing 16812 out of 16976 hypotheses for mustard_bottle (evidence > 0.2943636691461451)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 1.954
INFO:root:Testing 15275 out of 17728 hypotheses for tuna_fish_can (evidence > 0.2943636691461451)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 1.955
INFO:root:Testing 16992 out of 19024 hypotheses for potted_meat_can (evidence > 0.2943636691461451)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.03 seconds. New max evidence: 1.941
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 1.95
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
INFO:root:--- Global Matching Step 5 ---
INFO:uvicorn.access:192.168.1.217:64569 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64569 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.73064168, -0.058066  , -0.6802875 ],
       [ 0.07922281,  0.99685693, -0.        ],
       [ 0.67814931, -0.05389429,  0.73294538]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00462886, -0.00532436,  0.01101913])}]
INFO:root:Testing 13744 out of 14424 hypotheses for numenta_mug (evidence > 0.39095989102505313)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 2.402
INFO:root:Testing 10989 out of 10992 hypotheses for montys_brain (evidence > 0.39095989102505313)
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: 2.396
INFO:root:Testing 14180 out of 14880 hypotheses for montys_heart (evidence > 0.39095989102505313)
DEBUG:root:Calculating evidence for montys_heart using input 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: 2.42
INFO:root:Testing 22430 out of 23200 hypotheses for ramen_pack (evidence > 0.39095989102505313)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 2.431
INFO:root:Testing 14772 out of 14864 hypotheses for hot_sauce (evidence > 0.39095989102505313)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 2.382
INFO:root:Testing 12191 out of 12560 hypotheses for harissa_oil (evidence > 0.39095989102505313)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 2.414
INFO:root:Testing 19118 out of 21832 hypotheses for tomato_soup_can (evidence > 0.39095989102505313)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 2.415
INFO:root:Testing 16867 out of 16976 hypotheses for mustard_bottle (evidence > 0.39095989102505313)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 2.435
INFO:root:Testing 15275 out of 17728 hypotheses for tuna_fish_can (evidence > 0.39095989102505313)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 2.444
INFO:root:Testing 16990 out of 19024 hypotheses for potted_meat_can (evidence > 0.39095989102505313)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 2.422
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 2.44
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
INFO:root:--- Global Matching Step 6 ---
INFO:uvicorn.access:192.168.1.217:64569 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.87593998, -0.06381537, -0.47818066],
       [ 0.07266101,  0.9973567 , -0.        ],
       [ 0.47691668, -0.03474509,  0.8782615 ]]), 'pose_fully_defined': False}}, {'patch': array([0.00194523, 0.00188781, 0.00166604])}]
INFO:root:Testing 13734 out of 14424 hypotheses for numenta_mug (evidence > 0.48888249305009035)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 2.896
INFO:root:Testing 10989 out of 10992 hypotheses for montys_brain (evidence > 0.48888249305009035)
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: 2.865
INFO:root:Testing 14176 out of 14880 hypotheses for montys_heart (evidence > 0.48888249305009035)
DEBUG:root:Calculating evidence for montys_heart using input 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: 2.878
INFO:root:Testing 22429 out of 23200 hypotheses for ramen_pack (evidence > 0.48888249305009035)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 2.893
INFO:root:Testing 14772 out of 14864 hypotheses for hot_sauce (evidence > 0.48888249305009035)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 2.873
INFO:root:Testing 12191 out of 12560 hypotheses for harissa_oil (evidence > 0.48888249305009035)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 2.908
INFO:root:Testing 19057 out of 21832 hypotheses for tomato_soup_can (evidence > 0.48888249305009035)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
INFO:uvicorn.access:192.168.1.217:64569 - "POST /capture HTTP/1.1" 200
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: 2.871
INFO:root:Testing 16867 out of 16976 hypotheses for mustard_bottle (evidence > 0.48888249305009035)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 2.899
INFO:root:Testing 15181 out of 17728 hypotheses for tuna_fish_can (evidence > 0.48888249305009035)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 2.938
INFO:root:Testing 16917 out of 19024 hypotheses for potted_meat_can (evidence > 0.48888249305009035)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 2.89
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 2.94
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
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([[ 0.93627778, -0.04527117, -0.34833094],
       [ 0.04829586,  0.99883307, -0.        ],
       [ 0.34792447, -0.01682294,  0.93737162]]), 'pose_fully_defined': False}}, {'patch': array([-0.00307077,  0.00688755, -0.00295036])}]
INFO:root:Testing 13721 out of 14424 hypotheses for numenta_mug (evidence > 0.5875119026924183)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 3.357
INFO:root:Testing 10989 out of 10992 hypotheses for montys_brain (evidence > 0.5875119026924183)
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: 3.299
INFO:root:Testing 14161 out of 14880 hypotheses for montys_heart (evidence > 0.5875119026924183)
DEBUG:root:Calculating evidence for montys_heart using input 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: 3.362
INFO:root:Testing 22420 out of 23200 hypotheses for ramen_pack (evidence > 0.5875119026924183)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 3.349
INFO:root:Testing 14772 out of 14864 hypotheses for hot_sauce (evidence > 0.5875119026924183)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 3.352
INFO:root:Testing 12189 out of 12560 hypotheses for harissa_oil (evidence > 0.5875119026924183)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 3.337
INFO:root:Testing 19020 out of 21832 hypotheses for tomato_soup_can (evidence > 0.5875119026924183)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 3.344
INFO:root:Testing 16863 out of 16976 hypotheses for mustard_bottle (evidence > 0.5875119026924183)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 3.375
INFO:root:Testing 15150 out of 17728 hypotheses for tuna_fish_can (evidence > 0.5875119026924183)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 3.43
INFO:root:Testing 16880 out of 19024 hypotheses for potted_meat_can (evidence > 0.5875119026924183)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 3.328
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 3.43
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
INFO:root:--- Global Matching Step 8 ---
INFO:uvicorn.access:192.168.1.217:64569 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64569 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64569 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.91514737, -0.05264371, -0.39966728],
       [ 0.0574299 ,  0.99834954, -0.        ],
       [ 0.39900765, -0.02295285,  0.91666028]]), 'pose_fully_defined': False}}, {'patch': array([-0.00473847, -0.00356653, -0.0086551 ])}]
INFO:root:Testing 13721 out of 14424 hypotheses for numenta_mug (evidence > 0.6859857300442864)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 3.826
INFO:root:Testing 10989 out of 10992 hypotheses for montys_brain (evidence > 0.6859857300442864)
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: 3.774
INFO:root:Testing 14158 out of 14880 hypotheses for montys_heart (evidence > 0.6859857300442864)
DEBUG:root:Calculating evidence for montys_heart using input 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: 3.817
INFO:root:Testing 22419 out of 23200 hypotheses for ramen_pack (evidence > 0.6859857300442864)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 3.822
INFO:root:Testing 14772 out of 14864 hypotheses for hot_sauce (evidence > 0.6859857300442864)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 3.807
INFO:root:Testing 12189 out of 12560 hypotheses for harissa_oil (evidence > 0.6859857300442864)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 3.814
INFO:root:Testing 19014 out of 21832 hypotheses for tomato_soup_can (evidence > 0.6859857300442864)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 3.82
INFO:root:Testing 16863 out of 16976 hypotheses for mustard_bottle (evidence > 0.6859857300442864)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 3.866
INFO:root:Testing 15149 out of 17728 hypotheses for tuna_fish_can (evidence > 0.6859857300442864)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 3.91
INFO:root:Testing 16879 out of 19024 hypotheses for potted_meat_can (evidence > 0.6859857300442864)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 3.787
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 3.91
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
INFO:root:--- Global Matching Step 9 ---
INFO:uvicorn.access:192.168.1.217:64569 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.77203456, -0.09315674, -0.62871651],
       [ 0.119795  ,  0.99279865, -0.        ],
       [ 0.6241889 , -0.0753171 ,  0.77763458]]), 'pose_fully_defined': False}}, {'patch': array([-0.00574599,  0.0084095 , -0.01148271])}]
INFO:root:Testing 13721 out of 14424 hypotheses for numenta_mug (evidence > 0.7820327153780564)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 4.279
INFO:root:Testing 10989 out of 10992 hypotheses for montys_brain (evidence > 0.7820327153780564)
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: 4.241
INFO:root:Testing 14158 out of 14880 hypotheses for montys_heart (evidence > 0.7820327153780564)
DEBUG:root:Calculating evidence for montys_heart using input 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: 4.29
INFO:root:Testing 22419 out of 23200 hypotheses for ramen_pack (evidence > 0.7820327153780564)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 4.297
INFO:root:Testing 14772 out of 14864 hypotheses for hot_sauce (evidence > 0.7820327153780564)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 4.23
INFO:root:Testing 12189 out of 12560 hypotheses for harissa_oil (evidence > 0.7820327153780564)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 4.304
INFO:root:Testing 19014 out of 21832 hypotheses for tomato_soup_can (evidence > 0.7820327153780564)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 4.271
INFO:root:Testing 16865 out of 16976 hypotheses for mustard_bottle (evidence > 0.7820327153780564)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 4.333
INFO:root:Testing 15149 out of 17728 hypotheses for tuna_fish_can (evidence > 0.7820327153780564)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 4.328
INFO:root:Testing 16879 out of 19024 hypotheses for potted_meat_can (evidence > 0.7820327153780564)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 4.2
INFO:root:current most likely hypothesis: mustard_bottle with evidence 4.33
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
INFO:root:--- Global Matching Step 10 ---
INFO:uvicorn.access:192.168.1.217:64569 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64569 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.77717274, -0.04346389, -0.62778454],
       [ 0.05583839,  0.99843982, -0.        ],
       [ 0.62680508, -0.03505448,  0.77838716]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00808959, -0.0067987 ,  0.01371495])}]
INFO:root:Testing 13696 out of 14424 hypotheses for numenta_mug (evidence > 0.8666804371517296)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 4.755
INFO:root:Testing 10985 out of 10992 hypotheses for montys_brain (evidence > 0.8666804371517296)
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: 4.653
INFO:root:Testing 14120 out of 14880 hypotheses for montys_heart (evidence > 0.8666804371517296)
DEBUG:root:Calculating evidence for montys_heart using input 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: 4.767
INFO:root:Testing 22403 out of 23200 hypotheses for ramen_pack (evidence > 0.8666804371517296)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 4.756
INFO:root:Testing 14771 out of 14864 hypotheses for hot_sauce (evidence > 0.8666804371517296)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 4.691
INFO:root:Testing 12189 out of 12560 hypotheses for harissa_oil (evidence > 0.8666804371517296)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 4.755
INFO:root:Testing 18959 out of 21832 hypotheses for tomato_soup_can (evidence > 0.8666804371517296)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 4.742
INFO:root:Testing 16857 out of 16976 hypotheses for mustard_bottle (evidence > 0.8666804371517296)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 4.812
INFO:root:Testing 15127 out of 17728 hypotheses for tuna_fish_can (evidence > 0.8666804371517296)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 4.816
INFO:root:Testing 16854 out of 19024 hypotheses for potted_meat_can (evidence > 0.8666804371517296)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 4.663
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 4.82
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', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
INFO:root:--- Global Matching Step 11 ---
INFO:uvicorn.access:192.168.1.217:64569 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64569 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.88902168, -0.06777736, -0.45282081],
       [ 0.07601754,  0.99710648, -0.        ],
       [ 0.45151057, -0.03442232,  0.89160154]]), 'pose_fully_defined': False}}, {'patch': array([0.00653009, 0.00336969, 0.01120792])}]
INFO:root:Testing 13721 out of 14424 hypotheses for numenta_mug (evidence > 0.9631774696727082)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 5.222
INFO:root:Testing 10992 out of 10992 hypotheses for montys_brain (evidence > 0.9631774696727082)
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: 5.119
INFO:root:Testing 14148 out of 14880 hypotheses for montys_heart (evidence > 0.9631774696727082)
DEBUG:root:Calculating evidence for montys_heart using input 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: 5.247
INFO:root:Testing 22419 out of 23200 hypotheses for ramen_pack (evidence > 0.9631774696727082)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 5.223
INFO:root:Testing 14772 out of 14864 hypotheses for hot_sauce (evidence > 0.9631774696727082)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 5.147
INFO:root:Testing 12189 out of 12560 hypotheses for harissa_oil (evidence > 0.9631774696727082)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 5.196
INFO:root:Testing 19003 out of 21832 hypotheses for tomato_soup_can (evidence > 0.9631774696727082)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 5.185
INFO:root:Testing 16880 out of 16976 hypotheses for mustard_bottle (evidence > 0.9631774696727082)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 5.278
INFO:root:Testing 15144 out of 17728 hypotheses for tuna_fish_can (evidence > 0.9631774696727082)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 5.245
INFO:root:Testing 16877 out of 19024 hypotheses for potted_meat_can (evidence > 0.9631774696727082)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 5.15
INFO:root:current most likely hypothesis: mustard_bottle with evidence 5.28
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
INFO:root:--- Global Matching Step 12 ---
INFO:uvicorn.access:192.168.1.217:64569 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64569 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.96066191, -0.0560735 , -0.27200085],
       [ 0.05827047,  0.99830083, -0.        ],
       [ 0.27153868, -0.01584962,  0.96229701]]), 'pose_fully_defined': False}}, {'patch': array([-0.0082587 ,  0.01355598, -0.01255648])}]
INFO:root:Testing 13711 out of 14424 hypotheses for numenta_mug (evidence > 1.0555821873562188)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 5.653
INFO:root:Testing 10992 out of 10992 hypotheses for montys_brain (evidence > 1.0555821873562188)
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: 5.607
INFO:root:Testing 14133 out of 14880 hypotheses for montys_heart (evidence > 1.0555821873562188)
DEBUG:root:Calculating evidence for montys_heart using input 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: 5.666
INFO:root:Testing 22410 out of 23200 hypotheses for ramen_pack (evidence > 1.0555821873562188)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
INFO:uvicorn.access:192.168.1.217:64569 - "POST /capture HTTP/1.1" 200
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: 5.709
INFO:root:Testing 14772 out of 14864 hypotheses for hot_sauce (evidence > 1.0555821873562188)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 5.615
INFO:root:Testing 12189 out of 12560 hypotheses for harissa_oil (evidence > 1.0555821873562188)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 5.643
INFO:root:Testing 18973 out of 21832 hypotheses for tomato_soup_can (evidence > 1.0555821873562188)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 5.625
INFO:root:Testing 16872 out of 16976 hypotheses for mustard_bottle (evidence > 1.0555821873562188)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 5.685
INFO:root:Testing 15126 out of 17728 hypotheses for tuna_fish_can (evidence > 1.0555821873562188)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 5.656
INFO:root:Testing 16857 out of 19024 hypotheses for potted_meat_can (evidence > 1.0555821873562188)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 5.548
INFO:root:current most likely hypothesis: ramen_pack with evidence 5.71
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
INFO:root:--- Global Matching Step 13 ---
INFO:uvicorn.access:192.168.1.217:64569 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.89226688, -0.08173907, -0.4440479 ],
       [ 0.09122633,  0.99583018, -0.        ],
       [ 0.4421963 , -0.04050886,  0.89600305]]), 'pose_fully_defined': False}}, {'patch': array([-0.00591451, -0.00031279, -0.01637935])}]
INFO:root:Testing 13688 out of 14424 hypotheses for numenta_mug (evidence > 1.1418508138894747)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 6.045
INFO:root:Testing 10991 out of 10992 hypotheses for montys_brain (evidence > 1.1418508138894747)
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: 5.868
INFO:root:Testing 14073 out of 14880 hypotheses for montys_heart (evidence > 1.1418508138894747)
DEBUG:root:Calculating evidence for montys_heart using input 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: 6.077
INFO:root:Testing 22368 out of 23200 hypotheses for ramen_pack (evidence > 1.1418508138894747)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 6.159
INFO:root:Testing 14761 out of 14864 hypotheses for hot_sauce (evidence > 1.1418508138894747)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 5.968
INFO:root:Testing 12188 out of 12560 hypotheses for harissa_oil (evidence > 1.1418508138894747)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 6.074
INFO:root:Testing 18868 out of 21832 hypotheses for tomato_soup_can (evidence > 1.1418508138894747)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 6.077
INFO:root:Testing 16855 out of 16976 hypotheses for mustard_bottle (evidence > 1.1418508138894747)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 6.131
INFO:root:Testing 14994 out of 17728 hypotheses for tuna_fish_can (evidence > 1.1418508138894747)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 6.131
INFO:root:Testing 16805 out of 19024 hypotheses for potted_meat_can (evidence > 1.1418508138894747)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 6.027
INFO:root:current most likely hypothesis: ramen_pack with evidence 6.16
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
INFO:root:--- Global Matching Step 14 ---
INFO:uvicorn.access:192.168.1.217:64569 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64569 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.79130224, -0.09688105, -0.60370094],
       [ 0.12152499,  0.99258837, -0.        ],
       [ 0.59922653, -0.07336475,  0.79721087]]), 'pose_fully_defined': False}}, {'patch': array([0.00191541, 0.00620119, 0.00529515])}]
INFO:root:Testing 13412 out of 14424 hypotheses for numenta_mug (evidence > 1.2317444938190558)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 6.505
INFO:root:Testing 10978 out of 10992 hypotheses for montys_brain (evidence > 1.2317444938190558)
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: 6.218
INFO:root:Testing 13853 out of 14880 hypotheses for montys_heart (evidence > 1.2317444938190558)
DEBUG:root:Calculating evidence for montys_heart using input 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: 6.477
INFO:root:Testing 21996 out of 23200 hypotheses for ramen_pack (evidence > 1.2317444938190558)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 6.633
INFO:root:Testing 14622 out of 14864 hypotheses for hot_sauce (evidence > 1.2317444938190558)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 6.43
INFO:root:Testing 12009 out of 12560 hypotheses for harissa_oil (evidence > 1.2317444938190558)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 6.49
INFO:root:Testing 18222 out of 21832 hypotheses for tomato_soup_can (evidence > 1.2317444938190558)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 6.52
INFO:root:Testing 16702 out of 16976 hypotheses for mustard_bottle (evidence > 1.2317444938190558)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 6.605
INFO:root:Testing 14372 out of 17728 hypotheses for tuna_fish_can (evidence > 1.2317444938190558)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 6.587
INFO:root:Testing 16226 out of 19024 hypotheses for potted_meat_can (evidence > 1.2317444938190558)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 6.509
DEBUG:root:evidences for each object: [6.50537333 6.21824061 6.47719805 6.63296985 6.42965288 6.48994986
 6.51955513 6.6047121  6.58744386 6.50927173]
DEBUG:root:mean evidence: 6.497, std: 0.11 -> th=5.306375882644335
INFO:root:current most likely hypothesis: ramen_pack with evidence 6.63
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
INFO:root:--- Global Matching Step 15 ---
INFO:uvicorn.access:192.168.1.217:64569 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64569 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64569 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.87462986, -0.10976873, -0.47220063],
       [ 0.1245262 ,  0.99221632, -0.        ],
       [ 0.46852518, -0.05880135,  0.8814911 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0082803 , -0.0013035 ,  0.01739037])}]
INFO:root:Testing 12570 out of 14424 hypotheses for numenta_mug (evidence > 1.326593970661083)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 6.961
INFO:root:Testing 10847 out of 10992 hypotheses for montys_brain (evidence > 1.326593970661083)
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: 6.618
INFO:root:Testing 13406 out of 14880 hypotheses for montys_heart (evidence > 1.326593970661083)
DEBUG:root:Calculating evidence for montys_heart using input 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: 6.85
INFO:root:Testing 20710 out of 23200 hypotheses for ramen_pack (evidence > 1.326593970661083)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 6.925
INFO:root:Testing 14107 out of 14864 hypotheses for hot_sauce (evidence > 1.326593970661083)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 6.918
INFO:root:Testing 11172 out of 12560 hypotheses for harissa_oil (evidence > 1.326593970661083)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 6.954
INFO:root:Testing 17089 out of 21832 hypotheses for tomato_soup_can (evidence > 1.326593970661083)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 7.003
INFO:root:Testing 16260 out of 16976 hypotheses for mustard_bottle (evidence > 1.326593970661083)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 7.084
INFO:root:Testing 13125 out of 17728 hypotheses for tuna_fish_can (evidence > 1.326593970661083)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 7.051
INFO:root:Testing 15229 out of 19024 hypotheses for potted_meat_can (evidence > 1.326593970661083)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 6.969
DEBUG:root:evidences for each object: [6.96063391 6.61788674 6.85031704 6.92545273 6.91754938 6.95422042
 7.00274739 7.08354657 7.05130075 6.96935618]
DEBUG:root:mean evidence: 6.933, std: 0.123 -> th=5.666837252770192
INFO:root:current most likely hypothesis: mustard_bottle with evidence 7.08
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
INFO:root:--- Global Matching Step 16 ---
INFO:uvicorn.access:192.168.1.217:64569 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.96763833, -0.0990471 , -0.23208991],
       [ 0.10182757,  0.99480206, -0.        ],
       [ 0.23088352, -0.02363315,  0.97269434]]), 'pose_fully_defined': False}}, {'patch': array([-0.00382325,  0.00597327, -0.00522177])}]
INFO:root:Testing 11954 out of 14424 hypotheses for numenta_mug (evidence > 1.4167093131925474)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 7.377
INFO:root:Testing 10551 out of 10992 hypotheses for montys_brain (evidence > 1.4167093131925474)
DEBUG:root:Calculating evidence for montys_brain using input from patch
INFO:uvicorn.access:192.168.1.217:64569 - "POST /capture HTTP/1.1" 200
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: 7.046
INFO:root:Testing 13089 out of 14880 hypotheses for montys_heart (evidence > 1.4167093131925474)
DEBUG:root:Calculating evidence for montys_heart using input 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: 7.289
INFO:root:Testing 19702 out of 23200 hypotheses for ramen_pack (evidence > 1.4167093131925474)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 7.337
INFO:root:Testing 13673 out of 14864 hypotheses for hot_sauce (evidence > 1.4167093131925474)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 7.356
INFO:root:Testing 10651 out of 12560 hypotheses for harissa_oil (evidence > 1.4167093131925474)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 7.342
INFO:root:Testing 16381 out of 21832 hypotheses for tomato_soup_can (evidence > 1.4167093131925474)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 7.369
INFO:root:Testing 15831 out of 16976 hypotheses for mustard_bottle (evidence > 1.4167093131925474)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 7.527
INFO:root:Testing 12406 out of 17728 hypotheses for tuna_fish_can (evidence > 1.4167093131925474)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 7.454
INFO:root:Testing 14496 out of 19024 hypotheses for potted_meat_can (evidence > 1.4167093131925474)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 7.4
DEBUG:root:evidences for each object: [7.37694804 7.04577508 7.28927414 7.33719164 7.35619655 7.34240095
 7.36897554 7.52722926 7.45381179 7.39968914]
DEBUG:root:mean evidence: 7.35, std: 0.119 -> th=6.021783404012592
INFO:root:current most likely hypothesis: mustard_bottle with evidence 7.53
DEBUG:root:evidences for each object: [7.37694804 7.04577508 7.28927414 7.33719164 7.35619655 7.34240095
 7.36897554 7.52722926 7.45381179 7.39968914]
DEBUG:root:mean evidence: 7.35, std: 0.119 -> th=6.021783404012592
DEBUG:root:evidences for each object: [7.37694804 7.04577508 7.28927414 7.33719164 7.35619655 7.34240095
 7.36897554 7.52722926 7.45381179 7.39968914]
DEBUG:root:mean evidence: 7.35, std: 0.119 -> th=6.39814486676338
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
INFO:root:--- Global Matching Step 17 ---
INFO:uvicorn.access:192.168.1.217:64569 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.90531205, -0.09902863, -0.41304167],
       [ 0.10873758,  0.99407049, -0.        ],
       [ 0.41059254, -0.04491315,  0.91071213]]), 'pose_fully_defined': False}}, {'patch': array([-0.00398793,  0.00071356, -0.01446098])}]
INFO:root:Testing 11218 out of 14424 hypotheses for numenta_mug (evidence > 1.5054458510031479)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 7.842
INFO:root:Testing 9900 out of 10992 hypotheses for montys_brain (evidence > 1.5054458510031479)
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: 7.27
INFO:root:Testing 12598 out of 14880 hypotheses for montys_heart (evidence > 1.5054458510031479)
DEBUG:root:Calculating evidence for montys_heart using input 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: 7.726
INFO:root:Testing 18218 out of 23200 hypotheses for ramen_pack (evidence > 1.5054458510031479)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 7.765
INFO:root:Testing 12831 out of 14864 hypotheses for hot_sauce (evidence > 1.5054458510031479)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 7.8
INFO:root:Testing 10021 out of 12560 hypotheses for harissa_oil (evidence > 1.5054458510031479)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 7.804
INFO:root:Testing 15566 out of 21832 hypotheses for tomato_soup_can (evidence > 1.5054458510031479)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 7.851
INFO:root:Testing 14957 out of 16976 hypotheses for mustard_bottle (evidence > 1.5054458510031479)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 7.981
INFO:root:Testing 11731 out of 17728 hypotheses for tuna_fish_can (evidence > 1.5054458510031479)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 7.916
INFO:root:Testing 13750 out of 19024 hypotheses for potted_meat_can (evidence > 1.5054458510031479)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 7.866
DEBUG:root:evidences for each object: [7.84175304 7.26952892 7.72637459 7.76525216 7.80031547 7.80400688
 7.85119098 7.98070223 7.91643215 7.8663786 ]
DEBUG:root:mean evidence: 7.782, std: 0.184 -> th=6.384561787989044
INFO:root:current most likely hypothesis: mustard_bottle with evidence 7.98
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
INFO:root:--- Global Matching Step 18 ---
INFO:uvicorn.access:192.168.1.217:64569 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.85275318, -0.12168641, -0.50794136],
       [ 0.14126723,  0.9899715 , -0.        ],
       [ 0.50284747, -0.07175547,  0.86139165]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00223262, -0.00435525,  0.006591  ])}]
INFO:root:Testing 10432 out of 14424 hypotheses for numenta_mug (evidence > 1.5961404469972607)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 8.32
INFO:root:Testing 8385 out of 10992 hypotheses for montys_brain (evidence > 1.5961404469972607)
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: 7.708
INFO:root:Testing 11440 out of 14880 hypotheses for montys_heart (evidence > 1.5961404469972607)
DEBUG:root:Calculating evidence for montys_heart using input 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: 8.207
INFO:root:Testing 16198 out of 23200 hypotheses for ramen_pack (evidence > 1.5961404469972607)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 8.219
INFO:root:Testing 11260 out of 14864 hypotheses for hot_sauce (evidence > 1.5961404469972607)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 8.28
INFO:root:Testing 9128 out of 12560 hypotheses for harissa_oil (evidence > 1.5961404469972607)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 8.267
INFO:root:Testing 14459 out of 21832 hypotheses for tomato_soup_can (evidence > 1.5961404469972607)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 8.33
INFO:root:Testing 13555 out of 16976 hypotheses for mustard_bottle (evidence > 1.5961404469972607)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 8.441
INFO:root:Testing 10471 out of 17728 hypotheses for tuna_fish_can (evidence > 1.5961404469972607)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.02 seconds. New max evidence: 8.405
INFO:root:Testing 12622 out of 19024 hypotheses for potted_meat_can (evidence > 1.5961404469972607)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 8.325
DEBUG:root:evidences for each object: [8.31987698 7.70846394 8.20728463 8.21883143 8.27960489 8.26733213
 8.33020635 8.44094715 8.40521592 8.32548809]
DEBUG:root:mean evidence: 8.25, std: 0.194 -> th=6.752757719969035
INFO:root:current most likely hypothesis: mustard_bottle with evidence 8.44
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
INFO:root:--- Global Matching Step 19 ---
INFO:uvicorn.access:192.168.1.217:64569 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.90340682, -0.12536867, -0.41004734],
       [ 0.13745596,  0.99050788, -0.        ],
       [ 0.40615512, -0.05636345,  0.91206424]]), 'pose_fully_defined': False}}, {'patch': array([0.00115259, 0.01252091, 0.00180291])}]
INFO:root:Testing 10026 out of 14424 hypotheses for numenta_mug (evidence > 1.6881894299922582)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 8.734
INFO:root:Testing 7453 out of 10992 hypotheses for montys_brain (evidence > 1.6881894299922582)
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: 7.845
INFO:root:Testing 10551 out of 14880 hypotheses for montys_heart (evidence > 1.6881894299922582)
DEBUG:root:Calculating evidence for montys_heart using input 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: 8.601
INFO:root:Testing 15254 out of 23200 hypotheses for ramen_pack (evidence > 1.6881894299922582)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 8.661
INFO:root:Testing 9948 out of 14864 hypotheses for hot_sauce (evidence > 1.6881894299922582)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 8.748
INFO:root:Testing 8744 out of 12560 hypotheses for harissa_oil (evidence > 1.6881894299922582)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 8.73
INFO:root:Testing 14016 out of 21832 hypotheses for tomato_soup_can (evidence > 1.6881894299922582)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 8.813
INFO:root:Testing 12879 out of 16976 hypotheses for mustard_bottle (evidence > 1.6881894299922582)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 8.87
INFO:root:Testing 9900 out of 17728 hypotheses for tuna_fish_can (evidence > 1.6881894299922582)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.02 seconds. New max evidence: 8.872
INFO:root:Testing 11635 out of 19024 hypotheses for potted_meat_can (evidence > 1.6881894299922582)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 8.786
DEBUG:root:evidences for each object: [8.73429445 7.84464681 8.60060512 8.66127887 8.74751352 8.73016347
 8.81321032 8.87042236 8.87245593 8.78629448]
DEBUG:root:mean evidence: 8.666, std: 0.285 -> th=7.097964746715969
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 8.87
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
INFO:root:--- Global Matching Step 20 ---
INFO:uvicorn.access:192.168.1.217:64569 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64569 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.94964353, -0.08629924, -0.30121355],
       [ 0.09050247,  0.99589623, -0.        ],
       [ 0.29997744, -0.02726057,  0.95355671]]), 'pose_fully_defined': False}}, {'patch': array([0.00800656, 0.0031453 , 0.00976701])}]
INFO:root:Testing 9345 out of 14424 hypotheses for numenta_mug (evidence > 1.7744911866789916)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 9.156
INFO:root:Testing 6456 out of 10992 hypotheses for montys_brain (evidence > 1.7744911866789916)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 8.039
INFO:root:Testing 9619 out of 14880 hypotheses for montys_heart (evidence > 1.7744911866789916)
DEBUG:root:Calculating evidence for montys_heart using input 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: 9.068
INFO:root:Testing 14358 out of 23200 hypotheses for ramen_pack (evidence > 1.7744911866789916)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 9.12
INFO:root:Testing 8836 out of 14864 hypotheses for hot_sauce (evidence > 1.7744911866789916)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 9.214
INFO:root:Testing 8091 out of 12560 hypotheses for harissa_oil (evidence > 1.7744911866789916)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 9.139
INFO:root:Testing 13076 out of 21832 hypotheses for tomato_soup_can (evidence > 1.7744911866789916)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 9.253
INFO:root:Testing 12290 out of 16976 hypotheses for mustard_bottle (evidence > 1.7744911866789916)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 9.356
INFO:root:Testing 9124 out of 17728 hypotheses for tuna_fish_can (evidence > 1.7744911866789916)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.02 seconds. New max evidence: 9.273
INFO:root:Testing 10948 out of 19024 hypotheses for potted_meat_can (evidence > 1.7744911866789916)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.02 seconds. New max evidence: 9.204
DEBUG:root:evidences for each object: [9.15623077 8.03933415 9.06828925 9.11975915 9.21439615 9.13851512
 9.25346734 9.35624835 9.27253731 9.20379429]
DEBUG:root:mean evidence: 9.082, std: 0.356 -> th=7.48499868231414
INFO:root:current most likely hypothesis: mustard_bottle with evidence 9.36
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
INFO:root:--- Global Matching Step 21 ---
INFO:uvicorn.access:192.168.1.217:64569 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.88837236, -0.10941155, -0.44589648],
       [ 0.12223599,  0.99250106, -0.        ],
       [ 0.44255273, -0.0545046 ,  0.89508454]]), 'pose_fully_defined': False}}, {'patch': array([-0.00579228, -0.01279935, -0.00855223])}]
INFO:root:Testing 8794 out of 14424 hypotheses for numenta_mug (evidence > 1.8712496705785346)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 9.628
INFO:root:Testing 5397 out of 10992 hypotheses for montys_brain (evidence > 1.8712496705785346)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 8.483
INFO:root:Testing 8881 out of 14880 hypotheses for montys_heart (evidence > 1.8712496705785346)
DEBUG:root:Calculating evidence for montys_heart using input 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: 9.552
INFO:root:Testing 13488 out of 23200 hypotheses for ramen_pack (evidence > 1.8712496705785346)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 9.6
INFO:root:Testing 8027 out of 14864 hypotheses for hot_sauce (evidence > 1.8712496705785346)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 9.69
INFO:root:Testing 7531 out of 12560 hypotheses for harissa_oil (evidence > 1.8712496705785346)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 9.609
INFO:root:Testing 12271 out of 21832 hypotheses for tomato_soup_can (evidence > 1.8712496705785346)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 9.718
INFO:root:Testing 11732 out of 16976 hypotheses for mustard_bottle (evidence > 1.8712496705785346)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 9.847
INFO:root:Testing 8450 out of 17728 hypotheses for tuna_fish_can (evidence > 1.8712496705785346)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.02 seconds. New max evidence: 9.746
INFO:root:Testing 10409 out of 19024 hypotheses for potted_meat_can (evidence > 1.8712496705785346)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.02 seconds. New max evidence: 9.677
DEBUG:root:evidences for each object: [9.62750236 8.48332365 9.55217179 9.60032352 9.69027411 9.60850161
 9.71783451 9.84660039 9.74596947 9.67690835]
DEBUG:root:mean evidence: 9.555, std: 0.366 -> th=7.877280311195184
INFO:root:current most likely hypothesis: mustard_bottle with evidence 9.85
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
INFO:root:--- Global Matching Step 22 ---
INFO:uvicorn.access:192.168.1.217:64569 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.92602427, -0.10544123, -0.36243786],
       [ 0.11313341,  0.99357981, -0.        ],
       [ 0.36011094, -0.04100383,  0.93200794]]), 'pose_fully_defined': False}}, {'patch': array([0.00256536, 0.00262584, 0.00507528])}]
INFO:root:Testing 8451 out of 14424 hypotheses for numenta_mug (evidence > 1.9693200777987956)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 10.088
INFO:root:Testing 4521 out of 10992 hypotheses for montys_brain (evidence > 1.9693200777987956)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 8.903
INFO:root:Testing 8218 out of 14880 hypotheses for montys_heart (evidence > 1.9693200777987956)
DEBUG:root:Calculating evidence for montys_heart using input 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: 10.017
INFO:root:Testing 12853 out of 23200 hypotheses for ramen_pack (evidence > 1.9693200777987956)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 10.088
INFO:root:Testing 7472 out of 14864 hypotheses for hot_sauce (evidence > 1.9693200777987956)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 10.155
INFO:root:Testing 7003 out of 12560 hypotheses for harissa_oil (evidence > 1.9693200777987956)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.01 seconds. New max evidence: 10.072
INFO:root:Testing 11726 out of 21832 hypotheses for tomato_soup_can (evidence > 1.9693200777987956)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 10.215
INFO:root:Testing 11309 out of 16976 hypotheses for mustard_bottle (evidence > 1.9693200777987956)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 10.325
INFO:root:Testing 8200 out of 17728 hypotheses for tuna_fish_can (evidence > 1.9693200777987956)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 10.201
INFO:root:Testing 10091 out of 19024 hypotheses for potted_meat_can (evidence > 1.9693200777987956)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.02 seconds. New max evidence: 10.145
DEBUG:root:evidences for each object: [10.08790279  8.90326972 10.01703762 10.08817375 10.15490588 10.07163354
 10.2152064  10.32457863 10.20078461 10.14535178]
DEBUG:root:mean evidence: 10.021, std: 0.382 -> th=8.259662902500978
INFO:root:current most likely hypothesis: mustard_bottle with evidence 10.32
DEBUG:root:evidences for each object: [10.08790279  8.90326972 10.01703762 10.08817375 10.15490588 10.07163354
 10.2152064  10.32457863 10.20078461 10.14535178]
DEBUG:root:mean evidence: 10.021, std: 0.382 -> th=8.259662902500978
DEBUG:root:evidences for each object: [10.08790279  8.90326972 10.01703762 10.08817375 10.15490588 10.07163354
 10.2152064  10.32457863 10.20078461 10.14535178]
DEBUG:root:mean evidence: 10.021, std: 0.382 -> th=8.775891833907288
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
INFO:root:--- Global Matching Step 23 ---
INFO:uvicorn.access:192.168.1.217:64569 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.95530811, -0.2955425 ,  0.00640699],
       [ 0.29554857,  0.95532771, -0.        ],
       [-0.00612077,  0.00189358,  0.99997948]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00631801, -0.01085304, -0.02941234])}]
INFO:root:Testing 7864 out of 14424 hypotheses for numenta_mug (evidence > 2.0649157256252444)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 9.564
INFO:root:Testing 3800 out of 10992 hypotheses for montys_brain (evidence > 2.0649157256252444)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 7.903
INFO:root:Testing 7359 out of 14880 hypotheses for montys_heart (evidence > 2.0649157256252444)
DEBUG:root:Calculating evidence for montys_heart using input 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: 9.017
INFO:root:Testing 12408 out of 23200 hypotheses for ramen_pack (evidence > 2.0649157256252444)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 9.088
INFO:root:Testing 6936 out of 14864 hypotheses for hot_sauce (evidence > 2.0649157256252444)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 9.155
INFO:root:Testing 6352 out of 12560 hypotheses for harissa_oil (evidence > 2.0649157256252444)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.01 seconds. New max evidence: 9.072
INFO:root:Testing 10737 out of 21832 hypotheses for tomato_soup_can (evidence > 2.0649157256252444)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.02 seconds. New max evidence: 9.215
INFO:root:Testing 10960 out of 16976 hypotheses for mustard_bottle (evidence > 2.0649157256252444)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 9.325
INFO:root:Testing 7877 out of 17728 hypotheses for tuna_fish_can (evidence > 2.0649157256252444)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.02 seconds. New max evidence: 9.201
INFO:root:Testing 9768 out of 19024 hypotheses for potted_meat_can (evidence > 2.0649157256252444)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.02 seconds. New max evidence: 9.145
DEBUG:root:evidences for each object: [9.56448792 7.90326972 9.01703762 9.08817375 9.15490588 9.07163354
 9.2152064  9.32457863 9.20078461 9.14535178]
DEBUG:root:mean evidence: 9.069, std: 0.415 -> th=7.651590334647798
INFO:root:current most likely hypothesis: numenta_mug with evidence 9.56
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
INFO:root:--- Global Matching Step 24 ---
INFO:uvicorn.access:192.168.1.217:64577 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.4460976 , -0.05650123, -0.89319905],
       [ 0.12565281,  0.99207428, -0.        ],
       [ 0.8861198 , -0.11223297,  0.44966149]]), 'pose_fully_defined': False}}, {'patch': array([-0.02523743, -0.02221489,  0.01325274])}]
INFO:root:Testing 7437 out of 14424 hypotheses for numenta_mug (evidence > 1.912897583661949)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 10.016
INFO:root:Testing 3214 out of 10992 hypotheses for montys_brain (evidence > 1.912897583661949)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 8.332
INFO:root:Testing 6717 out of 14880 hypotheses for montys_heart (evidence > 1.912897583661949)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 9.49
INFO:root:Testing 11932 out of 23200 hypotheses for ramen_pack (evidence > 1.912897583661949)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 9.362
INFO:root:Testing 6533 out of 14864 hypotheses for hot_sauce (evidence > 1.912897583661949)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 9.535
INFO:root:Testing 6094 out of 12560 hypotheses for harissa_oil (evidence > 1.912897583661949)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.01 seconds. New max evidence: 9.411
INFO:root:Testing 10181 out of 21832 hypotheses for tomato_soup_can (evidence > 1.912897583661949)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.02 seconds. New max evidence: 9.644
INFO:root:Testing 10581 out of 16976 hypotheses for mustard_bottle (evidence > 1.912897583661949)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 9.777
INFO:root:Testing 7427 out of 17728 hypotheses for tuna_fish_can (evidence > 1.912897583661949)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.02 seconds. New max evidence: 9.353
INFO:root:Testing 9510 out of 19024 hypotheses for potted_meat_can (evidence > 1.912897583661949)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.02 seconds. New max evidence: 9.595
DEBUG:root:evidences for each object: [10.01615437  8.3315227   9.49045936  9.36200655  9.53487365  9.41130643
  9.64410588  9.77728948  9.35309081  9.59548605]
DEBUG:root:mean evidence: 9.452, std: 0.42 -> th=8.012923497658214
INFO:root:current most likely hypothesis: numenta_mug with evidence 10.02
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
INFO:root:--- Global Matching Step 25 ---
INFO:uvicorn.access:192.168.1.217:64577 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.61958769, -0.05452113, -0.78303164],
       [ 0.0876571 ,  0.99615071, -0.        ],
       [ 0.78001752, -0.06863828,  0.62198188]]), 'pose_fully_defined': False}}, {'patch': array([-0.00147478,  0.01266714, -0.00567408])}]
INFO:root:Testing 7319 out of 14424 hypotheses for numenta_mug (evidence > 2.0032308744145535)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 10.329
INFO:root:Testing 3163 out of 10992 hypotheses for montys_brain (evidence > 2.0032308744145535)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 8.703
INFO:root:Testing 6628 out of 14880 hypotheses for montys_heart (evidence > 2.0032308744145535)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 9.98
INFO:root:Testing 11719 out of 23200 hypotheses for ramen_pack (evidence > 2.0032308744145535)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 9.815
INFO:root:Testing 6453 out of 14864 hypotheses for hot_sauce (evidence > 2.0032308744145535)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 9.828
INFO:root:Testing 5963 out of 12560 hypotheses for harissa_oil (evidence > 2.0032308744145535)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.01 seconds. New max evidence: 9.821
INFO:root:Testing 9886 out of 21832 hypotheses for tomato_soup_can (evidence > 2.0032308744145535)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.02 seconds. New max evidence: 10.04
INFO:root:Testing 10392 out of 16976 hypotheses for mustard_bottle (evidence > 2.0032308744145535)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 10.25
INFO:root:Testing 6995 out of 17728 hypotheses for tuna_fish_can (evidence > 2.0032308744145535)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.02 seconds. New max evidence: 9.816
INFO:root:Testing 9340 out of 19024 hypotheses for potted_meat_can (evidence > 2.0032308744145535)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.02 seconds. New max evidence: 10.016
DEBUG:root:evidences for each object: [10.32850663  8.70349657  9.97998312  9.81461938  9.827618    9.82113089
 10.04028673 10.25042009  9.81565653 10.01598406]
DEBUG:root:mean evidence: 9.86, std: 0.423 -> th=8.262805303573087
INFO:root:current most likely hypothesis: numenta_mug with evidence 10.33
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
INFO:root:--- Global Matching Step 26 ---
INFO:uvicorn.access:192.168.1.217:64577 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.42876782, -0.07511056, -0.90028693],
       [ 0.17255016,  0.98500073, -0.        ],
       [ 0.88678329, -0.15534466,  0.43529696]]), 'pose_fully_defined': False}}, {'patch': array([-0.00532179, -0.01798158,  0.00198429])}]
INFO:root:Testing 7223 out of 14424 hypotheses for numenta_mug (evidence > 2.065701325893272)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 10.819
INFO:root:Testing 3038 out of 10992 hypotheses for montys_brain (evidence > 2.065701325893272)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 8.99
INFO:root:Testing 6471 out of 14880 hypotheses for montys_heart (evidence > 2.065701325893272)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 10.353
INFO:root:Testing 11433 out of 23200 hypotheses for ramen_pack (evidence > 2.065701325893272)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 10.199
INFO:root:Testing 6277 out of 14864 hypotheses for hot_sauce (evidence > 2.065701325893272)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 10.231
INFO:root:Testing 5876 out of 12560 hypotheses for harissa_oil (evidence > 2.065701325893272)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.01 seconds. New max evidence: 10.245
INFO:root:Testing 9696 out of 21832 hypotheses for tomato_soup_can (evidence > 2.065701325893272)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.02 seconds. New max evidence: 10.432
INFO:root:Testing 10173 out of 16976 hypotheses for mustard_bottle (evidence > 2.065701325893272)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 10.701
INFO:root:Testing 6697 out of 17728 hypotheses for tuna_fish_can (evidence > 2.065701325893272)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.02 seconds. New max evidence: 9.86
INFO:root:Testing 9123 out of 19024 hypotheses for potted_meat_can (evidence > 2.065701325893272)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.02 seconds. New max evidence: 10.434
DEBUG:root:evidences for each object: [10.81853023  8.99001671 10.35340636 10.19878794 10.2308902  10.24475036
 10.4321461  10.70067977  9.86017564 10.43414022]
DEBUG:root:mean evidence: 10.226, std: 0.484 -> th=8.654824186670664
INFO:root:current most likely hypothesis: numenta_mug with evidence 10.82
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
INFO:root:--- Global Matching Step 27 ---
INFO:uvicorn.access:192.168.1.217:64577 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64577 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.39525836, -0.08036427, -0.91504776],
       [ 0.19924425,  0.97994986, -0.        ],
       [ 0.89670093, -0.18231801,  0.40334549]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00630557,  0.0204549 , -0.00328826])}]
INFO:root:Testing 6885 out of 14424 hypotheses for numenta_mug (evidence > 2.1637060466676665)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 11.238
INFO:root:Testing 2883 out of 10992 hypotheses for montys_brain (evidence > 2.1637060466676665)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 9.405
INFO:root:Testing 6299 out of 14880 hypotheses for montys_heart (evidence > 2.1637060466676665)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 10.788
INFO:root:Testing 10947 out of 23200 hypotheses for ramen_pack (evidence > 2.1637060466676665)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.02 seconds. New max evidence: 10.598
INFO:root:Testing 5938 out of 14864 hypotheses for hot_sauce (evidence > 2.1637060466676665)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 10.692
INFO:root:Testing 5601 out of 12560 hypotheses for harissa_oil (evidence > 2.1637060466676665)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.01 seconds. New max evidence: 10.686
INFO:root:Testing 9145 out of 21832 hypotheses for tomato_soup_can (evidence > 2.1637060466676665)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.02 seconds. New max evidence: 10.928
INFO:root:Testing 9888 out of 16976 hypotheses for mustard_bottle (evidence > 2.1637060466676665)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 10.991
INFO:root:Testing 6277 out of 17728 hypotheses for tuna_fish_can (evidence > 2.1637060466676665)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 10.203
INFO:root:Testing 8805 out of 19024 hypotheses for potted_meat_can (evidence > 2.1637060466676665)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.02 seconds. New max evidence: 10.912
DEBUG:root:evidences for each object: [11.23837135  9.40524657 10.7881927  10.59802013 10.69249714 10.68616124
 10.92815646 10.99080706 10.20306994 10.9117083 ]
DEBUG:root:mean evidence: 10.644, std: 0.488 -> th=8.990697076688516
INFO:root:current most likely hypothesis: numenta_mug with evidence 11.24
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
INFO:root:--- Global Matching Step 28 ---
INFO:uvicorn.access:192.168.1.217:64577 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.58749395, -0.08220469, -0.80504239],
       [ 0.13857433,  0.99035204, -0.        ],
       [ 0.79727537, -0.11155821,  0.59321729]]), 'pose_fully_defined': False}}, {'patch': array([-0.00155671,  0.00358203,  0.00073239])}]
INFO:root:Testing 6755 out of 14424 hypotheses for numenta_mug (evidence > 2.247674269172128)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 11.554
INFO:root:Testing 2744 out of 10992 hypotheses for montys_brain (evidence > 2.247674269172128)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 9.799
INFO:root:Testing 6108 out of 14880 hypotheses for montys_heart (evidence > 2.247674269172128)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 11.275
INFO:root:Testing 10536 out of 23200 hypotheses for ramen_pack (evidence > 2.247674269172128)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 11.046
INFO:root:Testing 5519 out of 14864 hypotheses for hot_sauce (evidence > 2.247674269172128)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 11.064
INFO:root:Testing 5491 out of 12560 hypotheses for harissa_oil (evidence > 2.247674269172128)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.01 seconds. New max evidence: 11.102
INFO:root:Testing 8932 out of 21832 hypotheses for tomato_soup_can (evidence > 2.247674269172128)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.02 seconds. New max evidence: 11.384
INFO:root:Testing 9623 out of 16976 hypotheses for mustard_bottle (evidence > 2.247674269172128)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 11.45
INFO:root:Testing 5999 out of 17728 hypotheses for tuna_fish_can (evidence > 2.247674269172128)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 10.626
INFO:root:Testing 8520 out of 19024 hypotheses for potted_meat_can (evidence > 2.247674269172128)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.02 seconds. New max evidence: 11.314
DEBUG:root:evidences for each object: [11.55352198  9.7991616  11.27505319 11.0464659  11.06375546 11.1021104
 11.3837527  11.44985469 10.62584097 11.31415805]
DEBUG:root:mean evidence: 11.061, std: 0.489 -> th=9.242817583203813
INFO:root:current most likely hypothesis: numenta_mug with evidence 11.55
DEBUG:root:evidences for each object: [11.55352198  9.7991616  11.27505319 11.0464659  11.06375546 11.1021104
 11.3837527  11.44985469 10.62584097 11.31415805]
DEBUG:root:mean evidence: 11.061, std: 0.489 -> th=9.242817583203813
DEBUG:root:evidences for each object: [11.55352198  9.7991616  11.27505319 11.0464659  11.06375546 11.1021104
 11.3837527  11.44985469 10.62584097 11.31415805]
DEBUG:root:mean evidence: 11.061, std: 0.489 -> th=9.820493682154051
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
INFO:root:--- Global Matching Step 29 ---
INFO:uvicorn.access:192.168.1.217:64577 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.45078737, -0.01874161, -0.89243459],
       [ 0.04153939,  0.99913687, -0.        ],
       [ 0.8916643 , -0.03707119,  0.4511768 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00456465,  0.01146819, -0.00062237])}]
INFO:root:Testing 6652 out of 14424 hypotheses for numenta_mug (evidence > 2.3107043958009523)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 11.883
INFO:root:Testing 2584 out of 10992 hypotheses for montys_brain (evidence > 2.3107043958009523)
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: 10.183
INFO:root:Testing 5881 out of 14880 hypotheses for montys_heart (evidence > 2.3107043958009523)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 11.724
INFO:root:Testing 10141 out of 23200 hypotheses for ramen_pack (evidence > 2.3107043958009523)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 11.517
INFO:root:Testing 5119 out of 14864 hypotheses for hot_sauce (evidence > 2.3107043958009523)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 11.509
INFO:root:Testing 5292 out of 12560 hypotheses for harissa_oil (evidence > 2.3107043958009523)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.01 seconds. New max evidence: 11.527
INFO:root:Testing 8696 out of 21832 hypotheses for tomato_soup_can (evidence > 2.3107043958009523)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.02 seconds. New max evidence: 11.856
INFO:root:Testing 9332 out of 16976 hypotheses for mustard_bottle (evidence > 2.3107043958009523)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 11.906
INFO:root:Testing 5722 out of 17728 hypotheses for tuna_fish_can (evidence > 2.3107043958009523)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 11.009
INFO:root:Testing 8188 out of 19024 hypotheses for potted_meat_can (evidence > 2.3107043958009523)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.02 seconds. New max evidence: 11.794
DEBUG:root:evidences for each object: [11.88256409 10.18322083 11.72441241 11.5174758  11.50899563 11.52735341
 11.85592879 11.90627494 11.00852819 11.79403265]
DEBUG:root:mean evidence: 11.491, std: 0.505 -> th=9.525019955478697
INFO:root:current most likely hypothesis: mustard_bottle with evidence 11.91
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
INFO:root:--- Global Matching Step 30 ---
INFO:uvicorn.access:192.168.1.217:64577 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64577 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.69113476, -0.06473021, -0.71982133],
       [ 0.09324977,  0.99564275, -0.        ],
       [ 0.71668488, -0.06712318,  0.69415939]]), 'pose_fully_defined': False}}, {'patch': array([0.00241493, 0.00236636, 0.00200756])}]
INFO:root:Testing 6349 out of 14424 hypotheses for numenta_mug (evidence > 2.3812549888696743)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 12.355
INFO:root:Testing 2450 out of 10992 hypotheses for montys_brain (evidence > 2.3812549888696743)
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: 10.477
INFO:root:Testing 5665 out of 14880 hypotheses for montys_heart (evidence > 2.3812549888696743)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 12.156
INFO:root:Testing 9730 out of 23200 hypotheses for ramen_pack (evidence > 2.3812549888696743)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 11.987
INFO:root:Testing 4755 out of 14864 hypotheses for hot_sauce (evidence > 2.3812549888696743)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 11.983
INFO:root:Testing 4989 out of 12560 hypotheses for harissa_oil (evidence > 2.3812549888696743)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.01 seconds. New max evidence: 11.98
INFO:root:Testing 8291 out of 21832 hypotheses for tomato_soup_can (evidence > 2.3812549888696743)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 12.346
INFO:root:Testing 9008 out of 16976 hypotheses for mustard_bottle (evidence > 2.3812549888696743)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 12.391
INFO:root:Testing 5260 out of 17728 hypotheses for tuna_fish_can (evidence > 2.3812549888696743)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 11.425
INFO:root:Testing 7753 out of 19024 hypotheses for potted_meat_can (evidence > 2.3812549888696743)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 12.276
DEBUG:root:evidences for each object: [12.35494973 10.47683562 12.15601779 11.98669236 11.98275613 11.98034129
 12.34629869 12.39126839 11.42464365 12.27647697]
DEBUG:root:mean evidence: 11.938, std: 0.558 -> th=9.913014709774867
INFO:root:current most likely hypothesis: mustard_bottle with evidence 12.39
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
INFO:root:--- Global Matching Step 31 ---
INFO:uvicorn.access:192.168.1.217:64579 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.67034138,  0.0448313 , -0.74069737],
       [-0.06672924, -0.99777112,  0.        ],
       [-0.73904644,  0.04942617,  0.67183883]]), 'pose_fully_defined': False}}, {'patch': array([-0.02012813, -0.00298794, -0.00015567])}]
INFO:root:Testing 5924 out of 14424 hypotheses for numenta_mug (evidence > 2.478253677443716)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 12.623
INFO:root:Testing 1882 out of 10992 hypotheses for montys_brain (evidence > 2.478253677443716)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.858
INFO:root:Testing 5143 out of 14880 hypotheses for montys_heart (evidence > 2.478253677443716)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 12.385
INFO:root:Testing 9337 out of 23200 hypotheses for ramen_pack (evidence > 2.478253677443716)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 12.266
INFO:root:Testing 4370 out of 14864 hypotheses for hot_sauce (evidence > 2.478253677443716)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 12.323
INFO:root:Testing 4582 out of 12560 hypotheses for harissa_oil (evidence > 2.478253677443716)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 12.227
INFO:root:Testing 7672 out of 21832 hypotheses for tomato_soup_can (evidence > 2.478253677443716)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 12.594
INFO:root:Testing 8660 out of 16976 hypotheses for mustard_bottle (evidence > 2.478253677443716)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 12.752
INFO:root:Testing 4816 out of 17728 hypotheses for tuna_fish_can (evidence > 2.478253677443716)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 11.784
INFO:root:Testing 7420 out of 19024 hypotheses for potted_meat_can (evidence > 2.478253677443716)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 12.674
DEBUG:root:evidences for each object: [12.62325275 10.85802899 12.38491244 12.26608299 12.32258206 12.22709057
 12.59404221 12.75173747 11.78378503 12.67412009]
DEBUG:root:mean evidence: 12.249, std: 0.536 -> th=10.201389973216106
INFO:root:current most likely hypothesis: mustard_bottle with evidence 12.75
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
INFO:root:--- Global Matching Step 32 ---
INFO:uvicorn.access:192.168.1.217:64579 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.22253966,  0.1003363 , -0.96974673],
       [-0.4110236 , -0.91162471,  0.        ],
       [-0.88404508,  0.39858879,  0.24411324]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01308643, -0.03624355,  0.00409309])}]
INFO:root:Testing 5711 out of 14424 hypotheses for numenta_mug (evidence > 2.5503474933040255)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 12.869
INFO:root:Testing 1735 out of 10992 hypotheses for montys_brain (evidence > 2.5503474933040255)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.086
INFO:root:Testing 4867 out of 14880 hypotheses for montys_heart (evidence > 2.5503474933040255)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 12.545
INFO:root:Testing 8949 out of 23200 hypotheses for ramen_pack (evidence > 2.5503474933040255)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 12.667
INFO:root:Testing 3975 out of 14864 hypotheses for hot_sauce (evidence > 2.5503474933040255)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 12.697
INFO:root:Testing 4281 out of 12560 hypotheses for harissa_oil (evidence > 2.5503474933040255)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 12.556
INFO:root:Testing 7293 out of 21832 hypotheses for tomato_soup_can (evidence > 2.5503474933040255)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 12.931
INFO:root:Testing 8362 out of 16976 hypotheses for mustard_bottle (evidence > 2.5503474933040255)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 13.123
INFO:root:Testing 4600 out of 17728 hypotheses for tuna_fish_can (evidence > 2.5503474933040255)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 11.952
INFO:root:Testing 7085 out of 19024 hypotheses for potted_meat_can (evidence > 2.5503474933040255)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 13.09
DEBUG:root:evidences for each object: [12.86908116 11.08555484 12.54452992 12.66650626 12.69719366 12.55643209
 12.93057189 13.1230727  11.95238009 13.08977722]
DEBUG:root:mean evidence: 12.552, std: 0.583 -> th=10.498458163806458
INFO:root:current most likely hypothesis: mustard_bottle with evidence 13.12
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
INFO:root:--- Global Matching Step 33 ---
INFO:uvicorn.access:192.168.1.217:64579 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64579 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.71294735,  0.11538681, -0.69165884],
       [-0.15976587, -0.98715493,  0.        ],
       [-0.68277444,  0.11050348,  0.72222437]]), 'pose_fully_defined': False}}, {'patch': array([-0.01122176,  0.01041195,  0.0018084 ])}]
INFO:root:Testing 5660 out of 14424 hypotheses for numenta_mug (evidence > 2.6246145409516135)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 12.959
INFO:root:Testing 1719 out of 10992 hypotheses for montys_brain (evidence > 2.6246145409516135)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.402
INFO:root:Testing 4838 out of 14880 hypotheses for montys_heart (evidence > 2.6246145409516135)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 12.624
INFO:root:Testing 8738 out of 23200 hypotheses for ramen_pack (evidence > 2.6246145409516135)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 13.124
INFO:root:Testing 3857 out of 14864 hypotheses for hot_sauce (evidence > 2.6246145409516135)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 13.055
INFO:root:Testing 4238 out of 12560 hypotheses for harissa_oil (evidence > 2.6246145409516135)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 12.75
INFO:root:Testing 7208 out of 21832 hypotheses for tomato_soup_can (evidence > 2.6246145409516135)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 13.165
INFO:root:Testing 8204 out of 16976 hypotheses for mustard_bottle (evidence > 2.6246145409516135)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 13.449
INFO:root:Testing 4412 out of 17728 hypotheses for tuna_fish_can (evidence > 2.6246145409516135)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 12.187
INFO:root:Testing 6865 out of 19024 hypotheses for potted_meat_can (evidence > 2.6246145409516135)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 13.437
DEBUG:root:evidences for each object: [12.95890366 11.4018334  12.62404288 13.12391962 13.05517481 12.75044124
 13.16508341 13.44943584 12.18659535 13.43657063]
DEBUG:root:mean evidence: 12.815, std: 0.593 -> th=10.75954866986557
INFO:root:current most likely hypothesis: mustard_bottle with evidence 13.45
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
INFO:root:--- Global Matching Step 34 ---
INFO:uvicorn.access:192.168.1.217:64579 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64579 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.68660824,  0.10084929, -0.71999899],
       [-0.14532119, -0.98938453,  0.        ],
       [-0.71235587,  0.10463111,  0.69397511]]), 'pose_fully_defined': False}}, {'patch': array([-0.00211762,  0.02937243, -0.00349934])}]
INFO:root:Testing 5303 out of 14424 hypotheses for numenta_mug (evidence > 2.6898871674663916)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 13.337
INFO:root:Testing 1692 out of 10992 hypotheses for montys_brain (evidence > 2.6898871674663916)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.797
INFO:root:Testing 4684 out of 14880 hypotheses for montys_heart (evidence > 2.6898871674663916)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 13.039
INFO:root:Testing 8462 out of 23200 hypotheses for ramen_pack (evidence > 2.6898871674663916)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 13.609
INFO:root:Testing 3643 out of 14864 hypotheses for hot_sauce (evidence > 2.6898871674663916)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 13.44
INFO:root:Testing 4029 out of 12560 hypotheses for harissa_oil (evidence > 2.6898871674663916)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 13.018
INFO:root:Testing 6864 out of 21832 hypotheses for tomato_soup_can (evidence > 2.6898871674663916)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 13.412
INFO:root:Testing 7989 out of 16976 hypotheses for mustard_bottle (evidence > 2.6898871674663916)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 13.809
INFO:root:Testing 4317 out of 17728 hypotheses for tuna_fish_can (evidence > 2.6898871674663916)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 12.503
INFO:root:Testing 6583 out of 19024 hypotheses for potted_meat_can (evidence > 2.6898871674663916)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 13.807
DEBUG:root:evidences for each object: [13.33691315 11.79729832 13.03866663 13.60937481 13.44024768 13.01786307
 13.41246263 13.80897672 12.50257936 13.80713719]
DEBUG:root:mean evidence: 13.177, std: 0.595 -> th=11.04718137298109
INFO:root:current most likely hypothesis: mustard_bottle with evidence 13.81
DEBUG:root:evidences for each object: [13.33691315 11.79729832 13.03866663 13.60937481 13.44024768 13.01786307
 13.41246263 13.80897672 12.50257936 13.80713719]
DEBUG:root:mean evidence: 13.177, std: 0.595 -> th=11.04718137298109
DEBUG:root:evidences for each object: [13.33691315 11.79729832 13.03866663 13.60937481 13.44024768 13.01786307
 13.41246263 13.80897672 12.50257936 13.80713719]
DEBUG:root:mean evidence: 13.177, std: 0.595 -> th=11.737630208792407
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
INFO:root:--- Global Matching Step 35 ---
INFO:uvicorn.access:192.168.1.217:64579 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.81683316,  0.09608671, -0.56881537],
       [-0.11682769, -0.9931522 ,  0.        ],
       [-0.56492024,  0.06645339,  0.82246524]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00026807,  0.0138605 , -0.00660569])}]
INFO:root:Testing 5012 out of 14424 hypotheses for numenta_mug (evidence > 2.7617953432452715)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 13.593
INFO:root:Testing 1649 out of 10992 hypotheses for montys_brain (evidence > 2.7617953432452715)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.454
INFO:root:Testing 4566 out of 14880 hypotheses for montys_heart (evidence > 2.7617953432452715)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 13.376
INFO:root:Testing 8131 out of 23200 hypotheses for ramen_pack (evidence > 2.7617953432452715)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 13.878
INFO:root:Testing 3397 out of 14864 hypotheses for hot_sauce (evidence > 2.7617953432452715)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 13.747
INFO:root:Testing 3823 out of 12560 hypotheses for harissa_oil (evidence > 2.7617953432452715)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 13.181
INFO:root:Testing 6489 out of 21832 hypotheses for tomato_soup_can (evidence > 2.7617953432452715)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 13.572
INFO:root:Testing 7744 out of 16976 hypotheses for mustard_bottle (evidence > 2.7617953432452715)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 13.98
INFO:root:Testing 4145 out of 17728 hypotheses for tuna_fish_can (evidence > 2.7617953432452715)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 12.584
INFO:root:Testing 6302 out of 19024 hypotheses for potted_meat_can (evidence > 2.7617953432452715)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 14.091
DEBUG:root:evidences for each object: [13.59333878 11.45391433 13.37605767 13.87824044 13.74741391 13.18121485
 13.57249404 13.9798514  12.58402938 14.0914598 ]
DEBUG:root:mean evidence: 13.346, std: 0.755 -> th=11.273167838392228
INFO:root:current most likely hypothesis: potted_meat_can with evidence 14.09
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
INFO:root:--- Global Matching Step 36 ---
INFO:uvicorn.access:192.168.1.217:64581 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.61599147,  0.11257204, -0.77966791],
       [-0.17977205, -0.9837083 ,  0.        ],
       [-0.76696579,  0.1401625 ,  0.62619322]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00089526, -0.01403697,  0.00130299])}]
INFO:root:Testing 4643 out of 14424 hypotheses for numenta_mug (evidence > 2.8182919595980565)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 13.97
INFO:root:Testing 1397 out of 10992 hypotheses for montys_brain (evidence > 2.8182919595980565)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.885
INFO:root:Testing 4242 out of 14880 hypotheses for montys_heart (evidence > 2.8182919595980565)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 13.747
INFO:root:Testing 7628 out of 23200 hypotheses for ramen_pack (evidence > 2.8182919595980565)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 14.284
INFO:root:Testing 3038 out of 14864 hypotheses for hot_sauce (evidence > 2.8182919595980565)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 14.142
INFO:root:Testing 3487 out of 12560 hypotheses for harissa_oil (evidence > 2.8182919595980565)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 13.473
INFO:root:Testing 5971 out of 21832 hypotheses for tomato_soup_can (evidence > 2.8182919595980565)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 13.856
INFO:root:Testing 7385 out of 16976 hypotheses for mustard_bottle (evidence > 2.8182919595980565)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 14.321
INFO:root:Testing 3748 out of 17728 hypotheses for tuna_fish_can (evidence > 2.8182919595980565)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 12.999
INFO:root:Testing 5861 out of 19024 hypotheses for potted_meat_can (evidence > 2.8182919595980565)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 14.494
DEBUG:root:evidences for each object: [13.97045766 11.88506926 13.74707788 14.28402418 14.14234852 13.47331883
 13.85606748 14.32062486 12.99871035 14.49418693]
DEBUG:root:mean evidence: 13.717, std: 0.741 -> th=11.595349540835382
INFO:root:current most likely hypothesis: potted_meat_can with evidence 14.49
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
INFO:root:--- Global Matching Step 37 ---
INFO:uvicorn.access:192.168.1.217:64581 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.85884681,  0.14778285, -0.49045121],
       [-0.16957907, -0.98551658,  0.        ],
       [-0.4833478 ,  0.08317026,  0.87146865]]), 'pose_fully_defined': False}}, {'patch': array([-0.00242843,  0.01198096,  0.00137216])}]
INFO:root:Testing 4316 out of 14424 hypotheses for numenta_mug (evidence > 2.8988373852088447)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 14.246
INFO:root:Testing 1273 out of 10992 hypotheses for montys_brain (evidence > 2.8988373852088447)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 12.138
INFO:root:Testing 4008 out of 14880 hypotheses for montys_heart (evidence > 2.8988373852088447)
DEBUG:root:Calculating evidence for montys_heart using input 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: 14.067
INFO:root:Testing 7026 out of 23200 hypotheses for ramen_pack (evidence > 2.8988373852088447)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 14.706
INFO:root:Testing 2748 out of 14864 hypotheses for hot_sauce (evidence > 2.8988373852088447)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 14.409
INFO:root:Testing 3220 out of 12560 hypotheses for harissa_oil (evidence > 2.8988373852088447)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 13.672
INFO:root:Testing 5546 out of 21832 hypotheses for tomato_soup_can (evidence > 2.8988373852088447)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 14.038
INFO:root:Testing 6928 out of 16976 hypotheses for mustard_bottle (evidence > 2.8988373852088447)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 14.456
INFO:root:Testing 3434 out of 17728 hypotheses for tuna_fish_can (evidence > 2.8988373852088447)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 13.21
INFO:root:Testing 5402 out of 19024 hypotheses for potted_meat_can (evidence > 2.8988373852088447)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 14.731
DEBUG:root:evidences for each object: [14.24567393 12.1382813  14.06731698 14.70592841 14.40923926 13.67227218
 14.0375818  14.4563972  13.21015669 14.7305051 ]
DEBUG:root:mean evidence: 13.967, std: 0.752 -> th=11.784404083162725
INFO:root:current most likely hypothesis: potted_meat_can with evidence 14.73
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
INFO:root:--- Global Matching Step 38 ---
INFO:uvicorn.access:192.168.1.217:64581 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.88243961,  0.16791581, -0.43943671],
       [-0.18693171, -0.98237291,  0.        ],
       [-0.43169072,  0.08214465,  0.89827356]]), 'pose_fully_defined': False}}, {'patch': array([-0.00381089,  0.00731811, -0.00510893])}]
INFO:root:Testing 3828 out of 14424 hypotheses for numenta_mug (evidence > 2.94610102079068)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 14.605
INFO:root:Testing 1048 out of 10992 hypotheses for montys_brain (evidence > 2.94610102079068)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.138
INFO:root:Testing 3704 out of 14880 hypotheses for montys_heart (evidence > 2.94610102079068)
DEBUG:root:Calculating evidence for montys_heart using input 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: 14.419
INFO:root:Testing 6266 out of 23200 hypotheses for ramen_pack (evidence > 2.94610102079068)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 14.769
INFO:root:Testing 2478 out of 14864 hypotheses for hot_sauce (evidence > 2.94610102079068)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 14.683
INFO:root:Testing 2957 out of 12560 hypotheses for harissa_oil (evidence > 2.94610102079068)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 13.781
INFO:root:Testing 5082 out of 21832 hypotheses for tomato_soup_can (evidence > 2.94610102079068)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 14.206
INFO:root:Testing 6318 out of 16976 hypotheses for mustard_bottle (evidence > 2.94610102079068)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 14.538
INFO:root:Testing 3150 out of 17728 hypotheses for tuna_fish_can (evidence > 2.94610102079068)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 13.01
INFO:root:Testing 4867 out of 19024 hypotheses for potted_meat_can (evidence > 2.94610102079068)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 14.982
DEBUG:root:evidences for each object: [14.60450306 11.1382813  14.41919523 14.76884333 14.68280178 13.78128206
 14.20585313 14.53750013 13.01003721 14.98220513]
DEBUG:root:mean evidence: 14.013, std: 1.1 -> th=11.985764105277719
INFO:root:current most likely hypothesis: potted_meat_can with evidence 14.98
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 39 ---
INFO:uvicorn.access:192.168.1.217:64583 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.99004085,  0.11804073, -0.076717  ],
       [-0.11838963, -0.99296722,  0.        ],
       [-0.07617747,  0.0090825 ,  0.99705291]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00418177, -0.04832494,  0.02184693])}]
INFO:root:Testing 3307 out of 14424 hypotheses for numenta_mug (evidence > 2.996441026319429)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 13.605
INFO:root:Testing 849 out of 10992 hypotheses for montys_brain (evidence > 2.996441026319429)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.024
INFO:root:Testing 3303 out of 14880 hypotheses for montys_heart (evidence > 2.996441026319429)
DEBUG:root:Calculating evidence for montys_heart using input 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: 14.339
INFO:root:Testing 4741 out of 23200 hypotheses for ramen_pack (evidence > 2.996441026319429)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 15.101
INFO:root:Testing 2067 out of 14864 hypotheses for hot_sauce (evidence > 2.996441026319429)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 14.631
INFO:root:Testing 2714 out of 12560 hypotheses for harissa_oil (evidence > 2.996441026319429)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 13.614
INFO:root:Testing 4540 out of 21832 hypotheses for tomato_soup_can (evidence > 2.996441026319429)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 14.072
INFO:root:Testing 5637 out of 16976 hypotheses for mustard_bottle (evidence > 2.996441026319429)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 14.205
INFO:root:Testing 2866 out of 17728 hypotheses for tuna_fish_can (evidence > 2.996441026319429)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 13.254
INFO:root:Testing 4234 out of 19024 hypotheses for potted_meat_can (evidence > 2.996441026319429)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 14.903
DEBUG:root:evidences for each object: [13.60450306 11.02424121 14.33907962 15.10119321 14.63081994 13.61414444
 14.07179637 14.20535262 13.25430137 14.90307396]
DEBUG:root:mean evidence: 13.875, std: 1.102 -> th=12.080954569296555
INFO:root:current most likely hypothesis: ramen_pack with evidence 15.1
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 40 ---
INFO:uvicorn.access:192.168.1.217:64583 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64583 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64583 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.99146425,  0.12430595, -0.03932786],
       [-0.12440219, -0.99223188,  0.        ],
       [-0.03902236,  0.00489247,  0.99922636]]), 'pose_fully_defined': False}}, {'patch': array([ 2.93555216e-05,  1.47219698e-02, -5.36002451e-04])}]
INFO:root:Testing 2780 out of 14424 hypotheses for numenta_mug (evidence > 3.020238642324138)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 12.866
INFO:root:Testing 733 out of 10992 hypotheses for montys_brain (evidence > 3.020238642324138)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.024
INFO:root:Testing 2939 out of 14880 hypotheses for montys_heart (evidence > 3.020238642324138)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 13.339
INFO:root:Testing 4517 out of 23200 hypotheses for ramen_pack (evidence > 3.020238642324138)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 15.499
INFO:root:Testing 1954 out of 14864 hypotheses for hot_sauce (evidence > 3.020238642324138)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 14.817
INFO:root:Testing 2435 out of 12560 hypotheses for harissa_oil (evidence > 3.020238642324138)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 13.321
INFO:root:Testing 4002 out of 21832 hypotheses for tomato_soup_can (evidence > 3.020238642324138)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 13.958
INFO:root:Testing 4774 out of 16976 hypotheses for mustard_bottle (evidence > 3.020238642324138)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 14.304
INFO:root:Testing 2824 out of 17728 hypotheses for tuna_fish_can (evidence > 3.020238642324138)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 13.544
INFO:root:Testing 3641 out of 19024 hypotheses for potted_meat_can (evidence > 3.020238642324138)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 14.417
DEBUG:root:evidences for each object: [12.86581623 10.02424121 13.33907962 15.49850144 14.81665553 13.3210424
 13.95785021 14.30401572 13.54361256 14.41728684]
DEBUG:root:mean evidence: 13.609, std: 1.409 -> th=12.39880115531633
INFO:root:current most likely hypothesis: ramen_pack with evidence 15.5
DEBUG:root:evidences for each object: [12.86581623 10.02424121 13.33907962 15.49850144 14.81665553 13.3210424
 13.95785021 14.30401572 13.54361256 14.41728684]
DEBUG:root:mean evidence: 13.609, std: 1.409 -> th=12.39880115531633
DEBUG:root:evidences for each object: [12.86581623 10.02424121 13.33907962 15.49850144 14.81665553 13.3210424
 13.95785021 14.30401572 13.54361256 14.41728684]
DEBUG:root:mean evidence: 13.609, std: 1.409 -> th=13.1737262275236
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 41 ---
INFO:uvicorn.access:192.168.1.217:64583 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64583 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64583 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.99092079,  0.09956964,  0.0903431 ],
       [-0.09997848, -0.9949896 ,  0.        ],
       [ 0.08989045, -0.00903237,  0.9959107 ]]), 'pose_fully_defined': False}}, {'patch': array([-9.65862251e-04,  2.28096947e-02, -7.49409883e-05])}]
INFO:root:Testing 2397 out of 14424 hypotheses for numenta_mug (evidence > 3.099700288829082)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 12.128
INFO:root:Testing 598 out of 10992 hypotheses for montys_brain (evidence > 3.099700288829082)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.211
INFO:root:Testing 2544 out of 14880 hypotheses for montys_heart (evidence > 3.099700288829082)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 12.976
INFO:root:Testing 4294 out of 23200 hypotheses for ramen_pack (evidence > 3.099700288829082)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 15.926
INFO:root:Testing 1724 out of 14864 hypotheses for hot_sauce (evidence > 3.099700288829082)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 14.914
INFO:root:Testing 2193 out of 12560 hypotheses for harissa_oil (evidence > 3.099700288829082)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 12.616
INFO:root:Testing 3571 out of 21832 hypotheses for tomato_soup_can (evidence > 3.099700288829082)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 13.509
INFO:root:Testing 3681 out of 16976 hypotheses for mustard_bottle (evidence > 3.099700288829082)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 14.353
INFO:root:Testing 2782 out of 17728 hypotheses for tuna_fish_can (evidence > 3.099700288829082)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 13.888
INFO:root:Testing 2953 out of 19024 hypotheses for potted_meat_can (evidence > 3.099700288829082)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 14.627
DEBUG:root:evidences for each object: [12.1283478  10.2106404  12.97634408 15.92634638 14.9137994  12.61627197
 13.50862504 14.35347692 13.88828544 14.62651351]
DEBUG:root:mean evidence: 13.515, std: 1.542 -> th=12.741077101932387
INFO:root:current most likely hypothesis: ramen_pack with evidence 15.93
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'tomato_soup_can', 'montys_heart', 'potted_meat_can', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 42 ---
INFO:uvicorn.access:192.168.1.217:64583 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64583 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.96520487,  0.09591039,  0.24327095],
       [-0.09888094, -0.99509927,  0.        ],
       [ 0.24207874, -0.02405486,  0.96995837]]), 'pose_fully_defined': False}}, {'patch': array([-0.0241816 ,  0.02140996, -0.0299918 ])}]
INFO:root:Testing 2125 out of 14424 hypotheses for numenta_mug (evidence > 3.185269275483096)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 11.128
INFO:root:Testing 586 out of 10992 hypotheses for montys_brain (evidence > 3.185269275483096)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.211
INFO:root:Testing 2335 out of 14880 hypotheses for montys_heart (evidence > 3.185269275483096)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 11.976
INFO:root:Testing 4123 out of 23200 hypotheses for ramen_pack (evidence > 3.185269275483096)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 14.926
INFO:root:Testing 1561 out of 14864 hypotheses for hot_sauce (evidence > 3.185269275483096)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.914
INFO:root:Testing 2003 out of 12560 hypotheses for harissa_oil (evidence > 3.185269275483096)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.01 seconds. New max evidence: 11.616
INFO:root:Testing 3300 out of 21832 hypotheses for tomato_soup_can (evidence > 3.185269275483096)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 12.509
INFO:root:Testing 3186 out of 16976 hypotheses for mustard_bottle (evidence > 3.185269275483096)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 13.353
INFO:root:Testing 2677 out of 17728 hypotheses for tuna_fish_can (evidence > 3.185269275483096)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 12.888
INFO:root:Testing 2513 out of 19024 hypotheses for potted_meat_can (evidence > 3.185269275483096)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 13.627
DEBUG:root:evidences for each object: [11.1283478   9.2106404  11.97634408 14.92634638 13.9137994  11.61627197
 12.50862504 13.35347692 12.88828544 13.62651351]
DEBUG:root:mean evidence: 12.515, std: 1.542 -> th=11.941077101932386
INFO:root:current most likely hypothesis: ramen_pack with evidence 14.93
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'tomato_soup_can', 'montys_heart', 'potted_meat_can', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 43 ---
INFO:uvicorn.access:192.168.1.217:64585 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.38717394,  0.20121406, -0.89978289],
       [-0.46114275, -0.88732596,  0.        ],
       [-0.79840072,  0.41492836,  0.43633789]]), 'pose_fully_defined': False}}, {'patch': array([ 0.03139423, -0.06639906,  0.02158556])}]
INFO:root:Testing 1969 out of 14424 hypotheses for numenta_mug (evidence > 2.9852692754830965)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 11.484
INFO:root:Testing 479 out of 10992 hypotheses for montys_brain (evidence > 2.9852692754830965)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.368
INFO:root:Testing 2138 out of 14880 hypotheses for montys_heart (evidence > 2.9852692754830965)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 12.122
INFO:root:Testing 3946 out of 23200 hypotheses for ramen_pack (evidence > 2.9852692754830965)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 15.383
INFO:root:Testing 1512 out of 14864 hypotheses for hot_sauce (evidence > 2.9852692754830965)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.229
INFO:root:Testing 1828 out of 12560 hypotheses for harissa_oil (evidence > 2.9852692754830965)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 11.986
INFO:root:Testing 3016 out of 21832 hypotheses for tomato_soup_can (evidence > 2.9852692754830965)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 12.804
INFO:root:Testing 3029 out of 16976 hypotheses for mustard_bottle (evidence > 2.9852692754830965)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 13.757
INFO:root:Testing 2486 out of 17728 hypotheses for tuna_fish_can (evidence > 2.9852692754830965)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 12.923
INFO:root:Testing 2330 out of 19024 hypotheses for potted_meat_can (evidence > 2.9852692754830965)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 13.984
DEBUG:root:evidences for each object: [11.48388595  9.36777631 12.1218716  15.38282929 14.22919562 11.98620691
 12.8043844  13.75671779 12.92323008 13.98412685]
DEBUG:root:mean evidence: 12.804, std: 1.603 -> th=12.306263435735637
INFO:root:current most likely hypothesis: ramen_pack with evidence 15.38
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'tomato_soup_can', 'potted_meat_can', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 44 ---
INFO:uvicorn.access:192.168.1.217:64585 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64585 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.38731652,  0.15831916, -0.90825159],
       [-0.37836973, -0.92565455,  0.        ],
       [-0.84072722,  0.34365491,  0.41842448]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00145252,  0.02336783, -0.00415704])}]
INFO:root:Testing 1835 out of 14424 hypotheses for numenta_mug (evidence > 3.0765658589339093)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.749
INFO:root:Testing 455 out of 10992 hypotheses for montys_brain (evidence > 3.0765658589339093)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.748
INFO:root:Testing 2024 out of 14880 hypotheses for montys_heart (evidence > 3.0765658589339093)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 12.525
INFO:root:Testing 3359 out of 23200 hypotheses for ramen_pack (evidence > 3.0765658589339093)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 15.708
INFO:root:Testing 1432 out of 14864 hypotheses for hot_sauce (evidence > 3.0765658589339093)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.584
INFO:root:Testing 1716 out of 12560 hypotheses for harissa_oil (evidence > 3.0765658589339093)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 12.346
INFO:root:Testing 2783 out of 21832 hypotheses for tomato_soup_can (evidence > 3.0765658589339093)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 13.059
INFO:root:Testing 2426 out of 16976 hypotheses for mustard_bottle (evidence > 3.0765658589339093)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 14.132
INFO:root:Testing 2287 out of 17728 hypotheses for tuna_fish_can (evidence > 3.0765658589339093)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 13.203
INFO:root:Testing 1930 out of 19024 hypotheses for potted_meat_can (evidence > 3.0765658589339093)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 14.364
DEBUG:root:evidences for each object: [11.74926352  9.74835849 12.52482887 15.70771507 14.58404209 12.34614811
 13.05877362 14.13242203 13.20304915 14.36438069]
DEBUG:root:mean evidence: 13.142, std: 1.601 -> th=12.566172057348806
INFO:root:current most likely hypothesis: ramen_pack with evidence 15.71
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'tomato_soup_can', 'potted_meat_can', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 45 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.48613965,  0.12722275, -0.86457077],
       [-0.25317402, -0.96742075,  0.        ],
       [-0.8364037 ,  0.21888686,  0.50251108]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00200721,  0.00760018, -0.00317338])}]
INFO:root:Testing 1758 out of 14424 hypotheses for numenta_mug (evidence > 3.1415430143372003)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.007
INFO:root:Testing 443 out of 10992 hypotheses for montys_brain (evidence > 3.1415430143372003)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.152
INFO:root:Testing 1975 out of 14880 hypotheses for montys_heart (evidence > 3.1415430143372003)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 12.917
INFO:root:Testing 2876 out of 23200 hypotheses for ramen_pack (evidence > 3.1415430143372003)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 16.139
INFO:root:Testing 1402 out of 14864 hypotheses for hot_sauce (evidence > 3.1415430143372003)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.916
INFO:root:Testing 1594 out of 12560 hypotheses for harissa_oil (evidence > 3.1415430143372003)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 12.673
INFO:root:Testing 2638 out of 21832 hypotheses for tomato_soup_can (evidence > 3.1415430143372003)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 13.256
INFO:root:Testing 2238 out of 16976 hypotheses for mustard_bottle (evidence > 3.1415430143372003)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 14.541
INFO:root:Testing 2194 out of 17728 hypotheses for tuna_fish_can (evidence > 3.1415430143372003)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 13.641
INFO:root:Testing 1725 out of 19024 hypotheses for potted_meat_can (evidence > 3.1415430143372003)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 14.76
DEBUG:root:evidences for each object: [12.00709176 10.15246093 12.91737254 16.13875661 14.91646396 12.67328415
 13.25628759 14.54066262 13.64145133 14.75955967]
DEBUG:root:mean evidence: 13.5, std: 1.618 -> th=12.911005291297721
INFO:root:current most likely hypothesis: ramen_pack with evidence 16.14
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'tomato_soup_can', 'montys_heart', 'potted_meat_can', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 46 ---
INFO:uvicorn.access:192.168.1.217:64585 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.28625286,  0.11102528, -0.95169989],
       [-0.36161073, -0.93232917,  0.        ],
       [-0.88729757,  0.34414489,  0.30702982]]), 'pose_fully_defined': False}}, {'patch': array([-0.00442312,  0.02009769,  0.00360822])}]
INFO:root:Testing 1721 out of 14424 hypotheses for numenta_mug (evidence > 3.22775132282443)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.483
INFO:root:Testing 440 out of 10992 hypotheses for montys_brain (evidence > 3.22775132282443)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.438
INFO:root:Testing 1958 out of 14880 hypotheses for montys_heart (evidence > 3.22775132282443)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 13.293
INFO:root:Testing 2444 out of 23200 hypotheses for ramen_pack (evidence > 3.22775132282443)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 16.59
INFO:root:Testing 1389 out of 14864 hypotheses for hot_sauce (evidence > 3.22775132282443)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 15.289
INFO:root:Testing 1535 out of 12560 hypotheses for harissa_oil (evidence > 3.22775132282443)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 13.101
INFO:root:Testing 2571 out of 21832 hypotheses for tomato_soup_can (evidence > 3.22775132282443)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 13.581
INFO:root:Testing 2158 out of 16976 hypotheses for mustard_bottle (evidence > 3.22775132282443)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 14.954
INFO:root:Testing 2114 out of 17728 hypotheses for tuna_fish_can (evidence > 3.22775132282443)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.005
INFO:root:Testing 1607 out of 19024 hypotheses for potted_meat_can (evidence > 3.22775132282443)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 14.608
DEBUG:root:evidences for each object: [12.48322909 10.43770163 13.29281118 16.58990975 15.28895891 13.10105662
 13.58079037 14.9538267  14.00512543 14.60819835]
DEBUG:root:mean evidence: 13.834, std: 1.608 -> th=13.27192779645559
INFO:root:current most likely hypothesis: ramen_pack with evidence 16.59
DEBUG:root:evidences for each object: [12.48322909 10.43770163 13.29281118 16.58990975 15.28895891 13.10105662
 13.58079037 14.9538267  14.00512543 14.60819835]
DEBUG:root:mean evidence: 13.834, std: 1.608 -> th=13.27192779645559
DEBUG:root:evidences for each object: [12.48322909 10.43770163 13.29281118 16.58990975 15.28895891 13.10105662
 13.58079037 14.9538267  14.00512543 14.60819835]
DEBUG:root:mean evidence: 13.834, std: 1.608 -> th=14.101423283734063
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'tomato_soup_can', 'montys_heart', 'potted_meat_can', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 47 ---
INFO:uvicorn.access:192.168.1.217:64585 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.2674495 ,  0.13215699, -0.95446597],
       [-0.44300441, -0.89651943,  0.        ],
       [-0.85569729,  0.42283264,  0.29831981]]), 'pose_fully_defined': False}}, {'patch': array([-3.13161046e-05, -4.66977322e-02, -1.83278556e-03])}]
INFO:root:Testing 1594 out of 14424 hypotheses for numenta_mug (evidence > 3.3179819491138964)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.87
INFO:root:Testing 397 out of 10992 hypotheses for montys_brain (evidence > 3.3179819491138964)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.665
INFO:root:Testing 1863 out of 14880 hypotheses for montys_heart (evidence > 3.3179819491138964)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.758
INFO:root:Testing 2165 out of 23200 hypotheses for ramen_pack (evidence > 3.3179819491138964)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 16.973
INFO:root:Testing 1306 out of 14864 hypotheses for hot_sauce (evidence > 3.3179819491138964)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 15.63
INFO:root:Testing 1417 out of 12560 hypotheses for harissa_oil (evidence > 3.3179819491138964)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 13.523
INFO:root:Testing 2398 out of 21832 hypotheses for tomato_soup_can (evidence > 3.3179819491138964)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 13.919
INFO:root:Testing 2004 out of 16976 hypotheses for mustard_bottle (evidence > 3.3179819491138964)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 15.278
INFO:root:Testing 1920 out of 17728 hypotheses for tuna_fish_can (evidence > 3.3179819491138964)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.129
INFO:root:Testing 1495 out of 19024 hypotheses for potted_meat_can (evidence > 3.3179819491138964)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.992
DEBUG:root:evidences for each object: [12.8704567  10.66541129 13.75762419 16.97267167 15.6296202  13.52294863
 13.91940047 15.27795536 14.12908842 14.99224052]
DEBUG:root:mean evidence: 14.174, std: 1.628 -> th=13.578137333783975
INFO:root:current most likely hypothesis: ramen_pack with evidence 16.97
DEBUG:root:evidences for each object: [12.8704567  10.66541129 13.75762419 16.97267167 15.6296202  13.52294863
 13.91940047 15.27795536 14.12908842 14.99224052]
DEBUG:root:mean evidence: 14.174, std: 1.628 -> th=13.578137333783975
DEBUG:root:evidences for each object: [12.8704567  10.66541129 13.75762419 16.97267167 15.6296202  13.52294863
 13.91940047 15.27795536 14.12908842 14.99224052]
DEBUG:root:mean evidence: 14.174, std: 1.628 -> th=14.426770917145472
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'tomato_soup_can', 'montys_heart', 'potted_meat_can', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 48 ---
INFO:uvicorn.access:192.168.1.217:64585 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.311073  ,  0.12451582, -0.94219393],
       [-0.37161353, -0.92838752,  0.        ],
       [-0.87472108,  0.35013201,  0.33506806]]), 'pose_fully_defined': False}}, {'patch': array([0.00266035, 0.03339211, 0.00080568])}]
INFO:root:Testing 1587 out of 14424 hypotheses for numenta_mug (evidence > 3.3945343334459928)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 13.131
INFO:root:Testing 396 out of 10992 hypotheses for montys_brain (evidence > 3.3945343334459928)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.145
INFO:root:Testing 1844 out of 14880 hypotheses for montys_heart (evidence > 3.3945343334459928)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.929
INFO:root:Testing 1937 out of 23200 hypotheses for ramen_pack (evidence > 3.3945343334459928)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 17.447
INFO:root:Testing 1266 out of 14864 hypotheses for hot_sauce (evidence > 3.3945343334459928)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 15.987
INFO:root:Testing 1410 out of 12560 hypotheses for harissa_oil (evidence > 3.3945343334459928)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 13.945
INFO:root:Testing 2381 out of 21832 hypotheses for tomato_soup_can (evidence > 3.3945343334459928)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 14.238
INFO:root:Testing 1865 out of 16976 hypotheses for mustard_bottle (evidence > 3.3945343334459928)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 15.706
INFO:root:Testing 1767 out of 17728 hypotheses for tuna_fish_can (evidence > 3.3945343334459928)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.295
INFO:root:Testing 1421 out of 19024 hypotheses for potted_meat_can (evidence > 3.3945343334459928)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.385
DEBUG:root:evidences for each object: [13.13090285 11.14509717 13.92899689 17.44655214 15.98666263 13.94529143
 14.23750075 15.7060759  14.29470752 15.38502593]
DEBUG:root:mean evidence: 14.521, std: 1.643 -> th=13.957241715122075
INFO:root:current most likely hypothesis: ramen_pack with evidence 17.45
DEBUG:root:evidences for each object: [13.13090285 11.14509717 13.92899689 17.44655214 15.98666263 13.94529143
 14.23750075 15.7060759  14.29470752 15.38502593]
DEBUG:root:mean evidence: 14.521, std: 1.643 -> th=13.957241715122075
DEBUG:root:evidences for each object: [13.13090285 11.14509717 13.92899689 17.44655214 15.98666263 13.94529143
 14.23750075 15.7060759  14.29470752 15.38502593]
DEBUG:root:mean evidence: 14.521, std: 1.643 -> th=14.829569322317205
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'tomato_soup_can', 'potted_meat_can', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 49 ---
INFO:uvicorn.access:192.168.1.217:64585 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.37857186,  0.14794488, -0.91367153],
       [-0.36398979, -0.93140294,  0.        ],
       [-0.85099634,  0.33256711,  0.40645337]]), 'pose_fully_defined': False}}, {'patch': array([-0.00735793,  0.0007271 , -0.01451157])}]
INFO:root:Testing 1538 out of 14424 hypotheses for numenta_mug (evidence > 3.4893104287805183)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 13.127
INFO:root:Testing 396 out of 10992 hypotheses for montys_brain (evidence > 3.4893104287805183)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.145
INFO:root:Testing 1823 out of 14880 hypotheses for montys_heart (evidence > 3.4893104287805183)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 12.929
INFO:root:Testing 1801 out of 23200 hypotheses for ramen_pack (evidence > 3.4893104287805183)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 16.472
INFO:root:Testing 1213 out of 14864 hypotheses for hot_sauce (evidence > 3.4893104287805183)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.987
INFO:root:Testing 1378 out of 12560 hypotheses for harissa_oil (evidence > 3.4893104287805183)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 12.945
INFO:root:Testing 2324 out of 21832 hypotheses for tomato_soup_can (evidence > 3.4893104287805183)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 13.265
INFO:root:Testing 1803 out of 16976 hypotheses for mustard_bottle (evidence > 3.4893104287805183)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.706
INFO:root:Testing 1621 out of 17728 hypotheses for tuna_fish_can (evidence > 3.4893104287805183)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 14.736
INFO:root:Testing 1367 out of 19024 hypotheses for potted_meat_can (evidence > 3.4893104287805183)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.385
DEBUG:root:evidences for each object: [13.12742022 10.14509717 12.92899689 16.47223726 14.98666263 12.94529143
 13.26463826 14.7060759  14.73578579 14.38502593]
DEBUG:root:mean evidence: 13.77, std: 1.618 -> th=13.177789810382032
INFO:root:current most likely hypothesis: ramen_pack with evidence 16.47
DEBUG:root:evidences for each object: [13.12742022 10.14509717 12.92899689 16.47223726 14.98666263 12.94529143
 13.26463826 14.7060759  14.73578579 14.38502593]
DEBUG:root:mean evidence: 13.77, std: 1.618 -> th=13.177789810382032
DEBUG:root:evidences for each object: [13.12742022 10.14509717 12.92899689 16.47223726 14.98666263 12.94529143
 13.26463826 14.7060759  14.73578579 14.38502593]
DEBUG:root:mean evidence: 13.77, std: 1.618 -> th=14.001401673530909
DEBUG:root:Hypothesis jump indicated: change in most-likely rotation of MLH
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'tomato_soup_can', 'potted_meat_can', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 50 ---
INFO:uvicorn.access:192.168.1.217:64587 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-9.99197313e-01,  3.37004350e-02, -2.16566625e-02],
       [-3.37083408e-02, -9.99431712e-01,  0.00000000e+00],
       [-2.16443553e-02,  7.30010158e-04,  9.99765467e-01]]), 'pose_fully_defined': False}}, {'patch': array([-0.00014965, -0.0328469 ,  0.03156315])}]
INFO:root:Testing 1523 out of 14424 hypotheses for numenta_mug (evidence > 3.2944474525955076)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 12.264
INFO:root:Testing 368 out of 10992 hypotheses for montys_brain (evidence > 3.2944474525955076)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.246
INFO:root:Testing 1790 out of 14880 hypotheses for montys_heart (evidence > 3.2944474525955076)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 12.987
INFO:root:Testing 1765 out of 23200 hypotheses for ramen_pack (evidence > 3.2944474525955076)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 16.956
INFO:root:Testing 1185 out of 14864 hypotheses for hot_sauce (evidence > 3.2944474525955076)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 15.162
INFO:root:Testing 1315 out of 12560 hypotheses for harissa_oil (evidence > 3.2944474525955076)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 12.313
INFO:root:Testing 2258 out of 21832 hypotheses for tomato_soup_can (evidence > 3.2944474525955076)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 13.296
INFO:root:Testing 1775 out of 16976 hypotheses for mustard_bottle (evidence > 3.2944474525955076)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 14.739
INFO:root:Testing 1565 out of 17728 hypotheses for tuna_fish_can (evidence > 3.2944474525955076)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 15.014
INFO:root:Testing 1328 out of 19024 hypotheses for potted_meat_can (evidence > 3.2944474525955076)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.807
DEBUG:root:evidences for each object: [12.26448678 10.24634401 12.98686326 16.95620764 15.16185626 12.31325318
 13.29562935 14.73892582 15.01429897 13.80701683]
DEBUG:root:mean evidence: 13.678, std: 1.793 -> th=13.564966108090156
INFO:root:current most likely hypothesis: ramen_pack with evidence 16.96
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'potted_meat_can', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 51 ---
INFO:uvicorn.access:192.168.1.217:64587 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.93569514,  0.08084032, -0.34342314],
       [-0.08607536, -0.99628863,  0.        ],
       [-0.34214857,  0.02956027,  0.93918078]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00144031, -0.01569336, -0.01237987])}]
INFO:root:Testing 1363 out of 14424 hypotheses for numenta_mug (evidence > 3.3912415270225384)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.337
INFO:root:Testing 305 out of 10992 hypotheses for montys_brain (evidence > 3.3912415270225384)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.246
INFO:root:Testing 1579 out of 14880 hypotheses for montys_heart (evidence > 3.3912415270225384)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 12.997
INFO:root:Testing 1711 out of 23200 hypotheses for ramen_pack (evidence > 3.3912415270225384)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 17.299
INFO:root:Testing 1163 out of 14864 hypotheses for hot_sauce (evidence > 3.3912415270225384)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 15.298
INFO:root:Testing 1194 out of 12560 hypotheses for harissa_oil (evidence > 3.3912415270225384)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 12.364
INFO:root:Testing 2046 out of 21832 hypotheses for tomato_soup_can (evidence > 3.3912415270225384)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 13.424
INFO:root:Testing 1563 out of 16976 hypotheses for mustard_bottle (evidence > 3.3912415270225384)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.889
INFO:root:Testing 1531 out of 17728 hypotheses for tuna_fish_can (evidence > 3.3912415270225384)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 14.146
INFO:root:Testing 1214 out of 19024 hypotheses for potted_meat_can (evidence > 3.3912415270225384)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.989
DEBUG:root:evidences for each object: [12.33666107  9.24634401 12.99657086 17.29944303 15.29790601 12.36442442
 13.42422763 14.88879605 14.14590934 13.9887319 ]
DEBUG:root:mean evidence: 13.599, std: 2.029 -> th=13.839554425361957
INFO:root:current most likely hypothesis: ramen_pack with evidence 17.3
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'potted_meat_can', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 52 ---
INFO:uvicorn.access:192.168.1.217:64587 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64587 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64587 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.99703296,  0.0408993 , -0.0652114 ],
       [-0.04098654, -0.9991597 ,  0.        ],
       [-0.0651566 ,  0.00267279,  0.99787147]]), 'pose_fully_defined': False}}, {'patch': array([-0.00250525,  0.02947837,  0.00506874])}]
INFO:root:Testing 1308 out of 14424 hypotheses for numenta_mug (evidence > 3.4598886063404883)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.269
INFO:root:Testing 268 out of 10992 hypotheses for montys_brain (evidence > 3.4598886063404883)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.435
INFO:root:Testing 1519 out of 14880 hypotheses for montys_heart (evidence > 3.4598886063404883)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 13.068
INFO:root:Testing 1501 out of 23200 hypotheses for ramen_pack (evidence > 3.4598886063404883)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.754
INFO:root:Testing 1059 out of 14864 hypotheses for hot_sauce (evidence > 3.4598886063404883)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 15.472
INFO:root:Testing 1114 out of 12560 hypotheses for harissa_oil (evidence > 3.4598886063404883)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 12.528
INFO:root:Testing 1933 out of 21832 hypotheses for tomato_soup_can (evidence > 3.4598886063404883)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 13.429
INFO:root:Testing 1413 out of 16976 hypotheses for mustard_bottle (evidence > 3.4598886063404883)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.01
INFO:root:Testing 1422 out of 17728 hypotheses for tuna_fish_can (evidence > 3.4598886063404883)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 14.546
INFO:root:Testing 1096 out of 19024 hypotheses for potted_meat_can (evidence > 3.4598886063404883)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.007
DEBUG:root:evidences for each object: [12.26936869  9.43540794 13.06756255 17.75397318 15.47177138 12.52835216
 13.42853912 15.00991949 14.54621235 14.00690016]
DEBUG:root:mean evidence: 13.752, std: 2.101 -> th=14.203178547704926
INFO:root:current most likely hypothesis: ramen_pack with evidence 17.75
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'tuna_fish_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 53 ---
INFO:uvicorn.access:192.168.1.217:64587 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64587 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.99281632,  0.07236859, -0.09528138],
       [-0.07269934, -0.9973539 ,  0.        ],
       [-0.09502926,  0.00692689,  0.99545038]]), 'pose_fully_defined': False}}, {'patch': array([-8.28904983e-05,  9.65372504e-03,  9.02486234e-06])}]
INFO:root:Testing 1187 out of 14424 hypotheses for numenta_mug (evidence > 3.5507946369262307)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.36
INFO:root:Testing 222 out of 10992 hypotheses for montys_brain (evidence > 3.5507946369262307)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.665
INFO:root:Testing 1328 out of 14880 hypotheses for montys_heart (evidence > 3.5507946369262307)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.245
INFO:root:Testing 1432 out of 23200 hypotheses for ramen_pack (evidence > 3.5507946369262307)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 18.087
INFO:root:Testing 1011 out of 14864 hypotheses for hot_sauce (evidence > 3.5507946369262307)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 15.681
INFO:root:Testing 999 out of 12560 hypotheses for harissa_oil (evidence > 3.5507946369262307)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 12.587
INFO:root:Testing 1782 out of 21832 hypotheses for tomato_soup_can (evidence > 3.5507946369262307)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 13.394
INFO:root:Testing 1253 out of 16976 hypotheses for mustard_bottle (evidence > 3.5507946369262307)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.155
INFO:root:Testing 1400 out of 17728 hypotheses for tuna_fish_can (evidence > 3.5507946369262307)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 14.952
INFO:root:Testing 988 out of 19024 hypotheses for potted_meat_can (evidence > 3.5507946369262307)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.044
DEBUG:root:evidences for each object: [12.3604875   9.66543362 13.24471697 18.08680761 15.68094562 12.58688904
 13.39392057 15.15536899 14.95206647 14.04350989]
DEBUG:root:mean evidence: 13.917, std: 2.147 -> th=14.46944608645956
INFO:root:current most likely hypothesis: ramen_pack with evidence 18.09
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'tuna_fish_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 54 ---
INFO:uvicorn.access:192.168.1.217:64587 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64587 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.99218984,  0.06118314,  0.10870118],
       [-0.06154784, -0.99810413,  0.        ],
       [ 0.1084951 , -0.00669032,  0.99407447]]), 'pose_fully_defined': False}}, {'patch': array([-0.00076886,  0.01532514, -0.0009608 ])}]
INFO:root:Testing 1103 out of 14424 hypotheses for numenta_mug (evidence > 3.617361521614889)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.281
INFO:root:Testing 196 out of 10992 hypotheses for montys_brain (evidence > 3.617361521614889)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.784
INFO:root:Testing 1126 out of 14880 hypotheses for montys_heart (evidence > 3.617361521614889)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.48
INFO:root:Testing 1369 out of 23200 hypotheses for ramen_pack (evidence > 3.617361521614889)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 18.426
INFO:root:Testing 955 out of 14864 hypotheses for hot_sauce (evidence > 3.617361521614889)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 15.811
INFO:root:Testing 931 out of 12560 hypotheses for harissa_oil (evidence > 3.617361521614889)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 12.681
INFO:root:Testing 1667 out of 21832 hypotheses for tomato_soup_can (evidence > 3.617361521614889)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 13.342
INFO:root:Testing 1094 out of 16976 hypotheses for mustard_bottle (evidence > 3.617361521614889)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.227
INFO:root:Testing 1377 out of 17728 hypotheses for tuna_fish_can (evidence > 3.617361521614889)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 15.394
INFO:root:Testing 892 out of 19024 hypotheses for potted_meat_can (evidence > 3.617361521614889)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.022
DEBUG:root:evidences for each object: [12.28068846  9.78365867 13.48018611 18.42553069 15.81092843 12.68056986
 13.34247254 15.22697696 15.39383959 14.02172922]
DEBUG:root:mean evidence: 14.045, std: 2.224 -> th=14.740424554802937
INFO:root:current most likely hypothesis: ramen_pack with evidence 18.43
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'tuna_fish_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 55 ---
INFO:uvicorn.access:192.168.1.217:64587 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64587 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.96657531,  0.14408389,  0.21206603],
       [-0.1474373 , -0.9890714 ,  0.        ],
       [ 0.20974845, -0.03126644,  0.97725534]]), 'pose_fully_defined': False}}, {'patch': array([-0.00033995,  0.00471992,  0.00400123])}]
INFO:root:Testing 1036 out of 14424 hypotheses for numenta_mug (evidence > 3.685106138700734)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.133
INFO:root:Testing 189 out of 10992 hypotheses for montys_brain (evidence > 3.685106138700734)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.927
INFO:root:Testing 992 out of 14880 hypotheses for montys_heart (evidence > 3.685106138700734)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.85
INFO:root:Testing 1305 out of 23200 hypotheses for ramen_pack (evidence > 3.685106138700734)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 18.828
INFO:root:Testing 893 out of 14864 hypotheses for hot_sauce (evidence > 3.685106138700734)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 15.895
INFO:root:Testing 895 out of 12560 hypotheses for harissa_oil (evidence > 3.685106138700734)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 12.738
INFO:root:Testing 1589 out of 21832 hypotheses for tomato_soup_can (evidence > 3.685106138700734)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 13.446
INFO:root:Testing 990 out of 16976 hypotheses for mustard_bottle (evidence > 3.685106138700734)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.219
INFO:root:Testing 1361 out of 17728 hypotheses for tuna_fish_can (evidence > 3.685106138700734)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 15.856
INFO:root:Testing 829 out of 19024 hypotheses for potted_meat_can (evidence > 3.685106138700734)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.228
DEBUG:root:evidences for each object: [12.13289153  9.92732148 13.84960823 18.82804911 15.89512143 12.73755487
 13.44619558 15.21926222 15.85582329 14.22815848]
DEBUG:root:mean evidence: 14.212, std: 2.312 -> th=15.062439288034321
INFO:root:current most likely hypothesis: ramen_pack with evidence 18.83
DEBUG:root:evidences for each object: [12.13289153  9.92732148 13.84960823 18.82804911 15.89512143 12.73755487
 13.44619558 15.21926222 15.85582329 14.22815848]
DEBUG:root:mean evidence: 14.212, std: 2.312 -> th=15.062439288034321
DEBUG:root:evidences for each object: [12.13289153  9.92732148 13.84960823 18.82804911 15.89512143 12.73755487
 13.44619558 15.21926222 15.85582329 14.22815848]
DEBUG:root:mean evidence: 14.212, std: 2.312 -> th=16.003841743536466
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'tuna_fish_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 56 ---
INFO:uvicorn.access:192.168.1.217:64587 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.98632713,  0.14433737,  0.07953317],
       [-0.14479605, -0.98946152,  0.        ],
       [ 0.07869501, -0.01151609,  0.99683222]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00177931, -0.03394548, -0.00735061])}]
INFO:root:Testing 937 out of 14424 hypotheses for numenta_mug (evidence > 3.76560982200858)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.089
INFO:root:Testing 177 out of 10992 hypotheses for montys_brain (evidence > 3.76560982200858)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.936
INFO:root:Testing 867 out of 14880 hypotheses for montys_heart (evidence > 3.76560982200858)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.858
INFO:root:Testing 1243 out of 23200 hypotheses for ramen_pack (evidence > 3.76560982200858)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 19.2
INFO:root:Testing 840 out of 14864 hypotheses for hot_sauce (evidence > 3.76560982200858)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 15.952
INFO:root:Testing 846 out of 12560 hypotheses for harissa_oil (evidence > 3.76560982200858)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 12.705
INFO:root:Testing 1501 out of 21832 hypotheses for tomato_soup_can (evidence > 3.76560982200858)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 13.351
INFO:root:Testing 923 out of 16976 hypotheses for mustard_bottle (evidence > 3.76560982200858)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.264
INFO:root:Testing 1345 out of 17728 hypotheses for tuna_fish_can (evidence > 3.76560982200858)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 16.23
INFO:root:Testing 751 out of 19024 hypotheses for potted_meat_can (evidence > 3.76560982200858)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.325
DEBUG:root:evidences for each object: [12.08919427  9.93627811 13.858075   19.19954126 15.95171715 12.70519824
 13.35074985 15.26396282 16.2302729  14.32538885]
DEBUG:root:mean evidence: 14.291, std: 2.428 -> th=15.359633010756895
INFO:root:current most likely hypothesis: ramen_pack with evidence 19.2
DEBUG:root:evidences for each object: [12.08919427  9.93627811 13.858075   19.19954126 15.95171715 12.70519824
 13.35074985 15.26396282 16.2302729  14.32538885]
DEBUG:root:mean evidence: 14.291, std: 2.428 -> th=15.359633010756895
DEBUG:root:evidences for each object: [12.08919427  9.93627811 13.858075   19.19954126 15.95171715 12.70519824
 13.35074985 15.26396282 16.2302729  14.32538885]
DEBUG:root:mean evidence: 14.291, std: 2.428 -> th=16.3196100739292
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 57 ---
INFO:uvicorn.access:192.168.1.217:64587 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64587 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64587 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.99201884,  0.12178514, -0.03266502],
       [-0.12185016, -0.99254851,  0.        ],
       [-0.03242162,  0.00398024,  0.99946636]]), 'pose_fully_defined': False}}, {'patch': array([-0.0001041 ,  0.02419142,  0.00129615])}]
INFO:root:Testing 878 out of 14424 hypotheses for numenta_mug (evidence > 3.8399082526892236)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.325
INFO:root:Testing 172 out of 10992 hypotheses for montys_brain (evidence > 3.8399082526892236)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.129
INFO:root:Testing 807 out of 14880 hypotheses for montys_heart (evidence > 3.8399082526892236)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.007
INFO:root:Testing 1210 out of 23200 hypotheses for ramen_pack (evidence > 3.8399082526892236)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 19.617
INFO:root:Testing 832 out of 14864 hypotheses for hot_sauce (evidence > 3.8399082526892236)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 16.027
INFO:root:Testing 822 out of 12560 hypotheses for harissa_oil (evidence > 3.8399082526892236)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 12.677
INFO:root:Testing 1434 out of 21832 hypotheses for tomato_soup_can (evidence > 3.8399082526892236)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 13.295
INFO:root:Testing 871 out of 16976 hypotheses for mustard_bottle (evidence > 3.8399082526892236)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.381
INFO:root:Testing 1336 out of 17728 hypotheses for tuna_fish_can (evidence > 3.8399082526892236)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 16.659
INFO:root:Testing 728 out of 19024 hypotheses for potted_meat_can (evidence > 3.8399082526892236)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.475
DEBUG:root:evidences for each object: [12.32486065 10.12943529 14.00679938 19.61720753 16.02698896 12.67741737
 13.2952592  15.38111159 16.65924618 14.47541867]
DEBUG:root:mean evidence: 14.459, std: 2.506 -> th=15.693766027426827
INFO:root:current most likely hypothesis: ramen_pack with evidence 19.62
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 58 ---
INFO:uvicorn.access:192.168.1.217:64587 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64587 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.9949836 ,  0.08594352,  0.05119914],
       [-0.08605638, -0.99629027,  0.        ],
       [ 0.05100921, -0.00440601,  0.99868846]]), 'pose_fully_defined': False}}, {'patch': array([-0.00518468,  0.01499025, -0.00266206])}]
INFO:root:Testing 751 out of 14424 hypotheses for numenta_mug (evidence > 3.9234415068567063)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.242
INFO:root:Testing 164 out of 10992 hypotheses for montys_brain (evidence > 3.9234415068567063)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.201
INFO:root:Testing 741 out of 14880 hypotheses for montys_heart (evidence > 3.9234415068567063)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.329
INFO:root:Testing 1186 out of 23200 hypotheses for ramen_pack (evidence > 3.9234415068567063)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 19.865
INFO:root:Testing 791 out of 14864 hypotheses for hot_sauce (evidence > 3.9234415068567063)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 16.126
INFO:root:Testing 776 out of 12560 hypotheses for harissa_oil (evidence > 3.9234415068567063)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 12.706
INFO:root:Testing 1335 out of 21832 hypotheses for tomato_soup_can (evidence > 3.9234415068567063)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 13.219
INFO:root:Testing 821 out of 16976 hypotheses for mustard_bottle (evidence > 3.9234415068567063)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.5
INFO:root:Testing 1335 out of 17728 hypotheses for tuna_fish_can (evidence > 3.9234415068567063)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 17.045
INFO:root:Testing 697 out of 19024 hypotheses for potted_meat_can (evidence > 3.9234415068567063)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.579
DEBUG:root:evidences for each object: [12.24230709 10.20076976 14.32869636 19.86513295 16.12571708 12.70583342
 13.21851291 15.49952272 17.04468382 14.5787397 ]
DEBUG:root:mean evidence: 14.581, std: 2.594 -> th=15.892106361671832
INFO:root:current most likely hypothesis: ramen_pack with evidence 19.87
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 59 ---
INFO:uvicorn.access:192.168.1.217:64587 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.96918609,  0.19802143, -0.14651224],
       [-0.20018162, -0.97975881,  0.        ],
       [-0.14354666,  0.02932906,  0.98920886]]), 'pose_fully_defined': False}}, {'patch': array([-0.02458148, -0.07072596,  0.02745633])}]
INFO:root:Testing 688 out of 14424 hypotheses for numenta_mug (evidence > 3.973026590417957)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.596
INFO:root:Testing 122 out of 10992 hypotheses for montys_brain (evidence > 3.973026590417957)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.201
INFO:root:Testing 687 out of 14880 hypotheses for montys_heart (evidence > 3.973026590417957)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.329
INFO:root:Testing 1145 out of 23200 hypotheses for ramen_pack (evidence > 3.973026590417957)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 18.865
INFO:root:Testing 728 out of 14864 hypotheses for hot_sauce (evidence > 3.973026590417957)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 15.126
INFO:root:Testing 700 out of 12560 hypotheses for harissa_oil (evidence > 3.973026590417957)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 13.099
INFO:root:Testing 1220 out of 21832 hypotheses for tomato_soup_can (evidence > 3.973026590417957)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 13.125
INFO:root:Testing 745 out of 16976 hypotheses for mustard_bottle (evidence > 3.973026590417957)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.586
INFO:root:Testing 1303 out of 17728 hypotheses for tuna_fish_can (evidence > 3.973026590417957)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 16.045
INFO:root:Testing 642 out of 19024 hypotheses for potted_meat_can (evidence > 3.973026590417957)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.788
DEBUG:root:evidences for each object: [12.59591788  9.20076976 13.32869636 18.86513295 15.12571708 13.09875201
 13.12497143 14.58585846 16.04468382 14.78829739]
DEBUG:root:mean evidence: 14.076, std: 2.389 -> th=15.092106361671833
INFO:root:current most likely hypothesis: ramen_pack with evidence 18.87
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 60 ---
INFO:uvicorn.access:192.168.1.217:64589 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.90394324,  0.11047899,  0.41313558],
       [-0.12131622, -0.99261391,  0.        ],
       [ 0.41008413, -0.05012005,  0.91066953]]), 'pose_fully_defined': False}}, {'patch': array([0.04024197, 0.02025214, 0.01696411])}]
INFO:root:Testing 721 out of 14424 hypotheses for numenta_mug (evidence > 3.773026590417958)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.596
INFO:root:Testing 100 out of 10992 hypotheses for montys_brain (evidence > 3.773026590417958)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.308
INFO:root:Testing 656 out of 14880 hypotheses for montys_heart (evidence > 3.773026590417958)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 12.329
INFO:root:Testing 1101 out of 23200 hypotheses for ramen_pack (evidence > 3.773026590417958)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 19.338
INFO:root:Testing 690 out of 14864 hypotheses for hot_sauce (evidence > 3.773026590417958)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 15.277
INFO:root:Testing 658 out of 12560 hypotheses for harissa_oil (evidence > 3.773026590417958)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 12.099
INFO:root:Testing 1211 out of 21832 hypotheses for tomato_soup_can (evidence > 3.773026590417958)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 12.125
INFO:root:Testing 718 out of 16976 hypotheses for mustard_bottle (evidence > 3.773026590417958)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.68
INFO:root:Testing 1268 out of 17728 hypotheses for tuna_fish_can (evidence > 3.773026590417958)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 16.516
INFO:root:Testing 604 out of 19024 hypotheses for potted_meat_can (evidence > 3.773026590417958)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.462
DEBUG:root:evidences for each object: [11.59591788  9.30768174 12.32869636 19.33793936 15.27666819 12.09875201
 12.12497143 14.68040836 16.5160643  14.46203417]
DEBUG:root:mean evidence: 13.773, std: 2.726 -> th=15.470351485121324
INFO:root:current most likely hypothesis: ramen_pack with evidence 19.34
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 61 ---
INFO:uvicorn.access:192.168.1.217:64591 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.97499929,  0.10558166,  0.19552212],
       [-0.10765956, -0.99418782,  0.        ],
       [ 0.19438571, -0.02104983,  0.98069929]]), 'pose_fully_defined': False}}, {'patch': array([-0.00750036,  0.01254622, -0.01821259])}]
INFO:root:Testing 541 out of 14424 hypotheses for numenta_mug (evidence > 3.86758787128033)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.596
INFO:root:Testing 91 out of 10992 hypotheses for montys_brain (evidence > 3.86758787128033)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.308
INFO:root:Testing 487 out of 14880 hypotheses for montys_heart (evidence > 3.86758787128033)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 11.329
INFO:root:Testing 1059 out of 23200 hypotheses for ramen_pack (evidence > 3.86758787128033)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 19.697
INFO:root:Testing 619 out of 14864 hypotheses for hot_sauce (evidence > 3.86758787128033)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.277
INFO:root:Testing 560 out of 12560 hypotheses for harissa_oil (evidence > 3.86758787128033)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 11.099
INFO:root:Testing 1025 out of 21832 hypotheses for tomato_soup_can (evidence > 3.86758787128033)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 11.125
INFO:root:Testing 574 out of 16976 hypotheses for mustard_bottle (evidence > 3.86758787128033)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.68
INFO:root:Testing 1206 out of 17728 hypotheses for tuna_fish_can (evidence > 3.86758787128033)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 16.878
INFO:root:Testing 511 out of 19024 hypotheses for potted_meat_can (evidence > 3.86758787128033)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.462
DEBUG:root:evidences for each object: [10.59591788  8.30768174 11.32869636 19.6966919  14.27666819 11.09875201
 11.12497143 13.68040836 16.87789476 13.46203417]
DEBUG:root:mean evidence: 13.045, std: 3.161 -> th=15.757353523810613
INFO:root:current most likely hypothesis: ramen_pack with evidence 19.7
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 62 ---
INFO:uvicorn.access:192.168.1.217:64591 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.96370281,  0.14764157,  0.22243843],
       [-0.15143553, -0.98846714,  0.        ],
       [ 0.21987308, -0.03368508,  0.97494674]]), 'pose_fully_defined': False}}, {'patch': array([-0.00206356,  0.01454671, -0.00453677])}]
INFO:root:Testing 355 out of 14424 hypotheses for numenta_mug (evidence > 3.939338380952652)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.596
INFO:root:Testing 40 out of 10992 hypotheses for montys_brain (evidence > 3.939338380952652)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.308
INFO:root:Testing 340 out of 14880 hypotheses for montys_heart (evidence > 3.939338380952652)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.329
INFO:root:Testing 1019 out of 23200 hypotheses for ramen_pack (evidence > 3.939338380952652)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 20.069
INFO:root:Testing 541 out of 14864 hypotheses for hot_sauce (evidence > 3.939338380952652)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.449
INFO:root:Testing 434 out of 12560 hypotheses for harissa_oil (evidence > 3.939338380952652)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 10.099
INFO:root:Testing 817 out of 21832 hypotheses for tomato_soup_can (evidence > 3.939338380952652)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 10.125
INFO:root:Testing 449 out of 16976 hypotheses for mustard_bottle (evidence > 3.939338380952652)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.68
INFO:root:Testing 1205 out of 17728 hypotheses for tuna_fish_can (evidence > 3.939338380952652)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 17.266
INFO:root:Testing 412 out of 19024 hypotheses for potted_meat_can (evidence > 3.939338380952652)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.462
DEBUG:root:evidences for each object: [ 9.59591788  7.30768174 10.32869636 20.06931126 14.44910288 10.09875201
 10.12497143 12.68040836 17.26568101 12.46203417]
DEBUG:root:mean evidence: 12.438, std: 3.679 -> th=16.055449006509544
INFO:root:current most likely hypothesis: ramen_pack with evidence 20.07
DEBUG:root:evidences for each object: [ 9.59591788  7.30768174 10.32869636 20.06931126 14.44910288 10.09875201
 10.12497143 12.68040836 17.26568101 12.46203417]
DEBUG:root:mean evidence: 12.438, std: 3.679 -> th=16.055449006509544
DEBUG:root:evidences for each object: [ 9.59591788  7.30768174 10.32869636 20.06931126 14.44910288 10.09875201
 10.12497143 12.68040836 17.26568101 12.46203417]
DEBUG:root:mean evidence: 12.438, std: 3.679 -> th=17.05891456941639
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 63 ---
INFO:uvicorn.access:192.168.1.217:64591 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64591 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.91966635,  0.14034748,  0.36676477],
       [-0.15086038, -0.98855508,  0.        ],
       [ 0.36256717, -0.05533027,  0.93031371]]), 'pose_fully_defined': False}}, {'patch': array([0.00417612, 0.00704834, 0.01126404])}]
INFO:root:Testing 183 out of 14424 hypotheses for numenta_mug (evidence > 4.013862251627387)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.596
INFO:root:Testing 15 out of 10992 hypotheses for montys_brain (evidence > 4.013862251627387)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 6.308
INFO:root:Testing 241 out of 14880 hypotheses for montys_heart (evidence > 4.013862251627387)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.329
INFO:root:Testing 987 out of 23200 hypotheses for ramen_pack (evidence > 4.013862251627387)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 20.517
INFO:root:Testing 469 out of 14864 hypotheses for hot_sauce (evidence > 4.013862251627387)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.655
INFO:root:Testing 329 out of 12560 hypotheses for harissa_oil (evidence > 4.013862251627387)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 9.099
INFO:root:Testing 601 out of 21832 hypotheses for tomato_soup_can (evidence > 4.013862251627387)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.125
INFO:root:Testing 347 out of 16976 hypotheses for mustard_bottle (evidence > 4.013862251627387)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.68
INFO:root:Testing 1171 out of 17728 hypotheses for tuna_fish_can (evidence > 4.013862251627387)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 16.685
INFO:root:Testing 336 out of 19024 hypotheses for potted_meat_can (evidence > 4.013862251627387)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.462
DEBUG:root:evidences for each object: [ 8.59591788  6.30768174  9.32869636 20.51687682 14.65527678  9.09875201
  9.12497143 11.68040836 16.68521456 11.46203417]
DEBUG:root:mean evidence: 11.746, std: 4.112 -> th=16.41350145760919
INFO:root:current most likely hypothesis: ramen_pack with evidence 20.52
DEBUG:root:evidences for each object: [ 8.59591788  6.30768174  9.32869636 20.51687682 14.65527678  9.09875201
  9.12497143 11.68040836 16.68521456 11.46203417]
DEBUG:root:mean evidence: 11.746, std: 4.112 -> th=16.41350145760919
DEBUG:root:evidences for each object: [ 8.59591788  6.30768174  9.32869636 20.51687682 14.65527678  9.09875201
  9.12497143 11.68040836 16.68521456 11.46203417]
DEBUG:root:mean evidence: 11.746, std: 4.112 -> th=17.439345298709764
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 64 ---
INFO:uvicorn.access:192.168.1.217:64591 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.96404043,  0.13168011,  0.23083847],
       [-0.13533524, -0.99079987,  0.        ],
       [ 0.22871473, -0.03124058,  0.97299209]]), 'pose_fully_defined': False}}, {'patch': array([-0.00088587,  0.00613323, -0.01205872])}]
INFO:root:Testing 77 out of 14424 hypotheses for numenta_mug (evidence > 4.1033753644022966)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.596
INFO:root:Testing 8 out of 10992 hypotheses for montys_brain (evidence > 4.1033753644022966)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.308
INFO:root:Testing 175 out of 14880 hypotheses for montys_heart (evidence > 4.1033753644022966)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.768
INFO:root:Testing 967 out of 23200 hypotheses for ramen_pack (evidence > 4.1033753644022966)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 20.896
INFO:root:Testing 416 out of 14864 hypotheses for hot_sauce (evidence > 4.1033753644022966)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.944
INFO:root:Testing 213 out of 12560 hypotheses for harissa_oil (evidence > 4.1033753644022966)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 8.099
INFO:root:Testing 362 out of 21832 hypotheses for tomato_soup_can (evidence > 4.1033753644022966)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.171
INFO:root:Testing 270 out of 16976 hypotheses for mustard_bottle (evidence > 4.1033753644022966)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.68
INFO:root:Testing 1127 out of 17728 hypotheses for tuna_fish_can (evidence > 4.1033753644022966)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 17.041
INFO:root:Testing 281 out of 19024 hypotheses for potted_meat_can (evidence > 4.1033753644022966)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.575
DEBUG:root:evidences for each object: [ 7.59591788  5.30768174  8.7681552  20.89597522 14.94441009  8.09875201
  8.17129224 10.68040836 17.0412643  11.57511427]
DEBUG:root:mean evidence: 11.308, std: 4.635 -> th=16.716780172030408
INFO:root:current most likely hypothesis: ramen_pack with evidence 20.9
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 65 ---
INFO:uvicorn.access:192.168.1.217:64591 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.95113283,  0.05661446,  0.30354759],
       [-0.05941803, -0.99823319,  0.        ],
       [ 0.30301128, -0.0180362 ,  0.95281628]]), 'pose_fully_defined': False}}, {'patch': array([-0.00153134,  0.02485937, -0.00725043])}]
INFO:root:Testing 35 out of 14424 hypotheses for numenta_mug (evidence > 4.179195043007603)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.596
INFO:root:Testing 7 out of 10992 hypotheses for montys_brain (evidence > 4.179195043007603)
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: 4.308
INFO:root:Testing 111 out of 14880 hypotheses for montys_heart (evidence > 4.179195043007603)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.042
INFO:root:Testing 939 out of 23200 hypotheses for ramen_pack (evidence > 4.179195043007603)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 21.234
INFO:root:Testing 349 out of 14864 hypotheses for hot_sauce (evidence > 4.179195043007603)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 15.154
INFO:root:Testing 135 out of 12560 hypotheses for harissa_oil (evidence > 4.179195043007603)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 7.099
INFO:root:Testing 238 out of 21832 hypotheses for tomato_soup_can (evidence > 4.179195043007603)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.719
INFO:root:Testing 195 out of 16976 hypotheses for mustard_bottle (evidence > 4.179195043007603)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.68
INFO:root:Testing 1111 out of 17728 hypotheses for tuna_fish_can (evidence > 4.179195043007603)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 17.444
INFO:root:Testing 239 out of 19024 hypotheses for potted_meat_can (evidence > 4.179195043007603)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.575
DEBUG:root:evidences for each object: [ 6.59591788  4.30768174  9.04181804 21.23393474 15.15431697  7.09875201
  7.71892069  9.68040836 17.44363358 10.57511427]
DEBUG:root:mean evidence: 10.885, std: 5.092 -> th=16.987147795830047
INFO:root:current most likely hypothesis: ramen_pack with evidence 21.23
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 66 ---
INFO:uvicorn.access:192.168.1.217:64591 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.97437756, -0.01919835,  0.22409773],
       [ 0.01969937, -0.99980595,  0.        ],
       [ 0.22405425,  0.00441458,  0.97456668]]), 'pose_fully_defined': False}}, {'patch': array([-0.0624006 ,  0.01630543,  0.00735352])}]
INFO:root:Testing 15 out of 14424 hypotheses for numenta_mug (evidence > 4.24678694895751)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.596
INFO:root:Testing 1 out of 10992 hypotheses for montys_brain (evidence > 4.24678694895751)
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: 4.146
INFO:root:Testing 80 out of 14880 hypotheses for montys_heart (evidence > 4.24678694895751)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.042
INFO:root:Testing 913 out of 23200 hypotheses for ramen_pack (evidence > 4.24678694895751)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 20.234
INFO:root:Testing 303 out of 14864 hypotheses for hot_sauce (evidence > 4.24678694895751)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.154
INFO:root:Testing 80 out of 12560 hypotheses for harissa_oil (evidence > 4.24678694895751)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 6.099
INFO:root:Testing 126 out of 21832 hypotheses for tomato_soup_can (evidence > 4.24678694895751)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.719
INFO:root:Testing 159 out of 16976 hypotheses for mustard_bottle (evidence > 4.24678694895751)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.68
INFO:root:Testing 1061 out of 17728 hypotheses for tuna_fish_can (evidence > 4.24678694895751)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 16.444
INFO:root:Testing 201 out of 19024 hypotheses for potted_meat_can (evidence > 4.24678694895751)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.575
DEBUG:root:evidences for each object: [ 5.59591788  4.14571059  8.04181804 20.23393474 14.15431697  6.09875201
  6.71892069  8.68040836 16.44363358  9.57511427]
DEBUG:root:mean evidence: 9.969, std: 4.989 -> th=16.187147795830047
INFO:root:current most likely hypothesis: ramen_pack with evidence 20.23
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 67 ---
INFO:uvicorn.access:192.168.1.217:64593 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.70772384,  0.0355654 ,  0.70559341],
       [-0.05018988, -0.99873969,  0.        ],
       [ 0.70470415, -0.03541365,  0.70861692]]), 'pose_fully_defined': False}}, {'patch': array([ 0.02435632, -0.04293439,  0.05009101])}]
INFO:root:Testing 21 out of 14424 hypotheses for numenta_mug (evidence > 4.046786948957511)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.651
INFO:root:Testing 2 out of 10992 hypotheses for montys_brain (evidence > 4.046786948957511)
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: 4.038
INFO:root:Testing 78 out of 14880 hypotheses for montys_heart (evidence > 4.046786948957511)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.042
INFO:root:Testing 890 out of 23200 hypotheses for ramen_pack (evidence > 4.046786948957511)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 19.234
INFO:root:Testing 287 out of 14864 hypotheses for hot_sauce (evidence > 4.046786948957511)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.154
INFO:root:Testing 64 out of 12560 hypotheses for harissa_oil (evidence > 4.046786948957511)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 5.099
INFO:root:Testing 109 out of 21832 hypotheses for tomato_soup_can (evidence > 4.046786948957511)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.719
INFO:root:Testing 118 out of 16976 hypotheses for mustard_bottle (evidence > 4.046786948957511)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.8
INFO:root:Testing 1014 out of 17728 hypotheses for tuna_fish_can (evidence > 4.046786948957511)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 15.444
INFO:root:Testing 171 out of 19024 hypotheses for potted_meat_can (evidence > 4.046786948957511)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.057
DEBUG:root:evidences for each object: [ 4.65081363  4.03834594  7.04181804 19.23393474 13.15431697  5.09875201
  5.71892069  7.8000834  15.44363358 10.05711436]
DEBUG:root:mean evidence: 9.224, std: 4.888 -> th=15.387147795830046
INFO:root:current most likely hypothesis: ramen_pack with evidence 19.23
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 68 ---
INFO:uvicorn.access:192.168.1.217:64594 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.88450209,  0.0602589 ,  0.46262828],
       [-0.06796993, -0.99768737,  0.        ],
       [ 0.46155839, -0.03144481,  0.88655235]]), 'pose_fully_defined': False}}, {'patch': array([ 0.04736649,  0.00476907, -0.04913296])}]
INFO:root:Testing 83 out of 14424 hypotheses for numenta_mug (evidence > 3.8467869489575115)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.429
INFO:root:Testing 13 out of 10992 hypotheses for montys_brain (evidence > 3.8467869489575115)
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: 4.007
INFO:root:Testing 83 out of 14880 hypotheses for montys_heart (evidence > 3.8467869489575115)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.042
INFO:root:Testing 877 out of 23200 hypotheses for ramen_pack (evidence > 3.8467869489575115)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 19.704
INFO:root:Testing 244 out of 14864 hypotheses for hot_sauce (evidence > 3.8467869489575115)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.376
INFO:root:Testing 80 out of 12560 hypotheses for harissa_oil (evidence > 3.8467869489575115)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.376
INFO:root:Testing 167 out of 21832 hypotheses for tomato_soup_can (evidence > 3.8467869489575115)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.427
INFO:root:Testing 153 out of 16976 hypotheses for mustard_bottle (evidence > 3.8467869489575115)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.85
INFO:root:Testing 934 out of 17728 hypotheses for tuna_fish_can (evidence > 3.8467869489575115)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 15.905
INFO:root:Testing 220 out of 19024 hypotheses for potted_meat_can (evidence > 3.8467869489575115)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.875
DEBUG:root:evidences for each object: [ 4.42943389  4.00726903  6.04181804 19.70376495 13.37641311  4.37589863
  5.42741436  6.85025247 15.9048925   9.87516699]
DEBUG:root:mean evidence: 8.999, std: 5.249 -> th=15.763011962208495
INFO:root:current most likely hypothesis: ramen_pack with evidence 19.7
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 69 ---
INFO:uvicorn.access:192.168.1.217:64594 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.70872878, -0.02218297,  0.7051322 ],
       [ 0.03128434, -0.99951053,  0.        ],
       [ 0.70478706,  0.02205959,  0.70907586]]), 'pose_fully_defined': False}}, {'patch': array([-0.03405099,  0.03113087,  0.02180344])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 3.9407529905521237)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.846
INFO:root:Testing 2 out of 10992 hypotheses for montys_brain (evidence > 3.9407529905521237)
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: 3.838
INFO:root:Testing 24 out of 14880 hypotheses for montys_heart (evidence > 3.9407529905521237)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.042
INFO:root:Testing 799 out of 23200 hypotheses for ramen_pack (evidence > 3.9407529905521237)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 18.704
INFO:root:Testing 144 out of 14864 hypotheses for hot_sauce (evidence > 3.9407529905521237)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.376
INFO:root:Testing 2 out of 12560 hypotheses for harissa_oil (evidence > 3.9407529905521237)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.914
INFO:root:Testing 34 out of 21832 hypotheses for tomato_soup_can (evidence > 3.9407529905521237)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.054
INFO:root:Testing 47 out of 16976 hypotheses for mustard_bottle (evidence > 3.9407529905521237)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.929
INFO:root:Testing 913 out of 17728 hypotheses for tuna_fish_can (evidence > 3.9407529905521237)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 14.905
INFO:root:Testing 130 out of 19024 hypotheses for potted_meat_can (evidence > 3.9407529905521237)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.875
DEBUG:root:evidences for each object: [ 3.84630709  3.83846018  5.04181804 18.70376495 12.37641311  3.91448043
  5.05415242  6.92935914 14.9048925   8.87516699]
DEBUG:root:mean evidence: 8.348, std: 5.008 -> th=14.963011962208494
INFO:root:current most likely hypothesis: ramen_pack with evidence 18.7
DEBUG:root:evidences for each object: [ 3.84630709  3.83846018  5.04181804 18.70376495 12.37641311  3.91448043
  5.05415242  6.92935914 14.9048925   8.87516699]
DEBUG:root:mean evidence: 8.348, std: 5.008 -> th=14.963011962208494
DEBUG:root:evidences for each object: [ 3.84630709  3.83846018  5.04181804 18.70376495 12.37641311  3.91448043
  5.05415242  6.92935914 14.9048925   8.87516699]
DEBUG:root:mean evidence: 8.348, std: 5.008 -> th=15.898200209846525
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 70 ---
INFO:uvicorn.access:192.168.1.217:64594 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64594 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.91335769,  0.03826564,  0.40535598],
       [-0.04185885, -0.99912353,  0.        ],
       [ 0.4050007 , -0.01696773,  0.91415892]]), 'pose_fully_defined': False}}, {'patch': array([ 0.02835608, -0.05279084, -0.02313101])}]
INFO:root:Testing 91 out of 14424 hypotheses for numenta_mug (evidence > 3.7407529905521226)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.739
INFO:root:Testing 14 out of 10992 hypotheses for montys_brain (evidence > 3.7407529905521226)
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: 3.74
INFO:root:Testing 90 out of 14880 hypotheses for montys_heart (evidence > 3.7407529905521226)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.042
INFO:root:Testing 796 out of 23200 hypotheses for ramen_pack (evidence > 3.7407529905521226)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 19.196
INFO:root:Testing 177 out of 14864 hypotheses for hot_sauce (evidence > 3.7407529905521226)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.598
INFO:root:Testing 95 out of 12560 hypotheses for harissa_oil (evidence > 3.7407529905521226)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.741
INFO:root:Testing 169 out of 21832 hypotheses for tomato_soup_can (evidence > 3.7407529905521226)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.054
INFO:root:Testing 130 out of 16976 hypotheses for mustard_bottle (evidence > 3.7407529905521226)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.929
INFO:root:Testing 855 out of 17728 hypotheses for tuna_fish_can (evidence > 3.7407529905521226)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 15.355
INFO:root:Testing 183 out of 19024 hypotheses for potted_meat_can (evidence > 3.7407529905521226)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.875
DEBUG:root:evidences for each object: [ 3.73890717  3.74026581  4.04181804 19.19587914 12.59819578  3.74060733
  4.05415242  5.92935914 15.35544478  7.87516699]
DEBUG:root:mean evidence: 8.027, std: 5.39 -> th=15.356703310522075
INFO:root:current most likely hypothesis: ramen_pack with evidence 19.2
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 71 ---
INFO:uvicorn.access:192.168.1.217:64594 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.63908605, -0.03025769,  0.76853984],
       [ 0.04729227, -0.99888109,  0.        ],
       [ 0.76767992,  0.03634599,  0.63980193]]), 'pose_fully_defined': False}}, {'patch': array([-0.04421436,  0.01363488,  0.05796154])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.739
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.74
INFO:root:Testing 1 out of 14880 hypotheses for montys_heart (evidence > 3.839175827630518)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.794
INFO:root:Testing 743 out of 23200 hypotheses for ramen_pack (evidence > 3.839175827630518)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 18.196
INFO:root:Testing 52 out of 14864 hypotheses for hot_sauce (evidence > 3.839175827630518)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.598
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.741
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 3.839175827630518)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.74
INFO:root:Testing 18 out of 16976 hypotheses for mustard_bottle (evidence > 3.839175827630518)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.019
INFO:root:Testing 847 out of 17728 hypotheses for tuna_fish_can (evidence > 3.839175827630518)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 14.355
INFO:root:Testing 67 out of 19024 hypotheses for potted_meat_can (evidence > 3.839175827630518)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.331
DEBUG:root:evidences for each object: [ 3.73890717  3.74026581  3.79365932 18.19587914 11.59819578  3.74060733
  3.73951051  6.01870948 14.35544478  8.33132749]
DEBUG:root:mean evidence: 7.725, std: 5.009 -> th=14.556703310522076
INFO:root:current most likely hypothesis: ramen_pack with evidence 18.2
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 72 ---
INFO:uvicorn.access:192.168.1.217:64596 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.41213273,  0.06316432,  0.90893173],
       [-0.15149318, -0.9884583 ,  0.        ],
       [ 0.89844111, -0.13769696,  0.41694498]]), 'pose_fully_defined': False}}, {'patch': array([ 0.06675866, -0.00142159, -0.0364979 ])}]
INFO:root:Testing 132 out of 14424 hypotheses for numenta_mug (evidence > 3.6391758276305186)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.755
INFO:root:Testing 24 out of 10992 hypotheses for montys_brain (evidence > 3.6391758276305186)
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: 3.784
INFO:root:Testing 153 out of 14880 hypotheses for montys_heart (evidence > 3.6391758276305186)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.055
INFO:root:Testing 778 out of 23200 hypotheses for ramen_pack (evidence > 3.6391758276305186)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.196
INFO:root:Testing 127 out of 14864 hypotheses for hot_sauce (evidence > 3.6391758276305186)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.598
INFO:root:Testing 130 out of 12560 hypotheses for harissa_oil (evidence > 3.6391758276305186)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.819
INFO:root:Testing 209 out of 21832 hypotheses for tomato_soup_can (evidence > 3.6391758276305186)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.799
INFO:root:Testing 143 out of 16976 hypotheses for mustard_bottle (evidence > 3.6391758276305186)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.886
INFO:root:Testing 775 out of 17728 hypotheses for tuna_fish_can (evidence > 3.6391758276305186)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 14.216
INFO:root:Testing 165 out of 19024 hypotheses for potted_meat_can (evidence > 3.6391758276305186)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.262
DEBUG:root:evidences for each object: [ 3.75520586  3.78403721  4.05454524 17.19587914 10.59819578  3.81864685
  3.79852676  5.88574512 14.2157954   8.26153911]
DEBUG:root:mean evidence: 7.537, std: 4.678 -> th=13.756703310522076
INFO:root:current most likely hypothesis: ramen_pack with evidence 17.2
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 73 ---
INFO:uvicorn.access:192.168.1.217:64596 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.44918656,  0.11117452,  0.88649403],
       [-0.24025264, -0.97071039,  0.        ],
       [ 0.86052896, -0.21298253,  0.46274004]]), 'pose_fully_defined': False}}, {'patch': array([-0.00455862, -0.02067106,  0.00565199])}]
INFO:root:Testing 358 out of 14424 hypotheses for numenta_mug (evidence > 3.4391758276305175)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.901
INFO:root:Testing 71 out of 10992 hypotheses for montys_brain (evidence > 3.4391758276305175)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.963
INFO:root:Testing 412 out of 14880 hypotheses for montys_heart (evidence > 3.4391758276305175)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.285
INFO:root:Testing 838 out of 23200 hypotheses for ramen_pack (evidence > 3.4391758276305175)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.767
INFO:root:Testing 325 out of 14864 hypotheses for hot_sauce (evidence > 3.4391758276305175)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.781
INFO:root:Testing 345 out of 12560 hypotheses for harissa_oil (evidence > 3.4391758276305175)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.831
INFO:root:Testing 594 out of 21832 hypotheses for tomato_soup_can (evidence > 3.4391758276305175)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.917
INFO:root:Testing 314 out of 16976 hypotheses for mustard_bottle (evidence > 3.4391758276305175)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.769
INFO:root:Testing 937 out of 17728 hypotheses for tuna_fish_can (evidence > 3.4391758276305175)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 14.418
INFO:root:Testing 352 out of 19024 hypotheses for potted_meat_can (evidence > 3.4391758276305175)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.173
DEBUG:root:evidences for each object: [ 3.90138756  3.96257508  4.28542106 16.76748883 10.78107282  3.83149586
  3.91712883  5.76909675 14.41762492  8.17285141]
DEBUG:root:mean evidence: 7.581, std: 4.582 -> th=13.413991060279182
INFO:root:current most likely hypothesis: ramen_pack with evidence 16.77
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 74 ---
INFO:uvicorn.access:192.168.1.217:64596 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.53707949,  0.10576718,  0.83687449],
       [-0.19321919, -0.98115562,  0.        ],
       [ 0.82110411, -0.16170021,  0.54739481]]), 'pose_fully_defined': False}}, {'patch': array([0.001614  , 0.02471919, 0.00146105])}]
INFO:root:Testing 328 out of 14424 hypotheses for numenta_mug (evidence > 3.353497765069795)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.823
INFO:root:Testing 86 out of 10992 hypotheses for montys_brain (evidence > 3.353497765069795)
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: 4.095
INFO:root:Testing 412 out of 14880 hypotheses for montys_heart (evidence > 3.353497765069795)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.408
INFO:root:Testing 749 out of 23200 hypotheses for ramen_pack (evidence > 3.353497765069795)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.006
INFO:root:Testing 398 out of 14864 hypotheses for hot_sauce (evidence > 3.353497765069795)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.781
INFO:root:Testing 441 out of 12560 hypotheses for harissa_oil (evidence > 3.353497765069795)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.943
INFO:root:Testing 640 out of 21832 hypotheses for tomato_soup_can (evidence > 3.353497765069795)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.924
INFO:root:Testing 259 out of 16976 hypotheses for mustard_bottle (evidence > 3.353497765069795)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.597
INFO:root:Testing 1017 out of 17728 hypotheses for tuna_fish_can (evidence > 3.353497765069795)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 14.672
INFO:root:Testing 318 out of 19024 hypotheses for potted_meat_can (evidence > 3.353497765069795)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.072
DEBUG:root:evidences for each object: [ 3.82314655  4.09453984  4.40788213 17.00593769  9.78107282  3.94297752
  3.92394061  5.59738026 14.67171428  8.07177849]
DEBUG:root:mean evidence: 7.532, std: 4.594 -> th=13.604750151227282
INFO:root:current most likely hypothesis: ramen_pack with evidence 17.01
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 75 ---
INFO:uvicorn.access:192.168.1.217:64597 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.38572849,  0.21797271,  0.89649396],
       [-0.49197558, -0.870609  ,  0.        ],
       [ 0.78049571, -0.44105314,  0.44305595]]), 'pose_fully_defined': False}}, {'patch': array([-0.0019436 , -0.02272164, -0.00113063])}]
INFO:root:Testing 76 out of 14424 hypotheses for numenta_mug (evidence > 3.4011875378068197)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.147
INFO:root:Testing 60 out of 10992 hypotheses for montys_brain (evidence > 3.4011875378068197)
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: 4.344
INFO:root:Testing 203 out of 14880 hypotheses for montys_heart (evidence > 3.4011875378068197)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.771
INFO:root:Testing 592 out of 23200 hypotheses for ramen_pack (evidence > 3.4011875378068197)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.16
INFO:root:Testing 195 out of 14864 hypotheses for hot_sauce (evidence > 3.4011875378068197)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.021
INFO:root:Testing 305 out of 12560 hypotheses for harissa_oil (evidence > 3.4011875378068197)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.994
INFO:root:Testing 319 out of 21832 hypotheses for tomato_soup_can (evidence > 3.4011875378068197)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.05
INFO:root:Testing 74 out of 16976 hypotheses for mustard_bottle (evidence > 3.4011875378068197)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.501
INFO:root:Testing 900 out of 17728 hypotheses for tuna_fish_can (evidence > 3.4011875378068197)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 14.838
INFO:root:Testing 163 out of 19024 hypotheses for potted_meat_can (evidence > 3.4011875378068197)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.029
DEBUG:root:evidences for each object: [ 4.1469293   4.34387293  4.77113832 17.16028269 10.02058741  3.99396027
  4.04973271  5.50052475 14.83798839  8.02879316]
DEBUG:root:mean evidence: 7.685, std: 4.586 -> th=13.728226154633996
INFO:root:current most likely hypothesis: ramen_pack with evidence 17.16
DEBUG:root:evidences for each object: [ 4.1469293   4.34387293  4.77113832 17.16028269 10.02058741  3.99396027
  4.04973271  5.50052475 14.83798839  8.02879316]
DEBUG:root:mean evidence: 7.685, std: 4.586 -> th=13.728226154633996
DEBUG:root:evidences for each object: [ 4.1469293   4.34387293  4.77113832 17.16028269 10.02058741  3.99396027
  4.04973271  5.50052475 14.83798839  8.02879316]
DEBUG:root:mean evidence: 7.685, std: 4.586 -> th=14.586240289298619
DEBUG:root:Hypothesis jump indicated: change in most-likely rotation of MLH
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 76 ---
INFO:uvicorn.access:192.168.1.217:64597 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64597 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.40212576,  0.21280519,  0.89051043],
       [-0.46774192, -0.88386509,  0.        ],
       [ 0.78709108, -0.41652906,  0.45496283]]), 'pose_fully_defined': False}}, {'patch': array([-0.00429441,  0.01798834, -0.00417291])}]
INFO:root:Testing 55 out of 14424 hypotheses for numenta_mug (evidence > 3.4320565386584985)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.104
INFO:root:Testing 55 out of 10992 hypotheses for montys_brain (evidence > 3.4320565386584985)
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: 4.597
INFO:root:Testing 174 out of 14880 hypotheses for montys_heart (evidence > 3.4320565386584985)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.061
INFO:root:Testing 550 out of 23200 hypotheses for ramen_pack (evidence > 3.4320565386584985)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.323
INFO:root:Testing 195 out of 14864 hypotheses for hot_sauce (evidence > 3.4320565386584985)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.021
INFO:root:Testing 276 out of 12560 hypotheses for harissa_oil (evidence > 3.4320565386584985)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.255
INFO:root:Testing 232 out of 21832 hypotheses for tomato_soup_can (evidence > 3.4320565386584985)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.104
INFO:root:Testing 64 out of 16976 hypotheses for mustard_bottle (evidence > 3.4320565386584985)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.379
INFO:root:Testing 896 out of 17728 hypotheses for tuna_fish_can (evidence > 3.4320565386584985)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 15.035
INFO:root:Testing 158 out of 19024 hypotheses for potted_meat_can (evidence > 3.4320565386584985)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.982
DEBUG:root:evidences for each object: [ 4.10363991  4.5970797   5.06084974 17.32313381  9.02058741  4.25517868
  4.10370697  5.37880462 15.03526398  7.98190969]
DEBUG:root:mean evidence: 7.686, std: 4.56 -> th=13.858507045033772
INFO:root:current most likely hypothesis: ramen_pack with evidence 17.32
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 77 ---
INFO:uvicorn.access:192.168.1.217:64597 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.10391738,  0.19984771,  0.97430081],
       [-0.88722303, -0.46134077,  0.        ],
       [ 0.44948468, -0.86442211,  0.22525081]]), 'pose_fully_defined': False}}, {'patch': array([-0.00821238,  0.02901767,  0.05312925])}]
INFO:root:Testing 16 out of 14424 hypotheses for numenta_mug (evidence > 3.464626761258442)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.46
INFO:root:Testing 43 out of 10992 hypotheses for montys_brain (evidence > 3.464626761258442)
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: 3.597
INFO:root:Testing 137 out of 14880 hypotheses for montys_heart (evidence > 3.464626761258442)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.061
INFO:root:Testing 542 out of 23200 hypotheses for ramen_pack (evidence > 3.464626761258442)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.323
INFO:root:Testing 195 out of 14864 hypotheses for hot_sauce (evidence > 3.464626761258442)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.021
INFO:root:Testing 171 out of 12560 hypotheses for harissa_oil (evidence > 3.464626761258442)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.464
INFO:root:Testing 114 out of 21832 hypotheses for tomato_soup_can (evidence > 3.464626761258442)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.464
INFO:root:Testing 54 out of 16976 hypotheses for mustard_bottle (evidence > 3.464626761258442)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.379
INFO:root:Testing 892 out of 17728 hypotheses for tuna_fish_can (evidence > 3.464626761258442)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 14.035
INFO:root:Testing 151 out of 19024 hypotheses for potted_meat_can (evidence > 3.464626761258442)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.982
DEBUG:root:evidences for each object: [ 3.45951086  3.5970797   4.06084974 16.32313381  8.02058741  3.46447926
  3.46425961  4.37880462 14.03526398  6.98190969]
DEBUG:root:mean evidence: 6.779, std: 4.49 -> th=13.058507045033773
INFO:root:current most likely hypothesis: ramen_pack with evidence 16.32
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 78 ---
INFO:uvicorn.access:192.168.1.217:64597 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.27476458,  0.17929618,  0.94464666],
       [-0.54648564, -0.83746848,  0.        ],
       [ 0.7911118 , -0.51623583,  0.32808946]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01047078, -0.01453719, -0.06339463])}]
INFO:root:Testing 334 out of 14424 hypotheses for numenta_mug (evidence > 3.2646267612584428)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.561
INFO:root:Testing 59 out of 10992 hypotheses for montys_brain (evidence > 3.2646267612584428)
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: 3.744
INFO:root:Testing 293 out of 14880 hypotheses for montys_heart (evidence > 3.2646267612584428)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.072
INFO:root:Testing 647 out of 23200 hypotheses for ramen_pack (evidence > 3.2646267612584428)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.834
INFO:root:Testing 167 out of 14864 hypotheses for hot_sauce (evidence > 3.2646267612584428)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.021
INFO:root:Testing 292 out of 12560 hypotheses for harissa_oil (evidence > 3.2646267612584428)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.502
INFO:root:Testing 593 out of 21832 hypotheses for tomato_soup_can (evidence > 3.2646267612584428)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.542
INFO:root:Testing 225 out of 16976 hypotheses for mustard_bottle (evidence > 3.2646267612584428)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.086
INFO:root:Testing 947 out of 17728 hypotheses for tuna_fish_can (evidence > 3.2646267612584428)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 14.157
INFO:root:Testing 209 out of 19024 hypotheses for potted_meat_can (evidence > 3.2646267612584428)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.881
DEBUG:root:evidences for each object: [ 3.56054244  3.74429741  4.07214666 15.83433085  7.02058741  3.50203883
  3.54224704  4.08615154 14.15714013  6.8812789 ]
DEBUG:root:mean evidence: 6.64, std: 4.378 -> th=12.667464682096888
INFO:root:current most likely hypothesis: ramen_pack with evidence 15.83
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 79 ---
INFO:uvicorn.access:192.168.1.217:64599 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.01492459,  0.20901359,  0.97779884],
       [-0.99746038, -0.07122355,  0.        ],
       [ 0.0696423 , -0.9753156 ,  0.20954576]]), 'pose_fully_defined': False}}, {'patch': array([-0.00805445,  0.02133515,  0.05746759])}]
INFO:root:Testing 333 out of 14424 hypotheses for numenta_mug (evidence > 3.166866170524221)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.615
INFO:root:Testing 105 out of 10992 hypotheses for montys_brain (evidence > 3.166866170524221)
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: 3.166
INFO:root:Testing 451 out of 14880 hypotheses for montys_heart (evidence > 3.166866170524221)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.167
INFO:root:Testing 735 out of 23200 hypotheses for ramen_pack (evidence > 3.166866170524221)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.834
INFO:root:Testing 272 out of 14864 hypotheses for hot_sauce (evidence > 3.166866170524221)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.021
INFO:root:Testing 338 out of 12560 hypotheses for harissa_oil (evidence > 3.166866170524221)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.166
INFO:root:Testing 552 out of 21832 hypotheses for tomato_soup_can (evidence > 3.166866170524221)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.616
INFO:root:Testing 332 out of 16976 hypotheses for mustard_bottle (evidence > 3.166866170524221)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.677
INFO:root:Testing 1124 out of 17728 hypotheses for tuna_fish_can (evidence > 3.166866170524221)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 13.157
INFO:root:Testing 279 out of 19024 hypotheses for potted_meat_can (evidence > 3.166866170524221)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.881
DEBUG:root:evidences for each object: [ 3.61471765  3.16645668  3.16659159 14.83433085  6.02058741  3.16643476
  3.61629218  3.67704713 13.15714013  5.8812789 ]
DEBUG:root:mean evidence: 6.03, std: 4.125 -> th=11.86746468209689
INFO:root:current most likely hypothesis: ramen_pack with evidence 14.83
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 80 ---
INFO:uvicorn.access:192.168.1.217:64601 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.24841936,  0.17386107,  0.9529219 ],
       [-0.57339045,  0.81928224,  0.        ],
       [-0.78071199, -0.54639632,  0.30321585]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01513731,  0.00291363, -0.05946191])}]
INFO:root:Testing 494 out of 14424 hypotheses for numenta_mug (evidence > 2.966866170524222)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.773
INFO:root:Testing 151 out of 10992 hypotheses for montys_brain (evidence > 2.966866170524222)
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: 2.966
INFO:root:Testing 525 out of 14880 hypotheses for montys_heart (evidence > 2.966866170524222)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.482
INFO:root:Testing 1104 out of 23200 hypotheses for ramen_pack (evidence > 2.966866170524222)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.564
INFO:root:Testing 434 out of 14864 hypotheses for hot_sauce (evidence > 2.966866170524222)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.021
INFO:root:Testing 415 out of 12560 hypotheses for harissa_oil (evidence > 2.966866170524222)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.444
INFO:root:Testing 707 out of 21832 hypotheses for tomato_soup_can (evidence > 2.966866170524222)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.473
INFO:root:Testing 681 out of 16976 hypotheses for mustard_bottle (evidence > 2.966866170524222)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.513
INFO:root:Testing 1035 out of 17728 hypotheses for tuna_fish_can (evidence > 2.966866170524222)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 13.118
INFO:root:Testing 559 out of 19024 hypotheses for potted_meat_can (evidence > 2.966866170524222)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.881
DEBUG:root:evidences for each object: [ 3.77313553  2.96591674  3.48165739 14.56368974  5.02058741  3.44395783
  3.473164    3.51266922 13.11837335  4.8812789 ]
DEBUG:root:mean evidence: 5.823, std: 4.068 -> th=11.650951793777105
INFO:root:current most likely hypothesis: ramen_pack with evidence 14.56
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 81 ---
INFO:uvicorn.access:192.168.1.217:64601 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.49391494,  0.26034792,  0.82961858],
       [-0.46629711,  0.88462817,  0.        ],
       [-0.73390397, -0.38684875,  0.55833056]]), 'pose_fully_defined': False}}, {'patch': array([0.00482035, 0.00555399, 0.00053242])}]
INFO:root:Testing 349 out of 14424 hypotheses for numenta_mug (evidence > 2.912737948444276)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.08
INFO:root:Testing 82 out of 10992 hypotheses for montys_brain (evidence > 2.912737948444276)
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: 2.912
INFO:root:Testing 298 out of 14880 hypotheses for montys_heart (evidence > 2.912737948444276)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.766
INFO:root:Testing 755 out of 23200 hypotheses for ramen_pack (evidence > 2.912737948444276)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.41
INFO:root:Testing 288 out of 14864 hypotheses for hot_sauce (evidence > 2.912737948444276)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.021
INFO:root:Testing 249 out of 12560 hypotheses for harissa_oil (evidence > 2.912737948444276)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.796
INFO:root:Testing 448 out of 21832 hypotheses for tomato_soup_can (evidence > 2.912737948444276)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.933
INFO:root:Testing 520 out of 16976 hypotheses for mustard_bottle (evidence > 2.912737948444276)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.938
INFO:root:Testing 723 out of 17728 hypotheses for tuna_fish_can (evidence > 2.912737948444276)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 12.706
INFO:root:Testing 465 out of 19024 hypotheses for potted_meat_can (evidence > 2.912737948444276)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.336
DEBUG:root:evidences for each object: [ 4.07975715  2.91166274  3.76622192 14.4099735   4.02058741  3.79556081
  3.93258475  3.93822699 12.70611643  4.33598808]
DEBUG:root:mean evidence: 5.79, std: 3.918 -> th=11.527978797937617
INFO:root:current most likely hypothesis: ramen_pack with evidence 14.41
DEBUG:root:evidences for each object: [ 4.07975715  2.91166274  3.76622192 14.4099735   4.02058741  3.79556081
  3.93258475  3.93822699 12.70611643  4.33598808]
DEBUG:root:mean evidence: 5.79, std: 3.918 -> th=11.527978797937617
DEBUG:root:evidences for each object: [ 4.07975715  2.91166274  3.76622192 14.4099735   4.02058741  3.79556081
  3.93258475  3.93822699 12.70611643  4.33598808]
DEBUG:root:mean evidence: 5.79, std: 3.918 -> th=12.24847747280872
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 82 ---
INFO:uvicorn.access:192.168.1.217:64601 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64601 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.15365659,  0.22272517,  0.96269577],
       [-0.82312119,  0.56786575,  0.        ],
       [-0.54668195, -0.79241529,  0.27058612]]), 'pose_fully_defined': False}}, {'patch': array([-6.27193429e-03,  8.81235111e-03,  6.06211482e-05])}]
INFO:root:Testing 244 out of 14424 hypotheses for numenta_mug (evidence > 2.8819946994844035)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.268
INFO:root:Testing 50 out of 10992 hypotheses for montys_brain (evidence > 2.8819946994844035)
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: 2.882
INFO:root:Testing 160 out of 14880 hypotheses for montys_heart (evidence > 2.8819946994844035)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.802
INFO:root:Testing 559 out of 23200 hypotheses for ramen_pack (evidence > 2.8819946994844035)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.41
INFO:root:Testing 227 out of 14864 hypotheses for hot_sauce (evidence > 2.8819946994844035)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.372
INFO:root:Testing 191 out of 12560 hypotheses for harissa_oil (evidence > 2.8819946994844035)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.957
INFO:root:Testing 293 out of 21832 hypotheses for tomato_soup_can (evidence > 2.8819946994844035)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.385
INFO:root:Testing 400 out of 16976 hypotheses for mustard_bottle (evidence > 2.8819946994844035)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.326
INFO:root:Testing 575 out of 17728 hypotheses for tuna_fish_can (evidence > 2.8819946994844035)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 11.706
INFO:root:Testing 328 out of 19024 hypotheses for potted_meat_can (evidence > 2.8819946994844035)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.347
DEBUG:root:evidences for each object: [ 4.26803496  2.88172848  3.80201427 13.4099735   4.37210849  3.95703553
  4.38518571  4.3257181  11.70611643  4.34729876]
DEBUG:root:mean evidence: 5.746, std: 3.455 -> th=10.727978797937618
INFO:root:current most likely hypothesis: ramen_pack with evidence 13.41
DEBUG:root:evidences for each object: [ 4.26803496  2.88172848  3.80201427 13.4099735   4.37210849  3.95703553
  4.38518571  4.3257181  11.70611643  4.34729876]
DEBUG:root:mean evidence: 5.746, std: 3.455 -> th=10.727978797937618
DEBUG:root:evidences for each object: [ 4.26803496  2.88172848  3.80201427 13.4099735   4.37210849  3.95703553
  4.38518571  4.3257181  11.70611643  4.34729876]
DEBUG:root:mean evidence: 5.746, std: 3.455 -> th=11.398477472808718
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 83 ---
INFO:uvicorn.access:192.168.1.217:64601 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64601 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.1936112 ,  0.22285464,  0.95543211],
       [-0.75489971,  0.65584024,  0.        ],
       [-0.62661083, -0.72125543,  0.29521092]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00218981,  0.00878795, -0.00232454])}]
INFO:root:Testing 1119 out of 14424 hypotheses for numenta_mug (evidence > 2.681994699484404)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.541
INFO:root:Testing 310 out of 10992 hypotheses for montys_brain (evidence > 2.681994699484404)
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: 2.682
INFO:root:Testing 1014 out of 14880 hypotheses for montys_heart (evidence > 2.681994699484404)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.01
INFO:root:Testing 1916 out of 23200 hypotheses for ramen_pack (evidence > 2.681994699484404)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 12.41
INFO:root:Testing 846 out of 14864 hypotheses for hot_sauce (evidence > 2.681994699484404)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.653
INFO:root:Testing 807 out of 12560 hypotheses for harissa_oil (evidence > 2.681994699484404)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.957
INFO:root:Testing 1418 out of 21832 hypotheses for tomato_soup_can (evidence > 2.681994699484404)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.836
INFO:root:Testing 1874 out of 16976 hypotheses for mustard_bottle (evidence > 2.681994699484404)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 4.567
INFO:root:Testing 1138 out of 17728 hypotheses for tuna_fish_can (evidence > 2.681994699484404)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 10.706
INFO:root:Testing 1482 out of 19024 hypotheses for potted_meat_can (evidence > 2.681994699484404)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.489
DEBUG:root:evidences for each object: [ 4.54089774  2.68156694  4.00972513 12.4099735   4.65278229  2.95703553
  4.83629268  4.56662945 10.70611643  4.48867259]
DEBUG:root:mean evidence: 5.585, std: 3.088 -> th=9.927978797937618
INFO:root:current most likely hypothesis: ramen_pack with evidence 12.41
DEBUG:root:evidences for each object: [ 4.54089774  2.68156694  4.00972513 12.4099735   4.65278229  2.95703553
  4.83629268  4.56662945 10.70611643  4.48867259]
DEBUG:root:mean evidence: 5.585, std: 3.088 -> th=9.927978797937618
DEBUG:root:evidences for each object: [ 4.54089774  2.68156694  4.00972513 12.4099735   4.65278229  2.95703553
  4.83629268  4.56662945 10.70611643  4.48867259]
DEBUG:root:mean evidence: 5.585, std: 3.088 -> th=10.54847747280872
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 84 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.24311447,  0.18986024,  0.95123522],
       [-0.6154972 ,  0.78813908,  0.        ],
       [-0.74970565, -0.58548261,  0.30846646]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00591029, -0.01609015,  0.0482483 ])}]
INFO:root:Testing 1210 out of 14424 hypotheses for numenta_mug (evidence > 2.481994699484403)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.675
INFO:root:Testing 356 out of 10992 hypotheses for montys_brain (evidence > 2.481994699484403)
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: 2.481
INFO:root:Testing 901 out of 14880 hypotheses for montys_heart (evidence > 2.481994699484403)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.184
INFO:root:Testing 2002 out of 23200 hypotheses for ramen_pack (evidence > 2.481994699484403)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 11.638
INFO:root:Testing 975 out of 14864 hypotheses for hot_sauce (evidence > 2.481994699484403)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.653
INFO:root:Testing 829 out of 12560 hypotheses for harissa_oil (evidence > 2.481994699484403)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.482
INFO:root:Testing 1551 out of 21832 hypotheses for tomato_soup_can (evidence > 2.481994699484403)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 3.836
INFO:root:Testing 2095 out of 16976 hypotheses for mustard_bottle (evidence > 2.481994699484403)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 3.567
INFO:root:Testing 1196 out of 17728 hypotheses for tuna_fish_can (evidence > 2.481994699484403)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 9.706
INFO:root:Testing 1588 out of 19024 hypotheses for potted_meat_can (evidence > 2.481994699484403)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 3.586
DEBUG:root:evidences for each object: [ 3.67457997  2.48119013  3.18447773 11.63754106  3.65278229  2.48185763
  3.83629268  3.56662945  9.70611643  3.58587596]
DEBUG:root:mean evidence: 4.781, std: 3.011 -> th=9.310032851067998
INFO:root:current most likely hypothesis: ramen_pack with evidence 11.64
DEBUG:root:evidences for each object: [ 3.67457997  2.48119013  3.18447773 11.63754106  3.65278229  2.48185763
  3.83629268  3.56662945  9.70611643  3.58587596]
DEBUG:root:mean evidence: 4.781, std: 3.011 -> th=9.310032851067998
DEBUG:root:evidences for each object: [ 3.67457997  2.48119013  3.18447773 11.63754106  3.65278229  2.48185763
  3.83629268  3.56662945  9.70611643  3.58587596]
DEBUG:root:mean evidence: 4.781, std: 3.011 -> th=9.891909904259748
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 85 ---
INFO:uvicorn.access:192.168.1.217:64601 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.24174471,  0.18484342,  0.95257147],
       [-0.60740824, -0.79438984,  0.        ],
       [ 0.7567131 , -0.57859976,  0.30431496]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0182795 , -0.01324867,  0.01745915])}]
INFO:root:Testing 997 out of 14424 hypotheses for numenta_mug (evidence > 2.3275082127669986)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.277
INFO:root:Testing 378 out of 10992 hypotheses for montys_brain (evidence > 2.3275082127669986)
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: 2.327
INFO:root:Testing 788 out of 14880 hypotheses for montys_heart (evidence > 2.3275082127669986)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.641
INFO:root:Testing 1970 out of 23200 hypotheses for ramen_pack (evidence > 2.3275082127669986)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 12.043
INFO:root:Testing 767 out of 14864 hypotheses for hot_sauce (evidence > 2.3275082127669986)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.987
INFO:root:Testing 733 out of 12560 hypotheses for harissa_oil (evidence > 2.3275082127669986)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.327
INFO:root:Testing 1338 out of 21832 hypotheses for tomato_soup_can (evidence > 2.3275082127669986)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.033
INFO:root:Testing 1708 out of 16976 hypotheses for mustard_bottle (evidence > 2.3275082127669986)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 3.326
INFO:root:Testing 998 out of 17728 hypotheses for tuna_fish_can (evidence > 2.3275082127669986)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.706
INFO:root:Testing 1181 out of 19024 hypotheses for potted_meat_can (evidence > 2.3275082127669986)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.387
DEBUG:root:evidences for each object: [ 3.27707537  2.32735629  2.64119812 12.04279825  2.98711756  2.32748723
  3.03301413  3.32634963  8.70611643  3.38682818]
DEBUG:root:mean evidence: 4.406, std: 3.097 -> th=9.634238599433163
INFO:root:current most likely hypothesis: ramen_pack with evidence 12.04
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 86 ---
INFO:uvicorn.access:192.168.1.217:64601 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.32278081,  0.25617346,  0.91114637],
       [-0.62165521,  0.78329101,  0.        ],
       [-0.71369276, -0.56641889,  0.41208287]]), 'pose_fully_defined': False}}, {'patch': array([-0.02008778, -0.03695699, -0.0440106 ])}]
INFO:root:Testing 6 out of 14424 hypotheses for numenta_mug (evidence > 2.40855964985829)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.448
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.327
INFO:root:Testing 2 out of 14880 hypotheses for montys_heart (evidence > 2.40855964985829)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.327
INFO:root:Testing 593 out of 23200 hypotheses for ramen_pack (evidence > 2.40855964985829)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.043
INFO:root:Testing 27 out of 14864 hypotheses for hot_sauce (evidence > 2.40855964985829)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.883
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.327
INFO:root:Testing 19 out of 21832 hypotheses for tomato_soup_can (evidence > 2.40855964985829)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.21
INFO:root:Testing 134 out of 16976 hypotheses for mustard_bottle (evidence > 2.40855964985829)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.882
INFO:root:Testing 242 out of 17728 hypotheses for tuna_fish_can (evidence > 2.40855964985829)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.707
INFO:root:Testing 23 out of 19024 hypotheses for potted_meat_can (evidence > 2.40855964985829)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 2.403
DEBUG:root:evidences for each object: [ 3.44820479  2.32735629  2.32701077 11.04279825  2.88325092  2.32748723
  3.20984793  2.88193502  8.70663374  2.40328892]
DEBUG:root:mean evidence: 4.156, std: 2.931 -> th=8.834238599433162
INFO:root:current most likely hypothesis: ramen_pack with evidence 11.04
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 87 ---
INFO:uvicorn.access:192.168.1.217:64603 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.52298276,  0.267903  ,  0.80914586],
       [-0.45592141,  0.89002004,  0.        ],
       [-0.72015603, -0.36890692,  0.58760785]]), 'pose_fully_defined': False}}, {'patch': array([-0.0005927 , -0.00054636, -0.00469127])}]
INFO:root:Testing 920 out of 14424 hypotheses for numenta_mug (evidence > 2.208559649858291)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.614
INFO:root:Testing 317 out of 10992 hypotheses for montys_brain (evidence > 2.208559649858291)
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: 2.812
INFO:root:Testing 834 out of 14880 hypotheses for montys_heart (evidence > 2.208559649858291)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.797
INFO:root:Testing 1655 out of 23200 hypotheses for ramen_pack (evidence > 2.208559649858291)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 10.043
INFO:root:Testing 677 out of 14864 hypotheses for hot_sauce (evidence > 2.208559649858291)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.361
INFO:root:Testing 672 out of 12560 hypotheses for harissa_oil (evidence > 2.208559649858291)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.801
INFO:root:Testing 1232 out of 21832 hypotheses for tomato_soup_can (evidence > 2.208559649858291)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.663
INFO:root:Testing 1214 out of 16976 hypotheses for mustard_bottle (evidence > 2.208559649858291)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.268
INFO:root:Testing 1015 out of 17728 hypotheses for tuna_fish_can (evidence > 2.208559649858291)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.527
INFO:root:Testing 983 out of 19024 hypotheses for potted_meat_can (evidence > 2.208559649858291)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 2.807
DEBUG:root:evidences for each object: [ 3.61374938  2.8121502   2.79726115 10.04279825  3.36075463  2.80069933
  3.66259406  3.26820874  8.52669512  2.80658173]
DEBUG:root:mean evidence: 4.369, std: 2.501 -> th=8.034238599433163
INFO:root:current most likely hypothesis: ramen_pack with evidence 10.04
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 88 ---
INFO:uvicorn.access:192.168.1.217:64604 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.66622158,  0.20093151,  0.718175  ],
       [-0.28875173,  0.95740401,  0.        ],
       [-0.68758363, -0.20737427,  0.69586253]]), 'pose_fully_defined': False}}, {'patch': array([-0.00649471, -0.01351801,  0.00955991])}]
INFO:root:Testing 2122 out of 14424 hypotheses for numenta_mug (evidence > 2.00855964985829)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 3.812
INFO:root:Testing 859 out of 10992 hypotheses for montys_brain (evidence > 2.00855964985829)
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: 3.265
INFO:root:Testing 1970 out of 14880 hypotheses for montys_heart (evidence > 2.00855964985829)
DEBUG:root:Calculating evidence for montys_heart using input 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: 3.272
INFO:root:Testing 3307 out of 23200 hypotheses for ramen_pack (evidence > 2.00855964985829)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 9.765
INFO:root:Testing 1561 out of 14864 hypotheses for hot_sauce (evidence > 2.00855964985829)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.697
INFO:root:Testing 1649 out of 12560 hypotheses for harissa_oil (evidence > 2.00855964985829)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.233
INFO:root:Testing 2857 out of 21832 hypotheses for tomato_soup_can (evidence > 2.00855964985829)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 4.146
INFO:root:Testing 2433 out of 16976 hypotheses for mustard_bottle (evidence > 2.00855964985829)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 3.274
INFO:root:Testing 2056 out of 17728 hypotheses for tuna_fish_can (evidence > 2.00855964985829)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 8.328
INFO:root:Testing 2304 out of 19024 hypotheses for potted_meat_can (evidence > 2.00855964985829)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 3.237
DEBUG:root:evidences for each object: [3.81176383 3.26538461 3.27176551 9.76516971 3.69716945 3.23333013
 4.14599133 3.27389531 8.3279225  3.23716346]
DEBUG:root:mean evidence: 4.603, std: 2.264 -> th=7.812135770556964
INFO:root:current most likely hypothesis: ramen_pack with evidence 9.77
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 89 ---
INFO:uvicorn.access:192.168.1.217:64604 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.70768275,  0.19213911,  0.6799027 ],
       [-0.26201895,  0.96506273,  0.        ],
       [-0.65614876, -0.17814739,  0.73330234]]), 'pose_fully_defined': False}}, {'patch': array([-0.0007164 ,  0.01460749, -0.00270112])}]
INFO:root:Testing 1720 out of 14424 hypotheses for numenta_mug (evidence > 1.953033942639241)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.307
INFO:root:Testing 870 out of 10992 hypotheses for montys_brain (evidence > 1.953033942639241)
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: 3.678
INFO:root:Testing 1844 out of 14880 hypotheses for montys_heart (evidence > 1.953033942639241)
DEBUG:root:Calculating evidence for montys_heart using input 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: 3.726
INFO:root:Testing 1968 out of 23200 hypotheses for ramen_pack (evidence > 1.953033942639241)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 9.471
INFO:root:Testing 1276 out of 14864 hypotheses for hot_sauce (evidence > 1.953033942639241)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.08
INFO:root:Testing 1568 out of 12560 hypotheses for harissa_oil (evidence > 1.953033942639241)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.683
INFO:root:Testing 2534 out of 21832 hypotheses for tomato_soup_can (evidence > 1.953033942639241)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 4.588
INFO:root:Testing 1592 out of 16976 hypotheses for mustard_bottle (evidence > 1.953033942639241)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.718
INFO:root:Testing 1441 out of 17728 hypotheses for tuna_fish_can (evidence > 1.953033942639241)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.147
INFO:root:Testing 1498 out of 19024 hypotheses for potted_meat_can (evidence > 1.953033942639241)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 3.689
DEBUG:root:evidences for each object: [4.30711325 3.67753755 3.72596176 9.47111524 4.07994811 3.68259654
 4.58808992 3.71837693 8.1472872  3.68894562]
DEBUG:root:mean evidence: 4.909, std: 1.994 -> th=7.5768921899869
INFO:root:current most likely hypothesis: ramen_pack with evidence 9.47
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 90 ---
INFO:uvicorn.access:192.168.1.217:64604 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.96082518,  0.09653214,  0.25980091],
       [-0.09996471,  0.99499098,  0.        ],
       [-0.25849956, -0.02597092,  0.9656622 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00025102,  0.005607  , -0.00279918])}]
INFO:root:Testing 1857 out of 14424 hypotheses for numenta_mug (evidence > 1.894223047496725)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 4.631
INFO:root:Testing 950 out of 10992 hypotheses for montys_brain (evidence > 1.894223047496725)
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: 3.928
INFO:root:Testing 1933 out of 14880 hypotheses for montys_heart (evidence > 1.894223047496725)
DEBUG:root:Calculating evidence for montys_heart using input 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: 4.192
INFO:root:Testing 1977 out of 23200 hypotheses for ramen_pack (evidence > 1.894223047496725)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 9.05
INFO:root:Testing 1119 out of 14864 hypotheses for hot_sauce (evidence > 1.894223047496725)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.218
INFO:root:Testing 1704 out of 12560 hypotheses for harissa_oil (evidence > 1.894223047496725)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.0
INFO:root:Testing 2730 out of 21832 hypotheses for tomato_soup_can (evidence > 1.894223047496725)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 4.78
INFO:root:Testing 1618 out of 16976 hypotheses for mustard_bottle (evidence > 1.894223047496725)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.975
INFO:root:Testing 1513 out of 17728 hypotheses for tuna_fish_can (evidence > 1.894223047496725)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.748
INFO:root:Testing 1475 out of 19024 hypotheses for potted_meat_can (evidence > 1.894223047496725)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 3.908
DEBUG:root:evidences for each object: [4.63116637 3.92835675 4.19247917 9.05042334 4.21845834 4.00026728
 4.77972365 3.97499584 7.74845331 3.9076739 ]
DEBUG:root:mean evidence: 5.043, std: 1.726 -> th=7.240338670507453
INFO:root:current most likely hypothesis: ramen_pack with evidence 9.05
DEBUG:root:evidences for each object: [4.63116637 3.92835675 4.19247917 9.05042334 4.21845834 4.00026728
 4.77972365 3.97499584 7.74845331 3.9076739 ]
DEBUG:root:mean evidence: 5.043, std: 1.726 -> th=7.240338670507453
DEBUG:root:evidences for each object: [4.63116637 3.92835675 4.19247917 9.05042334 4.21845834 4.00026728
 4.77972365 3.97499584 7.74845331 3.9076739 ]
DEBUG:root:mean evidence: 5.043, std: 1.726 -> th=7.692859837414169
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 91 ---
INFO:uvicorn.access:192.168.1.217:64604 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.84820133,  0.15188494,  0.50743026],
       [-0.17626344,  0.98434303,  0.        ],
       [-0.49948544, -0.0894414 ,  0.86169283]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00210064,  0.00849477, -0.00958519])}]
INFO:root:Testing 2366 out of 14424 hypotheses for numenta_mug (evidence > 1.810084667626863)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 5.101
INFO:root:Testing 1352 out of 10992 hypotheses for montys_brain (evidence > 1.810084667626863)
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: 4.252
INFO:root:Testing 2534 out of 14880 hypotheses for montys_heart (evidence > 1.810084667626863)
DEBUG:root:Calculating evidence for montys_heart using input 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: 4.538
INFO:root:Testing 2656 out of 23200 hypotheses for ramen_pack (evidence > 1.810084667626863)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 8.05
INFO:root:Testing 1494 out of 14864 hypotheses for hot_sauce (evidence > 1.810084667626863)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.69
INFO:root:Testing 2095 out of 12560 hypotheses for harissa_oil (evidence > 1.810084667626863)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 4.475
INFO:root:Testing 3340 out of 21832 hypotheses for tomato_soup_can (evidence > 1.810084667626863)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 5.113
INFO:root:Testing 2109 out of 16976 hypotheses for mustard_bottle (evidence > 1.810084667626863)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 4.359
INFO:root:Testing 1960 out of 17728 hypotheses for tuna_fish_can (evidence > 1.810084667626863)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 7.411
INFO:root:Testing 1941 out of 19024 hypotheses for potted_meat_can (evidence > 1.810084667626863)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 4.344
DEBUG:root:evidences for each object: [5.10077518 4.25222017 4.53843529 8.05042334 4.6903815  4.47458187
 5.11293261 4.35868885 7.41116005 4.34365987]
DEBUG:root:mean evidence: 5.233, std: 1.288 -> th=6.440338670507453
INFO:root:current most likely hypothesis: ramen_pack with evidence 8.05
DEBUG:root:evidences for each object: [5.10077518 4.25222017 4.53843529 8.05042334 4.6903815  4.47458187
 5.11293261 4.35868885 7.41116005 4.34365987]
DEBUG:root:mean evidence: 5.233, std: 1.288 -> th=6.440338670507453
DEBUG:root:evidences for each object: [5.10077518 4.25222017 4.53843529 8.05042334 4.6903815  4.47458187
 5.11293261 4.35868885 7.41116005 4.34365987]
DEBUG:root:mean evidence: 5.233, std: 1.288 -> th=6.842859837414168
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 92 ---
INFO:uvicorn.access:192.168.1.217:64604 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99062503,  0.11133534,  0.07916122],
       [-0.11168583,  0.99374357,  0.        ],
       [-0.07866596, -0.00884119,  0.99686183]]), 'pose_fully_defined': False}}, {'patch': array([-0.00125005,  0.00730039,  0.00198299])}]
INFO:root:Testing 3749 out of 14424 hypotheses for numenta_mug (evidence > 1.6100846676268628)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 5.389
INFO:root:Testing 2393 out of 10992 hypotheses for montys_brain (evidence > 1.6100846676268628)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 4.358
INFO:root:Testing 4247 out of 14880 hypotheses for montys_heart (evidence > 1.6100846676268628)
DEBUG:root:Calculating evidence for montys_heart using input 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: 4.844
INFO:root:Testing 4661 out of 23200 hypotheses for ramen_pack (evidence > 1.6100846676268628)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 7.6
INFO:root:Testing 2939 out of 14864 hypotheses for hot_sauce (evidence > 1.6100846676268628)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 4.895
INFO:root:Testing 3289 out of 12560 hypotheses for harissa_oil (evidence > 1.6100846676268628)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 4.838
INFO:root:Testing 5196 out of 21832 hypotheses for tomato_soup_can (evidence > 1.6100846676268628)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 5.158
INFO:root:Testing 4044 out of 16976 hypotheses for mustard_bottle (evidence > 1.6100846676268628)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 4.624
INFO:root:Testing 3524 out of 17728 hypotheses for tuna_fish_can (evidence > 1.6100846676268628)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 6.966
INFO:root:Testing 3619 out of 19024 hypotheses for potted_meat_can (evidence > 1.6100846676268628)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 4.662
DEBUG:root:evidences for each object: [5.38910862 4.35761173 4.84364115 7.59996626 4.8951539  4.83829785
 5.15805218 4.62441894 6.96604156 4.66164904]
DEBUG:root:mean evidence: 5.333, std: 1.021 -> th=6.079973006779045
INFO:root:current most likely hypothesis: ramen_pack with evidence 7.6
DEBUG:root:evidences for each object: [5.38910862 4.35761173 4.84364115 7.59996626 4.8951539  4.83829785
 5.15805218 4.62441894 6.96604156 4.66164904]
DEBUG:root:mean evidence: 5.333, std: 1.021 -> th=6.079973006779045
DEBUG:root:evidences for each object: [5.38910862 4.35761173 4.84364115 7.59996626 4.8951539  4.83829785
 5.15805218 4.62441894 6.96604156 4.66164904]
DEBUG:root:mean evidence: 5.333, std: 1.021 -> th=6.459971319702735
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 93 ---
INFO:uvicorn.access:192.168.1.217:64606 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.91432391,  0.03704192,  0.4032861 ],
       [-0.0404797 ,  0.99918036,  0.        ],
       [-0.40295555, -0.0163249 ,  0.91507394]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0015838 , -0.04038363,  0.01312986])}]
INFO:root:Testing 2833 out of 14424 hypotheses for numenta_mug (evidence > 1.5199932516947605)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 5.738
INFO:root:Testing 1543 out of 10992 hypotheses for montys_brain (evidence > 1.5199932516947605)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 4.672
INFO:root:Testing 3512 out of 14880 hypotheses for montys_heart (evidence > 1.5199932516947605)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 5.212
INFO:root:Testing 3116 out of 23200 hypotheses for ramen_pack (evidence > 1.5199932516947605)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 7.207
INFO:root:Testing 2115 out of 14864 hypotheses for hot_sauce (evidence > 1.5199932516947605)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 5.067
INFO:root:Testing 2516 out of 12560 hypotheses for harissa_oil (evidence > 1.5199932516947605)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 5.209
INFO:root:Testing 3829 out of 21832 hypotheses for tomato_soup_can (evidence > 1.5199932516947605)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 5.489
INFO:root:Testing 3135 out of 16976 hypotheses for mustard_bottle (evidence > 1.5199932516947605)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 5.015
INFO:root:Testing 2640 out of 17728 hypotheses for tuna_fish_can (evidence > 1.5199932516947605)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 6.971
INFO:root:Testing 2718 out of 19024 hypotheses for potted_meat_can (evidence > 1.5199932516947605)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 4.971
DEBUG:root:evidences for each object: [5.73829208 4.67237781 5.21200651 7.20689136 5.06700163 5.20949728
 5.48883098 5.01538958 6.97062249 4.97051246]
DEBUG:root:mean evidence: 5.555, std: 0.816 -> th=5.765513091347003
INFO:root:current most likely hypothesis: ramen_pack with evidence 7.21
DEBUG:root:evidences for each object: [5.73829208 4.67237781 5.21200651 7.20689136 5.06700163 5.20949728
 5.48883098 5.01538958 6.97062249 4.97051246]
DEBUG:root:mean evidence: 5.555, std: 0.816 -> th=5.765513091347003
DEBUG:root:evidences for each object: [5.73829208 4.67237781 5.21200651 7.20689136 5.06700163 5.20949728
 5.48883098 5.01538958 6.97062249 4.97051246]
DEBUG:root:mean evidence: 5.555, std: 0.816 -> th=6.125857659556191
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 94 ---
INFO:uvicorn.access:192.168.1.217:64606 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.91722318,  0.03642164,  0.39670532],
       [-0.03967733,  0.99921254,  0.        ],
       [-0.39639293, -0.01574021,  0.91794602]]), 'pose_fully_defined': False}}, {'patch': array([-0.00072969,  0.01575385, -0.0016387 ])}]
INFO:root:Testing 2816 out of 14424 hypotheses for numenta_mug (evidence > 1.4413782728367508)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 6.196
INFO:root:Testing 2165 out of 10992 hypotheses for montys_brain (evidence > 1.4413782728367508)
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: 5.077
INFO:root:Testing 3855 out of 14880 hypotheses for montys_heart (evidence > 1.4413782728367508)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 5.639
INFO:root:Testing 3173 out of 23200 hypotheses for ramen_pack (evidence > 1.4413782728367508)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 6.812
INFO:root:Testing 2422 out of 14864 hypotheses for hot_sauce (evidence > 1.4413782728367508)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 5.277
INFO:root:Testing 2734 out of 12560 hypotheses for harissa_oil (evidence > 1.4413782728367508)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
INFO:uvicorn.access:192.168.1.217:64606 - "POST /capture HTTP/1.1" 200
DEBUG:root:evidence update for harissa_oil took 0.01 seconds. New max evidence: 5.612
INFO:root:Testing 4087 out of 21832 hypotheses for tomato_soup_can (evidence > 1.4413782728367508)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 5.768
INFO:root:Testing 3018 out of 16976 hypotheses for mustard_bottle (evidence > 1.4413782728367508)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 5.515
INFO:root:Testing 2409 out of 17728 hypotheses for tuna_fish_can (evidence > 1.4413782728367508)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 6.678
INFO:root:Testing 2560 out of 19024 hypotheses for potted_meat_can (evidence > 1.4413782728367508)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 5.371
DEBUG:root:evidences for each object: [6.19568194 5.07735861 5.63916166 6.81230226 5.27670492 5.6119697
 5.76757328 5.51538958 6.67829806 5.37050775]
DEBUG:root:mean evidence: 5.794, std: 0.555 -> th=5.4498418071714205
INFO:root:current most likely hypothesis: ramen_pack with evidence 6.81
DEBUG:root:evidences for each object: [6.19568194 5.07735861 5.63916166 6.81230226 5.27670492 5.6119697
 5.76757328 5.51538958 6.67829806 5.37050775]
DEBUG:root:mean evidence: 5.794, std: 0.555 -> th=5.4498418071714205
DEBUG:root:evidences for each object: [6.19568194 5.07735861 5.63916166 6.81230226 5.27670492 5.6119697
 5.76757328 5.51538958 6.67829806 5.37050775]
DEBUG:root:mean evidence: 5.794, std: 0.555 -> th=5.7904569201196345
DEBUG:root:Hypothesis jump indicated: sufficient steps elapsed with no jump
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'ramen_pack', 'tomato_soup_can', 'montys_heart', 'tuna_fish_can', 'numenta_mug', 'harissa_oil'}
INFO:root:--- Global Matching Step 95 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.86411977,  0.04753564,  0.50103631],
       [-0.05492743,  0.99849035,  0.        ],
       [-0.50027992, -0.02752064,  0.86542627]]), 'pose_fully_defined': False}}, {'patch': array([-0.00047658,  0.0144241 , -0.00895464])}]
INFO:root:Testing 3281 out of 14424 hypotheses for numenta_mug (evidence > 1.3624604517928551)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 6.622
INFO:root:Testing 2584 out of 10992 hypotheses for montys_brain (evidence > 1.3624604517928551)
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: 5.315
INFO:root:Testing 4191 out of 14880 hypotheses for montys_heart (evidence > 1.3624604517928551)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 6.067
INFO:root:Testing 3085 out of 23200 hypotheses for ramen_pack (evidence > 1.3624604517928551)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 6.444
INFO:root:Testing 2521 out of 14864 hypotheses for hot_sauce (evidence > 1.3624604517928551)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 5.688
INFO:root:Testing 3087 out of 12560 hypotheses for harissa_oil (evidence > 1.3624604517928551)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.01 seconds. New max evidence: 6.099
INFO:root:Testing 4648 out of 21832 hypotheses for tomato_soup_can (evidence > 1.3624604517928551)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 6.1
INFO:root:Testing 3232 out of 16976 hypotheses for mustard_bottle (evidence > 1.3624604517928551)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 5.912
INFO:root:Testing 2383 out of 17728 hypotheses for tuna_fish_can (evidence > 1.3624604517928551)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 6.332
INFO:root:Testing 2822 out of 19024 hypotheses for potted_meat_can (evidence > 1.3624604517928551)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 5.858
DEBUG:root:evidences for each object: [6.62151216 5.31523747 6.06667457 6.44417548 5.68815502 6.09883308
 6.10004911 5.91230912 6.33183215 5.85821331]
DEBUG:root:mean evidence: 6.044, std: 0.36 -> th=5.297209730886658
INFO:root:current most likely hypothesis: numenta_mug with evidence 6.62
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'harissa_oil', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'montys_brain'}
INFO:root:--- Global Matching Step 96 ---
INFO:uvicorn.access:192.168.1.217:64606 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98371416,  0.0212018 ,  0.17848512],
       [-0.0215478 ,  0.99976782,  0.        ],
       [-0.17844368, -0.00384596,  0.98394261]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00083553,  0.0069682 , -0.00331152])}]
INFO:root:Testing 2795 out of 14424 hypotheses for numenta_mug (evidence > 1.3243024327216641)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 7.006
INFO:root:Testing 2002 out of 10992 hypotheses for montys_brain (evidence > 1.3243024327216641)
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: 5.591
INFO:root:Testing 3609 out of 14880 hypotheses for montys_heart (evidence > 1.3243024327216641)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 6.476
INFO:root:Testing 2214 out of 23200 hypotheses for ramen_pack (evidence > 1.3243024327216641)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 5.92
INFO:root:Testing 1772 out of 14864 hypotheses for hot_sauce (evidence > 1.3243024327216641)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.019
INFO:root:Testing 2410 out of 12560 hypotheses for harissa_oil (evidence > 1.3243024327216641)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.01 seconds. New max evidence: 6.532
INFO:root:Testing 3789 out of 21832 hypotheses for tomato_soup_can (evidence > 1.3243024327216641)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 6.545
INFO:root:Testing 2484 out of 16976 hypotheses for mustard_bottle (evidence > 1.3243024327216641)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 6.214
INFO:root:Testing 1867 out of 17728 hypotheses for tuna_fish_can (evidence > 1.3243024327216641)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 5.903
INFO:root:Testing 2000 out of 19024 hypotheses for potted_meat_can (evidence > 1.3243024327216641)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 6.206
DEBUG:root:evidences for each object: [7.00637428 5.59082303 6.47581239 5.92001031 6.0192077  6.5319621
 6.54457936 6.21426242 5.90331303 6.20616502]
DEBUG:root:mean evidence: 6.241, std: 0.388 -> th=5.605099420804832
INFO:root:current most likely hypothesis: numenta_mug with evidence 7.01
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'tuna_fish_can', 'numenta_mug', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 97 ---
INFO:uvicorn.access:192.168.1.217:64607 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98882629,  0.03341536,  0.14527898],
       [-0.03377367,  0.99942951,  0.        ],
       [-0.1451961 , -0.0049066 ,  0.98939073]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00597922,  0.00055053, -0.01444788])}]
INFO:root:Testing 1786 out of 14424 hypotheses for numenta_mug (evidence > 1.4012748552012075)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.46
INFO:root:Testing 1116 out of 10992 hypotheses for montys_brain (evidence > 1.4012748552012075)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.651
INFO:root:Testing 2709 out of 14880 hypotheses for montys_heart (evidence > 1.4012748552012075)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 6.91
INFO:root:Testing 1150 out of 23200 hypotheses for ramen_pack (evidence > 1.4012748552012075)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.342
INFO:root:Testing 1033 out of 14864 hypotheses for hot_sauce (evidence > 1.4012748552012075)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.473
INFO:root:Testing 1631 out of 12560 hypotheses for harissa_oil (evidence > 1.4012748552012075)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 6.955
INFO:root:Testing 2501 out of 21832 hypotheses for tomato_soup_can (evidence > 1.4012748552012075)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 6.983
INFO:root:Testing 1673 out of 16976 hypotheses for mustard_bottle (evidence > 1.4012748552012075)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.634
INFO:root:Testing 1010 out of 17728 hypotheses for tuna_fish_can (evidence > 1.4012748552012075)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.698
INFO:root:Testing 1214 out of 19024 hypotheses for potted_meat_can (evidence > 1.4012748552012075)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.676
DEBUG:root:evidences for each object: [7.46022366 5.65096973 6.90966117 6.34181029 6.47304522 6.95503592
 6.98319045 6.63363058 5.69806845 6.67593565]
DEBUG:root:mean evidence: 6.578, std: 0.539 -> th=5.968178927407583
INFO:root:current most likely hypothesis: numenta_mug with evidence 7.46
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'numenta_mug', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 98 ---
INFO:uvicorn.access:192.168.1.217:64607 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 9.41301996e-01,  7.14496625e-04,  3.37564872e-01],
       [-7.59051210e-04,  9.99999712e-01,  0.00000000e+00],
       [-3.37564775e-01, -2.56229024e-04,  9.41302267e-01]]), 'pose_fully_defined': False}}, {'patch': array([-0.00271897,  0.01263738,  0.00255414])}]
INFO:root:Testing 1533 out of 14424 hypotheses for numenta_mug (evidence > 1.4920447318518955)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.901
INFO:root:Testing 725 out of 10992 hypotheses for montys_brain (evidence > 1.4920447318518955)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.685
INFO:root:Testing 2266 out of 14880 hypotheses for montys_heart (evidence > 1.4920447318518955)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 7.242
INFO:root:Testing 965 out of 23200 hypotheses for ramen_pack (evidence > 1.4920447318518955)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.558
INFO:root:Testing 975 out of 14864 hypotheses for hot_sauce (evidence > 1.4920447318518955)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.872
INFO:root:Testing 1417 out of 12560 hypotheses for harissa_oil (evidence > 1.4920447318518955)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 7.386
INFO:root:Testing 2169 out of 21832 hypotheses for tomato_soup_can (evidence > 1.4920447318518955)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 7.399
INFO:root:Testing 1442 out of 16976 hypotheses for mustard_bottle (evidence > 1.4920447318518955)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.118
INFO:root:Testing 755 out of 17728 hypotheses for tuna_fish_can (evidence > 1.4920447318518955)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.336
INFO:root:Testing 992 out of 19024 hypotheses for potted_meat_can (evidence > 1.4920447318518955)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.117
DEBUG:root:evidences for each object: [7.9014701  5.68521471 7.2424505  6.55842696 6.87199354 7.38576436
 7.39944753 7.11770734 5.33571948 7.11683271]
DEBUG:root:mean evidence: 6.862, std: 0.757 -> th=6.3211760806066
INFO:root:current most likely hypothesis: numenta_mug with evidence 7.9
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'numenta_mug', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 99 ---
INFO:uvicorn.access:192.168.1.217:64607 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.9867163 , -0.05894351,  0.15138234],
       [ 0.05963074,  0.9982205 , -0.        ],
       [-0.15111295,  0.00902704,  0.98847528]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00388588,  0.00868574, -0.00420274])}]
INFO:root:Testing 1272 out of 14424 hypotheses for numenta_mug (evidence > 1.5802940201516495)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.324
INFO:root:Testing 380 out of 10992 hypotheses for montys_brain (evidence > 1.5802940201516495)
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: 4.685
INFO:root:Testing 1753 out of 14880 hypotheses for montys_heart (evidence > 1.5802940201516495)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 7.519
INFO:root:Testing 744 out of 23200 hypotheses for ramen_pack (evidence > 1.5802940201516495)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.894
INFO:root:Testing 846 out of 14864 hypotheses for hot_sauce (evidence > 1.5802940201516495)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.302
INFO:root:Testing 1096 out of 12560 hypotheses for harissa_oil (evidence > 1.5802940201516495)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 7.815
INFO:root:Testing 1793 out of 21832 hypotheses for tomato_soup_can (evidence > 1.5802940201516495)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 7.864
INFO:root:Testing 1105 out of 16976 hypotheses for mustard_bottle (evidence > 1.5802940201516495)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.553
INFO:root:Testing 514 out of 17728 hypotheses for tuna_fish_can (evidence > 1.5802940201516495)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.181
INFO:root:Testing 713 out of 19024 hypotheses for potted_meat_can (evidence > 1.5802940201516495)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.429
DEBUG:root:evidences for each object: [8.32369433 4.68521471 7.51919429 6.89388098 7.30245948 7.81488788
 7.86378929 7.55342763 5.18101503 7.4285567 ]
DEBUG:root:mean evidence: 7.057, std: 1.125 -> th=6.658955463770745
INFO:root:current most likely hypothesis: numenta_mug with evidence 8.32
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'numenta_mug', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 100 ---
INFO:uvicorn.access:192.168.1.217:64607 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99727332, -0.07098973,  0.02015897],
       [ 0.07100416,  0.99747602, -0.        ],
       [-0.02010809,  0.00143137,  0.99979679]]), 'pose_fully_defined': False}}, {'patch': array([-0.00146986, -0.07620252,  0.01516497])}]
INFO:root:Testing 1027 out of 14424 hypotheses for numenta_mug (evidence > 1.6647388659426863)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.431
INFO:root:Testing 174 out of 10992 hypotheses for montys_brain (evidence > 1.6647388659426863)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.078
INFO:root:Testing 1265 out of 14880 hypotheses for montys_heart (evidence > 1.6647388659426863)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.997
INFO:root:Testing 552 out of 23200 hypotheses for ramen_pack (evidence > 1.6647388659426863)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.234
INFO:root:Testing 760 out of 14864 hypotheses for hot_sauce (evidence > 1.6647388659426863)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.692
INFO:root:Testing 835 out of 12560 hypotheses for harissa_oil (evidence > 1.6647388659426863)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 8.062
INFO:root:Testing 1380 out of 21832 hypotheses for tomato_soup_can (evidence > 1.6647388659426863)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.262
INFO:root:Testing 759 out of 16976 hypotheses for mustard_bottle (evidence > 1.6647388659426863)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.011
INFO:root:Testing 300 out of 17728 hypotheses for tuna_fish_can (evidence > 1.6647388659426863)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.132
INFO:root:Testing 472 out of 19024 hypotheses for potted_meat_can (evidence > 1.6647388659426863)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.897
DEBUG:root:evidences for each object: [8.4312384  5.0777235  7.99703403 7.23351891 7.69224544 8.06226628
 8.26183639 8.01126412 5.1319779  7.89748304]
DEBUG:root:mean evidence: 7.38, std: 1.178 -> th=6.744990719480272
INFO:root:current most likely hypothesis: numenta_mug with evidence 8.43
DEBUG:root:evidences for each object: [8.4312384  5.0777235  7.99703403 7.23351891 7.69224544 8.06226628
 8.26183639 8.01126412 5.1319779  7.89748304]
DEBUG:root:mean evidence: 7.38, std: 1.178 -> th=6.744990719480272
DEBUG:root:evidences for each object: [8.4312384  5.0777235  7.99703403 7.23351891 7.69224544 8.06226628
 8.26183639 8.01126412 5.1319779  7.89748304]
DEBUG:root:mean evidence: 7.38, std: 1.178 -> th=7.166552639447789
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'numenta_mug', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 101 ---
INFO:uvicorn.access:192.168.1.217:64607 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99653331, -0.06056565,  0.05703647],
       [ 0.06066441,  0.99815822, -0.        ],
       [-0.05693142,  0.00346008,  0.9983721 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00083535,  0.00982161,  0.00986626])}]
INFO:root:Testing 956 out of 14424 hypotheses for numenta_mug (evidence > 1.6862476798700676)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.722
INFO:root:Testing 171 out of 10992 hypotheses for montys_brain (evidence > 1.6862476798700676)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.351
INFO:root:Testing 1242 out of 14880 hypotheses for montys_heart (evidence > 1.6862476798700676)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.418
INFO:root:Testing 444 out of 23200 hypotheses for ramen_pack (evidence > 1.6862476798700676)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.618
INFO:root:Testing 750 out of 14864 hypotheses for hot_sauce (evidence > 1.6862476798700676)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.891
INFO:root:Testing 779 out of 12560 hypotheses for harissa_oil (evidence > 1.6862476798700676)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 8.383
INFO:root:Testing 1312 out of 21832 hypotheses for tomato_soup_can (evidence > 1.6862476798700676)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.61
INFO:root:Testing 659 out of 16976 hypotheses for mustard_bottle (evidence > 1.6862476798700676)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.396
INFO:root:Testing 224 out of 17728 hypotheses for tuna_fish_can (evidence > 1.6862476798700676)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.129
INFO:root:Testing 406 out of 19024 hypotheses for potted_meat_can (evidence > 1.6862476798700676)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.358
DEBUG:root:evidences for each object: [8.72156804 5.35099745 8.41785294 7.61770211 7.89051038 8.38341996
 8.60979548 8.39646968 5.12892651 8.35786598]
DEBUG:root:mean evidence: 7.688, std: 1.263 -> th=6.977254435678501
INFO:root:current most likely hypothesis: numenta_mug with evidence 8.72
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'numenta_mug', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 102 ---
INFO:uvicorn.access:192.168.1.217:64607 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.92688906,  0.01781371,  0.37491246],
       [-0.01921527,  0.99981537,  0.        ],
       [-0.37484324, -0.00720404,  0.92706022]]), 'pose_fully_defined': False}}, {'patch': array([-0.00223879, -0.00318393,  0.00234497])}]
INFO:root:Testing 920 out of 14424 hypotheses for numenta_mug (evidence > 1.744313608919625)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No 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 168 out of 10992 hypotheses for montys_brain (evidence > 1.744313608919625)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.685
INFO:root:Testing 1226 out of 14880 hypotheses for montys_heart (evidence > 1.744313608919625)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.885
INFO:root:Testing 388 out of 23200 hypotheses for ramen_pack (evidence > 1.744313608919625)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.005
INFO:root:Testing 732 out of 14864 hypotheses for hot_sauce (evidence > 1.744313608919625)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.252
INFO:root:Testing 753 out of 12560 hypotheses for harissa_oil (evidence > 1.744313608919625)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 8.623
INFO:root:Testing 1294 out of 21832 hypotheses for tomato_soup_can (evidence > 1.744313608919625)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.07
INFO:root:Testing 586 out of 16976 hypotheses for mustard_bottle (evidence > 1.744313608919625)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.849
INFO:root:Testing 174 out of 17728 hypotheses for tuna_fish_can (evidence > 1.744313608919625)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.975
INFO:root:Testing 369 out of 19024 hypotheses for potted_meat_can (evidence > 1.744313608919625)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.801
DEBUG:root:evidences for each object: [9.13231375 5.68493824 8.88502725 8.00493436 8.25210427 8.62329346
 9.07002757 8.84861876 4.97540322 8.80082757]
DEBUG:root:mean evidence: 8.028, std: 1.397 -> th=7.305850998373454
INFO:root:current most likely hypothesis: numenta_mug with evidence 9.13
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'numenta_mug', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 103 ---
INFO:uvicorn.access:192.168.1.217:64607 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 9.99458117e-01, -3.09284487e-02,  1.12651316e-02],
       [ 3.09304113e-02,  9.99521540e-01, -0.00000000e+00],
       [-1.12597417e-02,  3.48435154e-04,  9.99936546e-01]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0018369 ,  0.00069821, -0.01444401])}]
INFO:root:Testing 885 out of 14424 hypotheses for numenta_mug (evidence > 1.8264627495933627)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.619
INFO:root:Testing 151 out of 10992 hypotheses for montys_brain (evidence > 1.8264627495933627)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 6.071
INFO:root:Testing 1198 out of 14880 hypotheses for montys_heart (evidence > 1.8264627495933627)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.323
INFO:root:Testing 341 out of 23200 hypotheses for ramen_pack (evidence > 1.8264627495933627)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.435
INFO:root:Testing 690 out of 14864 hypotheses for hot_sauce (evidence > 1.8264627495933627)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.664
INFO:root:Testing 727 out of 12560 hypotheses for harissa_oil (evidence > 1.8264627495933627)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 9.003
INFO:root:Testing 1256 out of 21832 hypotheses for tomato_soup_can (evidence > 1.8264627495933627)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.555
INFO:root:Testing 530 out of 16976 hypotheses for mustard_bottle (evidence > 1.8264627495933627)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.268
INFO:root:Testing 153 out of 17728 hypotheses for tuna_fish_can (evidence > 1.8264627495933627)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.386
INFO:root:Testing 324 out of 19024 hypotheses for potted_meat_can (evidence > 1.8264627495933627)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.275
DEBUG:root:evidences for each object: [9.61917473 6.07137882 9.32289148 8.43545746 8.66403991 9.00314695
 9.55467987 9.2677735  5.38593473 9.27530033]
DEBUG:root:mean evidence: 8.46, std: 1.418 -> th=7.695339782872914
INFO:root:current most likely hypothesis: numenta_mug with evidence 9.62
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'numenta_mug', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 104 ---
INFO:uvicorn.access:192.168.1.217:64607 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99494915, -0.04576215, -0.08934211],
       [ 0.04594589,  0.99894393, -0.        ],
       [ 0.08924776, -0.0041049 ,  0.996001  ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00088906,  0.00303851,  0.00112913])}]
INFO:root:Testing 864 out of 14424 hypotheses for numenta_mug (evidence > 1.9238349457182284)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.103
INFO:root:Testing 147 out of 10992 hypotheses for montys_brain (evidence > 1.9238349457182284)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 6.445
INFO:root:Testing 1191 out of 14880 hypotheses for montys_heart (evidence > 1.9238349457182284)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.738
INFO:root:Testing 319 out of 23200 hypotheses for ramen_pack (evidence > 1.9238349457182284)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.823
INFO:root:Testing 688 out of 14864 hypotheses for hot_sauce (evidence > 1.9238349457182284)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.03
INFO:root:Testing 720 out of 12560 hypotheses for harissa_oil (evidence > 1.9238349457182284)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 9.368
INFO:root:Testing 1230 out of 21832 hypotheses for tomato_soup_can (evidence > 1.9238349457182284)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.989
INFO:root:Testing 482 out of 16976 hypotheses for mustard_bottle (evidence > 1.9238349457182284)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No 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
INFO:root:Testing 120 out of 17728 hypotheses for tuna_fish_can (evidence > 1.9238349457182284)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.827
INFO:root:Testing 302 out of 19024 hypotheses for potted_meat_can (evidence > 1.9238349457182284)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.694
DEBUG:root:evidences for each object: [10.1028218   6.44452991  9.73782957  8.82335826  9.03002662  9.36789353
  9.9885459   9.63271154  5.8268503   9.69360136]
DEBUG:root:mean evidence: 8.865, std: 1.421 -> th=8.08225744155942
INFO:root:current most likely hypothesis: numenta_mug with evidence 10.1
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'numenta_mug', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 105 ---
INFO:uvicorn.access:192.168.1.217:64607 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 9.99953715e-01, -9.44987603e-03,  1.80778025e-03],
       [ 9.44989148e-03,  9.99955349e-01, -0.00000000e+00],
       [-1.80769954e-03,  1.70833272e-05,  9.99998366e-01]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00038436, -0.0010265 ,  0.00278135])}]
INFO:root:Testing 839 out of 14424 hypotheses for numenta_mug (evidence > 2.020564360389855)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.587
INFO:root:Testing 142 out of 10992 hypotheses for montys_brain (evidence > 2.020564360389855)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 6.811
INFO:root:Testing 1179 out of 14880 hypotheses for montys_heart (evidence > 2.020564360389855)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.166
INFO:root:Testing 299 out of 23200 hypotheses for ramen_pack (evidence > 2.020564360389855)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.258
INFO:root:Testing 687 out of 14864 hypotheses for hot_sauce (evidence > 2.020564360389855)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.421
INFO:root:Testing 712 out of 12560 hypotheses for harissa_oil (evidence > 2.020564360389855)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 9.681
INFO:root:Testing 1201 out of 21832 hypotheses for tomato_soup_can (evidence > 2.020564360389855)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.468
INFO:root:Testing 444 out of 16976 hypotheses for mustard_bottle (evidence > 2.020564360389855)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.026
INFO:root:Testing 86 out of 17728 hypotheses for tuna_fish_can (evidence > 2.020564360389855)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.246
INFO:root:Testing 275 out of 19024 hypotheses for potted_meat_can (evidence > 2.020564360389855)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.163
DEBUG:root:evidences for each object: [10.58699403  6.8112387  10.16587556  9.25803049  9.42092637  9.681268
 10.46790206 10.02597772  6.24625262 10.16252597]
DEBUG:root:mean evidence: 9.283, std: 1.439 -> th=8.46959522110845
INFO:root:current most likely hypothesis: numenta_mug with evidence 10.59
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'numenta_mug', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 106 ---
INFO:uvicorn.access:192.168.1.217:64607 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.93052731,  0.08909591,  0.35521942],
       [-0.09531187,  0.99544746,  0.        ],
       [-0.35360227, -0.03385663,  0.93478295]]), 'pose_fully_defined': False}}, {'patch': array([-0.00171873, -0.00203669,  0.01081706])}]
INFO:root:Testing 824 out of 14424 hypotheses for numenta_mug (evidence > 2.117398805277112)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.0
INFO:root:Testing 140 out of 10992 hypotheses for montys_brain (evidence > 2.117398805277112)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.117
INFO:root:Testing 1163 out of 14880 hypotheses for montys_heart (evidence > 2.117398805277112)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.645
INFO:root:Testing 291 out of 23200 hypotheses for ramen_pack (evidence > 2.117398805277112)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.687
INFO:root:Testing 687 out of 14864 hypotheses for hot_sauce (evidence > 2.117398805277112)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.768
INFO:root:Testing 708 out of 12560 hypotheses for harissa_oil (evidence > 2.117398805277112)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 10.034
INFO:root:Testing 1178 out of 21832 hypotheses for tomato_soup_can (evidence > 2.117398805277112)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.914
INFO:root:Testing 430 out of 16976 hypotheses for mustard_bottle (evidence > 2.117398805277112)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.5
INFO:root:Testing 75 out of 17728 hypotheses for tuna_fish_can (evidence > 2.117398805277112)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.545
INFO:root:Testing 262 out of 19024 hypotheses for potted_meat_can (evidence > 2.117398805277112)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.601
DEBUG:root:evidences for each object: [10.99951644  7.11703148 10.6449528   9.68733722  9.76847394 10.03435285
 10.91430346 10.49996418  6.54498658 10.60090165]
DEBUG:root:mean evidence: 9.681, std: 1.492 -> th=8.799613152065366
INFO:root:current most likely hypothesis: numenta_mug with evidence 11.0
DEBUG:root:evidences for each object: [10.99951644  7.11703148 10.6449528   9.68733722  9.76847394 10.03435285
 10.91430346 10.49996418  6.54498658 10.60090165]
DEBUG:root:mean evidence: 9.681, std: 1.492 -> th=8.799613152065366
DEBUG:root:evidences for each object: [10.99951644  7.11703148 10.6449528   9.68733722  9.76847394 10.03435285
 10.91430346 10.49996418  6.54498658 10.60090165]
DEBUG:root:mean evidence: 9.681, std: 1.492 -> th=9.34958897406945
DEBUG:root:Hypothesis jump indicated: change in most-likely rotation of MLH
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'numenta_mug', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 107 ---
INFO:uvicorn.access:192.168.1.217:64607 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.96006177,  0.08006134,  0.26808874],
       [-0.08310341,  0.99654093,  0.        ],
       [-0.2671614 , -0.02227909,  0.96339422]]), 'pose_fully_defined': False}}, {'patch': array([-0.00036588,  0.00730467,  0.00163547])}]
INFO:root:Testing 823 out of 14424 hypotheses for numenta_mug (evidence > 2.1999032880163405)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.389
INFO:root:Testing 132 out of 10992 hypotheses for montys_brain (evidence > 2.1999032880163405)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.375
INFO:root:Testing 1150 out of 14880 hypotheses for montys_heart (evidence > 2.1999032880163405)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 11.012
INFO:root:Testing 266 out of 23200 hypotheses for ramen_pack (evidence > 2.1999032880163405)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.16
INFO:root:Testing 663 out of 14864 hypotheses for hot_sauce (evidence > 2.1999032880163405)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.937
INFO:root:Testing 700 out of 12560 hypotheses for harissa_oil (evidence > 2.1999032880163405)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 10.365
INFO:root:Testing 1168 out of 21832 hypotheses for tomato_soup_can (evidence > 2.1999032880163405)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.266
INFO:root:Testing 411 out of 16976 hypotheses for mustard_bottle (evidence > 2.1999032880163405)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.984
INFO:root:Testing 67 out of 17728 hypotheses for tuna_fish_can (evidence > 2.1999032880163405)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.87
INFO:root:Testing 251 out of 19024 hypotheses for potted_meat_can (evidence > 2.1999032880163405)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.994
DEBUG:root:evidences for each object: [11.38928577  7.37518799 11.01203229 10.1596755   9.93691104 10.36514975
 11.26592188 10.98410336  6.86994875 10.99407797]
DEBUG:root:mean evidence: 10.035, std: 1.528 -> th=9.11142861872646
INFO:root:current most likely hypothesis: numenta_mug with evidence 11.39
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'numenta_mug', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 108 ---
INFO:uvicorn.access:192.168.1.217:64607 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.9891917 ,  0.04560058,  0.139357  ],
       [-0.04604993,  0.99893914,  0.        ],
       [-0.13920916, -0.00641738,  0.99024221]]), 'pose_fully_defined': False}}, {'patch': array([-4.39168506e-05, -8.51262127e-04, -5.54278535e-03])}]
INFO:root:Testing 822 out of 14424 hypotheses for numenta_mug (evidence > 2.277857154681614)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.83
INFO:root:Testing 129 out of 10992 hypotheses for montys_brain (evidence > 2.277857154681614)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.595
INFO:root:Testing 1142 out of 14880 hypotheses for montys_heart (evidence > 2.277857154681614)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 11.431
INFO:root:Testing 259 out of 23200 hypotheses for ramen_pack (evidence > 2.277857154681614)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.559
INFO:root:Testing 641 out of 14864 hypotheses for hot_sauce (evidence > 2.277857154681614)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.186
INFO:root:Testing 698 out of 12560 hypotheses for harissa_oil (evidence > 2.277857154681614)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 10.742
INFO:root:Testing 1167 out of 21832 hypotheses for tomato_soup_can (evidence > 2.277857154681614)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.683
INFO:root:Testing 405 out of 16976 hypotheses for mustard_bottle (evidence > 2.277857154681614)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.436
INFO:root:Testing 66 out of 17728 hypotheses for tuna_fish_can (evidence > 2.277857154681614)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.246
INFO:root:Testing 244 out of 19024 hypotheses for potted_meat_can (evidence > 2.277857154681614)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.477
DEBUG:root:evidences for each object: [11.83012338  7.59461958 11.43077953 10.55881836 10.18642316 10.74174273
 11.68327474 11.4363731   7.24628828 11.47664622]
DEBUG:root:mean evidence: 10.419, std: 1.581 -> th=9.464098702303582
INFO:root:current most likely hypothesis: numenta_mug with evidence 11.83
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'numenta_mug', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 109 ---
INFO:uvicorn.access:192.168.1.217:64607 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 9.95285216e-01, -1.11806656e-03, -9.69849941e-02],
       [ 1.12336226e-03,  9.99999369e-01, -0.00000000e+00],
       [ 9.69849329e-02, -1.08949282e-04,  9.95285844e-01]]), 'pose_fully_defined': False}}, {'patch': array([-0.00211659, -0.00297303, -0.01039002])}]
INFO:root:Testing 819 out of 14424 hypotheses for numenta_mug (evidence > 2.366024675575895)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.3
INFO:root:Testing 129 out of 10992 hypotheses for montys_brain (evidence > 2.366024675575895)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.947
INFO:root:Testing 1141 out of 14880 hypotheses for montys_heart (evidence > 2.366024675575895)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 11.8
INFO:root:Testing 255 out of 23200 hypotheses for ramen_pack (evidence > 2.366024675575895)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.942
INFO:root:Testing 641 out of 14864 hypotheses for hot_sauce (evidence > 2.366024675575895)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.535
INFO:root:Testing 695 out of 12560 hypotheses for harissa_oil (evidence > 2.366024675575895)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 11.036
INFO:root:Testing 1161 out of 21832 hypotheses for tomato_soup_can (evidence > 2.366024675575895)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.072
INFO:root:Testing 403 out of 16976 hypotheses for mustard_bottle (evidence > 2.366024675575895)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.785
INFO:root:Testing 62 out of 17728 hypotheses for tuna_fish_can (evidence > 2.366024675575895)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.678
INFO:root:Testing 239 out of 19024 hypotheses for potted_meat_can (evidence > 2.366024675575895)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.89
DEBUG:root:evidences for each object: [12.30048239  7.94719029 11.79979404 10.94217962 10.53450608 11.03577964
 12.07150497 11.78507154  7.67846794 11.88991597]
DEBUG:root:mean evidence: 10.798, std: 1.583 -> th=9.84038590930749
INFO:root:current most likely hypothesis: numenta_mug with evidence 12.3
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'numenta_mug', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 110 ---
INFO:uvicorn.access:192.168.1.217:64607 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 9.98471878e-01,  8.84932315e-03, -5.45490404e-02],
       [-8.86251862e-03,  9.99960727e-01,  0.00000000e+00],
       [ 5.45468981e-02,  4.83441886e-04,  9.98511093e-01]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00152653,  0.00876641, -0.00083376])}]
INFO:root:Testing 810 out of 14424 hypotheses for numenta_mug (evidence > 2.4600964773268714)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.78
INFO:root:Testing 127 out of 10992 hypotheses for montys_brain (evidence > 2.4600964773268714)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.398
INFO:root:Testing 1128 out of 14880 hypotheses for montys_heart (evidence > 2.4600964773268714)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 12.22
INFO:root:Testing 244 out of 23200 hypotheses for ramen_pack (evidence > 2.4600964773268714)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.342
INFO:root:Testing 641 out of 14864 hypotheses for hot_sauce (evidence > 2.4600964773268714)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.914
INFO:root:Testing 694 out of 12560 hypotheses for harissa_oil (evidence > 2.4600964773268714)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 11.445
INFO:root:Testing 1139 out of 21832 hypotheses for tomato_soup_can (evidence > 2.4600964773268714)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.563
INFO:root:Testing 390 out of 16976 hypotheses for mustard_bottle (evidence > 2.4600964773268714)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.154
INFO:root:Testing 46 out of 17728 hypotheses for tuna_fish_can (evidence > 2.4600964773268714)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.118
INFO:root:Testing 224 out of 19024 hypotheses for potted_meat_can (evidence > 2.4600964773268714)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.324
DEBUG:root:evidences for each object: [12.77951927  7.39770291 12.2199088  11.34236844 10.9139294  11.44469957
 12.56277812 12.15391163  8.11840158 12.32387163]
DEBUG:root:mean evidence: 11.126, std: 1.778 -> th=10.223615417410768
INFO:root:current most likely hypothesis: numenta_mug with evidence 12.78
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'numenta_mug', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 111 ---
INFO:uvicorn.access:192.168.1.217:64607 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99490501,  0.06546827,  0.07666762],
       [-0.06566153,  0.99784195,  0.        ],
       [-0.07650216, -0.00503411,  0.99705671]]), 'pose_fully_defined': False}}, {'patch': array([0.00188301, 0.00494256, 0.00200707])}]
INFO:root:Testing 791 out of 14424 hypotheses for numenta_mug (evidence > 2.5559038543526906)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 13.241
INFO:root:Testing 113 out of 10992 hypotheses for montys_brain (evidence > 2.5559038543526906)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.866
INFO:root:Testing 1097 out of 14880 hypotheses for montys_heart (evidence > 2.5559038543526906)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 12.697
INFO:root:Testing 228 out of 23200 hypotheses for ramen_pack (evidence > 2.5559038543526906)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.799
INFO:root:Testing 638 out of 14864 hypotheses for hot_sauce (evidence > 2.5559038543526906)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.38
INFO:root:Testing 686 out of 12560 hypotheses for harissa_oil (evidence > 2.5559038543526906)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 11.853
INFO:root:Testing 1091 out of 21832 hypotheses for tomato_soup_can (evidence > 2.5559038543526906)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 13.049
INFO:root:Testing 358 out of 16976 hypotheses for mustard_bottle (evidence > 2.5559038543526906)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.575
INFO:root:Testing 32 out of 17728 hypotheses for tuna_fish_can (evidence > 2.5559038543526906)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.533
INFO:root:Testing 182 out of 19024 hypotheses for potted_meat_can (evidence > 2.5559038543526906)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.796
DEBUG:root:evidences for each object: [13.24127202  7.86649678 12.69725089 11.79883195 11.37978597 11.85252478
 13.04931653 12.57549034  8.53291    12.79614613]
DEBUG:root:mean evidence: 11.579, std: 1.785 -> th=10.593017619900735
INFO:root:current most likely hypothesis: numenta_mug with evidence 13.24
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'numenta_mug', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 112 ---
INFO:uvicorn.access:192.168.1.217:64607 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.9585341 ,  0.07598655,  0.27466055],
       [-0.07902579,  0.99687257,  0.        ],
       [-0.27380157, -0.02170527,  0.96154125]]), 'pose_fully_defined': False}}, {'patch': array([-0.00392339, -0.00383918,  0.01767847])}]
INFO:root:Testing 786 out of 14424 hypotheses for numenta_mug (evidence > 2.6482544049751837)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 13.592
INFO:root:Testing 100 out of 10992 hypotheses for montys_brain (evidence > 2.6482544049751837)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.233
INFO:root:Testing 1076 out of 14880 hypotheses for montys_heart (evidence > 2.6482544049751837)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.063
INFO:root:Testing 222 out of 23200 hypotheses for ramen_pack (evidence > 2.6482544049751837)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.225
INFO:root:Testing 639 out of 14864 hypotheses for hot_sauce (evidence > 2.6482544049751837)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.427
INFO:root:Testing 686 out of 12560 hypotheses for harissa_oil (evidence > 2.6482544049751837)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 12.035
INFO:root:Testing 1077 out of 21832 hypotheses for tomato_soup_can (evidence > 2.6482544049751837)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 13.416
INFO:root:Testing 339 out of 16976 hypotheses for mustard_bottle (evidence > 2.6482544049751837)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.012
INFO:root:Testing 19 out of 17728 hypotheses for tuna_fish_can (evidence > 2.6482544049751837)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.874
INFO:root:Testing 169 out of 19024 hypotheses for potted_meat_can (evidence > 2.6482544049751837)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.045
DEBUG:root:evidences for each object: [13.5919248   8.23252932 13.06312028 12.22457996 11.42748847 12.03532591
 13.41639716 13.01183913  8.8744877  13.04535404]
DEBUG:root:mean evidence: 11.892, std: 1.789 -> th=10.873539843462494
INFO:root:current most likely hypothesis: numenta_mug with evidence 13.59
DEBUG:root:evidences for each object: [13.5919248   8.23252932 13.06312028 12.22457996 11.42748847 12.03532591
 13.41639716 13.01183913  8.8744877  13.04535404]
DEBUG:root:mean evidence: 11.892, std: 1.789 -> th=10.873539843462494
DEBUG:root:evidences for each object: [13.5919248   8.23252932 13.06312028 12.22457996 11.42748847 12.03532591
 13.41639716 13.01183913  8.8744877  13.04535404]
DEBUG:root:mean evidence: 11.892, std: 1.789 -> th=11.5531360836789
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'numenta_mug', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 113 ---
INFO:uvicorn.access:192.168.1.217:64607 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.9272326 ,  0.08943377,  0.36364997],
       [-0.09600681,  0.99538068,  0.        ],
       [-0.36197016, -0.03491287,  0.93153567]]), 'pose_fully_defined': False}}, {'patch': array([-0.00053572,  0.01637023, -0.00565489])}]
INFO:root:Testing 785 out of 14424 hypotheses for numenta_mug (evidence > 2.718384960865622)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 13.989
INFO:root:Testing 100 out of 10992 hypotheses for montys_brain (evidence > 2.718384960865622)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.494
INFO:root:Testing 1073 out of 14880 hypotheses for montys_heart (evidence > 2.718384960865622)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.508
INFO:root:Testing 214 out of 23200 hypotheses for ramen_pack (evidence > 2.718384960865622)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.604
INFO:root:Testing 631 out of 14864 hypotheses for hot_sauce (evidence > 2.718384960865622)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.743
INFO:root:Testing 685 out of 12560 hypotheses for harissa_oil (evidence > 2.718384960865622)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 12.408
INFO:root:Testing 1077 out of 21832 hypotheses for tomato_soup_can (evidence > 2.718384960865622)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 13.866
INFO:root:Testing 332 out of 16976 hypotheses for mustard_bottle (evidence > 2.718384960865622)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.498
INFO:root:Testing 19 out of 17728 hypotheses for tuna_fish_can (evidence > 2.718384960865622)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 9.15
INFO:root:Testing 164 out of 19024 hypotheses for potted_meat_can (evidence > 2.718384960865622)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.454
DEBUG:root:evidences for each object: [13.98947417  8.49363067 13.50825848 12.60423368 11.74290114 12.40774542
 13.86628271 13.49842623  9.14978169 13.45436657]
DEBUG:root:mean evidence: 12.272, std: 1.854 -> th=11.191579334178417
INFO:root:current most likely hypothesis: numenta_mug with evidence 13.99
DEBUG:root:evidences for each object: [13.98947417  8.49363067 13.50825848 12.60423368 11.74290114 12.40774542
 13.86628271 13.49842623  9.14978169 13.45436657]
DEBUG:root:mean evidence: 12.272, std: 1.854 -> th=11.191579334178417
DEBUG:root:evidences for each object: [13.98947417  8.49363067 13.50825848 12.60423368 11.74290114 12.40774542
 13.86628271 13.49842623  9.14978169 13.45436657]
DEBUG:root:mean evidence: 12.272, std: 1.854 -> th=11.891053042564568
DEBUG:root:Hypothesis jump indicated: change in most-likely rotation of MLH
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'numenta_mug', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 114 ---
INFO:uvicorn.access:192.168.1.217:64607 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98230568,  0.07826754,  0.17014624],
       [-0.07942566,  0.99684079,  0.        ],
       [-0.16960871, -0.01351398,  0.98541882]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00267789, -0.00453657, -0.00874448])}]
INFO:root:Testing 785 out of 14424 hypotheses for numenta_mug (evidence > 2.7978948335446034)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 14.483
INFO:root:Testing 99 out of 10992 hypotheses for montys_brain (evidence > 2.7978948335446034)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.868
INFO:root:Testing 1071 out of 14880 hypotheses for montys_heart (evidence > 2.7978948335446034)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.949
INFO:root:Testing 214 out of 23200 hypotheses for ramen_pack (evidence > 2.7978948335446034)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.068
INFO:root:Testing 628 out of 14864 hypotheses for hot_sauce (evidence > 2.7978948335446034)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.046
INFO:root:Testing 685 out of 12560 hypotheses for harissa_oil (evidence > 2.7978948335446034)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 12.792
INFO:root:Testing 1077 out of 21832 hypotheses for tomato_soup_can (evidence > 2.7978948335446034)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 14.34
INFO:root:Testing 330 out of 16976 hypotheses for mustard_bottle (evidence > 2.7978948335446034)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.952
INFO:root:Testing 19 out of 17728 hypotheses for tuna_fish_can (evidence > 2.7978948335446034)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 9.528
INFO:root:Testing 164 out of 19024 hypotheses for potted_meat_can (evidence > 2.7978948335446034)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.925
DEBUG:root:evidences for each object: [14.48320246  8.86801845 13.94885895 13.06827141 12.04556172 12.79247587
 14.3401758  13.95186137  9.52801712 13.92523488]
DEBUG:root:mean evidence: 12.695, std: 1.893 -> th=11.586561965546677
INFO:root:current most likely hypothesis: numenta_mug with evidence 14.48
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'numenta_mug', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 115 ---
INFO:uvicorn.access:192.168.1.217:64607 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99539349,  0.05781971,  0.07647662],
       [-0.05798953,  0.99831719,  0.        ],
       [-0.07634792, -0.00443484,  0.99707138]]), 'pose_fully_defined': False}}, {'patch': array([-0.001357  ,  0.00253901, -0.00384335])}]
INFO:root:Testing 783 out of 14424 hypotheses for numenta_mug (evidence > 2.896640491386668)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 14.955
INFO:root:Testing 95 out of 10992 hypotheses for montys_brain (evidence > 2.896640491386668)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.317
INFO:root:Testing 1058 out of 14880 hypotheses for montys_heart (evidence > 2.896640491386668)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.343
INFO:root:Testing 214 out of 23200 hypotheses for ramen_pack (evidence > 2.896640491386668)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.527
INFO:root:Testing 628 out of 14864 hypotheses for hot_sauce (evidence > 2.896640491386668)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.403
INFO:root:Testing 685 out of 12560 hypotheses for harissa_oil (evidence > 2.896640491386668)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 13.199
INFO:root:Testing 1076 out of 21832 hypotheses for tomato_soup_can (evidence > 2.896640491386668)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 14.836
INFO:root:Testing 326 out of 16976 hypotheses for mustard_bottle (evidence > 2.896640491386668)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.404
INFO:root:Testing 19 out of 17728 hypotheses for tuna_fish_can (evidence > 2.896640491386668)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 9.962
INFO:root:Testing 164 out of 19024 hypotheses for potted_meat_can (evidence > 2.896640491386668)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.403
DEBUG:root:evidences for each object: [14.95461877  9.31723374 14.34252353 13.52686108 12.40305867 13.19935954
 14.83566166 14.40388027  9.96245001 14.40304697]
DEBUG:root:mean evidence: 13.135, std: 1.903 -> th=11.963695018195576
INFO:root:current most likely hypothesis: numenta_mug with evidence 14.95
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'numenta_mug', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 116 ---
INFO:uvicorn.access:192.168.1.217:64607 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98629267,  0.07321376,  0.14787329],
       [-0.0740276 ,  0.99725619,  0.        ],
       [-0.14746755, -0.0109467 ,  0.98900631]]), 'pose_fully_defined': False}}, {'patch': array([-0.00058918,  0.01708716,  0.00503199])}]
INFO:root:Testing 781 out of 14424 hypotheses for numenta_mug (evidence > 2.990923754548893)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 15.379
INFO:root:Testing 91 out of 10992 hypotheses for montys_brain (evidence > 2.990923754548893)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.508
INFO:root:Testing 1037 out of 14880 hypotheses for montys_heart (evidence > 2.990923754548893)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.804
INFO:root:Testing 209 out of 23200 hypotheses for ramen_pack (evidence > 2.990923754548893)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.996
INFO:root:Testing 627 out of 14864 hypotheses for hot_sauce (evidence > 2.990923754548893)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.798
INFO:root:Testing 685 out of 12560 hypotheses for harissa_oil (evidence > 2.990923754548893)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 13.556
INFO:root:Testing 1072 out of 21832 hypotheses for tomato_soup_can (evidence > 2.990923754548893)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 15.202
INFO:root:Testing 311 out of 16976 hypotheses for mustard_bottle (evidence > 2.990923754548893)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.823
INFO:root:Testing 18 out of 17728 hypotheses for tuna_fish_can (evidence > 2.990923754548893)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 10.331
INFO:root:Testing 160 out of 19024 hypotheses for potted_meat_can (evidence > 2.990923754548893)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.72
DEBUG:root:evidences for each object: [15.37931795  9.5084864  14.80411304 13.99584613 12.79830652 13.55596388
 15.20179183 14.82314497 10.33059024 14.72002666]
DEBUG:root:mean evidence: 13.512, std: 1.952 -> th=12.303454356734006
INFO:root:current most likely hypothesis: numenta_mug with evidence 15.38
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'numenta_mug', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 117 ---
INFO:uvicorn.access:192.168.1.217:64607 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98266768,  0.05781172,  0.17613073],
       [-0.05872985,  0.99827391,  0.        ],
       [-0.17582671, -0.01034413,  0.98436678]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00208231, -0.01009492, -0.00175677])}]
INFO:root:Testing 781 out of 14424 hypotheses for numenta_mug (evidence > 3.0758635891835002)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 15.871
INFO:root:Testing 90 out of 10992 hypotheses for montys_brain (evidence > 3.0758635891835002)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.932
INFO:root:Testing 1036 out of 14880 hypotheses for montys_heart (evidence > 3.0758635891835002)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 15.227
INFO:root:Testing 206 out of 23200 hypotheses for ramen_pack (evidence > 3.0758635891835002)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.467
INFO:root:Testing 625 out of 14864 hypotheses for hot_sauce (evidence > 3.0758635891835002)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.237
INFO:root:Testing 684 out of 12560 hypotheses for harissa_oil (evidence > 3.0758635891835002)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 13.967
INFO:root:Testing 1072 out of 21832 hypotheses for tomato_soup_can (evidence > 3.0758635891835002)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 15.679
INFO:root:Testing 310 out of 16976 hypotheses for mustard_bottle (evidence > 3.0758635891835002)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No 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
INFO:root:Testing 18 out of 17728 hypotheses for tuna_fish_can (evidence > 3.0758635891835002)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 10.693
INFO:root:Testing 159 out of 19024 hypotheses for potted_meat_can (evidence > 3.0758635891835002)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.203
DEBUG:root:evidences for each object: [15.87083908  9.93231276 15.22663924 14.46742251 13.23740459 13.96701514
 15.67886484 15.29970529 10.69307099 15.20278783]
DEBUG:root:mean evidence: 13.958, std: 1.981 -> th=12.696671262569886
INFO:root:current most likely hypothesis: numenta_mug with evidence 15.87
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'numenta_mug', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 118 ---
INFO:uvicorn.access:192.168.1.217:64607 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99615931,  0.02041486,  0.08514615],
       [-0.02048927,  0.99979007,  0.        ],
       [-0.08512828, -0.00174458,  0.99636847]]), 'pose_fully_defined': False}}, {'patch': array([-0.0012493 ,  0.00636153, -0.00703782])}]
INFO:root:Testing 780 out of 14424 hypotheses for numenta_mug (evidence > 3.1741678156424715)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 16.305
INFO:root:Testing 90 out of 10992 hypotheses for montys_brain (evidence > 3.1741678156424715)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.238
INFO:root:Testing 1035 out of 14880 hypotheses for montys_heart (evidence > 3.1741678156424715)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 15.684
INFO:root:Testing 205 out of 23200 hypotheses for ramen_pack (evidence > 3.1741678156424715)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.937
INFO:root:Testing 625 out of 14864 hypotheses for hot_sauce (evidence > 3.1741678156424715)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.733
INFO:root:Testing 683 out of 12560 hypotheses for harissa_oil (evidence > 3.1741678156424715)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 14.426
INFO:root:Testing 1072 out of 21832 hypotheses for tomato_soup_can (evidence > 3.1741678156424715)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 16.135
INFO:root:Testing 310 out of 16976 hypotheses for mustard_bottle (evidence > 3.1741678156424715)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.732
INFO:root:Testing 18 out of 17728 hypotheses for tuna_fish_can (evidence > 3.1741678156424715)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 11.12
INFO:root:Testing 158 out of 19024 hypotheses for potted_meat_can (evidence > 3.1741678156424715)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.7
DEBUG:root:evidences for each object: [16.30483678 10.23798619 15.68420506 14.93676002 13.73257439 14.42551944
 16.13476578 15.73216241 11.12047801 15.69998522]
DEBUG:root:mean evidence: 14.401, std: 2.014 -> th=13.043869423548873
INFO:root:current most likely hypothesis: numenta_mug with evidence 16.3
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'numenta_mug', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 119 ---
INFO:uvicorn.access:192.168.1.217:64613 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.86283459, -0.16989469, -0.47608011],
       [ 0.19319344,  0.98116069, -0.        ],
       [ 0.46711109, -0.09197556,  0.87940192]]), 'pose_fully_defined': False}}, {'patch': array([-0.00280869, -0.05372437, -0.01355173])}]
INFO:root:Testing 778 out of 14424 hypotheses for numenta_mug (evidence > 3.2609673558872174)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 16.512
INFO:root:Testing 90 out of 10992 hypotheses for montys_brain (evidence > 3.2609673558872174)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.554
INFO:root:Testing 1029 out of 14880 hypotheses for montys_heart (evidence > 3.2609673558872174)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 16.105
INFO:root:Testing 203 out of 23200 hypotheses for ramen_pack (evidence > 3.2609673558872174)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.078
INFO:root:Testing 624 out of 14864 hypotheses for hot_sauce (evidence > 3.2609673558872174)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.758
INFO:root:Testing 682 out of 12560 hypotheses for harissa_oil (evidence > 3.2609673558872174)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 14.305
INFO:root:Testing 1069 out of 21832 hypotheses for tomato_soup_can (evidence > 3.2609673558872174)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 15.642
INFO:root:Testing 304 out of 16976 hypotheses for mustard_bottle (evidence > 3.2609673558872174)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.14
INFO:root:Testing 14 out of 17728 hypotheses for tuna_fish_can (evidence > 3.2609673558872174)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 11.108
INFO:root:Testing 151 out of 19024 hypotheses for potted_meat_can (evidence > 3.2609673558872174)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.719
DEBUG:root:evidences for each object: [16.51218485 10.55439454 16.10453434 15.07776299 13.75836556 14.30547598
 15.64197593 16.14008705 11.108109   15.71853116]
DEBUG:root:mean evidence: 14.492, std: 2.002 -> th=13.209747876058724
INFO:root:current most likely hypothesis: numenta_mug with evidence 16.51
DEBUG:root:evidences for each object: [16.51218485 10.55439454 16.10453434 15.07776299 13.75836556 14.30547598
 15.64197593 16.14008705 11.108109   15.71853116]
DEBUG:root:mean evidence: 14.492, std: 2.002 -> th=13.209747876058724
DEBUG:root:evidences for each object: [16.51218485 10.55439454 16.10453434 15.07776299 13.75836556 14.30547598
 15.64197593 16.14008705 11.108109   15.71853116]
DEBUG:root:mean evidence: 14.492, std: 2.002 -> th=14.035357118312396
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'numenta_mug', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 120 ---
INFO:uvicorn.access:192.168.1.217:64613 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.87617102, -0.09774209, -0.47198605],
       [ 0.11086822,  0.99383512, -0.        ],
       [ 0.46907631, -0.05232825,  0.88160601]]), 'pose_fully_defined': False}}, {'patch': array([-0.00069244,  0.01364683, -0.00731432])}]
INFO:root:Testing 770 out of 14424 hypotheses for numenta_mug (evidence > 3.30243696901468)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 16.974
INFO:root:Testing 90 out of 10992 hypotheses for montys_brain (evidence > 3.30243696901468)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.013
INFO:root:Testing 1027 out of 14880 hypotheses for montys_heart (evidence > 3.30243696901468)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No 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 200 out of 23200 hypotheses for ramen_pack (evidence > 3.30243696901468)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.504
INFO:root:Testing 615 out of 14864 hypotheses for hot_sauce (evidence > 3.30243696901468)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.062
INFO:root:Testing 679 out of 12560 hypotheses for harissa_oil (evidence > 3.30243696901468)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 14.764
INFO:root:Testing 1054 out of 21832 hypotheses for tomato_soup_can (evidence > 3.30243696901468)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures 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 294 out of 16976 hypotheses for mustard_bottle (evidence > 3.30243696901468)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.415
INFO:root:Testing 12 out of 17728 hypotheses for tuna_fish_can (evidence > 3.30243696901468)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 11.309
INFO:root:Testing 147 out of 19024 hypotheses for potted_meat_can (evidence > 3.30243696901468)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.176
DEBUG:root:evidences for each object: [16.97393297 11.01347323 16.49731041 15.50431462 14.06193523 14.76431215
 16.11840202 16.41542402 11.30868673 16.17634949]
DEBUG:root:mean evidence: 14.883, std: 2.033 -> th=13.579146372987989
INFO:root:current most likely hypothesis: numenta_mug with evidence 16.97
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'numenta_mug', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 121 ---
INFO:uvicorn.access:192.168.1.217:64613 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64613 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.85652619, -0.07250402, -0.51098538],
       [ 0.08434727,  0.99643642, -0.        ],
       [ 0.50916444, -0.04310022,  0.85958941]]), 'pose_fully_defined': False}}, {'patch': array([-0.00109531,  0.00744368, -0.00524362])}]
INFO:root:Testing 770 out of 14424 hypotheses for numenta_mug (evidence > 3.3947865932469963)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 17.449
INFO:root:Testing 90 out of 10992 hypotheses for montys_brain (evidence > 3.3947865932469963)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.453
INFO:root:Testing 1027 out of 14880 hypotheses for montys_heart (evidence > 3.3947865932469963)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 16.958
INFO:root:Testing 199 out of 23200 hypotheses for ramen_pack (evidence > 3.3947865932469963)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.86
INFO:root:Testing 618 out of 14864 hypotheses for hot_sauce (evidence > 3.3947865932469963)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.459
INFO:root:Testing 679 out of 12560 hypotheses for harissa_oil (evidence > 3.3947865932469963)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 15.207
INFO:root:Testing 1052 out of 21832 hypotheses for tomato_soup_can (evidence > 3.3947865932469963)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 16.491
INFO:root:Testing 294 out of 16976 hypotheses for mustard_bottle (evidence > 3.3947865932469963)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.72
INFO:root:Testing 12 out of 17728 hypotheses for tuna_fish_can (evidence > 3.3947865932469963)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 11.441
INFO:root:Testing 144 out of 19024 hypotheses for potted_meat_can (evidence > 3.3947865932469963)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.448
DEBUG:root:evidences for each object: [17.44867431 11.4532094  16.95777949 15.85990829 14.459296   15.20734421
 16.49102071 16.72032015 11.44075225 16.4479162 ]
DEBUG:root:mean evidence: 15.249, std: 2.069 -> th=13.958939448226431
INFO:root:current most likely hypothesis: numenta_mug with evidence 17.45
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'numenta_mug', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 122 ---
INFO:uvicorn.access:192.168.1.217:64613 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.90918931,  0.03625053, -0.414802  ],
       [-0.03983962,  0.99920609,  0.        ],
       [ 0.41447268,  0.01652555,  0.9099117 ]]), 'pose_fully_defined': False}}, {'patch': array([0.00416191, 0.01659793, 0.00116493])}]
INFO:root:Testing 770 out of 14424 hypotheses for numenta_mug (evidence > 3.4897348620566078)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 17.916
INFO:root:Testing 90 out of 10992 hypotheses for montys_brain (evidence > 3.4897348620566078)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.899
INFO:root:Testing 1027 out of 14880 hypotheses for montys_heart (evidence > 3.4897348620566078)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 17.393
INFO:root:Testing 198 out of 23200 hypotheses for ramen_pack (evidence > 3.4897348620566078)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.347
INFO:root:Testing 618 out of 14864 hypotheses for hot_sauce (evidence > 3.4897348620566078)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.911
INFO:root:Testing 679 out of 12560 hypotheses for harissa_oil (evidence > 3.4897348620566078)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 15.658
INFO:root:Testing 1052 out of 21832 hypotheses for tomato_soup_can (evidence > 3.4897348620566078)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 16.97
INFO:root:Testing 294 out of 16976 hypotheses for mustard_bottle (evidence > 3.4897348620566078)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.019
INFO:root:Testing 12 out of 17728 hypotheses for tuna_fish_can (evidence > 3.4897348620566078)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 11.847
INFO:root:Testing 144 out of 19024 hypotheses for potted_meat_can (evidence > 3.4897348620566078)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.905
DEBUG:root:evidences for each object: [17.91635651 11.89889348 17.39321783 16.34695894 14.91109127 15.65762198
 16.96959833 17.01942974 11.84701207 16.9050391 ]
DEBUG:root:mean evidence: 15.687, std: 2.072 -> th=14.333085210207296
INFO:root:current most likely hypothesis: numenta_mug with evidence 17.92
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'numenta_mug', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 123 ---
INFO:uvicorn.access:192.168.1.217:64613 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64613 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.94702392,  0.05080027, -0.3171199 ],
       [-0.053565  ,  0.99856436,  0.        ],
       [ 0.31666463,  0.01698653,  0.94838545]]), 'pose_fully_defined': False}}, {'patch': array([0.0008329 , 0.01499743, 0.00100295])}]
INFO:root:Testing 770 out of 14424 hypotheses for numenta_mug (evidence > 3.5832713025518235)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 18.38
INFO:root:Testing 90 out of 10992 hypotheses for montys_brain (evidence > 3.5832713025518235)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 12.193
INFO:root:Testing 1027 out of 14880 hypotheses for montys_heart (evidence > 3.5832713025518235)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 17.815
INFO:root:Testing 198 out of 23200 hypotheses for ramen_pack (evidence > 3.5832713025518235)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.809
INFO:root:Testing 621 out of 14864 hypotheses for hot_sauce (evidence > 3.5832713025518235)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 15.315
INFO:root:Testing 679 out of 12560 hypotheses for harissa_oil (evidence > 3.5832713025518235)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 16.147
INFO:root:Testing 1052 out of 21832 hypotheses for tomato_soup_can (evidence > 3.5832713025518235)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 17.395
INFO:root:Testing 293 out of 16976 hypotheses for mustard_bottle (evidence > 3.5832713025518235)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.389
INFO:root:Testing 13 out of 17728 hypotheses for tuna_fish_can (evidence > 3.5832713025518235)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 12.244
INFO:root:Testing 144 out of 19024 hypotheses for potted_meat_can (evidence > 3.5832713025518235)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.28
DEBUG:root:evidences for each object: [18.38026137 12.19281782 17.8146259  16.80917027 15.31515671 16.14716097
 17.39488885 17.38900593 12.24418329 17.27998809]
DEBUG:root:mean evidence: 16.097, std: 2.101 -> th=14.704209092931384
INFO:root:current most likely hypothesis: numenta_mug with evidence 18.38
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'numenta_mug', 'tomato_soup_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 124 ---
INFO:uvicorn.access:192.168.1.217:64613 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64613 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.84071617,  0.05020545, -0.53914352],
       [-0.05961129,  0.99822167,  0.        ],
       [ 0.53818474,  0.03213904,  0.84221391]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01127957,  0.01645706, -0.01024594])}]
INFO:root:Testing 770 out of 14424 hypotheses for numenta_mug (evidence > 3.6760522732328447)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 18.615
INFO:root:Testing 90 out of 10992 hypotheses for montys_brain (evidence > 3.6760522732328447)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.193
INFO:root:Testing 1023 out of 14880 hypotheses for montys_heart (evidence > 3.6760522732328447)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 16.815
INFO:root:Testing 198 out of 23200 hypotheses for ramen_pack (evidence > 3.6760522732328447)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.658
INFO:root:Testing 621 out of 14864 hypotheses for hot_sauce (evidence > 3.6760522732328447)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.315
INFO:root:Testing 679 out of 12560 hypotheses for harissa_oil (evidence > 3.6760522732328447)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 15.942
INFO:root:Testing 1050 out of 21832 hypotheses for tomato_soup_can (evidence > 3.6760522732328447)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 17.369
INFO:root:Testing 293 out of 16976 hypotheses for mustard_bottle (evidence > 3.6760522732328447)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.675
INFO:root:Testing 15 out of 17728 hypotheses for tuna_fish_can (evidence > 3.6760522732328447)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 11.244
INFO:root:Testing 144 out of 19024 hypotheses for potted_meat_can (evidence > 3.6760522732328447)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.764
DEBUG:root:evidences for each object: [18.61527421 11.19281782 16.8146259  16.65824272 14.31515671 15.94213525
 17.36875585 17.67532578 11.24418329 17.76428331]
DEBUG:root:mean evidence: 15.759, std: 2.524 -> th=14.89221936841605
INFO:root:current most likely hypothesis: numenta_mug with evidence 18.62
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'ramen_pack', 'tomato_soup_can', 'montys_heart', 'potted_meat_can', 'numenta_mug', 'harissa_oil'}
INFO:root:--- Global Matching Step 125 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.87928175, -0.07055703, -0.47104704],
       [ 0.07998683,  0.99679592, -0.        ],
       [ 0.46953777, -0.03767756,  0.88210809]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00438692, -0.00654952, -0.01128582])}]
INFO:root:Testing 770 out of 14424 hypotheses for numenta_mug (evidence > 3.7230548421040126)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 18.358
INFO:root:Testing 90 out of 10992 hypotheses for montys_brain (evidence > 3.7230548421040126)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.193
INFO:root:Testing 1021 out of 14880 hypotheses for montys_heart (evidence > 3.7230548421040126)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 15.815
INFO:root:Testing 197 out of 23200 hypotheses for ramen_pack (evidence > 3.7230548421040126)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.658
INFO:root:Testing 618 out of 14864 hypotheses for hot_sauce (evidence > 3.7230548421040126)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.315
INFO:root:Testing 679 out of 12560 hypotheses for harissa_oil (evidence > 3.7230548421040126)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 14.942
INFO:root:Testing 1049 out of 21832 hypotheses for tomato_soup_can (evidence > 3.7230548421040126)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 16.369
INFO:root:Testing 292 out of 16976 hypotheses for mustard_bottle (evidence > 3.7230548421040126)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.596
INFO:root:Testing 14 out of 17728 hypotheses for tuna_fish_can (evidence > 3.7230548421040126)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 10.244
INFO:root:Testing 143 out of 19024 hypotheses for potted_meat_can (evidence > 3.7230548421040126)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.764
DEBUG:root:evidences for each object: [18.35805144 10.19281782 15.8146259  15.65824272 13.31515671 14.94213525
 16.36875585 17.5961352  10.24418329 16.76428331]
DEBUG:root:mean evidence: 14.925, std: 2.695 -> th=14.686441151119173
INFO:root:current most likely hypothesis: numenta_mug with evidence 18.36
DEBUG:root:evidences for each object: [18.35805144 10.19281782 15.8146259  15.65824272 13.31515671 14.94213525
 16.36875585 17.5961352  10.24418329 16.76428331]
DEBUG:root:mean evidence: 14.925, std: 2.695 -> th=14.686441151119173
DEBUG:root:evidences for each object: [18.35805144 10.19281782 15.8146259  15.65824272 13.31515671 14.94213525
 16.36875585 17.5961352  10.24418329 16.76428331]
DEBUG:root:mean evidence: 14.925, std: 2.695 -> th=15.604343723064119
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'ramen_pack', 'tomato_soup_can', 'montys_heart', 'potted_meat_can', 'numenta_mug', 'harissa_oil'}
INFO:root:--- Global Matching Step 126 ---
INFO:uvicorn.access:192.168.1.217:64615 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-9.70778221e-01,  2.70545542e-03,  2.39963179e-01],
       [-2.78688258e-03, -9.99996117e-01,  0.00000000e+00],
       [ 2.39962247e-01, -6.68749203e-04,  9.70781990e-01]]), 'pose_fully_defined': False}}, {'patch': array([-0.04330906, -0.02668565,  0.03132609])}]
INFO:root:Testing 760 out of 14424 hypotheses for numenta_mug (evidence > 3.6716102877797923)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 17.358
INFO:root:Testing 87 out of 10992 hypotheses for montys_brain (evidence > 3.6716102877797923)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.193
INFO:root:Testing 1011 out of 14880 hypotheses for montys_heart (evidence > 3.6716102877797923)
DEBUG:root:Calculating evidence for montys_heart using input 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: 14.815
INFO:root:Testing 191 out of 23200 hypotheses for ramen_pack (evidence > 3.6716102877797923)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.956
INFO:root:Testing 594 out of 14864 hypotheses for hot_sauce (evidence > 3.6716102877797923)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.452
INFO:root:Testing 676 out of 12560 hypotheses for harissa_oil (evidence > 3.6716102877797923)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 13.942
INFO:root:Testing 1033 out of 21832 hypotheses for tomato_soup_can (evidence > 3.6716102877797923)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 15.369
INFO:root:Testing 272 out of 16976 hypotheses for mustard_bottle (evidence > 3.6716102877797923)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.596
INFO:root:Testing 12 out of 17728 hypotheses for tuna_fish_can (evidence > 3.6716102877797923)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 10.67
INFO:root:Testing 136 out of 19024 hypotheses for potted_meat_can (evidence > 3.6716102877797923)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.764
DEBUG:root:evidences for each object: [17.35805144  9.19281782 14.8146259  15.95649439 12.45210205 13.94213525
 15.36875585 16.5961352  10.66954709 15.76428331]
DEBUG:root:mean evidence: 14.211, std: 2.523 -> th=13.886441151119172
INFO:root:current most likely hypothesis: numenta_mug with evidence 17.36
DEBUG:root:evidences for each object: [17.35805144  9.19281782 14.8146259  15.95649439 12.45210205 13.94213525
 15.36875585 16.5961352  10.66954709 15.76428331]
DEBUG:root:mean evidence: 14.211, std: 2.523 -> th=13.886441151119172
DEBUG:root:evidences for each object: [17.35805144  9.19281782 14.8146259  15.95649439 12.45210205 13.94213525
 15.36875585 16.5961352  10.66954709 15.76428331]
DEBUG:root:mean evidence: 14.211, std: 2.523 -> th=14.754343723064121
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'ramen_pack', 'tomato_soup_can', 'montys_heart', 'potted_meat_can', 'numenta_mug', 'harissa_oil'}
INFO:root:--- Global Matching Step 127 ---
INFO:uvicorn.access:192.168.1.217:64615 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.98988061, -0.02418166,  0.13982714],
       [ 0.02442158, -0.99970175,  0.        ],
       [ 0.13978544,  0.0034148 ,  0.99017593]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00077986,  0.01826602, -0.01045642])}]
INFO:root:Testing 740 out of 14424 hypotheses for numenta_mug (evidence > 3.471610287779793)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 16.358
INFO:root:Testing 84 out of 10992 hypotheses for montys_brain (evidence > 3.471610287779793)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.204
INFO:root:Testing 990 out of 14880 hypotheses for montys_heart (evidence > 3.471610287779793)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.067
INFO:root:Testing 190 out of 23200 hypotheses for ramen_pack (evidence > 3.471610287779793)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.301
INFO:root:Testing 567 out of 14864 hypotheses for hot_sauce (evidence > 3.471610287779793)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.646
INFO:root:Testing 664 out of 12560 hypotheses for harissa_oil (evidence > 3.471610287779793)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 12.942
INFO:root:Testing 1017 out of 21832 hypotheses for tomato_soup_can (evidence > 3.471610287779793)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 14.369
INFO:root:Testing 265 out of 16976 hypotheses for mustard_bottle (evidence > 3.471610287779793)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.596
INFO:root:Testing 39 out of 17728 hypotheses for tuna_fish_can (evidence > 3.471610287779793)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 10.642
INFO:root:Testing 131 out of 19024 hypotheses for potted_meat_can (evidence > 3.471610287779793)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.764
DEBUG:root:evidences for each object: [16.35805144  9.20410384 14.06675595 16.30147351 12.64629136 12.94213525
 14.36875585 15.5961352  10.6415956  14.76428331]
DEBUG:root:mean evidence: 13.689, std: 2.245 -> th=13.086441151119171
INFO:root:current most likely hypothesis: numenta_mug with evidence 16.36
DEBUG:root:evidences for each object: [16.35805144  9.20410384 14.06675595 16.30147351 12.64629136 12.94213525
 14.36875585 15.5961352  10.6415956  14.76428331]
DEBUG:root:mean evidence: 13.689, std: 2.245 -> th=13.086441151119171
DEBUG:root:evidences for each object: [16.35805144  9.20410384 14.06675595 16.30147351 12.64629136 12.94213525
 14.36875585 15.5961352  10.6415956  14.76428331]
DEBUG:root:mean evidence: 13.689, std: 2.245 -> th=13.90434372306412
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', 'ramen_pack', 'tomato_soup_can', 'montys_heart', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 128 ---
INFO:uvicorn.access:192.168.1.217:64615 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-9.86411919e-01,  5.60074676e-03,  1.64195489e-01],
       [-5.67780699e-03, -9.99983881e-01,  0.00000000e+00],
       [ 1.64192842e-01, -9.32270295e-04,  9.86427819e-01]]), 'pose_fully_defined': False}}, {'patch': array([-0.00439364,  0.01181445,  0.01450024])}]
INFO:root:Testing 715 out of 14424 hypotheses for numenta_mug (evidence > 3.271610287779792)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 15.358
INFO:root:Testing 83 out of 10992 hypotheses for montys_brain (evidence > 3.271610287779792)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.226
INFO:root:Testing 985 out of 14880 hypotheses for montys_heart (evidence > 3.271610287779792)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.987
INFO:root:Testing 189 out of 23200 hypotheses for ramen_pack (evidence > 3.271610287779792)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.637
INFO:root:Testing 588 out of 14864 hypotheses for hot_sauce (evidence > 3.271610287779792)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.124
INFO:root:Testing 665 out of 12560 hypotheses for harissa_oil (evidence > 3.271610287779792)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 12.067
INFO:root:Testing 993 out of 21832 hypotheses for tomato_soup_can (evidence > 3.271610287779792)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 13.369
INFO:root:Testing 263 out of 16976 hypotheses for mustard_bottle (evidence > 3.271610287779792)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.596
INFO:root:Testing 64 out of 17728 hypotheses for tuna_fish_can (evidence > 3.271610287779792)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 10.71
INFO:root:Testing 131 out of 19024 hypotheses for potted_meat_can (evidence > 3.271610287779792)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.556
DEBUG:root:evidences for each object: [15.35805144  9.22598187 13.9867601  16.6370135  13.12371667 12.06654076
 13.36875585 14.5961352  10.71025355 14.55560518]
DEBUG:root:mean evidence: 13.363, std: 2.096 -> th=13.30961079770997
INFO:root:current most likely hypothesis: ramen_pack with evidence 16.64
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'ramen_pack', 'tomato_soup_can', 'montys_heart', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 129 ---
INFO:uvicorn.access:192.168.1.217:64615 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.87773899,  0.06431599,  0.47480281],
       [-0.07307869, -0.99732618,  0.        ],
       [ 0.47353328, -0.03469797,  0.8800922 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00516778,  0.00362918, -0.00478067])}]
INFO:root:Testing 644 out of 14424 hypotheses for numenta_mug (evidence > 3.3274026994274912)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 14.358
INFO:root:Testing 80 out of 10992 hypotheses for montys_brain (evidence > 3.3274026994274912)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.127
INFO:root:Testing 932 out of 14880 hypotheses for montys_heart (evidence > 3.3274026994274912)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.088
INFO:root:Testing 182 out of 23200 hypotheses for ramen_pack (evidence > 3.3274026994274912)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.811
INFO:root:Testing 566 out of 14864 hypotheses for hot_sauce (evidence > 3.3274026994274912)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.833
INFO:root:Testing 636 out of 12560 hypotheses for harissa_oil (evidence > 3.3274026994274912)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 11.855
INFO:root:Testing 929 out of 21832 hypotheses for tomato_soup_can (evidence > 3.3274026994274912)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 13.045
INFO:root:Testing 224 out of 16976 hypotheses for mustard_bottle (evidence > 3.3274026994274912)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.596
INFO:root:Testing 20 out of 17728 hypotheses for tuna_fish_can (evidence > 3.3274026994274912)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 10.529
INFO:root:Testing 110 out of 19024 hypotheses for potted_meat_can (evidence > 3.3274026994274912)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.361
DEBUG:root:evidences for each object: [14.35805144  9.12744206 14.08799667 16.811014   12.83301272 11.8552709
 13.04488328 13.5961352  10.52924444 14.36106591]
DEBUG:root:mean evidence: 13.06, std: 2.053 -> th=13.448811201487853
INFO:root:current most likely hypothesis: ramen_pack with evidence 16.81
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'ramen_pack', 'montys_heart', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 130 ---
INFO:uvicorn.access:192.168.1.217:64615 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64615 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.8527543 ,  0.04968596,  0.51994367],
       [-0.05816662, -0.99830689,  0.        ],
       [ 0.51906335, -0.03024336,  0.85420055]]), 'pose_fully_defined': False}}, {'patch': array([ 7.57824143e-06,  4.67030823e-04, -9.71695935e-03])}]
INFO:root:Testing 560 out of 14424 hypotheses for numenta_mug (evidence > 3.3622028003719624)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 13.358
INFO:root:Testing 74 out of 10992 hypotheses for montys_brain (evidence > 3.3622028003719624)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.127
INFO:root:Testing 866 out of 14880 hypotheses for montys_heart (evidence > 3.3622028003719624)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.171
INFO:root:Testing 176 out of 23200 hypotheses for ramen_pack (evidence > 3.3622028003719624)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.961
INFO:root:Testing 533 out of 14864 hypotheses for hot_sauce (evidence > 3.3622028003719624)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.734
INFO:root:Testing 592 out of 12560 hypotheses for harissa_oil (evidence > 3.3622028003719624)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 11.642
INFO:root:Testing 834 out of 21832 hypotheses for tomato_soup_can (evidence > 3.3622028003719624)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 13.129
INFO:root:Testing 193 out of 16976 hypotheses for mustard_bottle (evidence > 3.3622028003719624)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.932
INFO:root:Testing 20 out of 17728 hypotheses for tuna_fish_can (evidence > 3.3622028003719624)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 9.529
INFO:root:Testing 103 out of 19024 hypotheses for potted_meat_can (evidence > 3.3622028003719624)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.172
DEBUG:root:evidences for each object: [13.35805144  8.12744206 14.1705234  16.96122683 12.73446479 11.64152964
 13.12943332 12.93236841  9.52924444 14.17223769]
DEBUG:root:mean evidence: 12.676, std: 2.35 -> th=13.568981466809793
INFO:root:current most likely hypothesis: ramen_pack with evidence 16.96
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'potted_meat_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 131 ---
INFO:uvicorn.access:192.168.1.217:64615 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.9357596 ,  0.0514859 ,  0.34885982],
       [-0.05493735, -0.9984898 ,  0.        ],
       [ 0.34833298, -0.01916543,  0.93717492]]), 'pose_fully_defined': False}}, {'patch': array([-0.00498257,  0.00809526, -0.00992481])}]
INFO:root:Testing 461 out of 14424 hypotheses for numenta_mug (evidence > 3.392245366702447)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.358
INFO:root:Testing 60 out of 10992 hypotheses for montys_brain (evidence > 3.392245366702447)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.127
INFO:root:Testing 809 out of 14880 hypotheses for montys_heart (evidence > 3.392245366702447)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.257
INFO:root:Testing 164 out of 23200 hypotheses for ramen_pack (evidence > 3.392245366702447)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.169
INFO:root:Testing 505 out of 14864 hypotheses for hot_sauce (evidence > 3.392245366702447)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.047
INFO:root:Testing 525 out of 12560 hypotheses for harissa_oil (evidence > 3.392245366702447)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 11.414
INFO:root:Testing 711 out of 21832 hypotheses for tomato_soup_can (evidence > 3.392245366702447)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.968
INFO:root:Testing 168 out of 16976 hypotheses for mustard_bottle (evidence > 3.392245366702447)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.982
INFO:root:Testing 19 out of 17728 hypotheses for tuna_fish_can (evidence > 3.392245366702447)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.529
INFO:root:Testing 97 out of 19024 hypotheses for potted_meat_can (evidence > 3.392245366702447)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.072
DEBUG:root:evidences for each object: [12.35805144  7.12744206 14.25712208 17.16944356 12.04743431 11.41386533
 12.9677094  12.98198711  8.52924444 14.07177788]
DEBUG:root:mean evidence: 12.292, std: 2.71 -> th=13.73555484567403
INFO:root:current most likely hypothesis: ramen_pack with evidence 17.17
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'potted_meat_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 132 ---
INFO:uvicorn.access:192.168.1.217:64615 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.94224528,  0.04024079,  0.3324974 ],
       [-0.04266845, -0.99908929,  0.        ],
       [ 0.33219459, -0.01418715,  0.94310417]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00876472, -0.00035364,  0.00630805])}]
INFO:root:Testing 378 out of 14424 hypotheses for numenta_mug (evidence > 3.4338887114185077)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.358
INFO:root:Testing 32 out of 10992 hypotheses for montys_brain (evidence > 3.4338887114185077)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 6.127
INFO:root:Testing 722 out of 14880 hypotheses for montys_heart (evidence > 3.4338887114185077)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.338
INFO:root:Testing 157 out of 23200 hypotheses for ramen_pack (evidence > 3.4338887114185077)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.377
INFO:root:Testing 453 out of 14864 hypotheses for hot_sauce (evidence > 3.4338887114185077)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.992
INFO:root:Testing 452 out of 12560 hypotheses for harissa_oil (evidence > 3.4338887114185077)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 11.232
INFO:root:Testing 626 out of 21832 hypotheses for tomato_soup_can (evidence > 3.4338887114185077)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 13.256
INFO:root:Testing 130 out of 16976 hypotheses for mustard_bottle (evidence > 3.4338887114185077)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.037
INFO:root:Testing 18 out of 17728 hypotheses for tuna_fish_can (evidence > 3.4338887114185077)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.529
INFO:root:Testing 92 out of 19024 hypotheses for potted_meat_can (evidence > 3.4338887114185077)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.958
DEBUG:root:evidences for each object: [11.35805144  6.12744206 14.33839053 17.37727479 11.99199703 11.23169209
 13.25598749 13.03681954  7.52924444 13.95804099]
DEBUG:root:mean evidence: 12.02, std: 3.104 -> th=13.901819828528323
INFO:root:current most likely hypothesis: ramen_pack with evidence 17.38
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'potted_meat_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 133 ---
INFO:uvicorn.access:192.168.1.217:64616 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.93830879, -0.01040111,  0.34564206],
       [ 0.01108428, -0.99993857,  0.        ],
       [ 0.34562082,  0.00383119,  0.93836644]]), 'pose_fully_defined': False}}, {'patch': array([-0.00132197, -0.0162456 ,  0.00469133])}]
INFO:root:Testing 290 out of 14424 hypotheses for numenta_mug (evidence > 3.4754549571320794)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.358
INFO:root:Testing 20 out of 10992 hypotheses for montys_brain (evidence > 3.4754549571320794)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 6.057
INFO:root:Testing 618 out of 14880 hypotheses for montys_heart (evidence > 3.4754549571320794)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.338
INFO:root:Testing 154 out of 23200 hypotheses for ramen_pack (evidence > 3.4754549571320794)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.62
INFO:root:Testing 413 out of 14864 hypotheses for hot_sauce (evidence > 3.4754549571320794)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.887
INFO:root:Testing 384 out of 12560 hypotheses for harissa_oil (evidence > 3.4754549571320794)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 10.232
INFO:root:Testing 528 out of 21832 hypotheses for tomato_soup_can (evidence > 3.4754549571320794)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.256
INFO:root:Testing 107 out of 16976 hypotheses for mustard_bottle (evidence > 3.4754549571320794)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.03
INFO:root:Testing 18 out of 17728 hypotheses for tuna_fish_can (evidence > 3.4754549571320794)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.32
INFO:root:Testing 88 out of 19024 hypotheses for potted_meat_can (evidence > 3.4754549571320794)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.958
DEBUG:root:evidences for each object: [10.35805144  6.05658856 13.33839053 17.61975594 11.88731308 10.23169209
 12.25598749 13.03030332  7.31993006 12.95804099]
DEBUG:root:mean evidence: 11.506, std: 3.099 -> th=14.095804750752418
INFO:root:current most likely hypothesis: ramen_pack with evidence 17.62
DEBUG:root:evidences for each object: [10.35805144  6.05658856 13.33839053 17.61975594 11.88731308 10.23169209
 12.25598749 13.03030332  7.31993006 12.95804099]
DEBUG:root:mean evidence: 11.506, std: 3.099 -> th=14.095804750752418
DEBUG:root:evidences for each object: [10.35805144  6.05658856 13.33839053 17.61975594 11.88731308 10.23169209
 12.25598749 13.03030332  7.31993006 12.95804099]
DEBUG:root:mean evidence: 11.506, std: 3.099 -> th=14.976792547674446
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 134 ---
INFO:uvicorn.access:192.168.1.217:64616 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.93443494,  0.00916648,  0.3560159 ],
       [-0.00980918, -0.99995189,  0.        ],
       [ 0.35599877, -0.00349222,  0.9344799 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00337488, -0.03419717,  0.01301911])}]
INFO:root:Testing 224 out of 14424 hypotheses for numenta_mug (evidence > 3.5239511876881036)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.358
INFO:root:Testing 19 out of 10992 hypotheses for montys_brain (evidence > 3.5239511876881036)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.057
INFO:root:Testing 539 out of 14880 hypotheses for montys_heart (evidence > 3.5239511876881036)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 12.338
INFO:root:Testing 151 out of 23200 hypotheses for ramen_pack (evidence > 3.5239511876881036)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.54
INFO:root:Testing 390 out of 14864 hypotheses for hot_sauce (evidence > 3.5239511876881036)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.887
INFO:root:Testing 328 out of 12560 hypotheses for harissa_oil (evidence > 3.5239511876881036)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 9.232
INFO:root:Testing 426 out of 21832 hypotheses for tomato_soup_can (evidence > 3.5239511876881036)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.256
INFO:root:Testing 96 out of 16976 hypotheses for mustard_bottle (evidence > 3.5239511876881036)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.03
INFO:root:Testing 15 out of 17728 hypotheses for tuna_fish_can (evidence > 3.5239511876881036)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.726
INFO:root:Testing 80 out of 19024 hypotheses for potted_meat_can (evidence > 3.5239511876881036)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.958
DEBUG:root:evidences for each object: [ 9.35805144  5.05658856 12.33839053 17.53970689 10.88731308  9.23169209
 11.25598749 12.03030332  7.72618983 11.95804099]
DEBUG:root:mean evidence: 10.738, std: 3.127 -> th=14.031765509775735
INFO:root:current most likely hypothesis: ramen_pack with evidence 17.54
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 135 ---
INFO:uvicorn.access:192.168.1.217:64616 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64616 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.94796808, -0.03134653,  0.31681843],
       [ 0.03304902, -0.99945373,  0.        ],
       [ 0.31664537,  0.01047054,  0.9484862 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00049704, -0.00926445,  0.00098264])}]
INFO:root:Testing 153 out of 14424 hypotheses for numenta_mug (evidence > 3.5079413774439328)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.358
INFO:root:Testing 5 out of 10992 hypotheses for montys_brain (evidence > 3.5079413774439328)
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: 4.057
INFO:root:Testing 410 out of 14880 hypotheses for montys_heart (evidence > 3.5079413774439328)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 11.338
INFO:root:Testing 150 out of 23200 hypotheses for ramen_pack (evidence > 3.5079413774439328)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.773
INFO:root:Testing 303 out of 14864 hypotheses for hot_sauce (evidence > 3.5079413774439328)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.887
INFO:root:Testing 251 out of 12560 hypotheses for harissa_oil (evidence > 3.5079413774439328)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 8.232
INFO:root:Testing 316 out of 21832 hypotheses for tomato_soup_can (evidence > 3.5079413774439328)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.256
INFO:root:Testing 72 out of 16976 hypotheses for mustard_bottle (evidence > 3.5079413774439328)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.03
INFO:root:Testing 45 out of 17728 hypotheses for tuna_fish_can (evidence > 3.5079413774439328)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.209
INFO:root:Testing 64 out of 19024 hypotheses for potted_meat_can (evidence > 3.5079413774439328)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.958
DEBUG:root:evidences for each object: [ 8.35805144  4.05658856 11.33839053 17.77347168  9.88731308  8.23169209
 10.25598749 11.03030332  8.20922888 10.95804099]
DEBUG:root:mean evidence: 10.01, std: 3.296 -> th=14.218777347032153
INFO:root:current most likely hypothesis: ramen_pack with evidence 17.77
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 136 ---
INFO:uvicorn.access:192.168.1.217:64616 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.92778177, -0.04495042,  0.37040579],
       [ 0.04839258, -0.99882839,  0.        ],
       [ 0.36997182,  0.01792489,  0.92887004]]), 'pose_fully_defined': False}}, {'patch': array([-0.00235152, -0.00525678,  0.00732501])}]
INFO:root:Testing 90 out of 14424 hypotheses for numenta_mug (evidence > 3.554694336758038)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.358
INFO:root:Testing 2 out of 10992 hypotheses for montys_brain (evidence > 3.554694336758038)
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: 3.814
INFO:root:Testing 263 out of 14880 hypotheses for montys_heart (evidence > 3.554694336758038)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.338
INFO:root:Testing 147 out of 23200 hypotheses for ramen_pack (evidence > 3.554694336758038)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.984
INFO:root:Testing 194 out of 14864 hypotheses for hot_sauce (evidence > 3.554694336758038)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.887
INFO:root:Testing 178 out of 12560 hypotheses for harissa_oil (evidence > 3.554694336758038)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 7.232
INFO:root:Testing 214 out of 21832 hypotheses for tomato_soup_can (evidence > 3.554694336758038)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.256
INFO:root:Testing 55 out of 16976 hypotheses for mustard_bottle (evidence > 3.554694336758038)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.03
INFO:root:Testing 188 out of 17728 hypotheses for tuna_fish_can (evidence > 3.554694336758038)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.583
INFO:root:Testing 53 out of 19024 hypotheses for potted_meat_can (evidence > 3.554694336758038)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.958
DEBUG:root:evidences for each object: [ 7.35805144  3.81431273 10.33839053 17.98420915  8.88731308  7.23169209
  9.25598749 10.03030332  8.58250397  9.95804099]
DEBUG:root:mean evidence: 9.344, std: 3.41 -> th=14.387367321926016
INFO:root:current most likely hypothesis: ramen_pack with evidence 17.98
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 137 ---
INFO:uvicorn.access:192.168.1.217:64618 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.92566621,  0.04732838,  0.37536927],
       [-0.05106229, -0.99869547,  0.        ],
       [ 0.37487959, -0.01916721,  0.92687535]]), 'pose_fully_defined': False}}, {'patch': array([-0.02346472,  0.05991382, -0.01885625])}]
INFO:root:Testing 38 out of 14424 hypotheses for numenta_mug (evidence > 3.5968418304815035)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.812
INFO:root:Testing 1 out of 10992 hypotheses for montys_brain (evidence > 3.5968418304815035)
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: 3.414
INFO:root:Testing 146 out of 14880 hypotheses for montys_heart (evidence > 3.5968418304815035)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.338
INFO:root:Testing 144 out of 23200 hypotheses for ramen_pack (evidence > 3.5968418304815035)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.984
INFO:root:Testing 128 out of 14864 hypotheses for hot_sauce (evidence > 3.5968418304815035)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.887
INFO:root:Testing 122 out of 12560 hypotheses for harissa_oil (evidence > 3.5968418304815035)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 7.359
INFO:root:Testing 146 out of 21832 hypotheses for tomato_soup_can (evidence > 3.5968418304815035)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.084
INFO:root:Testing 44 out of 16976 hypotheses for mustard_bottle (evidence > 3.5968418304815035)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.03
INFO:root:Testing 149 out of 17728 hypotheses for tuna_fish_can (evidence > 3.5968418304815035)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.583
INFO:root:Testing 45 out of 19024 hypotheses for potted_meat_can (evidence > 3.5968418304815035)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.761
DEBUG:root:evidences for each object: [ 6.81204469  3.41358845  9.33839053 16.98420915  7.88731308  7.35918294
  9.08410245  9.03030332  7.58250397  9.76066206]
DEBUG:root:mean evidence: 8.725, std: 3.25 -> th=13.587367321926015
INFO:root:current most likely hypothesis: ramen_pack with evidence 16.98
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 138 ---
INFO:uvicorn.access:192.168.1.217:64619 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.89650638,  0.09213873,  0.43334371],
       [-0.10223679, -0.99476009,  0.        ],
       [ 0.43107303, -0.04430367,  0.90122873]]), 'pose_fully_defined': False}}, {'patch': array([ 0.02869871, -0.02824131,  0.01137142])}]
INFO:root:Testing 65 out of 14424 hypotheses for numenta_mug (evidence > 3.3968418304815025)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.812
INFO:root:Testing 1 out of 10992 hypotheses for montys_brain (evidence > 3.3968418304815025)
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: 3.396
INFO:root:Testing 209 out of 14880 hypotheses for montys_heart (evidence > 3.3968418304815025)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.338
INFO:root:Testing 141 out of 23200 hypotheses for ramen_pack (evidence > 3.3968418304815025)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.063
INFO:root:Testing 143 out of 14864 hypotheses for hot_sauce (evidence > 3.3968418304815025)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.887
INFO:root:Testing 176 out of 12560 hypotheses for harissa_oil (evidence > 3.3968418304815025)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 6.359
INFO:root:Testing 200 out of 21832 hypotheses for tomato_soup_can (evidence > 3.3968418304815025)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.084
INFO:root:Testing 55 out of 16976 hypotheses for mustard_bottle (evidence > 3.3968418304815025)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.03
INFO:root:Testing 222 out of 17728 hypotheses for tuna_fish_can (evidence > 3.3968418304815025)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.879
INFO:root:Testing 51 out of 19024 hypotheses for potted_meat_can (evidence > 3.3968418304815025)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.761
DEBUG:root:evidences for each object: [ 5.81204469  3.39581143  8.33839053 16.06335527  6.88731308  6.35918294
  8.08410245  8.03030332  7.8787772   8.76066206]
DEBUG:root:mean evidence: 7.961, std: 3.092 -> th=12.850684212368387
INFO:root:current most likely hypothesis: ramen_pack with evidence 16.06
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 139 ---
INFO:uvicorn.access:192.168.1.217:64619 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.88851434,  0.08392379,  0.4511087 ],
       [-0.09403552, -0.99556884,  0.        ],
       [ 0.44910977, -0.04242024,  0.89246901]]), 'pose_fully_defined': False}}, {'patch': array([-0.00197604, -0.00768832,  0.00400541])}]
INFO:root:Testing 152 out of 14424 hypotheses for numenta_mug (evidence > 3.2126710530920963)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.812
INFO:root:Testing 19 out of 10992 hypotheses for montys_brain (evidence > 3.2126710530920963)
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: 3.212
INFO:root:Testing 292 out of 14880 hypotheses for montys_heart (evidence > 3.2126710530920963)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.338
INFO:root:Testing 146 out of 23200 hypotheses for ramen_pack (evidence > 3.2126710530920963)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.249
INFO:root:Testing 181 out of 14864 hypotheses for hot_sauce (evidence > 3.2126710530920963)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.887
INFO:root:Testing 216 out of 12560 hypotheses for harissa_oil (evidence > 3.2126710530920963)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 5.359
INFO:root:Testing 266 out of 21832 hypotheses for tomato_soup_can (evidence > 3.2126710530920963)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.084
INFO:root:Testing 70 out of 16976 hypotheses for mustard_bottle (evidence > 3.2126710530920963)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.03
INFO:root:Testing 3365 out of 17728 hypotheses for tuna_fish_can (evidence > 3.2126710530920963)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 8.176
INFO:root:Testing 58 out of 19024 hypotheses for potted_meat_can (evidence > 3.2126710530920963)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.761
DEBUG:root:evidences for each object: [ 4.81204469  3.21229312  7.33839053 16.24866425  5.88731308  5.35918294
  7.08410245  7.03030332  8.17648763  7.76066206]
DEBUG:root:mean evidence: 7.291, std: 3.314 -> th=12.998931398321256
INFO:root:current most likely hypothesis: ramen_pack with evidence 16.25
DEBUG:root:evidences for each object: [ 4.81204469  3.21229312  7.33839053 16.24866425  5.88731308  5.35918294
  7.08410245  7.03030332  8.17648763  7.76066206]
DEBUG:root:mean evidence: 7.291, std: 3.314 -> th=12.998931398321256
DEBUG:root:evidences for each object: [ 4.81204469  3.21229312  7.33839053 16.24866425  5.88731308  5.35918294
  7.08410245  7.03030332  8.17648763  7.76066206]
DEBUG:root:mean evidence: 7.291, std: 3.314 -> th=13.811364610716334
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 140 ---
INFO:uvicorn.access:192.168.1.217:64619 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.64800776,  0.15753259,  0.74516403],
       [-0.23622286, -0.9716989 ,  0.        ],
       [ 0.72407507, -0.17602478,  0.66688123]]), 'pose_fully_defined': False}}, {'patch': array([-0.03729598,  0.0168536 ,  0.05721457])}]
INFO:root:Testing 5 out of 14424 hypotheses for numenta_mug (evidence > 3.2497328495803135)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.812
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.212
INFO:root:Testing 40 out of 14880 hypotheses for montys_heart (evidence > 3.2497328495803135)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.338
INFO:root:Testing 138 out of 23200 hypotheses for ramen_pack (evidence > 3.2497328495803135)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.319
INFO:root:Testing 23 out of 14864 hypotheses for hot_sauce (evidence > 3.2497328495803135)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.887
INFO:root:Testing 26 out of 12560 hypotheses for harissa_oil (evidence > 3.2497328495803135)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.359
INFO:root:Testing 33 out of 21832 hypotheses for tomato_soup_can (evidence > 3.2497328495803135)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.084
INFO:root:Testing 22 out of 16976 hypotheses for mustard_bottle (evidence > 3.2497328495803135)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.434
INFO:root:Testing 1854 out of 17728 hypotheses for tuna_fish_can (evidence > 3.2497328495803135)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 7.176
INFO:root:Testing 24 out of 19024 hypotheses for potted_meat_can (evidence > 3.2497328495803135)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.761
DEBUG:root:evidences for each object: [ 3.81204469  3.21229312  6.33839053 15.31851173  4.88731308  4.35918294
  6.08410245  7.43362124  7.17648763  6.76066206]
DEBUG:root:mean evidence: 6.538, std: 3.234 -> th=12.254809383631681
INFO:root:current most likely hypothesis: ramen_pack with evidence 15.32
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 141 ---
INFO:uvicorn.access:192.168.1.217:64621 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.89331255,  0.18120051, -0.41128952],
       [-0.19879272, -0.98004156,  0.        ],
       [-0.40308082,  0.08176136,  0.91150476]]), 'pose_fully_defined': False}}, {'patch': array([ 0.02989501, -0.01507331, -0.0926229 ])}]
INFO:root:Testing 124 out of 14424 hypotheses for numenta_mug (evidence > 3.0637023459079202)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.852
INFO:root:Testing 14 out of 10992 hypotheses for montys_brain (evidence > 3.0637023459079202)
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: 3.459
INFO:root:Testing 189 out of 14880 hypotheses for montys_heart (evidence > 3.0637023459079202)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.545
INFO:root:Testing 148 out of 23200 hypotheses for ramen_pack (evidence > 3.0637023459079202)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.033
INFO:root:Testing 120 out of 14864 hypotheses for hot_sauce (evidence > 3.0637023459079202)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.333
INFO:root:Testing 113 out of 12560 hypotheses for harissa_oil (evidence > 3.0637023459079202)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.471
INFO:root:Testing 187 out of 21832 hypotheses for tomato_soup_can (evidence > 3.0637023459079202)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.126
INFO:root:Testing 60 out of 16976 hypotheses for mustard_bottle (evidence > 3.0637023459079202)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.434
INFO:root:Testing 3391 out of 17728 hypotheses for tuna_fish_can (evidence > 3.0637023459079202)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 6.954
INFO:root:Testing 41 out of 19024 hypotheses for potted_meat_can (evidence > 3.0637023459079202)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.685
DEBUG:root:evidences for each object: [ 3.85200687  3.4587805   6.54535594 15.03343791  4.33268977  4.47081554
  6.12620217  6.43362124  6.954       6.68471622]
DEBUG:root:mean evidence: 6.389, std: 3.133 -> th=12.026750329825662
INFO:root:current most likely hypothesis: ramen_pack with evidence 15.03
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 142 ---
INFO:uvicorn.access:192.168.1.217:64621 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.90709733,  0.20755507, -0.36619029],
       [-0.22304799, -0.97480747,  0.        ],
       [-0.35696503,  0.08167801,  0.93053999]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00128971,  0.01690786, -0.00496783])}]
INFO:root:Testing 153 out of 14424 hypotheses for numenta_mug (evidence > 3.006687582456415)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.851
INFO:root:Testing 16 out of 10992 hypotheses for montys_brain (evidence > 3.006687582456415)
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: 3.362
INFO:root:Testing 213 out of 14880 hypotheses for montys_heart (evidence > 3.006687582456415)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.717
INFO:root:Testing 135 out of 23200 hypotheses for ramen_pack (evidence > 3.006687582456415)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.439
INFO:root:Testing 95 out of 14864 hypotheses for hot_sauce (evidence > 3.006687582456415)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.682
INFO:root:Testing 136 out of 12560 hypotheses for harissa_oil (evidence > 3.006687582456415)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.492
INFO:root:Testing 230 out of 21832 hypotheses for tomato_soup_can (evidence > 3.006687582456415)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.133
INFO:root:Testing 40 out of 16976 hypotheses for mustard_bottle (evidence > 3.006687582456415)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.434
INFO:root:Testing 2319 out of 17728 hypotheses for tuna_fish_can (evidence > 3.006687582456415)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 7.071
INFO:root:Testing 38 out of 19024 hypotheses for potted_meat_can (evidence > 3.006687582456415)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.842
DEBUG:root:evidences for each object: [ 3.85149124  3.36205339  6.71676955 15.43886986  3.68202528  4.49248357
  6.13330676  5.43362124  7.07079002  5.84232494]
DEBUG:root:mean evidence: 6.202, std: 3.316 -> th=12.351095887990432
INFO:root:current most likely hypothesis: ramen_pack with evidence 15.44
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 143 ---
INFO:uvicorn.access:192.168.1.217:64622 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.88344467,  0.20054091, -0.42344878],
       [-0.22136711, -0.97519055,  0.        ],
       [-0.41294324,  0.09373763,  0.90592005]]), 'pose_fully_defined': False}}, {'patch': array([-0.00124191, -0.01345666,  0.00103784])}]
INFO:root:Testing 57 out of 14424 hypotheses for numenta_mug (evidence > 3.087773971997608)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.078
INFO:root:Testing 3 out of 10992 hypotheses for montys_brain (evidence > 3.087773971997608)
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: 3.522
INFO:root:Testing 72 out of 14880 hypotheses for montys_heart (evidence > 3.087773971997608)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.931
INFO:root:Testing 115 out of 23200 hypotheses for ramen_pack (evidence > 3.087773971997608)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.783
INFO:root:Testing 30 out of 14864 hypotheses for hot_sauce (evidence > 3.087773971997608)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.901
INFO:root:Testing 82 out of 12560 hypotheses for harissa_oil (evidence > 3.087773971997608)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.604
INFO:root:Testing 111 out of 21832 hypotheses for tomato_soup_can (evidence > 3.087773971997608)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.177
INFO:root:Testing 17 out of 16976 hypotheses for mustard_bottle (evidence > 3.087773971997608)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.625
INFO:root:Testing 699 out of 17728 hypotheses for tuna_fish_can (evidence > 3.087773971997608)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.115
INFO:root:Testing 19 out of 19024 hypotheses for potted_meat_can (evidence > 3.087773971997608)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.827
DEBUG:root:evidences for each object: [ 4.07819102  3.5217226   6.93134039 15.78322616  3.90058899  4.60410827
  6.17708298  5.6245132   7.11501639  5.82658744]
DEBUG:root:mean evidence: 6.356, std: 3.361 -> th=12.62658092470491
INFO:root:current most likely hypothesis: ramen_pack with evidence 15.78
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 144 ---
INFO:uvicorn.access:192.168.1.217:64622 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.57892939,  0.13690435, -0.80380219],
       [-0.2301313 , -0.97315959,  0.        ],
       [-0.78222781,  0.18498005,  0.59489666]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0025607,  0.0115794, -0.0002831])}]
INFO:root:Testing 39 out of 14424 hypotheses for numenta_mug (evidence > 3.1566452311762276)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.296
INFO:root:Testing 3 out of 10992 hypotheses for montys_brain (evidence > 3.1566452311762276)
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: 3.826
INFO:root:Testing 70 out of 14880 hypotheses for montys_heart (evidence > 3.1566452311762276)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.356
INFO:root:Testing 108 out of 23200 hypotheses for ramen_pack (evidence > 3.1566452311762276)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.169
INFO:root:Testing 18 out of 14864 hypotheses for hot_sauce (evidence > 3.1566452311762276)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.278
INFO:root:Testing 70 out of 12560 hypotheses for harissa_oil (evidence > 3.1566452311762276)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.862
INFO:root:Testing 93 out of 21832 hypotheses for tomato_soup_can (evidence > 3.1566452311762276)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.406
INFO:root:Testing 12 out of 16976 hypotheses for mustard_bottle (evidence > 3.1566452311762276)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.954
INFO:root:Testing 665 out of 17728 hypotheses for tuna_fish_can (evidence > 3.1566452311762276)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.956
INFO:root:Testing 13 out of 19024 hypotheses for potted_meat_can (evidence > 3.1566452311762276)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.057
DEBUG:root:evidences for each object: [ 4.29586348  3.82611679  7.3558539  16.16932379  4.27823334  4.86169321
  6.40643927  5.95418194  6.95575037  6.05683721]
DEBUG:root:mean evidence: 6.616, std: 3.383 -> th=12.935459031036885
INFO:root:current most likely hypothesis: ramen_pack with evidence 16.17
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 145 ---
INFO:uvicorn.access:192.168.1.217:64622 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.68814407,  0.05310612, -0.723628  ],
       [-0.07694418, -0.9970354 ,  0.        ],
       [-0.72148273,  0.05567897,  0.69019021]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0035475 , -0.03540996, -0.00446425])}]
INFO:root:Testing 61 out of 14424 hypotheses for numenta_mug (evidence > 3.233864757759221)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.283
INFO:root:Testing 3 out of 10992 hypotheses for montys_brain (evidence > 3.233864757759221)
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: 3.233
INFO:root:Testing 68 out of 14880 hypotheses for montys_heart (evidence > 3.233864757759221)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.356
INFO:root:Testing 86 out of 23200 hypotheses for ramen_pack (evidence > 3.233864757759221)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.169
INFO:root:Testing 19 out of 14864 hypotheses for hot_sauce (evidence > 3.233864757759221)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.278
INFO:root:Testing 78 out of 12560 hypotheses for harissa_oil (evidence > 3.233864757759221)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.862
INFO:root:Testing 93 out of 21832 hypotheses for tomato_soup_can (evidence > 3.233864757759221)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.406
INFO:root:Testing 10 out of 16976 hypotheses for mustard_bottle (evidence > 3.233864757759221)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.954
INFO:root:Testing 607 out of 17728 hypotheses for tuna_fish_can (evidence > 3.233864757759221)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.956
INFO:root:Testing 8 out of 19024 hypotheses for potted_meat_can (evidence > 3.233864757759221)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.057
DEBUG:root:evidences for each object: [ 4.28346765  3.23282593  6.3558539  15.16932379  3.27823334  3.86169321
  5.40643927  4.95418194  5.95575037  5.05683721]
DEBUG:root:mean evidence: 5.755, std: 3.294 -> th=12.135459031036884
INFO:root:current most likely hypothesis: ramen_pack with evidence 15.17
DEBUG:root:evidences for each object: [ 4.28346765  3.23282593  6.3558539  15.16932379  3.27823334  3.86169321
  5.40643927  4.95418194  5.95575037  5.05683721]
DEBUG:root:mean evidence: 5.755, std: 3.294 -> th=12.135459031036884
DEBUG:root:evidences for each object: [ 4.28346765  3.23282593  6.3558539  15.16932379  3.27823334  3.86169321
  5.40643927  4.95418194  5.95575037  5.05683721]
DEBUG:root:mean evidence: 5.755, std: 3.294 -> th=12.89392522047669
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 146 ---
INFO:uvicorn.access:192.168.1.217:64622 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.22063237, -0.04294779, -0.97441102],
       [ 0.19107136, -0.98157615,  0.        ],
       [-0.95645862, -0.18618204,  0.22477357]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01058164, -0.0050065 ,  0.0058162 ])}]
INFO:root:Testing 200 out of 14424 hypotheses for numenta_mug (evidence > 3.03386475775922)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.551
INFO:root:Testing 21 out of 10992 hypotheses for montys_brain (evidence > 3.03386475775922)
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: 3.58
INFO:root:Testing 43 out of 14880 hypotheses for montys_heart (evidence > 3.03386475775922)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.592
INFO:root:Testing 83 out of 23200 hypotheses for ramen_pack (evidence > 3.03386475775922)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.513
INFO:root:Testing 123 out of 14864 hypotheses for hot_sauce (evidence > 3.03386475775922)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.528
INFO:root:Testing 87 out of 12560 hypotheses for harissa_oil (evidence > 3.03386475775922)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.128
INFO:root:Testing 147 out of 21832 hypotheses for tomato_soup_can (evidence > 3.03386475775922)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.406
INFO:root:Testing 9 out of 16976 hypotheses for mustard_bottle (evidence > 3.03386475775922)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.811
INFO:root:Testing 449 out of 17728 hypotheses for tuna_fish_can (evidence > 3.03386475775922)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.851
INFO:root:Testing 5 out of 19024 hypotheses for potted_meat_can (evidence > 3.03386475775922)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.057
DEBUG:root:evidences for each object: [ 4.5514811   3.58027216  6.59227239 15.51327572  3.52830391  4.12839903
  4.40643927  4.81082985  5.85066334  4.05683721]
DEBUG:root:mean evidence: 5.702, std: 3.395 -> th=12.41062057260947
INFO:root:current most likely hypothesis: ramen_pack with evidence 15.51
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 147 ---
INFO:uvicorn.access:192.168.1.217:64622 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64622 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.38549754,  0.02224784, -0.92244061],
       [-0.05761614, -0.99833881,  0.        ],
       [-0.92090826,  0.05314747,  0.38613899]]), 'pose_fully_defined': False}}, {'patch': array([-0.00195649, -0.01594048, -0.00142083])}]
INFO:root:Testing 172 out of 14424 hypotheses for numenta_mug (evidence > 3.102655143152367)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.25
INFO:root:Testing 9 out of 10992 hypotheses for montys_brain (evidence > 3.102655143152367)
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: 3.022
INFO:root:Testing 39 out of 14880 hypotheses for montys_heart (evidence > 3.102655143152367)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.592
INFO:root:Testing 68 out of 23200 hypotheses for ramen_pack (evidence > 3.102655143152367)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.513
INFO:root:Testing 7 out of 14864 hypotheses for hot_sauce (evidence > 3.102655143152367)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.735
INFO:root:Testing 64 out of 12560 hypotheses for harissa_oil (evidence > 3.102655143152367)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.217
INFO:root:Testing 126 out of 21832 hypotheses for tomato_soup_can (evidence > 3.102655143152367)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.365
INFO:root:Testing 4 out of 16976 hypotheses for mustard_bottle (evidence > 3.102655143152367)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.082
INFO:root:Testing 343 out of 17728 hypotheses for tuna_fish_can (evidence > 3.102655143152367)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.826
INFO:root:Testing 1 out of 19024 hypotheses for potted_meat_can (evidence > 3.102655143152367)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.057
DEBUG:root:evidences for each object: [ 4.25025727  3.02218193  5.59227239 14.51327572  3.73459073  4.21679389
  4.36504666  5.08152779  5.82562497  3.05683721]
DEBUG:root:mean evidence: 5.366, std: 3.179 -> th=11.610620572609472
INFO:root:current most likely hypothesis: ramen_pack with evidence 14.51
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 148 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.46008303,  0.03844092, -0.88704335],
       [-0.08326203, -0.99652769,  0.        ],
       [-0.88396326,  0.07385703,  0.46168615]]), 'pose_fully_defined': False}}, {'patch': array([ 8.02516788e-04, -2.81699110e-06,  8.66162404e-03])}]
INFO:root:Testing 154 out of 14424 hypotheses for numenta_mug (evidence > 2.9026551431523675)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.358
INFO:root:Testing 17 out of 10992 hypotheses for montys_brain (evidence > 2.9026551431523675)
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: 3.169
INFO:root:Testing 143 out of 14880 hypotheses for montys_heart (evidence > 2.9026551431523675)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.641
INFO:root:Testing 83 out of 23200 hypotheses for ramen_pack (evidence > 2.9026551431523675)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.821
INFO:root:Testing 102 out of 14864 hypotheses for hot_sauce (evidence > 2.9026551431523675)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.01
INFO:root:Testing 103 out of 12560 hypotheses for harissa_oil (evidence > 2.9026551431523675)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.316
INFO:root:Testing 178 out of 21832 hypotheses for tomato_soup_can (evidence > 2.9026551431523675)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.59
INFO:root:Testing 36 out of 16976 hypotheses for mustard_bottle (evidence > 2.9026551431523675)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.153
INFO:root:Testing 1913 out of 17728 hypotheses for tuna_fish_can (evidence > 2.9026551431523675)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 5.719
INFO:root:Testing 24 out of 19024 hypotheses for potted_meat_can (evidence > 2.9026551431523675)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.219
DEBUG:root:evidences for each object: [ 4.35755346  3.16948536  5.64110585 14.82061736  4.00951553  4.31628255
  4.58967548  5.15335359  5.71895512  3.21880504]
DEBUG:root:mean evidence: 5.5, std: 3.216 -> th=11.856493884865959
INFO:root:current most likely hypothesis: ramen_pack with evidence 14.82
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 149 ---
INFO:uvicorn.access:192.168.1.217:64622 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.54647329,  0.02436656, -0.83712199],
       [-0.0445445 , -0.9990074 ,  0.        ],
       [-0.83629106,  0.03728918,  0.54701625]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00138766, -0.00514444,  0.00808401])}]
INFO:root:Testing 137 out of 14424 hypotheses for numenta_mug (evidence > 2.964123471216489)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.432
INFO:root:Testing 4 out of 10992 hypotheses for montys_brain (evidence > 2.964123471216489)
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: 3.246
INFO:root:Testing 107 out of 14880 hypotheses for montys_heart (evidence > 2.964123471216489)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.816
INFO:root:Testing 61 out of 23200 hypotheses for ramen_pack (evidence > 2.964123471216489)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.233
INFO:root:Testing 87 out of 14864 hypotheses for hot_sauce (evidence > 2.964123471216489)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.104
INFO:root:Testing 77 out of 12560 hypotheses for harissa_oil (evidence > 2.964123471216489)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.162
INFO:root:Testing 154 out of 21832 hypotheses for tomato_soup_can (evidence > 2.964123471216489)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.435
INFO:root:Testing 12 out of 16976 hypotheses for mustard_bottle (evidence > 2.964123471216489)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.058
INFO:root:Testing 633 out of 17728 hypotheses for tuna_fish_can (evidence > 2.964123471216489)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.541
INFO:root:Testing 15 out of 19024 hypotheses for potted_meat_can (evidence > 2.964123471216489)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.368
DEBUG:root:evidences for each object: [ 4.43182506  3.24598818  5.81617556 15.23336164  4.1037027   4.16227519
  4.43459478  5.05844607  5.54105357  3.36830629]
DEBUG:root:mean evidence: 5.54, std: 3.327 -> th=12.186689310482894
INFO:root:current most likely hypothesis: ramen_pack with evidence 15.23
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 150 ---
INFO:uvicorn.access:192.168.1.217:64622 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.5466231 , -0.02113245, -0.83711206],
       [ 0.03863115, -0.99925354,  0.        ],
       [-0.83648719, -0.0323386 ,  0.54703144]]), 'pose_fully_defined': False}}, {'patch': array([-0.00156346,  0.00438886,  0.00354366])}]
INFO:root:Testing 115 out of 14424 hypotheses for numenta_mug (evidence > 3.0466723276207226)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.386
INFO:root:Testing 3 out of 10992 hypotheses for montys_brain (evidence > 3.0466723276207226)
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: 3.343
INFO:root:Testing 88 out of 14880 hypotheses for montys_heart (evidence > 3.0466723276207226)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.822
INFO:root:Testing 55 out of 23200 hypotheses for ramen_pack (evidence > 3.0466723276207226)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.647
INFO:root:Testing 85 out of 14864 hypotheses for hot_sauce (evidence > 3.0466723276207226)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.335
INFO:root:Testing 58 out of 12560 hypotheses for harissa_oil (evidence > 3.0466723276207226)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.985
INFO:root:Testing 122 out of 21832 hypotheses for tomato_soup_can (evidence > 3.0466723276207226)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.919
INFO:root:Testing 11 out of 16976 hypotheses for mustard_bottle (evidence > 3.0466723276207226)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.306
INFO:root:Testing 381 out of 17728 hypotheses for tuna_fish_can (evidence > 3.0466723276207226)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.361
INFO:root:Testing 9 out of 19024 hypotheses for potted_meat_can (evidence > 3.0466723276207226)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.576
DEBUG:root:evidences for each object: [ 4.38611347  3.3427978   5.82229642 15.64742875  4.33465766  3.98465913
  3.91925359  4.30608048  5.36112548  3.57557291]
DEBUG:root:mean evidence: 5.468, std: 3.468 -> th=12.517943002060417
INFO:root:current most likely hypothesis: ramen_pack with evidence 15.65
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 151 ---
INFO:uvicorn.access:192.168.1.217:64622 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.48769142, -0.03015471, -0.87249514],
       [ 0.06171368, -0.99809389,  0.        ],
       [-0.87083207, -0.05384489,  0.48862279]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00213586, -0.0017779 ,  0.00253463])}]
INFO:root:Testing 72 out of 14424 hypotheses for numenta_mug (evidence > 3.1294857505151032)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.363
INFO:root:Testing 3 out of 10992 hypotheses for montys_brain (evidence > 3.1294857505151032)
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: 3.36
INFO:root:Testing 69 out of 14880 hypotheses for montys_heart (evidence > 3.1294857505151032)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.844
INFO:root:Testing 54 out of 23200 hypotheses for ramen_pack (evidence > 3.1294857505151032)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.054
INFO:root:Testing 64 out of 14864 hypotheses for hot_sauce (evidence > 3.1294857505151032)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.824
INFO:root:Testing 47 out of 12560 hypotheses for harissa_oil (evidence > 3.1294857505151032)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.811
INFO:root:Testing 79 out of 21832 hypotheses for tomato_soup_can (evidence > 3.1294857505151032)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.096
INFO:root:Testing 9 out of 16976 hypotheses for mustard_bottle (evidence > 3.1294857505151032)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.041
INFO:root:Testing 270 out of 17728 hypotheses for tuna_fish_can (evidence > 3.1294857505151032)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.16
INFO:root:Testing 8 out of 19024 hypotheses for potted_meat_can (evidence > 3.1294857505151032)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.623
DEBUG:root:evidences for each object: [ 4.36275711  3.35990938  5.84426184 16.05359027  4.82417527  3.81145285
  4.09618104  4.04074005  5.15965924  3.62292387]
DEBUG:root:mean evidence: 5.518, std: 3.583 -> th=12.842872214105409
INFO:root:current most likely hypothesis: ramen_pack with evidence 16.05
DEBUG:root:evidences for each object: [ 4.36275711  3.35990938  5.84426184 16.05359027  4.82417527  3.81145285
  4.09618104  4.04074005  5.15965924  3.62292387]
DEBUG:root:mean evidence: 5.518, std: 3.583 -> th=12.842872214105409
DEBUG:root:evidences for each object: [ 4.36275711  3.35990938  5.84426184 16.05359027  4.82417527  3.81145285
  4.09618104  4.04074005  5.15965924  3.62292387]
DEBUG:root:mean evidence: 5.518, std: 3.583 -> th=13.645551727486998
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 152 ---
INFO:uvicorn.access:192.168.1.217:64625 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.50820419, -0.51824911, -0.68785636],
       [ 0.71399237, -0.70015348,  0.        ],
       [-0.48160502, -0.49112419,  0.72584684]]), 'pose_fully_defined': False}}, {'patch': array([-0.00478792,  0.00341004,  0.00294024])}]
INFO:root:Testing 46 out of 14424 hypotheses for numenta_mug (evidence > 3.2107180535263513)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.958
INFO:root:Testing 2 out of 10992 hypotheses for montys_brain (evidence > 3.2107180535263513)
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: 3.626
INFO:root:Testing 58 out of 14880 hypotheses for montys_heart (evidence > 3.2107180535263513)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.933
INFO:root:Testing 50 out of 23200 hypotheses for ramen_pack (evidence > 3.2107180535263513)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.316
INFO:root:Testing 48 out of 14864 hypotheses for hot_sauce (evidence > 3.2107180535263513)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.092
INFO:root:Testing 38 out of 12560 hypotheses for harissa_oil (evidence > 3.2107180535263513)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.847
INFO:root:Testing 50 out of 21832 hypotheses for tomato_soup_can (evidence > 3.2107180535263513)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.809
INFO:root:Testing 5 out of 16976 hypotheses for mustard_bottle (evidence > 3.2107180535263513)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.33
INFO:root:Testing 229 out of 17728 hypotheses for tuna_fish_can (evidence > 3.2107180535263513)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.343
INFO:root:Testing 6 out of 19024 hypotheses for potted_meat_can (evidence > 3.2107180535263513)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.465
DEBUG:root:evidences for each object: [ 3.9577846   3.6264846   5.93341008 16.31579917  5.09230042  3.84724352
  3.8090498   4.33049114  5.34272363  3.46545621]
DEBUG:root:mean evidence: 5.572, std: 3.665 -> th=13.052639336873545
INFO:root:current most likely hypothesis: ramen_pack with evidence 16.32
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 153 ---
INFO:uvicorn.access:192.168.1.217:64626 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.26757668, -0.37638954, -0.88698006],
       [ 0.81503519,  0.57941146, -0.        ],
       [ 0.51392641, -0.72291997,  0.46180771]]), 'pose_fully_defined': False}}, {'patch': array([-0.00472188, -0.00707094, -0.000602  ])}]
INFO:root:Testing 7 out of 14424 hypotheses for numenta_mug (evidence > 3.263159834218385)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.036
INFO:root:Testing 4 out of 10992 hypotheses for montys_brain (evidence > 3.263159834218385)
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: 3.701
INFO:root:Testing 20 out of 14880 hypotheses for montys_heart (evidence > 3.263159834218385)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.331
INFO:root:Testing 45 out of 23200 hypotheses for ramen_pack (evidence > 3.263159834218385)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.235
INFO:root:Testing 13 out of 14864 hypotheses for hot_sauce (evidence > 3.263159834218385)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.988
INFO:root:Testing 10 out of 12560 hypotheses for harissa_oil (evidence > 3.263159834218385)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.149
INFO:root:Testing 8 out of 21832 hypotheses for tomato_soup_can (evidence > 3.263159834218385)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.059
INFO:root:Testing 3 out of 16976 hypotheses for mustard_bottle (evidence > 3.263159834218385)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.689
INFO:root:Testing 192 out of 17728 hypotheses for tuna_fish_can (evidence > 3.263159834218385)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.393
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 3.263159834218385)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.461
DEBUG:root:evidences for each object: [ 4.0361526   3.70132354  6.33077213 16.23528851  4.98765037  4.14915452
  4.05895909  4.68860328  5.39317834  3.46121146]
DEBUG:root:mean evidence: 5.704, std: 3.604 -> th=12.988230807404756
INFO:root:current most likely hypothesis: ramen_pack with evidence 16.24
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 154 ---
INFO:uvicorn.access:192.168.1.217:64626 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.72516417, -0.2792992 , -0.62938771],
       [ 0.35941613, -0.93317739,  0.        ],
       [-0.58733038, -0.22621209,  0.77709144]]), 'pose_fully_defined': False}}, {'patch': array([0.00269342, 0.00721189, 0.00109129])}]
INFO:root:Testing 6 out of 14424 hypotheses for numenta_mug (evidence > 3.2470577018511886)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.117
INFO:root:Testing 5 out of 10992 hypotheses for montys_brain (evidence > 3.2470577018511886)
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: 4.009
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 3.2470577018511886)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.491
INFO:root:Testing 43 out of 23200 hypotheses for ramen_pack (evidence > 3.2470577018511886)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.63
INFO:root:Testing 13 out of 14864 hypotheses for hot_sauce (evidence > 3.2470577018511886)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.416
INFO:root:Testing 10 out of 12560 hypotheses for harissa_oil (evidence > 3.2470577018511886)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.263
INFO:root:Testing 8 out of 21832 hypotheses for tomato_soup_can (evidence > 3.2470577018511886)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.082
INFO:root:Testing 9 out of 16976 hypotheses for mustard_bottle (evidence > 3.2470577018511886)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.902
INFO:root:Testing 166 out of 17728 hypotheses for tuna_fish_can (evidence > 3.2470577018511886)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.656
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 3.2470577018511886)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.371
DEBUG:root:evidences for each object: [ 4.11722829  4.00928727  6.49101899 16.63025353  5.41599759  4.26334558
  4.08151291  4.90201596  5.65639128  3.37118052]
DEBUG:root:mean evidence: 5.894, std: 3.687 -> th=13.304202824490952
INFO:root:current most likely hypothesis: ramen_pack with evidence 16.63
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 155 ---
INFO:uvicorn.access:192.168.1.217:64626 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.9677698 , -0.19246831, -0.16241172],
       [ 0.19505808, -0.98079169,  0.        ],
       [-0.15929207, -0.03167972,  0.98672308]]), 'pose_fully_defined': False}}, {'patch': array([-0.00532099,  0.01643163, -0.00916531])}]
INFO:root:Testing 4 out of 14424 hypotheses for numenta_mug (evidence > 3.3260507061227376)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.991
INFO:root:Testing 3 out of 10992 hypotheses for montys_brain (evidence > 3.3260507061227376)
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: 4.193
INFO:root:Testing 10 out of 14880 hypotheses for montys_heart (evidence > 3.3260507061227376)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.445
INFO:root:Testing 39 out of 23200 hypotheses for ramen_pack (evidence > 3.3260507061227376)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.06
INFO:root:Testing 8 out of 14864 hypotheses for hot_sauce (evidence > 3.3260507061227376)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.674
INFO:root:Testing 7 out of 12560 hypotheses for harissa_oil (evidence > 3.3260507061227376)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.195
INFO:root:Testing 3 out of 21832 hypotheses for tomato_soup_can (evidence > 3.3260507061227376)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.055
INFO:root:Testing 4 out of 16976 hypotheses for mustard_bottle (evidence > 3.3260507061227376)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.922
INFO:root:Testing 157 out of 17728 hypotheses for tuna_fish_can (evidence > 3.3260507061227376)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.849
INFO:root:Testing 1 out of 19024 hypotheses for potted_meat_can (evidence > 3.3260507061227376)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.294
DEBUG:root:evidences for each object: [ 3.99061119  4.19303524  6.44467392 17.0596136   5.6736319   4.19518976
  4.05478808  4.92233691  5.84908733  3.29366969]
DEBUG:root:mean evidence: 5.968, std: 3.814 -> th=13.647690877321384
INFO:root:current most likely hypothesis: ramen_pack with evidence 17.06
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 156 ---
INFO:uvicorn.access:192.168.1.217:64626 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.83713869, -0.14242193, -0.52812386],
       [ 0.16771951, -0.98583476,  0.        ],
       [-0.52064285, -0.08857668,  0.84916735]]), 'pose_fully_defined': False}}, {'patch': array([-0.00069753,  0.00665076, -0.01573755])}]
INFO:root:Testing 2 out of 14424 hypotheses for numenta_mug (evidence > 3.411922719330345)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.018
INFO:root:Testing 8 out of 10992 hypotheses for montys_brain (evidence > 3.411922719330345)
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: 4.444
INFO:root:Testing 7 out of 14880 hypotheses for montys_heart (evidence > 3.411922719330345)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.564
INFO:root:Testing 38 out of 23200 hypotheses for ramen_pack (evidence > 3.411922719330345)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.489
INFO:root:Testing 8 out of 14864 hypotheses for hot_sauce (evidence > 3.411922719330345)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.674
INFO:root:Testing 2 out of 12560 hypotheses for harissa_oil (evidence > 3.411922719330345)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.247
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 3.411922719330345)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.203
INFO:root:Testing 4 out of 16976 hypotheses for mustard_bottle (evidence > 3.411922719330345)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.922
INFO:root:Testing 140 out of 17728 hypotheses for tuna_fish_can (evidence > 3.411922719330345)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.12
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.294
DEBUG:root:evidences for each object: [ 4.01795951  4.44374721  6.5638712  17.48949248  4.6736319   4.24680312
  4.20277599  3.92233691  6.11981846  3.29366969]
DEBUG:root:mean evidence: 5.897, std: 3.979 -> th=13.991593985813221
INFO:root:current most likely hypothesis: ramen_pack with evidence 17.49
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 157 ---
INFO:uvicorn.access:192.168.1.217:64626 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64626 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.77393821, -0.07082668, -0.62928788],
       [ 0.09113382, -0.99583866,  0.        ],
       [-0.62666919, -0.05734941,  0.77717229]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00113468, -0.00053556,  0.00238892])}]
INFO:root:Testing 2 out of 14424 hypotheses for numenta_mug (evidence > 3.4978984964533044)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.076
INFO:root:Testing 6 out of 10992 hypotheses for montys_brain (evidence > 3.4978984964533044)
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: 4.743
INFO:root:Testing 7 out of 14880 hypotheses for montys_heart (evidence > 3.4978984964533044)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.737
INFO:root:Testing 34 out of 23200 hypotheses for ramen_pack (evidence > 3.4978984964533044)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.882
INFO:root:Testing 4 out of 14864 hypotheses for hot_sauce (evidence > 3.4978984964533044)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.767
INFO:root:Testing 2 out of 12560 hypotheses for harissa_oil (evidence > 3.4978984964533044)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.382
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 3.4978984964533044)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.382
INFO:root:Testing 2 out of 16976 hypotheses for mustard_bottle (evidence > 3.4978984964533044)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.264
INFO:root:Testing 113 out of 17728 hypotheses for tuna_fish_can (evidence > 3.4978984964533044)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.428
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.294
DEBUG:root:evidences for each object: [ 4.0758091   4.74313838  6.73682519 17.88228547  3.7670757   4.38209078
  4.38158953  4.26377952  6.42782617  3.29366969]
DEBUG:root:mean evidence: 5.995, std: 4.096 -> th=14.30582837571242
INFO:root:current most likely hypothesis: ramen_pack with evidence 17.88
DEBUG:root:evidences for each object: [ 4.0758091   4.74313838  6.73682519 17.88228547  3.7670757   4.38209078
  4.38158953  4.26377952  6.42782617  3.29366969]
DEBUG:root:mean evidence: 5.995, std: 4.096 -> th=14.30582837571242
DEBUG:root:evidences for each object: [ 4.0758091   4.74313838  6.73682519 17.88228547  3.7670757   4.38209078
  4.38158953  4.26377952  6.42782617  3.29366969]
DEBUG:root:mean evidence: 5.995, std: 4.096 -> th=15.199942649194448
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 158 ---
INFO:uvicorn.access:192.168.1.217:64628 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.04866152,  0.04816354, -0.99765341],
       [-0.70346078, -0.71073408,  0.        ],
       [-0.70906628,  0.70181005,  0.06846656]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00227925, -0.00763535,  0.00356935])}]
INFO:root:Testing 2 out of 14424 hypotheses for numenta_mug (evidence > 3.576457093928104)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.319
INFO:root:Testing 12 out of 10992 hypotheses for montys_brain (evidence > 3.576457093928104)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.1
INFO:root:Testing 6 out of 14880 hypotheses for montys_heart (evidence > 3.576457093928104)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.087
INFO:root:Testing 32 out of 23200 hypotheses for ramen_pack (evidence > 3.576457093928104)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 18.257
INFO:root:Testing 2 out of 14864 hypotheses for hot_sauce (evidence > 3.576457093928104)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.159
INFO:root:Testing 2 out of 12560 hypotheses for harissa_oil (evidence > 3.576457093928104)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.736
INFO:root:Testing 2 out of 21832 hypotheses for tomato_soup_can (evidence > 3.576457093928104)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.68
INFO:root:Testing 2 out of 16976 hypotheses for mustard_bottle (evidence > 3.576457093928104)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.554
INFO:root:Testing 96 out of 17728 hypotheses for tuna_fish_can (evidence > 3.576457093928104)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.588
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.294
DEBUG:root:evidences for each object: [ 4.31879407  5.09954165  7.08659526 18.25675609  4.15909346  4.73649137
  4.67960677  4.55351146  6.58803694  3.29366969]
DEBUG:root:mean evidence: 6.277, std: 4.132 -> th=14.605404873123925
INFO:root:current most likely hypothesis: ramen_pack with evidence 18.26
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 159 ---
INFO:uvicorn.access:192.168.1.217:64628 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.13437453,  0.08184117, -0.98754519],
       [-0.52016944, -0.85406309,  0.        ],
       [-0.8434259 ,  0.51369083,  0.1573356 ]]), 'pose_fully_defined': False}}, {'patch': array([0.00397586, 0.02851309, 0.00050625])}]
INFO:root:Testing 2 out of 14424 hypotheses for numenta_mug (evidence > 3.651351218280981)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.473
INFO:root:Testing 11 out of 10992 hypotheses for montys_brain (evidence > 3.651351218280981)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.484
INFO:root:Testing 7 out of 14880 hypotheses for montys_heart (evidence > 3.651351218280981)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.499
INFO:root:Testing 31 out of 23200 hypotheses for ramen_pack (evidence > 3.651351218280981)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 18.448
INFO:root:Testing 1 out of 14864 hypotheses for hot_sauce (evidence > 3.651351218280981)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.558
INFO:root:Testing 4 out of 12560 hypotheses for harissa_oil (evidence > 3.651351218280981)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 5.126
INFO:root:Testing 34 out of 21832 hypotheses for tomato_soup_can (evidence > 3.651351218280981)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.924
INFO:root:Testing 53 out of 16976 hypotheses for mustard_bottle (evidence > 3.651351218280981)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.029
INFO:root:Testing 83 out of 17728 hypotheses for tuna_fish_can (evidence > 3.651351218280981)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.643
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.294
DEBUG:root:evidences for each object: [ 3.47254189  5.48393391  7.49865808 18.44847976  4.55788207  5.12592422
  4.92367537  5.02927585  6.64260361  3.29366969]
DEBUG:root:mean evidence: 6.448, std: 4.178 -> th=14.758783808863416
INFO:root:current most likely hypothesis: ramen_pack with evidence 18.45
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 160 ---
INFO:uvicorn.access:192.168.1.217:64628 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.15338681,  0.09030819, -0.98403095],
       [-0.50735674, -0.86173612,  0.        ],
       [-0.84797501,  0.49925474,  0.17799742]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00280347,  0.00952918, -0.00092629])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.473
INFO:root:Testing 32 out of 10992 hypotheses for montys_brain (evidence > 3.6896959522158532)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.699
INFO:root:Testing 10 out of 14880 hypotheses for montys_heart (evidence > 3.6896959522158532)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.935
INFO:root:Testing 31 out of 23200 hypotheses for ramen_pack (evidence > 3.6896959522158532)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 18.66
INFO:root:Testing 5 out of 14864 hypotheses for hot_sauce (evidence > 3.6896959522158532)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.886
INFO:root:Testing 3 out of 12560 hypotheses for harissa_oil (evidence > 3.6896959522158532)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 5.415
INFO:root:Testing 32 out of 21832 hypotheses for tomato_soup_can (evidence > 3.6896959522158532)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.031
INFO:root:Testing 37 out of 16976 hypotheses for mustard_bottle (evidence > 3.6896959522158532)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.416
INFO:root:Testing 76 out of 17728 hypotheses for tuna_fish_can (evidence > 3.6896959522158532)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.571
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.294
DEBUG:root:evidences for each object: [ 3.47254189  5.69921868  7.93452475 18.66004155  4.88590323  5.4150017
  5.03125853  5.41604543  6.57105276  3.29366969]
DEBUG:root:mean evidence: 6.638, std: 4.206 -> th=14.92803324171978
INFO:root:current most likely hypothesis: ramen_pack with evidence 18.66
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 161 ---
INFO:uvicorn.access:192.168.1.217:64628 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-8.01633802e-02, -1.79458750e-04, -9.96781721e-01],
       [ 2.23865685e-03, -9.99997494e-01,  0.00000000e+00],
       [-9.96779224e-01, -2.23145223e-03,  8.01635810e-02]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00610049,  0.01320285, -0.0010721 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.473
INFO:root:Testing 27 out of 10992 hypotheses for montys_brain (evidence > 3.7320083104299435)
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: 4.699
INFO:root:Testing 12 out of 14880 hypotheses for montys_heart (evidence > 3.7320083104299435)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.114
INFO:root:Testing 30 out of 23200 hypotheses for ramen_pack (evidence > 3.7320083104299435)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 19.008
INFO:root:Testing 4 out of 14864 hypotheses for hot_sauce (evidence > 3.7320083104299435)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.234
INFO:root:Testing 3 out of 12560 hypotheses for harissa_oil (evidence > 3.7320083104299435)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 5.656
INFO:root:Testing 32 out of 21832 hypotheses for tomato_soup_can (evidence > 3.7320083104299435)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.073
INFO:root:Testing 27 out of 16976 hypotheses for mustard_bottle (evidence > 3.7320083104299435)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.643
INFO:root:Testing 58 out of 17728 hypotheses for tuna_fish_can (evidence > 3.7320083104299435)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.671
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.294
DEBUG:root:evidences for each object: [ 3.47254189  4.69921868  8.11384537 19.00831724  5.23399816  5.65564935
  5.07281566  5.64282377  6.67145083  3.29366969]
DEBUG:root:mean evidence: 6.686, std: 4.319 -> th=15.206653791487252
INFO:root:current most likely hypothesis: ramen_pack with evidence 19.01
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 162 ---
INFO:uvicorn.access:192.168.1.217:64630 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.76083293,  0.21826436,  0.61114149],
       [-0.27575296,  0.96122854,  0.        ],
       [-0.58744664, -0.16852408,  0.79152137]]), 'pose_fully_defined': False}}, {'patch': array([-0.00355281, -0.04481662,  0.0648619 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.473
INFO:root:Testing 7 out of 10992 hypotheses for montys_brain (evidence > 3.801663447871812)
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: 4.869
INFO:root:Testing 10 out of 14880 hypotheses for montys_heart (evidence > 3.801663447871812)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.496
INFO:root:Testing 30 out of 23200 hypotheses for ramen_pack (evidence > 3.801663447871812)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 18.008
INFO:root:Testing 11 out of 14864 hypotheses for hot_sauce (evidence > 3.801663447871812)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.825
INFO:root:Testing 2 out of 12560 hypotheses for harissa_oil (evidence > 3.801663447871812)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 5.901
INFO:root:Testing 30 out of 21832 hypotheses for tomato_soup_can (evidence > 3.801663447871812)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.424
INFO:root:Testing 19 out of 16976 hypotheses for mustard_bottle (evidence > 3.801663447871812)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.916
INFO:root:Testing 44 out of 17728 hypotheses for tuna_fish_can (evidence > 3.801663447871812)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.213
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.294
DEBUG:root:evidences for each object: [ 3.47254189  4.86900075  8.4958395  18.00831724  4.82473228  5.900674
  5.42442551  5.91599997  6.21284772  3.29366969]
DEBUG:root:mean evidence: 6.642, std: 4.038 -> th=14.406653791487253
INFO:root:current most likely hypothesis: ramen_pack with evidence 18.01
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 163 ---
INFO:uvicorn.access:192.168.1.217:64630 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64630 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.7097362 ,  0.22294254,  0.66825979],
       [-0.29968295,  0.95403885,  0.        ],
       [-0.6375458 , -0.20026607,  0.74392799]]), 'pose_fully_defined': False}}, {'patch': array([-0.00138914,  0.01655252,  0.00357919])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.473
INFO:root:Testing 18 out of 10992 hypotheses for montys_brain (evidence > 3.601663447871813)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.145
INFO:root:Testing 35 out of 14880 hypotheses for montys_heart (evidence > 3.601663447871813)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.831
INFO:root:Testing 31 out of 23200 hypotheses for ramen_pack (evidence > 3.601663447871813)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.008
INFO:root:Testing 25 out of 14864 hypotheses for hot_sauce (evidence > 3.601663447871813)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.825
INFO:root:Testing 73 out of 12560 hypotheses for harissa_oil (evidence > 3.601663447871813)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 6.199
INFO:root:Testing 335 out of 21832 hypotheses for tomato_soup_can (evidence > 3.601663447871813)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.744
INFO:root:Testing 31 out of 16976 hypotheses for mustard_bottle (evidence > 3.601663447871813)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.778
INFO:root:Testing 40 out of 17728 hypotheses for tuna_fish_can (evidence > 3.601663447871813)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.288
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.294
DEBUG:root:evidences for each object: [ 3.47254189  5.144782    8.83102993 17.00831724  3.82473228  6.19902136
  5.74439263  5.77756634  5.2883374   3.29366969]
DEBUG:root:mean evidence: 6.458, std: 3.833 -> th=13.606653791487252
INFO:root:current most likely hypothesis: ramen_pack with evidence 17.01
DEBUG:root:evidences for each object: [ 3.47254189  5.144782    8.83102993 17.00831724  3.82473228  6.19902136
  5.74439263  5.77756634  5.2883374   3.29366969]
DEBUG:root:mean evidence: 6.458, std: 3.833 -> th=13.606653791487252
DEBUG:root:evidences for each object: [ 3.47254189  5.144782    8.83102993 17.00831724  3.82473228  6.19902136
  5.74439263  5.77756634  5.2883374   3.29366969]
DEBUG:root:mean evidence: 6.458, std: 3.833 -> th=14.457069653455205
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 164 ---
INFO:uvicorn.access:192.168.1.217:64630 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.37719249,  0.27256771,  0.88511732],
       [-0.58570365,  0.81052528,  0.        ],
       [-0.71740997, -0.51841645,  0.46536795]]), 'pose_fully_defined': False}}, {'patch': array([-0.00329958,  0.00979669, -0.00879707])}]
INFO:root:Testing 6 out of 14424 hypotheses for numenta_mug (evidence > 3.4016634478718117)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.904
INFO:root:Testing 53 out of 10992 hypotheses for montys_brain (evidence > 3.4016634478718117)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.605
INFO:root:Testing 152 out of 14880 hypotheses for montys_heart (evidence > 3.4016634478718117)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.316
INFO:root:Testing 31 out of 23200 hypotheses for ramen_pack (evidence > 3.4016634478718117)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.008
INFO:root:Testing 157 out of 14864 hypotheses for hot_sauce (evidence > 3.4016634478718117)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.219
INFO:root:Testing 210 out of 12560 hypotheses for harissa_oil (evidence > 3.4016634478718117)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 6.636
INFO:root:Testing 584 out of 21832 hypotheses for tomato_soup_can (evidence > 3.4016634478718117)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.15
INFO:root:Testing 94 out of 16976 hypotheses for mustard_bottle (evidence > 3.4016634478718117)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.989
INFO:root:Testing 40 out of 17728 hypotheses for tuna_fish_can (evidence > 3.4016634478718117)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.083
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.294
DEBUG:root:evidences for each object: [ 3.90399913  5.60505963  9.31583939 16.00831724  4.21853771  6.63570812
  6.15014587  5.98860949  5.08300944  3.29366969]
DEBUG:root:mean evidence: 6.62, std: 3.516 -> th=12.806653791487253
INFO:root:current most likely hypothesis: ramen_pack with evidence 16.01
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 165 ---
INFO:uvicorn.access:192.168.1.217:64630 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.39708864,  0.28601023,  0.87207727],
       [-0.58444793,  0.81143122,  0.        ],
       [-0.70763072, -0.50968375,  0.4893682 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00036433,  0.00849188, -0.00834289])}]
INFO:root:Testing 321 out of 14424 hypotheses for numenta_mug (evidence > 3.2016634478718125)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.34
INFO:root:Testing 75 out of 10992 hypotheses for montys_brain (evidence > 3.2016634478718125)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.904
INFO:root:Testing 328 out of 14880 hypotheses for montys_heart (evidence > 3.2016634478718125)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.701
INFO:root:Testing 32 out of 23200 hypotheses for ramen_pack (evidence > 3.2016634478718125)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.008
INFO:root:Testing 358 out of 14864 hypotheses for hot_sauce (evidence > 3.2016634478718125)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.6
INFO:root:Testing 434 out of 12560 hypotheses for harissa_oil (evidence > 3.2016634478718125)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 7.032
INFO:root:Testing 946 out of 21832 hypotheses for tomato_soup_can (evidence > 3.2016634478718125)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.562
INFO:root:Testing 175 out of 16976 hypotheses for mustard_bottle (evidence > 3.2016634478718125)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.879
INFO:root:Testing 50 out of 17728 hypotheses for tuna_fish_can (evidence > 3.2016634478718125)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.932
INFO:root:Testing 2 out of 19024 hypotheses for potted_meat_can (evidence > 3.2016634478718125)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.264
DEBUG:root:evidences for each object: [ 4.34042559  5.90360241  9.70148043 15.00831724  4.59976545  7.03175843
  6.56208466  5.87850224  4.93189991  3.26396013]
DEBUG:root:mean evidence: 6.722, std: 3.231 -> th=12.006653791487253
INFO:root:current most likely hypothesis: ramen_pack with evidence 15.01
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 166 ---
INFO:uvicorn.access:192.168.1.217:64630 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.61339205,  0.24358955,  0.75127513],
       [-0.36908115,  0.92939717,  0.        ],
       [-0.69823298, -0.27728149,  0.65998915]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00446977,  0.0128821 , -0.00379247])}]
INFO:root:Testing 444 out of 14424 hypotheses for numenta_mug (evidence > 3.001663447871813)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.779
INFO:root:Testing 181 out of 10992 hypotheses for montys_brain (evidence > 3.001663447871813)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 6.094
INFO:root:Testing 471 out of 14880 hypotheses for montys_heart (evidence > 3.001663447871813)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.999
INFO:root:Testing 37 out of 23200 hypotheses for ramen_pack (evidence > 3.001663447871813)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.008
INFO:root:Testing 1979 out of 14864 hypotheses for hot_sauce (evidence > 3.001663447871813)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 5.029
INFO:root:Testing 530 out of 12560 hypotheses for harissa_oil (evidence > 3.001663447871813)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 7.465
INFO:root:Testing 835 out of 21832 hypotheses for tomato_soup_can (evidence > 3.001663447871813)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.959
INFO:root:Testing 227 out of 16976 hypotheses for mustard_bottle (evidence > 3.001663447871813)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.926
INFO:root:Testing 160 out of 17728 hypotheses for tuna_fish_can (evidence > 3.001663447871813)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.984
INFO:root:Testing 4 out of 19024 hypotheses for potted_meat_can (evidence > 3.001663447871813)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.4
DEBUG:root:evidences for each object: [ 4.77893943  6.09435974  9.99928729 14.00831724  5.02906235  7.46464454
  6.9588572   5.92610714  4.98393636  3.40045248]
DEBUG:root:mean evidence: 6.864, std: 2.932 -> th=11.206653791487252
INFO:root:current most likely hypothesis: ramen_pack with evidence 14.01
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack'}
INFO:root:--- Global Matching Step 167 ---
INFO:uvicorn.access:192.168.1.217:64631 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.81606686,  0.08645641,  0.57145444],
       [-0.10535322,  0.99443486,  0.        ],
       [-0.56827422, -0.06020457,  0.82063379]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00491121, -0.01707747,  0.0025447 ])}]
INFO:root:Testing 502 out of 14424 hypotheses for numenta_mug (evidence > 2.801663447871812)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.161
INFO:root:Testing 1033 out of 10992 hypotheses for montys_brain (evidence > 2.801663447871812)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 6.419
INFO:root:Testing 785 out of 14880 hypotheses for montys_heart (evidence > 2.801663447871812)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.457
INFO:root:Testing 52 out of 23200 hypotheses for ramen_pack (evidence > 2.801663447871812)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.008
INFO:root:Testing 3709 out of 14864 hypotheses for hot_sauce (evidence > 2.801663447871812)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 5.395
INFO:root:Testing 657 out of 12560 hypotheses for harissa_oil (evidence > 2.801663447871812)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 7.838
INFO:root:Testing 888 out of 21832 hypotheses for tomato_soup_can (evidence > 2.801663447871812)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.316
INFO:root:Testing 280 out of 16976 hypotheses for mustard_bottle (evidence > 2.801663447871812)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.247
INFO:root:Testing 2421 out of 17728 hypotheses for tuna_fish_can (evidence > 2.801663447871812)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 4.646
INFO:root:Testing 30 out of 19024 hypotheses for potted_meat_can (evidence > 2.801663447871812)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.845
DEBUG:root:evidences for each object: [ 5.16080148  6.41865735 10.45653388 13.00831724  5.39478697  7.8381266
  7.31576471  6.24728756  4.64551452  3.84542759]
DEBUG:root:mean evidence: 7.033, std: 2.668 -> th=10.406653791487253
INFO:root:current most likely hypothesis: ramen_pack with evidence 13.01
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 168 ---
INFO:uvicorn.access:192.168.1.217:64631 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.83804691,  0.16584478,  0.51978158],
       [-0.19412962,  0.98097589,  0.        ],
       [-0.5098932 , -0.100905  ,  0.85429919]]), 'pose_fully_defined': False}}, {'patch': array([-0.00149992,  0.00635711, -0.00512372])}]
INFO:root:Testing 551 out of 14424 hypotheses for numenta_mug (evidence > 2.601663447871813)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.585
INFO:root:Testing 2956 out of 10992 hypotheses for montys_brain (evidence > 2.601663447871813)
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: 6.658
INFO:root:Testing 868 out of 14880 hypotheses for montys_heart (evidence > 2.601663447871813)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.812
INFO:root:Testing 92 out of 23200 hypotheses for ramen_pack (evidence > 2.601663447871813)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.008
INFO:root:Testing 4597 out of 14864 hypotheses for hot_sauce (evidence > 2.601663447871813)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 5.856
INFO:root:Testing 1643 out of 12560 hypotheses for harissa_oil (evidence > 2.601663447871813)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 7.454
INFO:root:Testing 971 out of 21832 hypotheses for tomato_soup_can (evidence > 2.601663447871813)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.785
INFO:root:Testing 341 out of 16976 hypotheses for mustard_bottle (evidence > 2.601663447871813)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.431
INFO:root:Testing 5232 out of 17728 hypotheses for tuna_fish_can (evidence > 2.601663447871813)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 4.305
INFO:root:Testing 64 out of 19024 hypotheses for potted_meat_can (evidence > 2.601663447871813)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.25
DEBUG:root:evidences for each object: [ 5.58509704  6.65773169 10.81192377 12.00831724  5.85604183  7.45380817
  7.7848725   6.43095967  4.30488263  4.25040137]
DEBUG:root:mean evidence: 7.114, std: 2.427 -> th=9.606653791487252
INFO:root:current most likely hypothesis: ramen_pack with evidence 12.01
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 169 ---
INFO:uvicorn.access:192.168.1.217:64633 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.34688279,  0.339359  ,  0.87436137],
       [-0.69931221,  0.71481636,  0.        ],
       [-0.62500781, -0.61145158,  0.48527539]]), 'pose_fully_defined': False}}, {'patch': array([-0.0067708 ,  0.00128724,  0.00538627])}]
INFO:root:Testing 609 out of 14424 hypotheses for numenta_mug (evidence > 2.4016634478718117)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.038
INFO:root:Testing 3637 out of 10992 hypotheses for montys_brain (evidence > 2.4016634478718117)
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: 6.966
INFO:root:Testing 899 out of 14880 hypotheses for montys_heart (evidence > 2.4016634478718117)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 11.209
INFO:root:Testing 117 out of 23200 hypotheses for ramen_pack (evidence > 2.4016634478718117)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.008
INFO:root:Testing 5124 out of 14864 hypotheses for hot_sauce (evidence > 2.4016634478718117)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 6.321
INFO:root:Testing 3381 out of 12560 hypotheses for harissa_oil (evidence > 2.4016634478718117)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.01 seconds. New max evidence: 7.887
INFO:root:Testing 1176 out of 21832 hypotheses for tomato_soup_can (evidence > 2.4016634478718117)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.224
INFO:root:Testing 461 out of 16976 hypotheses for mustard_bottle (evidence > 2.4016634478718117)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.864
INFO:root:Testing 5627 out of 17728 hypotheses for tuna_fish_can (evidence > 2.4016634478718117)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 4.651
INFO:root:Testing 101 out of 19024 hypotheses for potted_meat_can (evidence > 2.4016634478718117)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.576
DEBUG:root:evidences for each object: [ 6.0380748   6.96580876 11.20894575 11.00831724  6.32105255  7.88726348
  8.22372981  6.86442249  4.65052269  4.57559101]
DEBUG:root:mean evidence: 7.374, std: 2.179 -> th=8.96715659853452
INFO:root:current most likely hypothesis: montys_heart with evidence 11.21
DEBUG:root:evidences for each object: [ 6.0380748   6.96580876 11.20894575 11.00831724  6.32105255  7.88726348
  8.22372981  6.86442249  4.65052269  4.57559101]
DEBUG:root:mean evidence: 7.374, std: 2.179 -> th=8.96715659853452
DEBUG:root:evidences for each object: [ 6.0380748   6.96580876 11.20894575 11.00831724  6.32105255  7.88726348
  8.22372981  6.86442249  4.65052269  4.57559101]
DEBUG:root:mean evidence: 7.374, std: 2.179 -> th=9.527603885942929
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 170 ---
INFO:uvicorn.access:192.168.1.217:64633 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.1906285 ,  0.32038081,  0.92790997],
       [-0.85938055,  0.51133656,  0.        ],
       [-0.47447429, -0.79742778,  0.37280436]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00055613,  0.02164801, -0.01070974])}]
INFO:root:Testing 692 out of 14424 hypotheses for numenta_mug (evidence > 2.2417891496336306)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.37
INFO:root:Testing 3874 out of 10992 hypotheses for montys_brain (evidence > 2.2417891496336306)
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: 6.311
INFO:root:Testing 935 out of 14880 hypotheses for montys_heart (evidence > 2.2417891496336306)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 11.596
INFO:root:Testing 130 out of 23200 hypotheses for ramen_pack (evidence > 2.2417891496336306)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.008
INFO:root:Testing 4191 out of 14864 hypotheses for hot_sauce (evidence > 2.2417891496336306)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 6.782
INFO:root:Testing 3486 out of 12560 hypotheses for harissa_oil (evidence > 2.2417891496336306)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.01 seconds. New max evidence: 8.225
INFO:root:Testing 3182 out of 21832 hypotheses for tomato_soup_can (evidence > 2.2417891496336306)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 8.505
INFO:root:Testing 656 out of 16976 hypotheses for mustard_bottle (evidence > 2.2417891496336306)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.678
INFO:root:Testing 5007 out of 17728 hypotheses for tuna_fish_can (evidence > 2.2417891496336306)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 4.492
INFO:root:Testing 158 out of 19024 hypotheses for potted_meat_can (evidence > 2.2417891496336306)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.489
DEBUG:root:evidences for each object: [ 6.36972782  6.31096719 11.59570979 10.00831724  6.78194158  8.22485808
  8.50526607  6.67768425  4.49164393  4.48877007]
DEBUG:root:mean evidence: 7.345, std: 2.153 -> th=9.27656783360639
INFO:root:current most likely hypothesis: montys_heart with evidence 11.6
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 171 ---
INFO:uvicorn.access:192.168.1.217:64633 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.57196814,  0.2650378 ,  0.77627792],
       [-0.4204341 ,  0.90732308,  0.        ],
       [-0.70433487, -0.32637371,  0.63039082]]), 'pose_fully_defined': False}}, {'patch': array([0.00929106, 0.00332767, 0.00069211])}]
INFO:root:Testing 504 out of 14424 hypotheses for numenta_mug (evidence > 2.3191419584015964)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.702
INFO:root:Testing 398 out of 10992 hypotheses for montys_brain (evidence > 2.3191419584015964)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.311
INFO:root:Testing 800 out of 14880 hypotheses for montys_heart (evidence > 2.3191419584015964)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No 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 89 out of 23200 hypotheses for ramen_pack (evidence > 2.3191419584015964)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.06
INFO:root:Testing 1269 out of 14864 hypotheses for hot_sauce (evidence > 2.3191419584015964)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.097
INFO:root:Testing 807 out of 12560 hypotheses for harissa_oil (evidence > 2.3191419584015964)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 7.598
INFO:root:Testing 972 out of 21832 hypotheses for tomato_soup_can (evidence > 2.3191419584015964)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.906
INFO:root:Testing 399 out of 16976 hypotheses for mustard_bottle (evidence > 2.3191419584015964)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.159
INFO:root:Testing 1115 out of 17728 hypotheses for tuna_fish_can (evidence > 2.3191419584015964)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.379
INFO:root:Testing 92 out of 19024 hypotheses for potted_meat_can (evidence > 2.3191419584015964)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.612
DEBUG:root:evidences for each object: [ 6.70163582  5.31096719 11.87983284 10.06033458  7.09749045  7.59776223
  8.90602471  7.15893246  4.37936854  4.61234315]
DEBUG:root:mean evidence: 7.37, std: 2.266 -> th=9.50386627504717
INFO:root:current most likely hypothesis: montys_heart with evidence 11.88
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 172 ---
INFO:uvicorn.access:192.168.1.217:64633 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64633 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.27144893,  0.29182629,  0.91714388],
       [-0.73220849,  0.68108056,  0.        ],
       [-0.62464886, -0.67154054,  0.39855627]]), 'pose_fully_defined': False}}, {'patch': array([-0.01345593,  0.00808753,  0.00340811])}]
INFO:root:Testing 386 out of 14424 hypotheses for numenta_mug (evidence > 2.3759665687617915)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.138
INFO:root:Testing 70 out of 10992 hypotheses for montys_brain (evidence > 2.3759665687617915)
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: 4.311
INFO:root:Testing 623 out of 14880 hypotheses for montys_heart (evidence > 2.3759665687617915)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 12.29
INFO:root:Testing 74 out of 23200 hypotheses for ramen_pack (evidence > 2.3759665687617915)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.934
INFO:root:Testing 969 out of 14864 hypotheses for hot_sauce (evidence > 2.3759665687617915)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.443
INFO:root:Testing 523 out of 12560 hypotheses for harissa_oil (evidence > 2.3759665687617915)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 8.043
INFO:root:Testing 723 out of 21832 hypotheses for tomato_soup_can (evidence > 2.3759665687617915)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.351
INFO:root:Testing 310 out of 16976 hypotheses for mustard_bottle (evidence > 2.3759665687617915)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.574
INFO:root:Testing 358 out of 17728 hypotheses for tuna_fish_can (evidence > 2.3759665687617915)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.29
INFO:root:Testing 70 out of 19024 hypotheses for potted_meat_can (evidence > 2.3759665687617915)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.017
DEBUG:root:evidences for each object: [ 7.13756795  4.31096719 12.29042556  9.93435123  7.44291529  8.0431298
  9.35144841  7.57362577  4.28958218  5.01655092]
DEBUG:root:mean evidence: 7.539, std: 2.437 -> th=9.832340444772246
INFO:root:current most likely hypothesis: montys_heart with evidence 12.29
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'ramen_pack'}
INFO:root:--- Global Matching Step 173 ---
INFO:uvicorn.access:192.168.1.217:64633 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.22009456,  0.28452546,  0.93306144],
       [-0.79097019,  0.61185469,  0.        ],
       [-0.57089801, -0.73802378,  0.35971705]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00124703,  0.00895293, -0.00035353])}]
INFO:root:Testing 284 out of 14424 hypotheses for numenta_mug (evidence > 2.4580851111930606)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.411
INFO:root:Testing 17 out of 10992 hypotheses for montys_brain (evidence > 2.4580851111930606)
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: 3.311
INFO:root:Testing 447 out of 14880 hypotheses for montys_heart (evidence > 2.4580851111930606)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 12.281
INFO:root:Testing 60 out of 23200 hypotheses for ramen_pack (evidence > 2.4580851111930606)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.798
INFO:root:Testing 825 out of 14864 hypotheses for hot_sauce (evidence > 2.4580851111930606)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.877
INFO:root:Testing 388 out of 12560 hypotheses for harissa_oil (evidence > 2.4580851111930606)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 8.457
INFO:root:Testing 551 out of 21832 hypotheses for tomato_soup_can (evidence > 2.4580851111930606)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.73
INFO:root:Testing 246 out of 16976 hypotheses for mustard_bottle (evidence > 2.4580851111930606)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.968
INFO:root:Testing 73 out of 17728 hypotheses for tuna_fish_can (evidence > 2.4580851111930606)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.29
INFO:root:Testing 57 out of 19024 hypotheses for potted_meat_can (evidence > 2.4580851111930606)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.337
DEBUG:root:evidences for each object: [ 7.41057082  3.31096719 12.2810624   9.79780451  7.87724569  8.4567358
  9.73036007  7.96779319  3.28958218  5.33729057]
DEBUG:root:mean evidence: 7.546, std: 2.726 -> th=9.824849916957055
INFO:root:current most likely hypothesis: montys_heart with evidence 12.28
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 174 ---
INFO:uvicorn.access:192.168.1.217:64633 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.1566605 ,  0.32983757,  0.93094826],
       [-0.90329061,  0.42902923,  0.        ],
       [-0.39940401, -0.84091682,  0.36515111]]), 'pose_fully_defined': False}}, {'patch': array([-0.00434761, -0.02794651,  0.00161519])}]
INFO:root:Testing 221 out of 14424 hypotheses for numenta_mug (evidence > 2.4562124792392623)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.843
INFO:root:Testing 5 out of 10992 hypotheses for montys_brain (evidence > 2.4562124792392623)
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: 3.549
INFO:root:Testing 275 out of 14880 hypotheses for montys_heart (evidence > 2.4562124792392623)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 12.56
INFO:root:Testing 50 out of 23200 hypotheses for ramen_pack (evidence > 2.4562124792392623)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.514
INFO:root:Testing 725 out of 14864 hypotheses for hot_sauce (evidence > 2.4562124792392623)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.327
INFO:root:Testing 276 out of 12560 hypotheses for harissa_oil (evidence > 2.4562124792392623)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 8.93
INFO:root:Testing 444 out of 21832 hypotheses for tomato_soup_can (evidence > 2.4562124792392623)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.696
INFO:root:Testing 198 out of 16976 hypotheses for mustard_bottle (evidence > 2.4562124792392623)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.393
INFO:root:Testing 5 out of 17728 hypotheses for tuna_fish_can (evidence > 2.4562124792392623)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.364
INFO:root:Testing 33 out of 19024 hypotheses for potted_meat_can (evidence > 2.4562124792392623)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.759
DEBUG:root:evidences for each object: [ 7.84290273  3.54894916 12.55966293  9.51361711  8.32652785  8.92986057
  9.69569737  8.39280452  3.36351563  5.75900371]
DEBUG:root:mean evidence: 7.793, std: 2.702 -> th=10.047730342474534
INFO:root:current most likely hypothesis: montys_heart with evidence 12.56
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 175 ---
INFO:uvicorn.access:192.168.1.217:64633 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.36791441,  0.32308075,  0.87192765],
       [-0.65984033,  0.75140584,  0.        ],
       [-0.65517153, -0.57533302,  0.48963474]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00725544, -0.01171341,  0.00324693])}]
INFO:root:Testing 200 out of 14424 hypotheses for numenta_mug (evidence > 2.5119325856186325)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.31
INFO:root:Testing 5 out of 10992 hypotheses for montys_brain (evidence > 2.5119325856186325)
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: 4.034
INFO:root:Testing 255 out of 14880 hypotheses for montys_heart (evidence > 2.5119325856186325)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 12.955
INFO:root:Testing 40 out of 23200 hypotheses for ramen_pack (evidence > 2.5119325856186325)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.764
INFO:root:Testing 698 out of 14864 hypotheses for hot_sauce (evidence > 2.5119325856186325)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.769
INFO:root:Testing 258 out of 12560 hypotheses for harissa_oil (evidence > 2.5119325856186325)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 9.412
INFO:root:Testing 423 out of 21832 hypotheses for tomato_soup_can (evidence > 2.5119325856186325)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.146
INFO:root:Testing 181 out of 16976 hypotheses for mustard_bottle (evidence > 2.5119325856186325)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No 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
INFO:root:Testing 4 out of 17728 hypotheses for tuna_fish_can (evidence > 2.5119325856186325)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.373
INFO:root:Testing 30 out of 19024 hypotheses for potted_meat_can (evidence > 2.5119325856186325)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.191
DEBUG:root:evidences for each object: [ 8.31041449  4.03404016 12.95459345  8.76406739  8.76928008  9.41193677
 10.14618771  8.83485987  3.37304159  6.19143841]
DEBUG:root:mean evidence: 8.079, std: 2.71 -> th=10.363674759051865
INFO:root:current most likely hypothesis: montys_heart with evidence 12.95
DEBUG:root:evidences for each object: [ 8.31041449  4.03404016 12.95459345  8.76406739  8.76928008  9.41193677
 10.14618771  8.83485987  3.37304159  6.19143841]
DEBUG:root:mean evidence: 8.079, std: 2.71 -> th=10.363674759051865
DEBUG:root:evidences for each object: [ 8.31041449  4.03404016 12.95459345  8.76406739  8.76928008  9.41193677
 10.14618771  8.83485987  3.37304159  6.19143841]
DEBUG:root:mean evidence: 8.079, std: 2.71 -> th=11.011404431492608
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 176 ---
INFO:uvicorn.access:192.168.1.217:64633 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.28272003,  0.32267978,  0.90329793],
       [-0.75214309,  0.65899982,  0.        ],
       [-0.59527317, -0.6794093 ,  0.42901382]]), 'pose_fully_defined': False}}, {'patch': array([-0.00339241, -0.00703999,  0.00867429])}]
INFO:root:Testing 195 out of 14424 hypotheses for numenta_mug (evidence > 2.5909186897629652)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.77
INFO:root:Testing 37 out of 10992 hypotheses for montys_brain (evidence > 2.5909186897629652)
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: 4.534
INFO:root:Testing 250 out of 14880 hypotheses for montys_heart (evidence > 2.5909186897629652)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.401
INFO:root:Testing 38 out of 23200 hypotheses for ramen_pack (evidence > 2.5909186897629652)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.794
INFO:root:Testing 692 out of 14864 hypotheses for hot_sauce (evidence > 2.5909186897629652)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.18
INFO:root:Testing 248 out of 12560 hypotheses for harissa_oil (evidence > 2.5909186897629652)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 9.905
INFO:root:Testing 412 out of 21832 hypotheses for tomato_soup_can (evidence > 2.5909186897629652)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.62
INFO:root:Testing 177 out of 16976 hypotheses for mustard_bottle (evidence > 2.5909186897629652)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.278
INFO:root:Testing 3 out of 17728 hypotheses for tuna_fish_can (evidence > 2.5909186897629652)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.706
INFO:root:Testing 60 out of 19024 hypotheses for potted_meat_can (evidence > 2.5909186897629652)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.623
DEBUG:root:evidences for each object: [ 8.77034883  4.53404016 13.40062355  8.79420656  9.17978374  9.90474194
 10.6202788   9.27837237  3.70647176  6.62250483]
DEBUG:root:mean evidence: 8.481, std: 2.719 -> th=10.720498843991518
INFO:root:current most likely hypothesis: montys_heart with evidence 13.4
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 177 ---
INFO:uvicorn.access:192.168.1.217:64633 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.2351515 ,  0.31695547,  0.91882697],
       [-0.80310896,  0.59583219,  0.        ],
       [-0.54746669, -0.73791817,  0.39466061]]), 'pose_fully_defined': False}}, {'patch': array([-0.00740989, -0.00711351,  0.00567662])}]
INFO:root:Testing 202 out of 14424 hypotheses for numenta_mug (evidence > 2.6801247109978785)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.244
INFO:root:Testing 34 out of 10992 hypotheses for montys_brain (evidence > 2.6801247109978785)
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: 4.866
INFO:root:Testing 251 out of 14880 hypotheses for montys_heart (evidence > 2.6801247109978785)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.781
INFO:root:Testing 34 out of 23200 hypotheses for ramen_pack (evidence > 2.6801247109978785)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.794
INFO:root:Testing 672 out of 14864 hypotheses for hot_sauce (evidence > 2.6801247109978785)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.011
INFO:root:Testing 247 out of 12560 hypotheses for harissa_oil (evidence > 2.6801247109978785)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 10.309
INFO:root:Testing 419 out of 21832 hypotheses for tomato_soup_can (evidence > 2.6801247109978785)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.107
INFO:root:Testing 175 out of 16976 hypotheses for mustard_bottle (evidence > 2.6801247109978785)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.748
INFO:root:Testing 2 out of 17728 hypotheses for tuna_fish_can (evidence > 2.6801247109978785)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.706
INFO:root:Testing 55 out of 19024 hypotheses for potted_meat_can (evidence > 2.6801247109978785)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.044
DEBUG:root:evidences for each object: [ 9.24367272  4.86619027 13.78119793  7.79420656  9.01105047 10.30886432
 11.10730124  9.74782553  2.70647176  7.04449659]
DEBUG:root:mean evidence: 8.561, std: 2.995 -> th=11.024958341298378
INFO:root:current most likely hypothesis: montys_heart with evidence 13.78
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 178 ---
INFO:uvicorn.access:192.168.1.217:64633 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64633 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.54116796,  0.25099494,  0.80258257],
       [-0.42075049,  0.9071764 ,  0.        ],
       [-0.72808397, -0.33768701,  0.59654105]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00335258, -0.00574494,  0.00809427])}]
INFO:root:Testing 260 out of 14424 hypotheses for numenta_mug (evidence > 2.756239585324593)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.61
INFO:root:Testing 35 out of 10992 hypotheses for montys_brain (evidence > 2.756239585324593)
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: 4.382
INFO:root:Testing 249 out of 14880 hypotheses for montys_heart (evidence > 2.756239585324593)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.035
INFO:root:Testing 25 out of 23200 hypotheses for ramen_pack (evidence > 2.756239585324593)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.904
INFO:root:Testing 618 out of 14864 hypotheses for hot_sauce (evidence > 2.756239585324593)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.011
INFO:root:Testing 247 out of 12560 hypotheses for harissa_oil (evidence > 2.756239585324593)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 10.602
INFO:root:Testing 418 out of 21832 hypotheses for tomato_soup_can (evidence > 2.756239585324593)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.433
INFO:root:Testing 173 out of 16976 hypotheses for mustard_bottle (evidence > 2.756239585324593)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.06
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.706
INFO:root:Testing 54 out of 19024 hypotheses for potted_meat_can (evidence > 2.756239585324593)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.201
DEBUG:root:evidences for each object: [ 9.61040931  4.38204591 14.03478331  6.90416137  8.01105047 10.60235311
 11.43342942 10.0598702   2.70647176  7.20091953]
DEBUG:root:mean evidence: 8.495, std: 3.199 -> th=11.227826646730236
INFO:root:current most likely hypothesis: montys_heart with evidence 14.03
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 179 ---
INFO:uvicorn.access:192.168.1.217:64633 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.29376593,  0.3154349 ,  0.90233165],
       [-0.73179543,  0.68152436,  0.        ],
       [-0.614961  , -0.66032218,  0.43104245]]), 'pose_fully_defined': False}}, {'patch': array([-0.0050541 , -0.02397512,  0.00314852])}]
INFO:root:Testing 255 out of 14424 hypotheses for numenta_mug (evidence > 2.806956661682559)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.014
INFO:root:Testing 31 out of 10992 hypotheses for montys_brain (evidence > 2.806956661682559)
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: 4.19
INFO:root:Testing 246 out of 14880 hypotheses for montys_heart (evidence > 2.806956661682559)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.306
INFO:root:Testing 17 out of 23200 hypotheses for ramen_pack (evidence > 2.806956661682559)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.489
INFO:root:Testing 487 out of 14864 hypotheses for hot_sauce (evidence > 2.806956661682559)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.011
INFO:root:Testing 244 out of 12560 hypotheses for harissa_oil (evidence > 2.806956661682559)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 9.602
INFO:root:Testing 414 out of 21832 hypotheses for tomato_soup_can (evidence > 2.806956661682559)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.829
INFO:root:Testing 160 out of 16976 hypotheses for mustard_bottle (evidence > 2.806956661682559)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.198
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.706
INFO:root:Testing 44 out of 19024 hypotheses for potted_meat_can (evidence > 2.806956661682559)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.549
DEBUG:root:evidences for each object: [10.01417609  4.18961064 14.30623329  6.48890701  7.01105047  9.60235311
 11.82882451 10.1979479   2.70647176  7.54881271]
DEBUG:root:mean evidence: 8.389, std: 3.322 -> th=11.444986634636658
INFO:root:current most likely hypothesis: montys_heart with evidence 14.31
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 180 ---
INFO:uvicorn.access:192.168.1.217:64633 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.51753008,  0.25855675,  0.815666  ],
       [-0.44692555,  0.89457116,  0.        ],
       [-0.72967128, -0.36454198,  0.5785231 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00735604,  0.0114209 , -0.00312948])}]
INFO:root:Testing 253 out of 14424 hypotheses for numenta_mug (evidence > 2.861246658659164)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.458
INFO:root:Testing 18 out of 10992 hypotheses for montys_brain (evidence > 2.861246658659164)
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: 4.551
INFO:root:Testing 223 out of 14880 hypotheses for montys_heart (evidence > 2.861246658659164)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.601
INFO:root:Testing 8 out of 23200 hypotheses for ramen_pack (evidence > 2.861246658659164)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.073
INFO:root:Testing 331 out of 14864 hypotheses for hot_sauce (evidence > 2.861246658659164)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.011
INFO:root:Testing 222 out of 12560 hypotheses for harissa_oil (evidence > 2.861246658659164)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 9.908
INFO:root:Testing 403 out of 21832 hypotheses for tomato_soup_can (evidence > 2.861246658659164)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.26
INFO:root:Testing 123 out of 16976 hypotheses for mustard_bottle (evidence > 2.861246658659164)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.511
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.706
INFO:root:Testing 38 out of 19024 hypotheses for potted_meat_can (evidence > 2.861246658659164)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.027
DEBUG:root:evidences for each object: [10.45769329  4.55116561 14.60149194  6.07313016  6.01105047  9.90797337
 12.25989194 10.51131508  2.70647176  8.02740777]
DEBUG:root:mean evidence: 8.511, std: 3.503 -> th=11.681193554585608
INFO:root:current most likely hypothesis: montys_heart with evidence 14.6
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 181 ---
INFO:uvicorn.access:192.168.1.217:64635 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.30652779,  0.24973163,  0.91851773],
       [-0.63162468,  0.77527432,  0.        ],
       [-0.71210321, -0.58015847,  0.39537978]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0071347 ,  0.00089118, -0.01404602])}]
INFO:root:Testing 253 out of 14424 hypotheses for numenta_mug (evidence > 2.920298388646401)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.905
INFO:root:Testing 16 out of 10992 hypotheses for montys_brain (evidence > 2.920298388646401)
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: 4.884
INFO:root:Testing 194 out of 14880 hypotheses for montys_heart (evidence > 2.920298388646401)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.601
INFO:root:Testing 4 out of 23200 hypotheses for ramen_pack (evidence > 2.920298388646401)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.139
INFO:root:Testing 193 out of 14864 hypotheses for hot_sauce (evidence > 2.920298388646401)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.391
INFO:root:Testing 212 out of 12560 hypotheses for harissa_oil (evidence > 2.920298388646401)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 10.386
INFO:root:Testing 393 out of 21832 hypotheses for tomato_soup_can (evidence > 2.920298388646401)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.688
INFO:root:Testing 99 out of 16976 hypotheses for mustard_bottle (evidence > 2.920298388646401)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.751
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.706
INFO:root:Testing 33 out of 19024 hypotheses for potted_meat_can (evidence > 2.920298388646401)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.463
DEBUG:root:evidences for each object: [10.90527679  4.88364609 13.60149194  6.13913571  6.3909606  10.38550722
 12.68833209 10.75120645  2.70647176  8.46340903]
DEBUG:root:mean evidence: 8.692, std: 3.38 -> th=10.881193554585607
INFO:root:current most likely hypothesis: montys_heart with evidence 13.6
DEBUG:root:evidences for each object: [10.90527679  4.88364609 13.60149194  6.13913571  6.3909606  10.38550722
 12.68833209 10.75120645  2.70647176  8.46340903]
DEBUG:root:mean evidence: 8.692, std: 3.38 -> th=10.881193554585607
DEBUG:root:evidences for each object: [10.90527679  4.88364609 13.60149194  6.13913571  6.3909606  10.38550722
 12.68833209 10.75120645  2.70647176  8.46340903]
DEBUG:root:mean evidence: 8.692, std: 3.38 -> th=11.561268151747207
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'tomato_soup_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 182 ---
INFO:uvicorn.access:192.168.1.217:64635 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.30410309,  0.23776332,  0.92249115],
       [-0.61593804,  0.7877946 ,  0.        ],
       [-0.72673355, -0.56819739,  0.38601824]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00273989,  0.01047135, -0.00088873])}]
INFO:root:Testing 269 out of 14424 hypotheses for numenta_mug (evidence > 2.720298388646402)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.356
INFO:root:Testing 41 out of 10992 hypotheses for montys_brain (evidence > 2.720298388646402)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.292
INFO:root:Testing 208 out of 14880 hypotheses for montys_heart (evidence > 2.720298388646402)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.02
INFO:root:Testing 12 out of 23200 hypotheses for ramen_pack (evidence > 2.720298388646402)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.205
INFO:root:Testing 410 out of 14864 hypotheses for hot_sauce (evidence > 2.720298388646402)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.775
INFO:root:Testing 216 out of 12560 hypotheses for harissa_oil (evidence > 2.720298388646402)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 10.814
INFO:root:Testing 394 out of 21832 hypotheses for tomato_soup_can (evidence > 2.720298388646402)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 13.075
INFO:root:Testing 110 out of 16976 hypotheses for mustard_bottle (evidence > 2.720298388646402)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.091
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.706
INFO:root:Testing 33 out of 19024 hypotheses for potted_meat_can (evidence > 2.720298388646402)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.901
DEBUG:root:evidences for each object: [11.35622929  5.292399   14.02016531  6.20481313  6.77459648 10.8141935
 13.07516541 11.09061848  2.70647176  8.90062035]
DEBUG:root:mean evidence: 9.024, std: 3.481 -> th=11.216132247602019
INFO:root:current most likely hypothesis: montys_heart with evidence 14.02
DEBUG:root:evidences for each object: [11.35622929  5.292399   14.02016531  6.20481313  6.77459648 10.8141935
 13.07516541 11.09061848  2.70647176  8.90062035]
DEBUG:root:mean evidence: 9.024, std: 3.481 -> th=11.216132247602019
DEBUG:root:evidences for each object: [11.35622929  5.292399   14.02016531  6.20481313  6.77459648 10.8141935
 13.07516541 11.09061848  2.70647176  8.90062035]
DEBUG:root:mean evidence: 9.024, std: 3.481 -> th=11.917140513077145
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'tomato_soup_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 183 ---
INFO:uvicorn.access:192.168.1.217:64635 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.30954497,  0.2263907 ,  0.92354164],
       [-0.5903306 ,  0.80716156,  0.        ],
       [-0.74544731, -0.54519489,  0.38349816]]), 'pose_fully_defined': False}}, {'patch': array([-0.00018755,  0.01310135, -0.0074146 ])}]
INFO:root:Testing 267 out of 14424 hypotheses for numenta_mug (evidence > 2.8040330619005047)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.733
INFO:root:Testing 39 out of 10992 hypotheses for montys_brain (evidence > 2.8040330619005047)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.519
INFO:root:Testing 207 out of 14880 hypotheses for montys_heart (evidence > 2.8040330619005047)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.298
INFO:root:Testing 12 out of 23200 hypotheses for ramen_pack (evidence > 2.8040330619005047)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.274
INFO:root:Testing 379 out of 14864 hypotheses for hot_sauce (evidence > 2.8040330619005047)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.236
INFO:root:Testing 222 out of 12560 hypotheses for harissa_oil (evidence > 2.8040330619005047)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 11.193
INFO:root:Testing 393 out of 21832 hypotheses for tomato_soup_can (evidence > 2.8040330619005047)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 13.403
INFO:root:Testing 109 out of 16976 hypotheses for mustard_bottle (evidence > 2.8040330619005047)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.447
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.706
INFO:root:Testing 32 out of 19024 hypotheses for potted_meat_can (evidence > 2.8040330619005047)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.34
DEBUG:root:evidences for each object: [11.73301746  5.51893783 14.29811844  6.27388269  7.23579682 11.19298558
 13.40250377 11.44674713  2.70647176  9.34039316]
DEBUG:root:mean evidence: 9.315, std: 3.565 -> th=11.438494753329378
INFO:root:current most likely hypothesis: montys_heart with evidence 14.3
DEBUG:root:evidences for each object: [11.73301746  5.51893783 14.29811844  6.27388269  7.23579682 11.19298558
 13.40250377 11.44674713  2.70647176  9.34039316]
DEBUG:root:mean evidence: 9.315, std: 3.565 -> th=11.438494753329378
DEBUG:root:evidences for each object: [11.73301746  5.51893783 14.29811844  6.27388269  7.23579682 11.19298558
 13.40250377 11.44674713  2.70647176  9.34039316]
DEBUG:root:mean evidence: 9.315, std: 3.565 -> th=12.153400675412465
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'mustard_bottle', 'tomato_soup_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 184 ---
INFO:uvicorn.access:192.168.1.217:64635 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.22558299,  0.22058939,  0.94892183],
       [-0.699149  ,  0.714976  ,  0.        ],
       [-0.67845633, -0.66343774,  0.31551128]]), 'pose_fully_defined': False}}, {'patch': array([-0.0040765 ,  0.00876821, -0.00799679])}]
INFO:root:Testing 263 out of 14424 hypotheses for numenta_mug (evidence > 2.859623688332343)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.263
INFO:root:Testing 39 out of 10992 hypotheses for montys_brain (evidence > 2.859623688332343)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.485
INFO:root:Testing 207 out of 14880 hypotheses for montys_heart (evidence > 2.859623688332343)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.298
INFO:root:Testing 11 out of 23200 hypotheses for ramen_pack (evidence > 2.859623688332343)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.274
INFO:root:Testing 378 out of 14864 hypotheses for hot_sauce (evidence > 2.859623688332343)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.29
INFO:root:Testing 246 out of 12560 hypotheses for harissa_oil (evidence > 2.859623688332343)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 10.193
INFO:root:Testing 392 out of 21832 hypotheses for tomato_soup_can (evidence > 2.859623688332343)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 13.487
INFO:root:Testing 106 out of 16976 hypotheses for mustard_bottle (evidence > 2.859623688332343)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.76
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.706
INFO:root:Testing 29 out of 19024 hypotheses for potted_meat_can (evidence > 2.859623688332343)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.732
DEBUG:root:evidences for each object: [11.26339805  5.48534158 13.29811844  5.27388269  7.29007306 10.19298558
 13.48658177 11.7595816   2.70647176  9.73173744]
DEBUG:root:mean evidence: 9.049, std: 3.494 -> th=10.789265412937386
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 13.49
DEBUG:root:evidences for each object: [11.26339805  5.48534158 13.29811844  5.27388269  7.29007306 10.19298558
 13.48658177 11.7595816   2.70647176  9.73173744]
DEBUG:root:mean evidence: 9.049, std: 3.494 -> th=10.789265412937386
DEBUG:root:evidences for each object: [11.26339805  5.48534158 13.29811844  5.27388269  7.29007306 10.19298558
 13.48658177 11.7595816   2.70647176  9.73173744]
DEBUG:root:mean evidence: 9.049, std: 3.494 -> th=11.463594501245971
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'mustard_bottle', 'tomato_soup_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 185 ---
INFO:uvicorn.access:192.168.1.217:64635 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.21025789,  0.21515642,  0.95367675],
       [-0.71520152,  0.6989183 ,  0.        ],
       [-0.66654213, -0.68207105,  0.30083328]]), 'pose_fully_defined': False}}, {'patch': array([-0.00571454,  0.00761038, -0.00134531])}]
INFO:root:Testing 285 out of 14424 hypotheses for numenta_mug (evidence > 2.6973163532343456)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.835
INFO:root:Testing 560 out of 10992 hypotheses for montys_brain (evidence > 2.6973163532343456)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.429
INFO:root:Testing 202 out of 14880 hypotheses for montys_heart (evidence > 2.6973163532343456)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.687
INFO:root:Testing 9 out of 23200 hypotheses for ramen_pack (evidence > 2.6973163532343456)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.308
INFO:root:Testing 364 out of 14864 hypotheses for hot_sauce (evidence > 2.6973163532343456)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.385
INFO:root:Testing 574 out of 12560 hypotheses for harissa_oil (evidence > 2.6973163532343456)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 9.193
INFO:root:Testing 392 out of 21832 hypotheses for tomato_soup_can (evidence > 2.6973163532343456)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.88
INFO:root:Testing 100 out of 16976 hypotheses for mustard_bottle (evidence > 2.6973163532343456)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.047
INFO:root:Testing 1 out of 17728 hypotheses for tuna_fish_can (evidence > 2.6973163532343456)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.756
INFO:root:Testing 31 out of 19024 hypotheses for potted_meat_can (evidence > 2.6973163532343456)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.27
DEBUG:root:evidences for each object: [10.83466287  5.42891443 13.68674819  4.30776817  7.38529167  9.19298558
 12.88032282 12.04711054  2.75578007  9.26951105]
DEBUG:root:mean evidence: 8.779, std: 3.545 -> th=10.949398548281692
INFO:root:current most likely hypothesis: montys_heart with evidence 13.69
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'mustard_bottle', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 186 ---
INFO:uvicorn.access:192.168.1.217:64635 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.16493172,  0.20695527,  0.96434799],
       [-0.78203332,  0.62323662,  0.        ],
       [-0.60101698, -0.75415226,  0.26463741]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00456185,  0.010973  , -0.00249868])}]
INFO:root:Testing 255 out of 14424 hypotheses for numenta_mug (evidence > 2.737349637070423)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.207
INFO:root:Testing 47 out of 10992 hypotheses for montys_brain (evidence > 2.737349637070423)
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: 4.429
INFO:root:Testing 189 out of 14880 hypotheses for montys_heart (evidence > 2.737349637070423)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.071
INFO:root:Testing 9 out of 23200 hypotheses for ramen_pack (evidence > 2.737349637070423)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.786
INFO:root:Testing 291 out of 14864 hypotheses for hot_sauce (evidence > 2.737349637070423)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.763
INFO:root:Testing 282 out of 12560 hypotheses for harissa_oil (evidence > 2.737349637070423)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 9.395
INFO:root:Testing 389 out of 21832 hypotheses for tomato_soup_can (evidence > 2.737349637070423)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 13.12
INFO:root:Testing 92 out of 16976 hypotheses for mustard_bottle (evidence > 2.737349637070423)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.308
INFO:root:Testing 1 out of 17728 hypotheses for tuna_fish_can (evidence > 2.737349637070423)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.956
INFO:root:Testing 29 out of 19024 hypotheses for potted_meat_can (evidence > 2.737349637070423)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.623
DEBUG:root:evidences for each object: [11.20735273  4.42891443 14.07119843  4.78570879  7.76335597  9.39480035
 13.11987599 12.30758314  2.95564839  9.62312807]
DEBUG:root:mean evidence: 8.966, std: 3.684 -> th=11.2569587457996
INFO:root:current most likely hypothesis: montys_heart with evidence 14.07
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'mustard_bottle', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 187 ---
INFO:uvicorn.access:192.168.1.217:64635 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.25137317,  0.18004574,  0.95099688],
       [-0.58229451,  0.81297793,  0.        ],
       [-0.77313947, -0.55376026,  0.30920048]]), 'pose_fully_defined': False}}, {'patch': array([0.00362533, 0.00092983, 0.00040282])}]
INFO:root:Testing 235 out of 14424 hypotheses for numenta_mug (evidence > 2.8142396864499)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.456
INFO:root:Testing 12 out of 10992 hypotheses for montys_brain (evidence > 2.8142396864499)
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: 3.429
INFO:root:Testing 187 out of 14880 hypotheses for montys_heart (evidence > 2.8142396864499)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.371
INFO:root:Testing 8 out of 23200 hypotheses for ramen_pack (evidence > 2.8142396864499)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.218
INFO:root:Testing 239 out of 14864 hypotheses for hot_sauce (evidence > 2.8142396864499)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.249
INFO:root:Testing 244 out of 12560 hypotheses for harissa_oil (evidence > 2.8142396864499)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 9.766
INFO:root:Testing 378 out of 21832 hypotheses for tomato_soup_can (evidence > 2.8142396864499)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 13.397
INFO:root:Testing 85 out of 16976 hypotheses for mustard_bottle (evidence > 2.8142396864499)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.606
INFO:root:Testing 1 out of 17728 hypotheses for tuna_fish_can (evidence > 2.8142396864499)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.164
INFO:root:Testing 26 out of 19024 hypotheses for potted_meat_can (evidence > 2.8142396864499)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.02
DEBUG:root:evidences for each object: [11.45553698  3.42891443 14.37118162  5.21821523  8.24942553  9.76596624
 13.39668617 12.60598706  3.16351075 10.02036434]
DEBUG:root:mean evidence: 9.168, std: 3.854 -> th=11.496945294045329
INFO:root:current most likely hypothesis: montys_heart with evidence 14.37
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'mustard_bottle', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 188 ---
INFO:uvicorn.access:192.168.1.217:64635 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.31577941,  0.17714862,  0.93214898],
       [-0.48925954,  0.87213824,  0.        ],
       [-0.81296277, -0.45606278,  0.36207495]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00313813,  0.00979585, -0.00075421])}]
INFO:root:Testing 223 out of 14424 hypotheses for numenta_mug (evidence > 2.8742363235113313)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.797
INFO:root:Testing 3 out of 10992 hypotheses for montys_brain (evidence > 2.8742363235113313)
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: 2.85
INFO:root:Testing 187 out of 14880 hypotheses for montys_heart (evidence > 2.8742363235113313)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.601
INFO:root:Testing 8 out of 23200 hypotheses for ramen_pack (evidence > 2.8742363235113313)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.442
INFO:root:Testing 222 out of 14864 hypotheses for hot_sauce (evidence > 2.8742363235113313)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.67
INFO:root:Testing 234 out of 12560 hypotheses for harissa_oil (evidence > 2.8742363235113313)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 10.013
INFO:root:Testing 369 out of 21832 hypotheses for tomato_soup_can (evidence > 2.8742363235113313)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 13.671
INFO:root:Testing 81 out of 16976 hypotheses for mustard_bottle (evidence > 2.8742363235113313)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.93
INFO:root:Testing 7 out of 17728 hypotheses for tuna_fish_can (evidence > 2.8742363235113313)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.339
INFO:root:Testing 26 out of 19024 hypotheses for potted_meat_can (evidence > 2.8742363235113313)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.328
DEBUG:root:evidences for each object: [11.79691558  2.84963118 14.6008857   5.44233112  8.66960578 10.01331585
 13.67064371 12.93012491  3.33856172 10.3282433 ]
DEBUG:root:mean evidence: 9.364, std: 4.007 -> th=11.680708558629409
INFO:root:current most likely hypothesis: montys_heart with evidence 14.6
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'mustard_bottle', 'tomato_soup_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 189 ---
INFO:uvicorn.access:192.168.1.217:64635 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.12399567,  0.18689439,  0.97452325],
       [-0.83328413,  0.55284498,  0.        ],
       [-0.53876028, -0.81205475,  0.22428651]]), 'pose_fully_defined': False}}, {'patch': array([-0.00505752,  0.00095605,  0.00154088])}]
INFO:root:Testing 214 out of 14424 hypotheses for numenta_mug (evidence > 2.9201771396573513)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.187
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.85
INFO:root:Testing 177 out of 14880 hypotheses for montys_heart (evidence > 2.9201771396573513)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.993
INFO:root:Testing 8 out of 23200 hypotheses for ramen_pack (evidence > 2.9201771396573513)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.709
INFO:root:Testing 218 out of 14864 hypotheses for hot_sauce (evidence > 2.9201771396573513)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.139
INFO:root:Testing 192 out of 12560 hypotheses for harissa_oil (evidence > 2.9201771396573513)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 10.336
INFO:root:Testing 361 out of 21832 hypotheses for tomato_soup_can (evidence > 2.9201771396573513)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 13.965
INFO:root:Testing 78 out of 16976 hypotheses for mustard_bottle (evidence > 2.9201771396573513)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.17
INFO:root:Testing 1 out of 17728 hypotheses for tuna_fish_can (evidence > 2.9201771396573513)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.46
INFO:root:Testing 25 out of 19024 hypotheses for potted_meat_can (evidence > 2.9201771396573513)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.515
DEBUG:root:evidences for each object: [12.18709682  2.84963118 14.99259746  5.7094203   9.13915258 10.33574878
 13.96454818 13.17047723  3.4603324  10.51514889]
DEBUG:root:mean evidence: 9.632, std: 4.093 -> th=11.994077971912931
INFO:root:current most likely hypothesis: montys_heart with evidence 14.99
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'mustard_bottle', 'tomato_soup_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 190 ---
INFO:uvicorn.access:192.168.1.217:64635 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.05273065,  0.18082362,  0.98210096],
       [-0.96001366,  0.27995317,  0.        ],
       [-0.27494228, -0.94283034,  0.18835525]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00529851,  0.00783793, -0.00341082])}]
INFO:root:Testing 204 out of 14424 hypotheses for numenta_mug (evidence > 2.9985194929782324)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.456
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.85
INFO:root:Testing 159 out of 14880 hypotheses for montys_heart (evidence > 2.9985194929782324)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 15.349
INFO:root:Testing 8 out of 23200 hypotheses for ramen_pack (evidence > 2.9985194929782324)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.816
INFO:root:Testing 214 out of 14864 hypotheses for hot_sauce (evidence > 2.9985194929782324)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.452
INFO:root:Testing 168 out of 12560 hypotheses for harissa_oil (evidence > 2.9985194929782324)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 10.342
INFO:root:Testing 348 out of 21832 hypotheses for tomato_soup_can (evidence > 2.9985194929782324)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 14.109
INFO:root:Testing 75 out of 16976 hypotheses for mustard_bottle (evidence > 2.9985194929782324)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.345
INFO:root:Testing 2 out of 17728 hypotheses for tuna_fish_can (evidence > 2.9985194929782324)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.994
INFO:root:Testing 23 out of 19024 hypotheses for potted_meat_can (evidence > 2.9985194929782324)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.757
DEBUG:root:evidences for each object: [12.45643863  2.84963118 15.34861568  5.81634478  9.4518579  10.34226313
 14.10947345 13.34530711  2.9936549  10.75736304]
DEBUG:root:mean evidence: 9.747, std: 4.252 -> th=12.278892543437607
INFO:root:current most likely hypothesis: montys_heart with evidence 15.35
DEBUG:root:evidences for each object: [12.45643863  2.84963118 15.34861568  5.81634478  9.4518579  10.34226313
 14.10947345 13.34530711  2.9936549  10.75736304]
DEBUG:root:mean evidence: 9.747, std: 4.252 -> th=12.278892543437607
DEBUG:root:evidences for each object: [12.45643863  2.84963118 15.34861568  5.81634478  9.4518579  10.34226313
 14.10947345 13.34530711  2.9936549  10.75736304]
DEBUG:root:mean evidence: 9.747, std: 4.252 -> th=13.046323327402458
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'mustard_bottle', 'tomato_soup_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 191 ---
INFO:uvicorn.access:192.168.1.217:64635 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.33256849,  0.16542149,  0.92845782],
       [-0.44535443,  0.89535436,  0.        ],
       [-0.83129876, -0.41349281,  0.37143784]]), 'pose_fully_defined': False}}, {'patch': array([0.00011969, 0.00170542, 0.00082665])}]
INFO:root:Testing 180 out of 14424 hypotheses for numenta_mug (evidence > 3.0697231358594017)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.589
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.85
INFO:root:Testing 128 out of 14880 hypotheses for montys_heart (evidence > 3.0697231358594017)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 15.817
INFO:root:Testing 7 out of 23200 hypotheses for ramen_pack (evidence > 3.0697231358594017)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.114
INFO:root:Testing 209 out of 14864 hypotheses for hot_sauce (evidence > 3.0697231358594017)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.885
INFO:root:Testing 132 out of 12560 hypotheses for harissa_oil (evidence > 3.0697231358594017)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 10.509
INFO:root:Testing 328 out of 21832 hypotheses for tomato_soup_can (evidence > 3.0697231358594017)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 14.394
INFO:root:Testing 66 out of 16976 hypotheses for mustard_bottle (evidence > 3.0697231358594017)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.777
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.994
INFO:root:Testing 22 out of 19024 hypotheses for potted_meat_can (evidence > 3.0697231358594017)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.094
DEBUG:root:evidences for each object: [12.58931345  2.84963118 15.81654959  6.11393134  9.88521555 10.50861254
 14.39417109 13.77659283  2.9936549  11.09350487]
DEBUG:root:mean evidence: 10.002, std: 4.369 -> th=12.65323967565241
INFO:root:current most likely hypothesis: montys_heart with evidence 15.82
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'mustard_bottle', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 192 ---
INFO:uvicorn.access:192.168.1.217:64635 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.37831283,  0.14033306,  0.91497871],
       [-0.34778766,  0.93757333,  0.        ],
       [-0.85785963, -0.31821831,  0.40350213]]), 'pose_fully_defined': False}}, {'patch': array([-0.0007554 ,  0.00634045, -0.00180132])}]
INFO:root:Testing 148 out of 14424 hypotheses for numenta_mug (evidence > 3.163309918913102)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.589
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.85
INFO:root:Testing 90 out of 14880 hypotheses for montys_heart (evidence > 3.163309918913102)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 16.267
INFO:root:Testing 7 out of 23200 hypotheses for ramen_pack (evidence > 3.163309918913102)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.475
INFO:root:Testing 202 out of 14864 hypotheses for hot_sauce (evidence > 3.163309918913102)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.189
INFO:root:Testing 84 out of 12560 hypotheses for harissa_oil (evidence > 3.163309918913102)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 9.509
INFO:root:Testing 291 out of 21832 hypotheses for tomato_soup_can (evidence > 3.163309918913102)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 14.737
INFO:root:Testing 65 out of 16976 hypotheses for mustard_bottle (evidence > 3.163309918913102)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.238
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.994
INFO:root:Testing 20 out of 19024 hypotheses for potted_meat_can (evidence > 3.163309918913102)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.352
DEBUG:root:evidences for each object: [11.58931345  2.84963118 16.26673941  6.47469568 10.18860322  9.50861254
 14.73661111 14.23813041  2.9936549  11.35169248]
DEBUG:root:mean evidence: 10.02, std: 4.438 -> th=13.013391530388153
INFO:root:current most likely hypothesis: montys_heart with evidence 16.27
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'mustard_bottle', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 193 ---
INFO:uvicorn.access:192.168.1.217:64635 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.11444251,  0.18063874,  0.97686875],
       [-0.84473879,  0.53517883,  0.        ],
       [-0.52279948, -0.82519892,  0.21383976]]), 'pose_fully_defined': False}}, {'patch': array([-0.00246498, -0.00148024,  0.00045927])}]
INFO:root:Testing 126 out of 14424 hypotheses for numenta_mug (evidence > 3.253347882597037)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.385
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.85
INFO:root:Testing 64 out of 14880 hypotheses for montys_heart (evidence > 3.253347882597037)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 16.653
INFO:root:Testing 7 out of 23200 hypotheses for ramen_pack (evidence > 3.253347882597037)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.861
INFO:root:Testing 194 out of 14864 hypotheses for hot_sauce (evidence > 3.253347882597037)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.606
INFO:root:Testing 60 out of 12560 hypotheses for harissa_oil (evidence > 3.253347882597037)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 8.509
INFO:root:Testing 258 out of 21832 hypotheses for tomato_soup_can (evidence > 3.253347882597037)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 14.98
INFO:root:Testing 59 out of 16976 hypotheses for mustard_bottle (evidence > 3.253347882597037)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.663
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.994
INFO:root:Testing 17 out of 19024 hypotheses for potted_meat_can (evidence > 3.253347882597037)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.677
DEBUG:root:evidences for each object: [11.38528802  2.84963118 16.65271273  6.86072766 10.60611147  8.50861254
 14.97992748 14.66288222  2.9936549  11.67732516]
DEBUG:root:mean evidence: 10.118, std: 4.561 -> th=13.322170187335242
INFO:root:current most likely hypothesis: montys_heart with evidence 16.65
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'mustard_bottle', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 194 ---
INFO:uvicorn.access:192.168.1.217:64635 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64635 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.03343677,  0.16423613,  0.98585419],
       [-0.97989841,  0.19949712,  0.        ],
       [-0.19667507, -0.96603695,  0.16760526]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00231022,  0.00653067, -0.00560937])}]
INFO:root:Testing 107 out of 14424 hypotheses for numenta_mug (evidence > 3.3305425468338097)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.385
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.85
INFO:root:Testing 46 out of 14880 hypotheses for montys_heart (evidence > 3.3305425468338097)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 15.653
INFO:root:Testing 7 out of 23200 hypotheses for ramen_pack (evidence > 3.3305425468338097)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.106
INFO:root:Testing 191 out of 14864 hypotheses for hot_sauce (evidence > 3.3305425468338097)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.974
INFO:root:Testing 43 out of 12560 hypotheses for harissa_oil (evidence > 3.3305425468338097)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 7.509
INFO:root:Testing 238 out of 21832 hypotheses for tomato_soup_can (evidence > 3.3305425468338097)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 15.109
INFO:root:Testing 53 out of 16976 hypotheses for mustard_bottle (evidence > 3.3305425468338097)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.05
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.994
INFO:root:Testing 15 out of 19024 hypotheses for potted_meat_can (evidence > 3.3305425468338097)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.677
DEBUG:root:evidences for each object: [10.38528802  2.84963118 15.65271273  7.10584892 10.97439348  7.50861254
 15.10870244 15.0503949   2.9936549  10.67732516]
DEBUG:root:mean evidence: 9.831, std: 4.468 -> th=12.522170187335243
INFO:root:current most likely hypothesis: montys_heart with evidence 15.65
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'mustard_bottle', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 195 ---
INFO:uvicorn.access:192.168.1.217:64635 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.30429822,  0.16075804,  0.93891397],
       [-0.46711358,  0.88419732,  0.        ],
       [-0.83018522, -0.43857947,  0.34415194]]), 'pose_fully_defined': False}}, {'patch': array([0.00110928, 0.00436054, 0.00160987])}]
INFO:root:Testing 97 out of 14424 hypotheses for numenta_mug (evidence > 3.1305425468338104)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.385
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.85
INFO:root:Testing 42 out of 14880 hypotheses for montys_heart (evidence > 3.1305425468338104)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.653
INFO:root:Testing 7 out of 23200 hypotheses for ramen_pack (evidence > 3.1305425468338104)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.45
INFO:root:Testing 186 out of 14864 hypotheses for hot_sauce (evidence > 3.1305425468338104)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.408
INFO:root:Testing 38 out of 12560 hypotheses for harissa_oil (evidence > 3.1305425468338104)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 6.509
INFO:root:Testing 223 out of 21832 hypotheses for tomato_soup_can (evidence > 3.1305425468338104)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 15.187
INFO:root:Testing 50 out of 16976 hypotheses for mustard_bottle (evidence > 3.1305425468338104)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.514
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.994
INFO:root:Testing 14 out of 19024 hypotheses for potted_meat_can (evidence > 3.1305425468338104)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.677
DEBUG:root:evidences for each object: [ 9.38528802  2.84963118 14.65271273  7.4504678  11.40801994  6.50861254
 15.18718592 15.51383086  2.9936549   9.67732516]
DEBUG:root:mean evidence: 9.563, std: 4.454 -> th=12.411064690482517
INFO:root:current most likely hypothesis: mustard_bottle with evidence 15.51
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'mustard_bottle', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 196 ---
INFO:uvicorn.access:192.168.1.217:64635 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.4180053 ,  0.13119108,  0.89892184],
       [-0.29944847,  0.95411247,  0.        ],
       [-0.85767254, -0.26918077,  0.43810904]]), 'pose_fully_defined': False}}, {'patch': array([-0.00456208,  0.00129172, -0.00067479])}]
INFO:root:Testing 81 out of 14424 hypotheses for numenta_mug (evidence > 3.102766172620628)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.306
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.85
INFO:root:Testing 22 out of 14880 hypotheses for montys_heart (evidence > 3.102766172620628)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.653
INFO:root:Testing 7 out of 23200 hypotheses for ramen_pack (evidence > 3.102766172620628)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.829
INFO:root:Testing 179 out of 14864 hypotheses for hot_sauce (evidence > 3.102766172620628)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.853
INFO:root:Testing 22 out of 12560 hypotheses for harissa_oil (evidence > 3.102766172620628)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 5.509
INFO:root:Testing 197 out of 21832 hypotheses for tomato_soup_can (evidence > 3.102766172620628)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 15.464
INFO:root:Testing 48 out of 16976 hypotheses for mustard_bottle (evidence > 3.102766172620628)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.916
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.994
INFO:root:Testing 11 out of 19024 hypotheses for potted_meat_can (evidence > 3.102766172620628)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.677
DEBUG:root:evidences for each object: [ 9.3059304   2.84963118 13.65271273  7.82894002 11.85300325  5.50861254
 15.46419982 15.91566672  2.9936549   8.67732516]
DEBUG:root:mean evidence: 9.405, std: 4.532 -> th=12.732533376883115
INFO:root:current most likely hypothesis: mustard_bottle with evidence 15.92
DEBUG:root:evidences for each object: [ 9.3059304   2.84963118 13.65271273  7.82894002 11.85300325  5.50861254
 15.46419982 15.91566672  2.9936549   8.67732516]
DEBUG:root:mean evidence: 9.405, std: 4.532 -> th=12.732533376883115
DEBUG:root:evidences for each object: [ 9.3059304   2.84963118 13.65271273  7.82894002 11.85300325  5.50861254
 15.46419982 15.91566672  2.9936549   8.67732516]
DEBUG:root:mean evidence: 9.405, std: 4.532 -> th=13.52831671293831
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'mustard_bottle', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 197 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.2003227 ,  0.13729717,  0.97006201],
       [-0.56534078,  0.82485744,  0.        ],
       [-0.80016287, -0.54841562,  0.24285736]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00285636, -0.01377922,  0.00657861])}]
INFO:root:Testing 65 out of 14424 hypotheses for numenta_mug (evidence > 3.183133344220778)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.531
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.85
INFO:root:Testing 17 out of 14880 hypotheses for montys_heart (evidence > 3.183133344220778)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 14.07
INFO:root:Testing 6 out of 23200 hypotheses for ramen_pack (evidence > 3.183133344220778)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.21
INFO:root:Testing 176 out of 14864 hypotheses for hot_sauce (evidence > 3.183133344220778)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.247
INFO:root:Testing 8 out of 12560 hypotheses for harissa_oil (evidence > 3.183133344220778)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.509
INFO:root:Testing 178 out of 21832 hypotheses for tomato_soup_can (evidence > 3.183133344220778)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 15.767
INFO:root:Testing 46 out of 16976 hypotheses for mustard_bottle (evidence > 3.183133344220778)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.346
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.994
INFO:root:Testing 6 out of 19024 hypotheses for potted_meat_can (evidence > 3.183133344220778)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.035
DEBUG:root:evidences for each object: [ 9.5312834   2.84963118 14.07009264  8.2095242  12.2473289   4.50861254
 15.76748766 16.34588574  2.9936549   9.03477107]
DEBUG:root:mean evidence: 9.556, std: 4.774 -> th=13.076708595359838
INFO:root:current most likely hypothesis: mustard_bottle with evidence 16.35
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'mustard_bottle', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 198 ---
INFO:uvicorn.access:192.168.1.217:64638 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.23387992,  0.13195802,  0.96326905],
       [-0.49139395,  0.87093742,  0.        ],
       [-0.83894706, -0.47334458,  0.26853815]]), 'pose_fully_defined': False}}, {'patch': array([-0.00240186, -0.05693629,  0.01591654])}]
INFO:root:Testing 57 out of 14424 hypotheses for numenta_mug (evidence > 3.269177148839958)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.951
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.85
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 3.269177148839958)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 13.07
INFO:root:Testing 6 out of 23200 hypotheses for ramen_pack (evidence > 3.269177148839958)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.697
INFO:root:Testing 174 out of 14864 hypotheses for hot_sauce (evidence > 3.269177148839958)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.729
INFO:root:Testing 2 out of 12560 hypotheses for harissa_oil (evidence > 3.269177148839958)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.873
INFO:root:Testing 157 out of 21832 hypotheses for tomato_soup_can (evidence > 3.269177148839958)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 16.122
INFO:root:Testing 45 out of 16976 hypotheses for mustard_bottle (evidence > 3.269177148839958)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.74
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.994
INFO:root:Testing 5 out of 19024 hypotheses for potted_meat_can (evidence > 3.269177148839958)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.412
DEBUG:root:evidences for each object: [ 9.95106155  2.84963118 13.07009264  8.69699613 12.72878474  4.87344072
 16.12199015 16.74014289  2.9936549   9.41183772]
DEBUG:root:mean evidence: 9.744, std: 4.771 -> th=13.39211431422469
INFO:root:current most likely hypothesis: mustard_bottle with evidence 16.74
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 199 ---
INFO:uvicorn.access:192.168.1.217:64638 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.21513591,  0.14994203,  0.96500463],
       [-0.57178964,  0.82040027,  0.        ],
       [-0.79169006, -0.55177965,  0.26223285]]), 'pose_fully_defined': False}}, {'patch': array([-0.0019149 ,  0.00828632, -0.00596115])}]
INFO:root:Testing 58 out of 14424 hypotheses for numenta_mug (evidence > 3.348028578556171)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.237
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.85
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 3.348028578556171)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 12.07
INFO:root:Testing 6 out of 23200 hypotheses for ramen_pack (evidence > 3.348028578556171)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.024
INFO:root:Testing 182 out of 14864 hypotheses for hot_sauce (evidence > 3.348028578556171)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.165
INFO:root:Testing 21 out of 12560 hypotheses for harissa_oil (evidence > 3.348028578556171)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 5.259
INFO:root:Testing 159 out of 21832 hypotheses for tomato_soup_can (evidence > 3.348028578556171)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 16.487
INFO:root:Testing 45 out of 16976 hypotheses for mustard_bottle (evidence > 3.348028578556171)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.134
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.994
INFO:root:Testing 7 out of 19024 hypotheses for potted_meat_can (evidence > 3.348028578556171)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.78
DEBUG:root:evidences for each object: [ 9.23679986  2.84963118 12.07009264  9.02396279 13.16471588  5.25913361
 16.48669954 17.1335723   2.9936549   9.77952983]
DEBUG:root:mean evidence: 9.8, std: 4.808 -> th=13.706857843989187
INFO:root:current most likely hypothesis: mustard_bottle with evidence 17.13
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 200 ---
INFO:uvicorn.access:192.168.1.217:64638 - "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/mustard_bottle/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/mustard_bottle/log.txt (NOTSET)>
