INFO:root:Logger initialized at 2025-10-01 13:19:59.737063
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/tuna_can/observations',
                                    'vive_url': 'http://192.168.1.237:3001/pose'},
                  'env_init_func': <class 'custom_classes.probe_triggered_environment.ProbeTriggeredUltrasoundEnvironment'>,
                  'rng': RandomState(MT19937) at 0x7F7AC8553440,
                  '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/tuna_can',
                    'python_log_level': 'DEBUG',
                    'python_log_to_file': True,
                    'python_log_to_stdout': True,
                    'resume_wandb_run': False,
                    'run_name': 'probe_triggered_data_collection_for_learning',
                    'wandb_group': 'benchmark_experiments',
                    'wandb_handlers': [],
                    'wandb_id': '8ootj1sr'},
 '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([[ 0.99001851, -0.0535738 , -0.13035795],
       [ 0.05403488,  0.99853905, -0.        ],
       [ 0.1301675 , -0.00704388,  0.991467  ]]), '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: {'montys_brain', 'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 1 ---
INFO:uvicorn.access:192.168.1.217:49258 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99183916, -0.0279366 , -0.12439702],
       [ 0.02815529,  0.99960356, -0.        ],
       [ 0.1243477 , -0.00350243,  0.99223252]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00184121,  0.00451533, -0.00292079])}]
INFO:root:Testing 14424 out of 14424 hypotheses for numenta_mug (evidence > 0.0)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 10992 out of 10992 hypotheses for montys_brain (evidence > 0.0)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.02 seconds. New max evidence: 0.5
INFO:root:Testing 14880 out of 14880 hypotheses for montys_heart (evidence > 0.0)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 23200 out of 23200 hypotheses for ramen_pack (evidence > 0.0)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.05 seconds. New max evidence: 0.5
INFO:root:Testing 14864 out of 14864 hypotheses for hot_sauce (evidence > 0.0)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 12560 out of 12560 hypotheses for harissa_oil (evidence > 0.0)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.02 seconds. New max evidence: 0.5
INFO:root:Testing 21832 out of 21832 hypotheses for tomato_soup_can (evidence > 0.0)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.05 seconds. New max evidence: 0.5
INFO:root:Testing 16976 out of 16976 hypotheses for mustard_bottle (evidence > 0.0)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 17728 out of 17728 hypotheses for tuna_fish_can (evidence > 0.0)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.04 seconds. New max evidence: 0.5
INFO:root:Testing 19024 out of 19024 hypotheses for potted_meat_can (evidence > 0.0)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.04 seconds. New max evidence: 0.5
INFO:root:current most likely hypothesis: montys_brain with evidence 0.5
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 2 ---
INFO:uvicorn.access:192.168.1.217:49258 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 9.97959345e-01,  1.55954578e-04, -6.38523423e-02],
       [-1.56273477e-04,  9.99999988e-01,  0.00000000e+00],
       [ 6.38523416e-02,  9.97842752e-06,  9.97959357e-01]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00091941,  0.00423174, -0.00122843])}]
INFO:root:Testing 14421 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: 0.996
INFO:root:Testing 10992 out of 10992 hypotheses for montys_brain (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.02 seconds. New max evidence: 0.995
INFO:root:Testing 14838 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: 0.996
INFO:root:Testing 23194 out of 23200 hypotheses for ramen_pack (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.05 seconds. New max evidence: 0.995
INFO:root:Testing 14860 out of 14864 hypotheses for hot_sauce (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.03 seconds. New max evidence: 0.998
INFO:root:Testing 12560 out of 12560 hypotheses for harissa_oil (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.03 seconds. New max evidence: 0.995
INFO:root:Testing 21628 out of 21832 hypotheses for tomato_soup_can (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.05 seconds. New max evidence: 1.0
INFO:root:Testing 16975 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 0.04 seconds. New max evidence: 0.997
INFO:root:Testing 17648 out of 17728 hypotheses for tuna_fish_can (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.04 seconds. New max evidence: 0.998
INFO:root:Testing 18916 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: 0.996
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 1.0
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 3 ---
INFO:uvicorn.access:192.168.1.217:49258 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99458261,  0.03481912,  0.09794413],
       [-0.03498734,  0.99938776,  0.        ],
       [-0.09788416, -0.0034268 ,  0.99519192]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00052793,  0.01237856, -0.00458472])}]
INFO:root:Testing 14334 out of 14424 hypotheses for numenta_mug (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.03 seconds. New max evidence: 1.481
INFO:root:Testing 10992 out of 10992 hypotheses for montys_brain (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.02 seconds. New max evidence: 1.461
INFO:root:Testing 14761 out of 14880 hypotheses for montys_heart (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.03 seconds. New max evidence: 1.474
INFO:root:Testing 23134 out of 23200 hypotheses for ramen_pack (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.05 seconds. New max evidence: 1.483
INFO:root:Testing 14857 out of 14864 hypotheses for hot_sauce (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.03 seconds. New max evidence: 1.489
INFO:root:Testing 12558 out of 12560 hypotheses for harissa_oil (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.03 seconds. New max evidence: 1.479
INFO:root:Testing 21449 out of 21832 hypotheses for tomato_soup_can (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
INFO:uvicorn.access:192.168.1.217:49258 - "POST /capture HTTP/1.1" 200
DEBUG:root:evidence update for tomato_soup_can took 0.05 seconds. New max evidence: 1.481
INFO:root:Testing 16963 out of 16976 hypotheses for mustard_bottle (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.04 seconds. New max evidence: 1.48
INFO:root:Testing 17456 out of 17728 hypotheses for tuna_fish_can (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.04 seconds. New max evidence: 1.484
INFO:root:Testing 18742 out of 19024 hypotheses for potted_meat_can (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.04 seconds. New max evidence: 1.477
INFO:root:current most likely hypothesis: hot_sauce with evidence 1.49
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 4 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99847173,  0.02555047,  0.04900384],
       [-0.0255812 ,  0.99967275,  0.        ],
       [-0.0489878 , -0.00125358,  0.99879859]]), 'pose_fully_defined': False}}, {'patch': array([-4.52614255e-05, -5.65545423e-03, -7.62582037e-03])}]
INFO:root:Testing 8900 out of 14424 hypotheses for numenta_mug (evidence > 0.2978151495371175)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.02 seconds. New max evidence: 1.963
INFO:root:Testing 4294 out of 10992 hypotheses for montys_brain (evidence > 0.2978151495371175)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 1.907
INFO:root:Testing 8021 out of 14880 hypotheses for montys_heart (evidence > 0.2978151495371175)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.02 seconds. New max evidence: 1.96
INFO:root:Testing 14522 out of 23200 hypotheses for ramen_pack (evidence > 0.2978151495371175)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.03 seconds. New max evidence: 1.957
INFO:root:Testing 7590 out of 14864 hypotheses for hot_sauce (evidence > 0.2978151495371175)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.02 seconds. New max evidence: 1.972
INFO:root:Testing 6612 out of 12560 hypotheses for harissa_oil (evidence > 0.2978151495371175)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.01 seconds. New max evidence: 1.961
INFO:root:Testing 13331 out of 21832 hypotheses for tomato_soup_can (evidence > 0.2978151495371175)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.03 seconds. New max evidence: 1.961
INFO:root:Testing 11796 out of 16976 hypotheses for mustard_bottle (evidence > 0.2978151495371175)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 1.965
INFO:root:Testing 11055 out of 17728 hypotheses for tuna_fish_can (evidence > 0.2978151495371175)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 1.97
INFO:root:Testing 12498 out of 19024 hypotheses for potted_meat_can (evidence > 0.2978151495371175)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 1.955
INFO:root:current most likely hypothesis: hot_sauce with evidence 1.97
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 5 ---
INFO:uvicorn.access:192.168.1.217:49258 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:49258 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 9.93079932e-01, -5.35398976e-03, -1.17318298e-01],
       [ 5.39121956e-03,  9.99985467e-01, -0.00000000e+00],
       [ 1.17316593e-01, -6.32488702e-04,  9.93094365e-01]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00055634, -0.00229198,  0.00607137])}]
INFO:root:Testing 6876 out of 14424 hypotheses for numenta_mug (evidence > 0.3944488683053369)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.02 seconds. New max evidence: 2.433
INFO:root:Testing 2766 out of 10992 hypotheses for montys_brain (evidence > 0.3944488683053369)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 2.385
INFO:root:Testing 5928 out of 14880 hypotheses for montys_heart (evidence > 0.3944488683053369)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 2.432
INFO:root:Testing 12142 out of 23200 hypotheses for ramen_pack (evidence > 0.3944488683053369)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.03 seconds. New max evidence: 2.438
INFO:root:Testing 5467 out of 14864 hypotheses for hot_sauce (evidence > 0.3944488683053369)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 2.456
INFO:root:Testing 5026 out of 12560 hypotheses for harissa_oil (evidence > 0.3944488683053369)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.01 seconds. New max evidence: 2.439
INFO:root:Testing 10560 out of 21832 hypotheses for tomato_soup_can (evidence > 0.3944488683053369)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.02 seconds. New max evidence: 2.458
INFO:root:Testing 10157 out of 16976 hypotheses for mustard_bottle (evidence > 0.3944488683053369)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 2.454
INFO:root:Testing 9096 out of 17728 hypotheses for tuna_fish_can (evidence > 0.3944488683053369)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.02 seconds. New max evidence: 2.443
INFO:root:Testing 10794 out of 19024 hypotheses for potted_meat_can (evidence > 0.3944488683053369)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.02 seconds. New max evidence: 2.445
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 2.46
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 6 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 9.99865854e-01,  3.45375432e-03, -1.60108032e-02],
       [-3.45419709e-03,  9.99994034e-01,  0.00000000e+00],
       [ 1.60107077e-02,  5.53044698e-05,  9.99871819e-01]]), 'pose_fully_defined': False}}, {'patch': array([-0.00114249, -0.01445753, -0.00122778])}]
INFO:root:Testing 6843 out of 14424 hypotheses for numenta_mug (evidence > 0.4915025119204426)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.02 seconds. New max evidence: 2.928
INFO:root:Testing 2778 out of 10992 hypotheses for montys_brain (evidence > 0.4915025119204426)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 2.831
INFO:root:Testing 5921 out of 14880 hypotheses for montys_heart (evidence > 0.4915025119204426)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 2.921
INFO:root:Testing 12133 out of 23200 hypotheses for ramen_pack (evidence > 0.4915025119204426)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.03 seconds. New max evidence: 2.904
INFO:root:Testing 5467 out of 14864 hypotheses for hot_sauce (evidence > 0.4915025119204426)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 2.93
INFO:root:Testing 5026 out of 12560 hypotheses for harissa_oil (evidence > 0.4915025119204426)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.01 seconds. New max evidence: 2.901
INFO:root:Testing 10519 out of 21832 hypotheses for tomato_soup_can (evidence > 0.4915025119204426)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.02 seconds. New max evidence: 2.907
INFO:root:Testing 10148 out of 16976 hypotheses for mustard_bottle (evidence > 0.4915025119204426)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 2.938
INFO:root:Testing 9087 out of 17728 hypotheses for tuna_fish_can (evidence > 0.4915025119204426)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.02 seconds. New max evidence: 2.904
INFO:root:Testing 10772 out of 19024 hypotheses for potted_meat_can (evidence > 0.4915025119204426)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.02 seconds. New max evidence: 2.912
INFO:root:current most likely hypothesis: mustard_bottle with evidence 2.94
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 7 ---
INFO:uvicorn.access:192.168.1.217:49258 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 9.99985506e-01, -4.20067994e-03,  3.36772871e-03],
       [ 4.20070376e-03,  9.99991177e-01, -0.00000000e+00],
       [-3.36769900e-03,  1.41468307e-05,  9.99994329e-01]]), 'pose_fully_defined': False}}, {'patch': array([-0.00236137, -0.00062362,  0.00194502])}]
INFO:root:Testing 6807 out of 14424 hypotheses for numenta_mug (evidence > 0.5876836960819611)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.02 seconds. New max evidence: 3.414
INFO:root:Testing 2778 out of 10992 hypotheses for montys_brain (evidence > 0.5876836960819611)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 3.311
INFO:root:Testing 5899 out of 14880 hypotheses for montys_heart (evidence > 0.5876836960819611)
DEBUG:root:Calculating evidence for montys_heart using input 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: 3.409
INFO:root:Testing 12115 out of 23200 hypotheses for ramen_pack (evidence > 0.5876836960819611)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.03 seconds. New max evidence: 3.391
INFO:root:Testing 5461 out of 14864 hypotheses for hot_sauce (evidence > 0.5876836960819611)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 3.429
INFO:root:Testing 5024 out of 12560 hypotheses for harissa_oil (evidence > 0.5876836960819611)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.01 seconds. New max evidence: 3.393
INFO:root:Testing 10450 out of 21832 hypotheses for tomato_soup_can (evidence > 0.5876836960819611)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.02 seconds. New max evidence: 3.4
INFO:root:Testing 10146 out of 16976 hypotheses for mustard_bottle (evidence > 0.5876836960819611)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 3.434
INFO:root:Testing 9069 out of 17728 hypotheses for tuna_fish_can (evidence > 0.5876836960819611)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.02 seconds. New max evidence: 3.369
INFO:root:Testing 10728 out of 19024 hypotheses for potted_meat_can (evidence > 0.5876836960819611)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.02 seconds. New max evidence: 3.399
INFO:root:current most likely hypothesis: mustard_bottle with evidence 3.43
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 8 ---
INFO:uvicorn.access:192.168.1.217:49258 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 9.99801607e-01, -1.70372108e-02, -1.03189231e-02],
       [ 1.70381179e-02,  9.99854841e-01, -0.00000000e+00],
       [ 1.03174252e-02, -1.75815029e-04,  9.99946758e-01]]), 'pose_fully_defined': False}}, {'patch': array([-2.42868780e-03, -8.53210319e-03,  9.40642612e-05])}]
INFO:root:Testing 6806 out of 14424 hypotheses for numenta_mug (evidence > 0.686762491717825)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.02 seconds. New max evidence: 3.891
INFO:root:Testing 2778 out of 10992 hypotheses for montys_brain (evidence > 0.686762491717825)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 3.787
INFO:root:Testing 5898 out of 14880 hypotheses for montys_heart (evidence > 0.686762491717825)
DEBUG:root:Calculating evidence for montys_heart using input 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: 3.821
INFO:root:Testing 12114 out of 23200 hypotheses for ramen_pack (evidence > 0.686762491717825)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.03 seconds. New max evidence: 3.828
INFO:root:Testing 5461 out of 14864 hypotheses for hot_sauce (evidence > 0.686762491717825)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 3.832
INFO:root:Testing 5024 out of 12560 hypotheses for harissa_oil (evidence > 0.686762491717825)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.01 seconds. New max evidence: 3.857
INFO:root:Testing 10434 out of 21832 hypotheses for tomato_soup_can (evidence > 0.686762491717825)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.02 seconds. New max evidence: 3.871
INFO:root:Testing 10146 out of 16976 hypotheses for mustard_bottle (evidence > 0.686762491717825)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 3.927
INFO:root:Testing 9066 out of 17728 hypotheses for tuna_fish_can (evidence > 0.686762491717825)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.02 seconds. New max evidence: 3.864
INFO:root:Testing 10727 out of 19024 hypotheses for potted_meat_can (evidence > 0.686762491717825)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.02 seconds. New max evidence: 3.873
INFO:root:current most likely hypothesis: mustard_bottle with evidence 3.93
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 9 ---
INFO:uvicorn.access:192.168.1.217:49258 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98800974, -0.15329348,  0.01838129],
       [ 0.15331938,  0.98817669, -0.        ],
       [-0.01816396,  0.00281821,  0.99983105]]), 'pose_fully_defined': False}}, {'patch': array([-0.00061391, -0.00293029, -0.00049546])}]
INFO:root:Testing 6770 out of 14424 hypotheses for numenta_mug (evidence > 0.785488433459113)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 4.375
INFO:root:Testing 2778 out of 10992 hypotheses for montys_brain (evidence > 0.785488433459113)
DEBUG:root:Calculating evidence for montys_brain using input 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: 4.246
INFO:root:Testing 5860 out of 14880 hypotheses for montys_heart (evidence > 0.785488433459113)
DEBUG:root:Calculating evidence for montys_heart using input 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: 4.283
INFO:root:Testing 12070 out of 23200 hypotheses for ramen_pack (evidence > 0.785488433459113)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 4.291
INFO:root:Testing 5459 out of 14864 hypotheses for hot_sauce (evidence > 0.785488433459113)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 4.286
INFO:root:Testing 5012 out of 12560 hypotheses for harissa_oil (evidence > 0.785488433459113)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 4.317
INFO:root:Testing 10199 out of 21832 hypotheses for tomato_soup_can (evidence > 0.785488433459113)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.02 seconds. New max evidence: 4.327
INFO:root:Testing 10139 out of 16976 hypotheses for mustard_bottle (evidence > 0.785488433459113)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 4.371
INFO:root:Testing 8933 out of 17728 hypotheses for tuna_fish_can (evidence > 0.785488433459113)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.02 seconds. New max evidence: 4.312
INFO:root:Testing 10595 out of 19024 hypotheses for potted_meat_can (evidence > 0.785488433459113)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.02 seconds. New max evidence: 4.318
INFO:root:current most likely hypothesis: numenta_mug with evidence 4.37
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 10 ---
INFO:uvicorn.access:192.168.1.217:49258 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:49258 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 9.87165453e-01, -1.59646063e-01,  4.18364245e-03],
       [ 1.59647461e-01,  9.87174092e-01, -0.00000000e+00],
       [-4.12998343e-03,  6.67907893e-04,  9.99991249e-01]]), 'pose_fully_defined': False}}, {'patch': array([-0.00042829, -0.00624225,  0.00787486])}]
INFO:root:Testing 6632 out of 14424 hypotheses for numenta_mug (evidence > 0.8749330055318985)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 4.822
INFO:root:Testing 2777 out of 10992 hypotheses for montys_brain (evidence > 0.8749330055318985)
DEBUG:root:Calculating evidence for montys_brain using input 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: 4.581
INFO:root:Testing 5776 out of 14880 hypotheses for montys_heart (evidence > 0.8749330055318985)
DEBUG:root:Calculating evidence for montys_heart using input 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: 4.748
INFO:root:Testing 11868 out of 23200 hypotheses for ramen_pack (evidence > 0.8749330055318985)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 4.742
INFO:root:Testing 5433 out of 14864 hypotheses for hot_sauce (evidence > 0.8749330055318985)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 4.706
INFO:root:Testing 4945 out of 12560 hypotheses for harissa_oil (evidence > 0.8749330055318985)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 4.795
INFO:root:Testing 9748 out of 21832 hypotheses for tomato_soup_can (evidence > 0.8749330055318985)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.02 seconds. New max evidence: 4.772
INFO:root:Testing 10066 out of 16976 hypotheses for mustard_bottle (evidence > 0.8749330055318985)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 4.809
INFO:root:Testing 8252 out of 17728 hypotheses for tuna_fish_can (evidence > 0.8749330055318985)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.02 seconds. New max evidence: 4.751
INFO:root:Testing 10234 out of 19024 hypotheses for potted_meat_can (evidence > 0.8749330055318985)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.02 seconds. New max evidence: 4.8
INFO:root:current most likely hypothesis: numenta_mug 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: {'montys_brain', 'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 11 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 9.84012454e-01, -1.78099562e-01, -1.90660866e-04],
       [ 1.78099565e-01,  9.84012472e-01, -0.00000000e+00],
       [ 1.87612670e-04, -3.39566173e-05,  9.99999982e-01]]), 'pose_fully_defined': False}}, {'patch': array([0.00225684, 0.00588402, 0.01219577])}]
INFO:root:Testing 6478 out of 14424 hypotheses for numenta_mug (evidence > 0.9644236843837719)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 5.257
INFO:root:Testing 2752 out of 10992 hypotheses for montys_brain (evidence > 0.9644236843837719)
DEBUG:root:Calculating evidence for montys_brain using input 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: 5.006
INFO:root:Testing 5645 out of 14880 hypotheses for montys_heart (evidence > 0.9644236843837719)
DEBUG:root:Calculating evidence for montys_heart using input 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: 5.208
INFO:root:Testing 11492 out of 23200 hypotheses for ramen_pack (evidence > 0.9644236843837719)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 5.221
INFO:root:Testing 5372 out of 14864 hypotheses for hot_sauce (evidence > 0.9644236843837719)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 5.188
INFO:root:Testing 4808 out of 12560 hypotheses for harissa_oil (evidence > 0.9644236843837719)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 5.188
INFO:root:Testing 9431 out of 21832 hypotheses for tomato_soup_can (evidence > 0.9644236843837719)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.02 seconds. New max evidence: 5.222
INFO:root:Testing 9908 out of 16976 hypotheses for mustard_bottle (evidence > 0.9644236843837719)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 5.273
INFO:root:Testing 7892 out of 17728 hypotheses for tuna_fish_can (evidence > 0.9644236843837719)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.02 seconds. New max evidence: 5.163
INFO:root:Testing 9835 out of 19024 hypotheses for potted_meat_can (evidence > 0.9644236843837719)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.02 seconds. New max evidence: 5.197
INFO:root:current most likely hypothesis: mustard_bottle with evidence 5.27
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 12 ---
INFO:uvicorn.access:192.168.1.217:49258 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:49258 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.9828191 , -0.17328264, -0.06355902],
       [ 0.17363371,  0.9848103 , -0.        ],
       [ 0.06259358, -0.01103599,  0.99797808]]), 'pose_fully_defined': False}}, {'patch': array([-0.00262856,  0.00998853,  0.00240136])}]
INFO:root:Testing 6404 out of 14424 hypotheses for numenta_mug (evidence > 1.0545809429782516)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 5.646
INFO:root:Testing 2742 out of 10992 hypotheses for montys_brain (evidence > 1.0545809429782516)
DEBUG:root:Calculating evidence for montys_brain using input 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: 5.441
INFO:root:Testing 5548 out of 14880 hypotheses for montys_heart (evidence > 1.0545809429782516)
DEBUG:root:Calculating evidence for montys_heart using input 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: 5.651
INFO:root:Testing 11336 out of 23200 hypotheses for ramen_pack (evidence > 1.0545809429782516)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 5.708
INFO:root:Testing 5334 out of 14864 hypotheses for hot_sauce (evidence > 1.0545809429782516)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 5.56
INFO:root:Testing 4730 out of 12560 hypotheses for harissa_oil (evidence > 1.0545809429782516)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 5.629
INFO:root:Testing 9294 out of 21832 hypotheses for tomato_soup_can (evidence > 1.0545809429782516)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.02 seconds. New max evidence: 5.651
INFO:root:Testing 9808 out of 16976 hypotheses for mustard_bottle (evidence > 1.0545809429782516)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 5.761
INFO:root:Testing 7687 out of 17728 hypotheses for tuna_fish_can (evidence > 1.0545809429782516)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.02 seconds. New max evidence: 5.599
INFO:root:Testing 9627 out of 19024 hypotheses for potted_meat_can (evidence > 1.0545809429782516)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.02 seconds. New max evidence: 5.632
INFO:root:current most likely hypothesis: mustard_bottle with evidence 5.76
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 13 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.97288088, -0.19380356, -0.12626545],
       [ 0.19536719,  0.98073017, -0.        ],
       [ 0.12383234, -0.02466813,  0.99199649]]), 'pose_fully_defined': False}}, {'patch': array([0.00476558, 0.0065739 , 0.01147493])}]
INFO:root:Testing 6345 out of 14424 hypotheses for numenta_mug (evidence > 1.1522904667407197)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 5.949
INFO:root:Testing 2742 out of 10992 hypotheses for montys_brain (evidence > 1.1522904667407197)
DEBUG:root:Calculating evidence for montys_brain using input 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: 5.598
INFO:root:Testing 5534 out of 14880 hypotheses for montys_heart (evidence > 1.1522904667407197)
DEBUG:root:Calculating evidence for montys_heart using input 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: 6.011
INFO:root:Testing 11323 out of 23200 hypotheses for ramen_pack (evidence > 1.1522904667407197)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.03 seconds. New max evidence: 6.055
INFO:root:Testing 5331 out of 14864 hypotheses for hot_sauce (evidence > 1.1522904667407197)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 5.763
INFO:root:Testing 4725 out of 12560 hypotheses for harissa_oil (evidence > 1.1522904667407197)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 6.022
INFO:root:Testing 9064 out of 21832 hypotheses for tomato_soup_can (evidence > 1.1522904667407197)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.02 seconds. New max evidence: 6.095
INFO:root:Testing 9805 out of 16976 hypotheses for mustard_bottle (evidence > 1.1522904667407197)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 6.169
INFO:root:Testing 7460 out of 17728 hypotheses for tuna_fish_can (evidence > 1.1522904667407197)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.02 seconds. New max evidence: 6.033
INFO:root:Testing 9442 out of 19024 hypotheses for potted_meat_can (evidence > 1.1522904667407197)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.02 seconds. New max evidence: 6.064
DEBUG:root:evidences for each object: [5.949372   5.59812945 6.01091836 6.0554836  5.76297191 6.02208412
 6.09504554 6.16942454 6.03253251 6.06379925]
DEBUG:root:mean evidence: 5.976, std: 0.162 -> th=4.935539632110239
INFO:root:current most likely hypothesis: mustard_bottle with evidence 6.17
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 14 ---
INFO:uvicorn.access:192.168.1.217:49260 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.96212699, -0.14467512, -0.23104279],
       [ 0.14869836,  0.9888826 , -0.        ],
       [ 0.22847419, -0.03435568,  0.97294359]]), 'pose_fully_defined': False}}, {'patch': array([-0.0061552 , -0.00731402, -0.00295979])}]
INFO:root:Testing 6173 out of 14424 hypotheses for numenta_mug (evidence > 1.2338849080275596)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 6.362
INFO:root:Testing 2718 out of 10992 hypotheses for montys_brain (evidence > 1.2338849080275596)
DEBUG:root:Calculating evidence for montys_brain using input 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: 5.767
INFO:root:Testing 5424 out of 14880 hypotheses for montys_heart (evidence > 1.2338849080275596)
DEBUG:root:Calculating evidence for montys_heart using input 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: 6.414
INFO:root:Testing 11148 out of 23200 hypotheses for ramen_pack (evidence > 1.2338849080275596)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.03 seconds. New max evidence: 6.508
INFO:root:Testing 5264 out of 14864 hypotheses for hot_sauce (evidence > 1.2338849080275596)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 6.19
INFO:root:Testing 4565 out of 12560 hypotheses for harissa_oil (evidence > 1.2338849080275596)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 6.424
INFO:root:Testing 8745 out of 21832 hypotheses for tomato_soup_can (evidence > 1.2338849080275596)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.02 seconds. New max evidence: 6.532
INFO:root:Testing 9718 out of 16976 hypotheses for mustard_bottle (evidence > 1.2338849080275596)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 6.597
INFO:root:Testing 7123 out of 17728 hypotheses for tuna_fish_can (evidence > 1.2338849080275596)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.02 seconds. New max evidence: 6.481
INFO:root:Testing 9098 out of 19024 hypotheses for potted_meat_can (evidence > 1.2338849080275596)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.02 seconds. New max evidence: 6.489
DEBUG:root:evidences for each object: [6.3621894  5.76683281 6.41386604 6.50844886 6.19031767 6.4240398
 6.53190268 6.59717973 6.4805232  6.48925223]
DEBUG:root:mean evidence: 6.376, std: 0.229 -> th=5.277743785871569
INFO:root:current most likely hypothesis: mustard_bottle with evidence 6.6
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 15 ---
INFO:uvicorn.access:192.168.1.217:49260 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98358252, -0.12127547, -0.13363267],
       [ 0.12237304,  0.99248418, -0.        ],
       [ 0.13262831, -0.01635304,  0.99103093]]), 'pose_fully_defined': False}}, {'patch': array([-0.00104004,  0.0047966 , -0.01048017])}]
INFO:root:Testing 6030 out of 14424 hypotheses for numenta_mug (evidence > 1.319435946467892)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 6.85
INFO:root:Testing 2698 out of 10992 hypotheses for montys_brain (evidence > 1.319435946467892)
DEBUG:root:Calculating evidence for montys_brain using input 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: 6.243
INFO:root:Testing 5356 out of 14880 hypotheses for montys_heart (evidence > 1.319435946467892)
DEBUG:root:Calculating evidence for montys_heart using input 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: 6.876
INFO:root:Testing 10928 out of 23200 hypotheses for ramen_pack (evidence > 1.319435946467892)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.03 seconds. New max evidence: 6.992
INFO:root:Testing 5208 out of 14864 hypotheses for hot_sauce (evidence > 1.319435946467892)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 6.653
INFO:root:Testing 4383 out of 12560 hypotheses for harissa_oil (evidence > 1.319435946467892)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 6.89
INFO:root:Testing 8546 out of 21832 hypotheses for tomato_soup_can (evidence > 1.319435946467892)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.02 seconds. New max evidence: 6.999
INFO:root:Testing 9642 out of 16976 hypotheses for mustard_bottle (evidence > 1.319435946467892)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 7.087
INFO:root:Testing 6782 out of 17728 hypotheses for tuna_fish_can (evidence > 1.319435946467892)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.02 seconds. New max evidence: 6.962
INFO:root:Testing 8793 out of 19024 hypotheses for potted_meat_can (evidence > 1.319435946467892)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.02 seconds. New max evidence: 6.967
DEBUG:root:evidences for each object: [6.85048448 6.24338428 6.87642582 6.99182119 6.65306862 6.89022283
 6.99942893 7.08690959 6.96236731 6.9673628 ]
DEBUG:root:mean evidence: 6.852, std: 0.231 -> th=5.669527671760486
INFO:root:current most likely hypothesis: mustard_bottle with evidence 7.09
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 16 ---
INFO:uvicorn.access:192.168.1.217:49260 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.9907335 , -0.10260694, -0.08898848],
       [ 0.10301564,  0.99467974, -0.        ],
       [ 0.08851504, -0.0091672 ,  0.99603266]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00113756,  0.01034045, -0.00535893])}]
INFO:root:Testing 6002 out of 14424 hypotheses for numenta_mug (evidence > 1.417381917940121)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 7.345
INFO:root:Testing 2697 out of 10992 hypotheses for montys_brain (evidence > 1.417381917940121)
DEBUG:root:Calculating evidence for montys_brain using input 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: 6.558
INFO:root:Testing 5343 out of 14880 hypotheses for montys_heart (evidence > 1.417381917940121)
DEBUG:root:Calculating evidence for montys_heart using input 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: 7.35
INFO:root:Testing 10888 out of 23200 hypotheses for ramen_pack (evidence > 1.417381917940121)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 7.484
INFO:root:Testing 5201 out of 14864 hypotheses for hot_sauce (evidence > 1.417381917940121)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 7.076
INFO:root:Testing 4361 out of 12560 hypotheses for harissa_oil (evidence > 1.417381917940121)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 7.359
INFO:root:Testing 8453 out of 21832 hypotheses for tomato_soup_can (evidence > 1.417381917940121)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.02 seconds. New max evidence: 7.452
INFO:root:Testing 9628 out of 16976 hypotheses for mustard_bottle (evidence > 1.417381917940121)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 7.536
INFO:root:Testing 6619 out of 17728 hypotheses for tuna_fish_can (evidence > 1.417381917940121)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.02 seconds. New max evidence: 7.448
INFO:root:Testing 8649 out of 19024 hypotheses for potted_meat_can (evidence > 1.417381917940121)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.02 seconds. New max evidence: 7.45
DEBUG:root:evidences for each object: [7.3450257  6.55830511 7.34995645 7.4835502  7.07552844 7.35851767
 7.45213445 7.53566695 7.44753036 7.45038145]
DEBUG:root:mean evidence: 7.306, std: 0.277 -> th=6.028533560932996
INFO:root:current most likely hypothesis: mustard_bottle with evidence 7.54
DEBUG:root:evidences for each object: [7.3450257  6.55830511 7.34995645 7.4835502  7.07552844 7.35851767
 7.45213445 7.53566695 7.44753036 7.45038145]
DEBUG:root:mean evidence: 7.306, std: 0.277 -> th=6.028533560932996
DEBUG:root:evidences for each object: [7.3450257  6.55830511 7.34995645 7.4835502  7.07552844 7.35851767
 7.45213445 7.53566695 7.44753036 7.45038145]
DEBUG:root:mean evidence: 7.306, std: 0.277 -> th=6.405316908491309
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 17 ---
INFO:uvicorn.access:192.168.1.217:49260 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99698284, -0.06469391, -0.04289433],
       [ 0.06475351,  0.99790129, -0.        ],
       [ 0.04280431, -0.00277756,  0.99907961]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00404698,  0.00616304, -0.00279635])}]
INFO:root:Testing 5990 out of 14424 hypotheses for numenta_mug (evidence > 1.5071333902332489)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 7.765
INFO:root:Testing 2693 out of 10992 hypotheses for montys_brain (evidence > 1.5071333902332489)
DEBUG:root:Calculating evidence for montys_brain using input 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: 7.024
INFO:root:Testing 5333 out of 14880 hypotheses for montys_heart (evidence > 1.5071333902332489)
DEBUG:root:Calculating evidence for montys_heart using input 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: 7.79
INFO:root:Testing 10859 out of 23200 hypotheses for ramen_pack (evidence > 1.5071333902332489)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 7.89
INFO:root:Testing 5198 out of 14864 hypotheses for hot_sauce (evidence > 1.5071333902332489)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 7.505
INFO:root:Testing 4356 out of 12560 hypotheses for harissa_oil (evidence > 1.5071333902332489)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 7.85
INFO:root:Testing 8384 out of 21832 hypotheses for tomato_soup_can (evidence > 1.5071333902332489)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.02 seconds. New max evidence: 7.874
INFO:root:Testing 9625 out of 16976 hypotheses for mustard_bottle (evidence > 1.5071333902332489)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 7.983
INFO:root:Testing 6542 out of 17728 hypotheses for tuna_fish_can (evidence > 1.5071333902332489)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.02 seconds. New max evidence: 7.927
INFO:root:Testing 8575 out of 19024 hypotheses for potted_meat_can (evidence > 1.5071333902332489)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.02 seconds. New max evidence: 7.925
DEBUG:root:evidences for each object: [7.7648377  7.02377501 7.78959151 7.89041293 7.50549155 7.85036937
 7.87425572 7.98302892 7.92710392 7.92471   ]
DEBUG:root:mean evidence: 7.753, std: 0.274 -> th=6.386423137585629
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: {'montys_brain', 'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 18 ---
INFO:uvicorn.access:192.168.1.217:49260 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 9.99435723e-01, -2.85213345e-02, -1.77417511e-02],
       [ 2.85258244e-02,  9.99593056e-01, -0.00000000e+00],
       [ 1.77345312e-02, -5.06098078e-04,  9.99842603e-01]]), 'pose_fully_defined': False}}, {'patch': array([-0.00120635, -0.00346753, -0.00425069])}]
INFO:root:Testing 5970 out of 14424 hypotheses for numenta_mug (evidence > 1.5966057843964068)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 8.252
INFO:root:Testing 2693 out of 10992 hypotheses for montys_brain (evidence > 1.5966057843964068)
DEBUG:root:Calculating evidence for montys_brain using input 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: 7.508
INFO:root:Testing 5322 out of 14880 hypotheses for montys_heart (evidence > 1.5966057843964068)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 8.252
INFO:root:Testing 10827 out of 23200 hypotheses for ramen_pack (evidence > 1.5966057843964068)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.02 seconds. New max evidence: 8.374
INFO:root:Testing 5197 out of 14864 hypotheses for hot_sauce (evidence > 1.5966057843964068)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 7.965
INFO:root:Testing 4356 out of 12560 hypotheses for harissa_oil (evidence > 1.5966057843964068)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 8.333
INFO:root:Testing 8342 out of 21832 hypotheses for tomato_soup_can (evidence > 1.5966057843964068)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.02 seconds. New max evidence: 8.362
INFO:root:Testing 9613 out of 16976 hypotheses for mustard_bottle (evidence > 1.5966057843964068)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 8.442
INFO:root:Testing 6522 out of 17728 hypotheses for tuna_fish_can (evidence > 1.5966057843964068)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 8.402
INFO:root:Testing 8511 out of 19024 hypotheses for potted_meat_can (evidence > 1.5966057843964068)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.02 seconds. New max evidence: 8.385
DEBUG:root:evidences for each object: [8.25201563 7.50833297 8.25229355 8.37388135 7.96523968 8.33292609
 8.36159212 8.44220912 8.4024201  8.38522525]
DEBUG:root:mean evidence: 8.228, std: 0.272 -> th=6.753767294783979
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: {'montys_brain', 'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 19 ---
INFO:uvicorn.access:192.168.1.217:49262 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.9886683 , -0.13782055,  0.05950208],
       [ 0.13806518,  0.99042315, -0.        ],
       [-0.05893224,  0.00821517,  0.99822818]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00171913, -0.00789263, -0.02389805])}]
INFO:root:Testing 5969 out of 14424 hypotheses for numenta_mug (evidence > 1.6884418236959942)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 8.663
INFO:root:Testing 2693 out of 10992 hypotheses for montys_brain (evidence > 1.6884418236959942)
DEBUG:root:Calculating evidence for montys_brain using input 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: 7.847
INFO:root:Testing 5321 out of 14880 hypotheses for montys_heart (evidence > 1.6884418236959942)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 8.64
INFO:root:Testing 10822 out of 23200 hypotheses for ramen_pack (evidence > 1.6884418236959942)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.02 seconds. New max evidence: 8.859
INFO:root:Testing 5197 out of 14864 hypotheses for hot_sauce (evidence > 1.6884418236959942)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 8.411
INFO:root:Testing 4356 out of 12560 hypotheses for harissa_oil (evidence > 1.6884418236959942)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 8.757
INFO:root:Testing 8335 out of 21832 hypotheses for tomato_soup_can (evidence > 1.6884418236959942)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.02 seconds. New max evidence: 8.839
INFO:root:Testing 9610 out of 16976 hypotheses for mustard_bottle (evidence > 1.6884418236959942)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 8.869
INFO:root:Testing 6517 out of 17728 hypotheses for tuna_fish_can (evidence > 1.6884418236959942)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 8.861
INFO:root:Testing 8506 out of 19024 hypotheses for potted_meat_can (evidence > 1.6884418236959942)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.02 seconds. New max evidence: 8.865
DEBUG:root:evidences for each object: [8.6629986  7.84729297 8.63999516 8.85938896 8.41102198 8.75687763
 8.8387267  8.86896953 8.86065168 8.86478773]
DEBUG:root:mean evidence: 8.661, std: 0.305 -> th=7.095175627889209
INFO:root:current most likely hypothesis: mustard_bottle with evidence 8.87
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 20 ---
INFO:uvicorn.access:192.168.1.217:49262 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98819542, -0.15116916,  0.0248536 ],
       [ 0.15121587,  0.98850076, -0.        ],
       [-0.0245678 ,  0.00375826,  0.9996911 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00263188, -0.0116172 ,  0.0045945 ])}]
INFO:root:Testing 5923 out of 14424 hypotheses for numenta_mug (evidence > 1.773793906972302)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 9.078
INFO:root:Testing 2689 out of 10992 hypotheses for montys_brain (evidence > 1.773793906972302)
DEBUG:root:Calculating evidence for montys_brain using input 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: 8.036
INFO:root:Testing 5298 out of 14880 hypotheses for montys_heart (evidence > 1.773793906972302)
DEBUG:root:Calculating evidence for montys_heart using input 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: 9.02
INFO:root:Testing 10776 out of 23200 hypotheses for ramen_pack (evidence > 1.773793906972302)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.02 seconds. New max evidence: 9.344
INFO:root:Testing 5189 out of 14864 hypotheses for hot_sauce (evidence > 1.773793906972302)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 8.872
INFO:root:Testing 4344 out of 12560 hypotheses for harissa_oil (evidence > 1.773793906972302)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 9.212
INFO:root:Testing 8298 out of 21832 hypotheses for tomato_soup_can (evidence > 1.773793906972302)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 9.306
INFO:root:Testing 9588 out of 16976 hypotheses for mustard_bottle (evidence > 1.773793906972302)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 9.331
INFO:root:Testing 6485 out of 17728 hypotheses for tuna_fish_can (evidence > 1.773793906972302)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 9.335
INFO:root:Testing 8487 out of 19024 hypotheses for potted_meat_can (evidence > 1.773793906972302)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 9.323
DEBUG:root:evidences for each object: [9.07767484 8.03553643 9.02044518 9.34439242 8.87182551 9.21173768
 9.30551798 9.33147704 9.33480353 9.32262858]
DEBUG:root:mean evidence: 9.086, std: 0.382 -> th=7.47551393730037
INFO:root:current most likely hypothesis: ramen_pack with evidence 9.34
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 21 ---
INFO:uvicorn.access:192.168.1.217:49262 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 9.90385951e-01, -1.38286345e-01,  3.54325442e-03],
       [ 1.38287213e-01,  9.90392168e-01, -0.00000000e+00],
       [-3.50921142e-03,  4.89986779e-04,  9.99993723e-01]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00073663, -0.00017201,  0.00451528])}]
INFO:root:Testing 5873 out of 14424 hypotheses for numenta_mug (evidence > 1.8688784843250925)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 9.504
INFO:root:Testing 2665 out of 10992 hypotheses for montys_brain (evidence > 1.8688784843250925)
DEBUG:root:Calculating evidence for montys_brain using input 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: 8.46
INFO:root:Testing 5266 out of 14880 hypotheses for montys_heart (evidence > 1.8688784843250925)
DEBUG:root:Calculating evidence for montys_heart using input 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: 9.483
INFO:root:Testing 10655 out of 23200 hypotheses for ramen_pack (evidence > 1.8688784843250925)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.02 seconds. New max evidence: 9.837
INFO:root:Testing 5079 out of 14864 hypotheses for hot_sauce (evidence > 1.8688784843250925)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 9.332
INFO:root:Testing 4337 out of 12560 hypotheses for harissa_oil (evidence > 1.8688784843250925)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 9.692
INFO:root:Testing 8225 out of 21832 hypotheses for tomato_soup_can (evidence > 1.8688784843250925)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 9.752
INFO:root:Testing 9513 out of 16976 hypotheses for mustard_bottle (evidence > 1.8688784843250925)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 9.816
INFO:root:Testing 6448 out of 17728 hypotheses for tuna_fish_can (evidence > 1.8688784843250925)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 9.796
INFO:root:Testing 8447 out of 19024 hypotheses for potted_meat_can (evidence > 1.8688784843250925)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 9.807
DEBUG:root:evidences for each object: [9.5042665  8.46020624 9.48285919 9.83744696 9.33169061 9.692025
 9.75186906 9.81604737 9.79636557 9.80719617]
DEBUG:root:mean evidence: 9.548, std: 0.398 -> th=7.869957568589319
INFO:root:current most likely hypothesis: ramen_pack with evidence 9.84
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 22 ---
INFO:uvicorn.access:192.168.1.217:49262 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99176272, -0.12427338,  0.03102969],
       [ 0.12433325,  0.99224052, -0.        ],
       [-0.03078891,  0.00385802,  0.99951846]]), 'pose_fully_defined': False}}, {'patch': array([ 7.06054439e-05, -8.79366261e-03, -1.01239943e-03])}]
INFO:root:Testing 5831 out of 14424 hypotheses for numenta_mug (evidence > 1.9674893921473293)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 9.94
INFO:root:Testing 2653 out of 10992 hypotheses for montys_brain (evidence > 1.9674893921473293)
DEBUG:root:Calculating evidence for montys_brain using input 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: 8.788
INFO:root:Testing 5237 out of 14880 hypotheses for montys_heart (evidence > 1.9674893921473293)
DEBUG:root:Calculating evidence for montys_heart using input 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: 9.915
INFO:root:Testing 10451 out of 23200 hypotheses for ramen_pack (evidence > 1.9674893921473293)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 10.311
INFO:root:Testing 4960 out of 14864 hypotheses for hot_sauce (evidence > 1.9674893921473293)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 9.771
INFO:root:Testing 4315 out of 12560 hypotheses for harissa_oil (evidence > 1.9674893921473293)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 10.166
INFO:root:Testing 8212 out of 21832 hypotheses for tomato_soup_can (evidence > 1.9674893921473293)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 10.233
INFO:root:Testing 9470 out of 16976 hypotheses for mustard_bottle (evidence > 1.9674893921473293)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 10.288
INFO:root:Testing 6425 out of 17728 hypotheses for tuna_fish_can (evidence > 1.9674893921473293)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 10.291
INFO:root:Testing 8404 out of 19024 hypotheses for potted_meat_can (evidence > 1.9674893921473293)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 10.29
DEBUG:root:evidences for each object: [ 9.93970146  8.78788777  9.91547289 10.31057294  9.77096908 10.16604186
 10.23329789 10.28802023 10.29052721 10.28967784]
DEBUG:root:mean evidence: 9.999, std: 0.443 -> th=8.248458349640144
INFO:root:current most likely hypothesis: ramen_pack with evidence 10.31
DEBUG:root:evidences for each object: [ 9.93970146  8.78788777  9.91547289 10.31057294  9.77096908 10.16604186
 10.23329789 10.28802023 10.29052721 10.28967784]
DEBUG:root:mean evidence: 9.999, std: 0.443 -> th=8.248458349640144
DEBUG:root:evidences for each object: [ 9.93970146  8.78788777  9.91547289 10.31057294  9.77096908 10.16604186
 10.23329789 10.28802023 10.29052721 10.28967784]
DEBUG:root:mean evidence: 9.999, std: 0.443 -> th=8.763986996492653
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 23 ---
INFO:uvicorn.access:192.168.1.217:49262 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.9814912 , -0.18994985, -0.02437369],
       [ 0.1900063 ,  0.98178287, -0.        ],
       [ 0.02392967, -0.00463115,  0.99970292]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00035835, -0.00576563,  0.00425628])}]
INFO:root:Testing 5782 out of 14424 hypotheses for numenta_mug (evidence > 2.0621145874100364)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 10.295
INFO:root:Testing 2588 out of 10992 hypotheses for montys_brain (evidence > 2.0621145874100364)
DEBUG:root:Calculating evidence for montys_brain using input 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: 9.178
INFO:root:Testing 5174 out of 14880 hypotheses for montys_heart (evidence > 2.0621145874100364)
DEBUG:root:Calculating evidence for montys_heart using input 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: 10.34
INFO:root:Testing 10124 out of 23200 hypotheses for ramen_pack (evidence > 2.0621145874100364)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
INFO:uvicorn.access:192.168.1.217:49262 - "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 0.02 seconds. New max evidence: 10.793
INFO:root:Testing 4695 out of 14864 hypotheses for hot_sauce (evidence > 2.0621145874100364)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 10.248
INFO:root:Testing 4255 out of 12560 hypotheses for harissa_oil (evidence > 2.0621145874100364)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 10.656
INFO:root:Testing 8141 out of 21832 hypotheses for tomato_soup_can (evidence > 2.0621145874100364)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 10.684
INFO:root:Testing 9304 out of 16976 hypotheses for mustard_bottle (evidence > 2.0621145874100364)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 10.772
INFO:root:Testing 6349 out of 17728 hypotheses for tuna_fish_can (evidence > 2.0621145874100364)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 10.745
INFO:root:Testing 8329 out of 19024 hypotheses for potted_meat_can (evidence > 2.0621145874100364)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 10.679
DEBUG:root:evidences for each object: [10.2947029   9.17807825 10.34035669 10.79314698 10.24842809 10.65576353
 10.68403888 10.77214989 10.74515302 10.67854751]
DEBUG:root:mean evidence: 10.439, std: 0.464 -> th=8.634517584434375
INFO:root:current most likely hypothesis: ramen_pack with evidence 10.79
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 24 ---
INFO:uvicorn.access:192.168.1.217:49262 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98319856, -0.17970653,  0.03203353],
       [ 0.1797988 ,  0.98370341, -0.        ],
       [-0.03151149,  0.00575959,  0.99948679]]), 'pose_fully_defined': False}}, {'patch': array([-0.00480686, -0.01465902,  0.00345751])}]
INFO:root:Testing 5718 out of 14424 hypotheses for numenta_mug (evidence > 2.1586293961085943)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 10.473
INFO:root:Testing 2444 out of 10992 hypotheses for montys_brain (evidence > 2.1586293961085943)
DEBUG:root:Calculating evidence for montys_brain using input 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: 9.265
INFO:root:Testing 5047 out of 14880 hypotheses for montys_heart (evidence > 2.1586293961085943)
DEBUG:root:Calculating evidence for montys_heart using input 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: 10.599
INFO:root:Testing 9753 out of 23200 hypotheses for ramen_pack (evidence > 2.1586293961085943)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 10.81
INFO:root:Testing 4492 out of 14864 hypotheses for hot_sauce (evidence > 2.1586293961085943)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 10.172
INFO:root:Testing 4163 out of 12560 hypotheses for harissa_oil (evidence > 2.1586293961085943)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 11.038
INFO:root:Testing 7978 out of 21832 hypotheses for tomato_soup_can (evidence > 2.1586293961085943)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 10.729
INFO:root:Testing 9081 out of 16976 hypotheses for mustard_bottle (evidence > 2.1586293961085943)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 11.229
INFO:root:Testing 6200 out of 17728 hypotheses for tuna_fish_can (evidence > 2.1586293961085943)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 11.197
INFO:root:Testing 8211 out of 19024 hypotheses for potted_meat_can (evidence > 2.1586293961085943)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 11.064
DEBUG:root:evidences for each object: [10.47341358  9.26510605 10.59947893 10.81033888 10.17194644 11.03751191
 10.72866015 11.22943675 11.19657714 11.06375564]
DEBUG:root:mean evidence: 10.658, std: 0.563 -> th=8.983549401218584
INFO:root:current most likely hypothesis: mustard_bottle with evidence 11.23
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 25 ---
INFO:uvicorn.access:192.168.1.217:49262 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98573171, -0.16768057,  0.01470428],
       [ 0.1676987 ,  0.9858383 , -0.        ],
       [-0.01449604,  0.00246589,  0.99989189]]), 'pose_fully_defined': False}}, {'patch': array([0.00143916, 0.00290904, 0.00900141])}]
INFO:root:Testing 5581 out of 14424 hypotheses for numenta_mug (evidence > 2.2458873503046455)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 10.901
INFO:root:Testing 2212 out of 10992 hypotheses for montys_brain (evidence > 2.2458873503046455)
DEBUG:root:Calculating evidence for montys_brain using input 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: 9.449
INFO:root:Testing 4765 out of 14880 hypotheses for montys_heart (evidence > 2.2458873503046455)
DEBUG:root:Calculating evidence for montys_heart using input 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: 10.919
INFO:root:Testing 9299 out of 23200 hypotheses for ramen_pack (evidence > 2.2458873503046455)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 11.268
INFO:root:Testing 4069 out of 14864 hypotheses for hot_sauce (evidence > 2.2458873503046455)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 10.443
INFO:root:Testing 4007 out of 12560 hypotheses for harissa_oil (evidence > 2.2458873503046455)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 11.471
INFO:root:Testing 7796 out of 21832 hypotheses for tomato_soup_can (evidence > 2.2458873503046455)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 11.175
INFO:root:Testing 8828 out of 16976 hypotheses for mustard_bottle (evidence > 2.2458873503046455)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 11.68
INFO:root:Testing 5940 out of 17728 hypotheses for tuna_fish_can (evidence > 2.2458873503046455)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 11.603
INFO:root:Testing 8008 out of 19024 hypotheses for potted_meat_can (evidence > 2.2458873503046455)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 11.511
DEBUG:root:evidences for each object: [10.90078056  9.44872744 10.91861391 11.26833208 10.44347633 11.47102531
 11.17511489 11.67987169 11.60270177 11.51138637]
DEBUG:root:mean evidence: 11.042, std: 0.642 -> th=9.343897355404946
INFO:root:current most likely hypothesis: mustard_bottle with evidence 11.68
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 26 ---
INFO:uvicorn.access:192.168.1.217:49262 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98176286, -0.18477012, -0.04474033],
       [ 0.18495533,  0.98274693, -0.        ],
       [ 0.04396842, -0.00827496,  0.99899865]]), 'pose_fully_defined': False}}, {'patch': array([-0.0016141 ,  0.0051491 ,  0.00711567])}]
INFO:root:Testing 5410 out of 14424 hypotheses for numenta_mug (evidence > 2.335974338851237)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 11.363
INFO:root:Testing 1817 out of 10992 hypotheses for montys_brain (evidence > 2.335974338851237)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.737
INFO:root:Testing 4474 out of 14880 hypotheses for montys_heart (evidence > 2.335974338851237)
DEBUG:root:Calculating evidence for montys_heart using input 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: 11.223
INFO:root:Testing 8911 out of 23200 hypotheses for ramen_pack (evidence > 2.335974338851237)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 11.727
INFO:root:Testing 3796 out of 14864 hypotheses for hot_sauce (evidence > 2.335974338851237)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 10.754
INFO:root:Testing 3836 out of 12560 hypotheses for harissa_oil (evidence > 2.335974338851237)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 11.943
INFO:root:Testing 7549 out of 21832 hypotheses for tomato_soup_can (evidence > 2.335974338851237)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 11.646
INFO:root:Testing 8560 out of 16976 hypotheses for mustard_bottle (evidence > 2.335974338851237)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 12.146
INFO:root:Testing 5724 out of 17728 hypotheses for tuna_fish_can (evidence > 2.335974338851237)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 12.058
INFO:root:Testing 7695 out of 19024 hypotheses for potted_meat_can (evidence > 2.335974338851237)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 11.957
DEBUG:root:evidences for each object: [11.3627247   9.73714675 11.22251799 11.72747556 10.7537586  11.94349928
 11.64648388 12.14593162 12.05821832 11.95735902]
DEBUG:root:mean evidence: 11.456, std: 0.703 -> th=9.716745297140845
INFO:root:current most likely hypothesis: mustard_bottle with evidence 12.15
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 27 ---
INFO:uvicorn.access:192.168.1.217:49262 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98769792, -0.1546266 , -0.02331174],
       [ 0.15466863,  0.9879664 , -0.        ],
       [ 0.02303122, -0.00360559,  0.99972824]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00142065,  0.00266701, -0.00502798])}]
INFO:root:Testing 5260 out of 14424 hypotheses for numenta_mug (evidence > 2.42918632428521)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 11.822
INFO:root:Testing 1590 out of 10992 hypotheses for montys_brain (evidence > 2.42918632428521)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.099
INFO:root:Testing 4317 out of 14880 hypotheses for montys_heart (evidence > 2.42918632428521)
DEBUG:root:Calculating evidence for montys_heart using input 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: 11.57
INFO:root:Testing 8492 out of 23200 hypotheses for ramen_pack (evidence > 2.42918632428521)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 12.201
INFO:root:Testing 3633 out of 14864 hypotheses for hot_sauce (evidence > 2.42918632428521)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 11.234
INFO:root:Testing 3675 out of 12560 hypotheses for harissa_oil (evidence > 2.42918632428521)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 12.439
INFO:root:Testing 7329 out of 21832 hypotheses for tomato_soup_can (evidence > 2.42918632428521)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 12.109
INFO:root:Testing 8308 out of 16976 hypotheses for mustard_bottle (evidence > 2.42918632428521)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 12.636
INFO:root:Testing 5500 out of 17728 hypotheses for tuna_fish_can (evidence > 2.42918632428521)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 12.553
INFO:root:Testing 7421 out of 19024 hypotheses for potted_meat_can (evidence > 2.42918632428521)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 12.441
DEBUG:root:evidences for each object: [11.82157249 10.09858724 11.57038513 12.20126447 11.23441559 12.43879934
 12.10910245 12.63610504 12.55258313 12.44061574]
DEBUG:root:mean evidence: 11.91, std: 0.741 -> th=10.10888402825886
INFO:root:current most likely hypothesis: mustard_bottle with evidence 12.64
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 28 ---
INFO:uvicorn.access:192.168.1.217:49264 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.56711012,  0.17440133,  0.80496602],
       [-0.29394098,  0.95582357,  0.        ],
       [-0.76940549, -0.2366125 ,  0.59332092]]), 'pose_fully_defined': False}}, {'patch': array([0.00456229, 0.00705648, 0.02651403])}]
INFO:root:Testing 5176 out of 14424 hypotheses for numenta_mug (evidence > 2.527221007064714)
DEBUG:root:Calculating evidence for numenta_mug using input 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 1495 out of 10992 hypotheses for montys_brain (evidence > 2.527221007064714)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.244
INFO:root:Testing 4202 out of 14880 hypotheses for montys_heart (evidence > 2.527221007064714)
DEBUG:root:Calculating evidence for montys_heart using input 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: 11.865
INFO:root:Testing 8181 out of 23200 hypotheses for ramen_pack (evidence > 2.527221007064714)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 12.461
INFO:root:Testing 3523 out of 14864 hypotheses for hot_sauce (evidence > 2.527221007064714)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 10.774
INFO:root:Testing 3583 out of 12560 hypotheses for harissa_oil (evidence > 2.527221007064714)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 12.719
INFO:root:Testing 7179 out of 21832 hypotheses for tomato_soup_can (evidence > 2.527221007064714)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 12.387
INFO:root:Testing 8116 out of 16976 hypotheses for mustard_bottle (evidence > 2.527221007064714)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 12.892
INFO:root:Testing 5289 out of 17728 hypotheses for tuna_fish_can (evidence > 2.527221007064714)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 12.705
INFO:root:Testing 7175 out of 19024 hypotheses for potted_meat_can (evidence > 2.527221007064714)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 12.685
DEBUG:root:evidences for each object: [12.12840785 10.24426171 11.86462086 12.46086572 10.77448954 12.71853742
 12.38707304 12.8918343  12.7045268  12.68488563]
DEBUG:root:mean evidence: 12.086, std: 0.848 -> th=10.313467443678558
INFO:root:current most likely hypothesis: mustard_bottle with evidence 12.89
DEBUG:root:evidences for each object: [12.12840785 10.24426171 11.86462086 12.46086572 10.77448954 12.71853742
 12.38707304 12.8918343  12.7045268  12.68488563]
DEBUG:root:mean evidence: 12.086, std: 0.848 -> th=10.313467443678558
DEBUG:root:evidences for each object: [12.12840785 10.24426171 11.86462086 12.46086572 10.77448954 12.71853742
 12.38707304 12.8918343  12.7045268  12.68488563]
DEBUG:root:mean evidence: 12.086, std: 0.848 -> th=10.958059158908467
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: {'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 29 ---
INFO:uvicorn.access:192.168.1.217:49264 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.67243407,  0.13577828,  0.7275965 ],
       [-0.19792598,  0.98021697,  0.        ],
       [-0.71320244, -0.14401025,  0.68600534]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00068501,  0.01564394, -0.00240283])}]
INFO:root:Testing 5075 out of 14424 hypotheses for numenta_mug (evidence > 2.5783668609196386)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 12.571
INFO:root:Testing 1264 out of 10992 hypotheses for montys_brain (evidence > 2.5783668609196386)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.618
INFO:root:Testing 4050 out of 14880 hypotheses for montys_heart (evidence > 2.5783668609196386)
DEBUG:root:Calculating evidence for montys_heart using input 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: 12.246
INFO:root:Testing 7903 out of 23200 hypotheses for ramen_pack (evidence > 2.5783668609196386)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 12.931
INFO:root:Testing 3397 out of 14864 hypotheses for hot_sauce (evidence > 2.5783668609196386)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 11.173
INFO:root:Testing 3428 out of 12560 hypotheses for harissa_oil (evidence > 2.5783668609196386)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 13.142
INFO:root:Testing 6954 out of 21832 hypotheses for tomato_soup_can (evidence > 2.5783668609196386)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 12.71
INFO:root:Testing 7926 out of 16976 hypotheses for mustard_bottle (evidence > 2.5783668609196386)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 13.357
INFO:root:Testing 5054 out of 17728 hypotheses for tuna_fish_can (evidence > 2.5783668609196386)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 13.08
INFO:root:Testing 6944 out of 19024 hypotheses for potted_meat_can (evidence > 2.5783668609196386)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 12.833
DEBUG:root:evidences for each object: [12.57103839 10.61842454 12.24563572 12.93141737 11.17251414 13.14233062
 12.70984517 13.35654165 13.07976266 12.83317177]
DEBUG:root:mean evidence: 12.466, std: 0.848 -> th=10.68523332155964
INFO:root:current most likely hypothesis: mustard_bottle with evidence 13.36
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 30 ---
INFO:uvicorn.access:192.168.1.217:49264 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.76844527,  0.1131083 ,  0.62983996],
       [-0.14562208,  0.98934029,  0.        ],
       [-0.62312605, -0.09171861,  0.77672493]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00195636,  0.01239944, -0.00640101])}]
INFO:root:Testing 4991 out of 14424 hypotheses for numenta_mug (evidence > 2.671308330389909)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 12.896
INFO:root:Testing 1141 out of 10992 hypotheses for montys_brain (evidence > 2.671308330389909)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.027
INFO:root:Testing 3976 out of 14880 hypotheses for montys_heart (evidence > 2.671308330389909)
DEBUG:root:Calculating evidence for montys_heart using input 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: 12.67
INFO:root:Testing 7741 out of 23200 hypotheses for ramen_pack (evidence > 2.671308330389909)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 13.33
INFO:root:Testing 3260 out of 14864 hypotheses for hot_sauce (evidence > 2.671308330389909)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 11.651
INFO:root:Testing 3328 out of 12560 hypotheses for harissa_oil (evidence > 2.671308330389909)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 13.499
INFO:root:Testing 6770 out of 21832 hypotheses for tomato_soup_can (evidence > 2.671308330389909)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 12.887
INFO:root:Testing 7828 out of 16976 hypotheses for mustard_bottle (evidence > 2.671308330389909)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 13.617
INFO:root:Testing 4782 out of 17728 hypotheses for tuna_fish_can (evidence > 2.671308330389909)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 13.436
INFO:root:Testing 6791 out of 19024 hypotheses for potted_meat_can (evidence > 2.671308330389909)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 13.313
DEBUG:root:evidences for each object: [12.89621418 11.02748059 12.67014465 13.33033981 11.65089949 13.49885974
 12.88680075 13.61724212 13.43642701 13.31300232]
DEBUG:root:mean evidence: 12.833, std: 0.812 -> th=10.893793699852285
INFO:root:current most likely hypothesis: mustard_bottle with evidence 13.62
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 31 ---
INFO:uvicorn.access:192.168.1.217:49264 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.8964135 ,  0.09977816,  0.43184158],
       [-0.110625  ,  0.99386222,  0.        ],
       [-0.42919103, -0.04777248,  0.90194947]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00147811,  0.00614447, -0.01108244])}]
INFO:root:Testing 4933 out of 14424 hypotheses for numenta_mug (evidence > 2.7234484249630704)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 13.34
INFO:root:Testing 1094 out of 10992 hypotheses for montys_brain (evidence > 2.7234484249630704)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.399
INFO:root:Testing 3943 out of 14880 hypotheses for montys_heart (evidence > 2.7234484249630704)
DEBUG:root:Calculating evidence for montys_heart using input 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: 13.093
INFO:root:Testing 7589 out of 23200 hypotheses for ramen_pack (evidence > 2.7234484249630704)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 13.606
INFO:root:Testing 3171 out of 14864 hypotheses for hot_sauce (evidence > 2.7234484249630704)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 12.116
INFO:root:Testing 3307 out of 12560 hypotheses for harissa_oil (evidence > 2.7234484249630704)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 13.805
INFO:root:Testing 6705 out of 21832 hypotheses for tomato_soup_can (evidence > 2.7234484249630704)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 13.131
INFO:root:Testing 7747 out of 16976 hypotheses for mustard_bottle (evidence > 2.7234484249630704)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 13.966
INFO:root:Testing 4553 out of 17728 hypotheses for tuna_fish_can (evidence > 2.7234484249630704)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 13.857
INFO:root:Testing 6710 out of 19024 hypotheses for potted_meat_can (evidence > 2.7234484249630704)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 13.533
DEBUG:root:evidences for each object: [13.34038655 11.39941222 13.09336357 13.6057667  12.11632479 13.80516757
 13.13090017 13.96557172 13.857334   13.53347929]
DEBUG:root:mean evidence: 13.185, std: 0.782 -> th=11.17245737817619
INFO:root:current most likely hypothesis: mustard_bottle with evidence 13.97
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 32 ---
INFO:uvicorn.access:192.168.1.217:49264 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.81312253,  0.17751572,  0.55436442],
       [-0.21328999,  0.97698894,  0.        ],
       [-0.54160791, -0.11824038,  0.83227405]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00181177,  0.00114355, -0.00764086])}]
INFO:root:Testing 4912 out of 14424 hypotheses for numenta_mug (evidence > 2.7931143445440476)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 13.625
INFO:root:Testing 1081 out of 10992 hypotheses for montys_brain (evidence > 2.7931143445440476)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.712
INFO:root:Testing 3925 out of 14880 hypotheses for montys_heart (evidence > 2.7931143445440476)
DEBUG:root:Calculating evidence for montys_heart using input 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: 13.446
INFO:root:Testing 7534 out of 23200 hypotheses for ramen_pack (evidence > 2.7931143445440476)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 13.755
INFO:root:Testing 3132 out of 14864 hypotheses for hot_sauce (evidence > 2.7931143445440476)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 12.467
INFO:root:Testing 3274 out of 12560 hypotheses for harissa_oil (evidence > 2.7931143445440476)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 13.966
INFO:root:Testing 6674 out of 21832 hypotheses for tomato_soup_can (evidence > 2.7931143445440476)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 13.431
INFO:root:Testing 7720 out of 16976 hypotheses for mustard_bottle (evidence > 2.7931143445440476)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 14.179
INFO:root:Testing 4528 out of 17728 hypotheses for tuna_fish_can (evidence > 2.7931143445440476)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.118
INFO:root:Testing 6665 out of 19024 hypotheses for potted_meat_can (evidence > 2.7931143445440476)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 13.719
DEBUG:root:evidences for each object: [13.62481392 11.71248777 13.44601957 13.75460582 12.46707218 13.96608222
 13.43099833 14.17949981 14.11817469 13.71919935]
DEBUG:root:mean evidence: 13.442, std: 0.737 -> th=11.343599848183548
INFO:root:current most likely hypothesis: mustard_bottle with evidence 14.18
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 33 ---
INFO:uvicorn.access:192.168.1.217:49264 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.42058143,  0.46739063,  0.77759711],
       [-0.74334961,  0.6689031 ,  0.        ],
       [-0.52013712, -0.57802651,  0.62876286]]), 'pose_fully_defined': False}}, {'patch': array([-0.0022597 ,  0.00523169, -0.00552728])}]
INFO:root:Testing 4902 out of 14424 hypotheses for numenta_mug (evidence > 2.835899962045886)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 13.583
INFO:root:Testing 1068 out of 10992 hypotheses for montys_brain (evidence > 2.835899962045886)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.865
INFO:root:Testing 3909 out of 14880 hypotheses for montys_heart (evidence > 2.835899962045886)
DEBUG:root:Calculating evidence for montys_heart using input 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: 13.576
INFO:root:Testing 7482 out of 23200 hypotheses for ramen_pack (evidence > 2.835899962045886)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 13.874
INFO:root:Testing 3109 out of 14864 hypotheses for hot_sauce (evidence > 2.835899962045886)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 12.507
INFO:root:Testing 3265 out of 12560 hypotheses for harissa_oil (evidence > 2.835899962045886)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 14.007
INFO:root:Testing 6671 out of 21832 hypotheses for tomato_soup_can (evidence > 2.835899962045886)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 13.421
INFO:root:Testing 7694 out of 16976 hypotheses for mustard_bottle (evidence > 2.835899962045886)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 14.232
INFO:root:Testing 4522 out of 17728 hypotheses for tuna_fish_can (evidence > 2.835899962045886)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.084
INFO:root:Testing 6633 out of 19024 hypotheses for potted_meat_can (evidence > 2.835899962045886)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: [13.58267877 11.86501949 13.57648224 13.87430868 12.50708909 14.00700792
 13.42130121 14.23177744 14.08378767 13.80716242]
DEBUG:root:mean evidence: 13.496, std: 0.71 -> th=11.385421952207547
INFO:root:current most likely hypothesis: mustard_bottle with evidence 14.23
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 34 ---
INFO:uvicorn.access:192.168.1.217:49266 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.10876002, -0.49903639,  0.85972899],
       [ 0.97706493,  0.21294158, -0.        ],
       [-0.18307205,  0.84001105,  0.51075049]]), 'pose_fully_defined': False}}, {'patch': array([-0.01072366, -0.03910749,  0.02521945])}]
INFO:root:Testing 4897 out of 14424 hypotheses for numenta_mug (evidence > 2.846355488051886)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 14.026
INFO:root:Testing 1064 out of 10992 hypotheses for montys_brain (evidence > 2.846355488051886)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 12.142
INFO:root:Testing 3899 out of 14880 hypotheses for montys_heart (evidence > 2.846355488051886)
DEBUG:root:Calculating evidence for montys_heart using input 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: 13.59
INFO:root:Testing 7443 out of 23200 hypotheses for ramen_pack (evidence > 2.846355488051886)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 14.008
INFO:root:Testing 3096 out of 14864 hypotheses for hot_sauce (evidence > 2.846355488051886)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 12.571
INFO:root:Testing 3258 out of 12560 hypotheses for harissa_oil (evidence > 2.846355488051886)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 14.441
INFO:root:Testing 6662 out of 21832 hypotheses for tomato_soup_can (evidence > 2.846355488051886)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 13.875
INFO:root:Testing 7672 out of 16976 hypotheses for mustard_bottle (evidence > 2.846355488051886)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 14.366
INFO:root:Testing 4510 out of 17728 hypotheses for tuna_fish_can (evidence > 2.846355488051886)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.52
INFO:root:Testing 6622 out of 19024 hypotheses for potted_meat_can (evidence > 2.846355488051886)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 13.816
DEBUG:root:evidences for each object: [14.02594777 12.14186868 13.5898383  14.00772138 12.57065431 14.44064541
 13.87520355 14.36599621 14.5196269  13.816228  ]
DEBUG:root:mean evidence: 13.735, std: 0.749 -> th=11.61570151608838
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 14.52
DEBUG:root:evidences for each object: [14.02594777 12.14186868 13.5898383  14.00772138 12.57065431 14.44064541
 13.87520355 14.36599621 14.5196269  13.816228  ]
DEBUG:root:mean evidence: 13.735, std: 0.749 -> th=11.61570151608838
DEBUG:root:evidences for each object: [14.02594777 12.14186868 13.5898383  14.00772138 12.57065431 14.44064541
 13.87520355 14.36599621 14.5196269  13.816228  ]
DEBUG:root:mean evidence: 13.735, std: 0.749 -> th=12.341682860843903
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 35 ---
INFO:uvicorn.access:192.168.1.217:49266 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.22063348, -0.40601095,  0.88683481],
       [ 0.87864688,  0.47747215, -0.        ],
       [-0.42343892,  0.77921464,  0.46208659]]), 'pose_fully_defined': False}}, {'patch': array([-0.00080747,  0.02603719, -0.01505618])}]
INFO:root:Testing 4869 out of 14424 hypotheses for numenta_mug (evidence > 2.9039253790220947)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 13.779
INFO:root:Testing 1062 out of 10992 hypotheses for montys_brain (evidence > 2.9039253790220947)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 12.087
INFO:root:Testing 3895 out of 14880 hypotheses for montys_heart (evidence > 2.9039253790220947)
DEBUG:root:Calculating evidence for montys_heart using input 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: 13.537
INFO:root:Testing 7358 out of 23200 hypotheses for ramen_pack (evidence > 2.9039253790220947)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 14.042
INFO:root:Testing 3060 out of 14864 hypotheses for hot_sauce (evidence > 2.9039253790220947)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 12.599
INFO:root:Testing 3243 out of 12560 hypotheses for harissa_oil (evidence > 2.9039253790220947)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 14.287
INFO:root:Testing 6603 out of 21832 hypotheses for tomato_soup_can (evidence > 2.9039253790220947)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 13.421
INFO:root:Testing 7623 out of 16976 hypotheses for mustard_bottle (evidence > 2.9039253790220947)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 14.275
INFO:root:Testing 4391 out of 17728 hypotheses for tuna_fish_can (evidence > 2.9039253790220947)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.281
INFO:root:Testing 6510 out of 19024 hypotheses for potted_meat_can (evidence > 2.9039253790220947)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 13.658
DEBUG:root:evidences for each object: [13.77919029 12.08715718 13.53681487 14.0421939  12.5990517  14.28674808
 13.42130799 14.27477144 14.28056128 13.65793572]
DEBUG:root:mean evidence: 13.597, std: 0.703 -> th=11.429398463613817
INFO:root:current most likely hypothesis: harissa_oil with evidence 14.29
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 36 ---
INFO:uvicorn.access:192.168.1.217:49266 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.06378535, -0.30002708,  0.95179577],
       [ 0.97813923, -0.20795108,  0.        ],
       [ 0.19792695,  0.93098878,  0.30673249]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00942416, -0.00797856,  0.00921954])}]
INFO:root:Testing 4836 out of 14424 hypotheses for numenta_mug (evidence > 2.8573496159034537)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 13.676
INFO:root:Testing 1060 out of 10992 hypotheses for montys_brain (evidence > 2.8573496159034537)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 12.005
INFO:root:Testing 3877 out of 14880 hypotheses for montys_heart (evidence > 2.8573496159034537)
DEBUG:root:Calculating evidence for montys_heart using input 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: 13.681
INFO:root:Testing 7271 out of 23200 hypotheses for ramen_pack (evidence > 2.8573496159034537)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 14.118
INFO:root:Testing 3047 out of 14864 hypotheses for hot_sauce (evidence > 2.8573496159034537)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 12.57
INFO:root:Testing 3240 out of 12560 hypotheses for harissa_oil (evidence > 2.8573496159034537)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 14.067
INFO:root:Testing 6557 out of 21832 hypotheses for tomato_soup_can (evidence > 2.8573496159034537)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 13.285
INFO:root:Testing 7551 out of 16976 hypotheses for mustard_bottle (evidence > 2.8573496159034537)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 14.12
INFO:root:Testing 4307 out of 17728 hypotheses for tuna_fish_can (evidence > 2.8573496159034537)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.214
INFO:root:Testing 6426 out of 19024 hypotheses for potted_meat_can (evidence > 2.8573496159034537)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 13.671
DEBUG:root:evidences for each object: [13.67558121 12.00523281 13.68107004 14.11774132 12.57028888 14.06668653
 13.28519839 14.11998983 14.21411307 13.67123456]
DEBUG:root:mean evidence: 13.541, std: 0.694 -> th=11.371290457319512
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 14.21
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 37 ---
INFO:uvicorn.access:192.168.1.217:49266 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.06879992, -0.19868331,  0.9776459 ],
       [ 0.94494942, -0.32721642,  0.        ],
       [ 0.31990179,  0.92382593,  0.21025814]]), 'pose_fully_defined': False}}, {'patch': array([-0.00131595,  0.00162136,  0.00110365])}]
INFO:root:Testing 4825 out of 14424 hypotheses for numenta_mug (evidence > 2.8428226143298776)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 13.704
INFO:root:Testing 1059 out of 10992 hypotheses for montys_brain (evidence > 2.8428226143298776)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.934
INFO:root:Testing 3877 out of 14880 hypotheses for montys_heart (evidence > 2.8428226143298776)
DEBUG:root:Calculating evidence for montys_heart using input 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: 13.83
INFO:root:Testing 7223 out of 23200 hypotheses for ramen_pack (evidence > 2.8428226143298776)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 14.211
INFO:root:Testing 3042 out of 14864 hypotheses for hot_sauce (evidence > 2.8428226143298776)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 12.583
INFO:root:Testing 3237 out of 12560 hypotheses for harissa_oil (evidence > 2.8428226143298776)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 14.054
INFO:root:Testing 6545 out of 21832 hypotheses for tomato_soup_can (evidence > 2.8428226143298776)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 13.288
INFO:root:Testing 7527 out of 16976 hypotheses for mustard_bottle (evidence > 2.8428226143298776)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 14.25
INFO:root:Testing 4256 out of 17728 hypotheses for tuna_fish_can (evidence > 2.8428226143298776)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.152
INFO:root:Testing 6377 out of 19024 hypotheses for potted_meat_can (evidence > 2.8428226143298776)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 13.706
DEBUG:root:evidences for each object: [13.7039898  11.93424995 13.82975816 14.21146313 12.583421   14.05443347
 13.28770159 14.25002989 14.15167653 13.70585483]
DEBUG:root:mean evidence: 13.571, std: 0.727 -> th=11.400023911400123
INFO:root:current most likely hypothesis: mustard_bottle with evidence 14.25
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 38 ---
INFO:uvicorn.access:192.168.1.217:49266 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.04313552, -0.04638617,  0.99799181],
       [ 0.73230017, -0.68098199,  0.        ],
       [ 0.67961445,  0.73082957,  0.06334311]]), 'pose_fully_defined': False}}, {'patch': array([0.00061432, 0.00160064, 0.00331252])}]
INFO:root:Testing 4808 out of 14424 hypotheses for numenta_mug (evidence > 2.8500059778500297)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 13.811
INFO:root:Testing 1057 out of 10992 hypotheses for montys_brain (evidence > 2.8500059778500297)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.956
INFO:root:Testing 3870 out of 14880 hypotheses for montys_heart (evidence > 2.8500059778500297)
DEBUG:root:Calculating evidence for montys_heart using input 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: 14.032
INFO:root:Testing 7160 out of 23200 hypotheses for ramen_pack (evidence > 2.8500059778500297)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 14.538
INFO:root:Testing 3021 out of 14864 hypotheses for hot_sauce (evidence > 2.8500059778500297)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 12.728
INFO:root:Testing 3225 out of 12560 hypotheses for harissa_oil (evidence > 2.8500059778500297)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 14.327
INFO:root:Testing 6515 out of 21832 hypotheses for tomato_soup_can (evidence > 2.8500059778500297)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 13.552
INFO:root:Testing 7490 out of 16976 hypotheses for mustard_bottle (evidence > 2.8500059778500297)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 14.638
INFO:root:Testing 4217 out of 17728 hypotheses for tuna_fish_can (evidence > 2.8500059778500297)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.255
INFO:root:Testing 6324 out of 19024 hypotheses for potted_meat_can (evidence > 2.8500059778500297)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 13.914
DEBUG:root:evidences for each object: [13.81074146 11.95613624 14.03200581 14.53827479 12.72823775 14.32664
 13.55186694 14.63799921 14.25518263 13.9136205 ]
DEBUG:root:mean evidence: 13.775, std: 0.8 -> th=11.710399366761067
INFO:root:current most likely hypothesis: mustard_bottle with evidence 14.64
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 39 ---
INFO:uvicorn.access:192.168.1.217:49266 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.07358083,  0.11744917,  0.99034921],
       [-0.84743001, -0.53090712,  0.        ],
       [ 0.52578345, -0.83925164,  0.13859454]]), 'pose_fully_defined': False}}, {'patch': array([-0.00077069,  0.00351806, -0.00227794])}]
INFO:root:Testing 4786 out of 14424 hypotheses for numenta_mug (evidence > 2.9275998416902667)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 14.005
INFO:root:Testing 1055 out of 10992 hypotheses for montys_brain (evidence > 2.9275998416902667)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 12.061
INFO:root:Testing 3861 out of 14880 hypotheses for montys_heart (evidence > 2.9275998416902667)
DEBUG:root:Calculating evidence for montys_heart using input 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: 14.286
INFO:root:Testing 7054 out of 23200 hypotheses for ramen_pack (evidence > 2.9275998416902667)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 14.699
INFO:root:Testing 2996 out of 14864 hypotheses for hot_sauce (evidence > 2.9275998416902667)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 12.899
INFO:root:Testing 3206 out of 12560 hypotheses for harissa_oil (evidence > 2.9275998416902667)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 14.627
INFO:root:Testing 6482 out of 21832 hypotheses for tomato_soup_can (evidence > 2.9275998416902667)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 13.889
INFO:root:Testing 7422 out of 16976 hypotheses for mustard_bottle (evidence > 2.9275998416902667)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 15.033
INFO:root:Testing 4162 out of 17728 hypotheses for tuna_fish_can (evidence > 2.9275998416902667)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.585
INFO:root:Testing 6215 out of 19024 hypotheses for potted_meat_can (evidence > 2.9275998416902667)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 14.361
DEBUG:root:evidences for each object: [14.00496818 12.06131104 14.28590275 14.69869399 12.89883993 14.62749122
 13.88901218 15.03250041 14.58486767 14.36093514]
DEBUG:root:mean evidence: 14.044, std: 0.864 -> th=12.026000329147163
INFO:root:current most likely hypothesis: mustard_bottle with evidence 15.03
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 40 ---
INFO:uvicorn.access:192.168.1.217:49266 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.00620957,  0.12438461,  0.99221465],
       [-0.9987562 ,  0.04986025,  0.        ],
       [-0.04947207, -0.99098054,  0.12453951]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00320671,  0.00391888, -0.00505486])}]
INFO:root:Testing 4754 out of 14424 hypotheses for numenta_mug (evidence > 3.0065000822867898)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 14.091
INFO:root:Testing 1050 out of 10992 hypotheses for montys_brain (evidence > 3.0065000822867898)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 12.099
INFO:root:Testing 3851 out of 14880 hypotheses for montys_heart (evidence > 3.0065000822867898)
DEBUG:root:Calculating evidence for montys_heart using input 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: 14.422
INFO:root:Testing 6927 out of 23200 hypotheses for ramen_pack (evidence > 3.0065000822867898)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 14.96
INFO:root:Testing 2955 out of 14864 hypotheses for hot_sauce (evidence > 3.0065000822867898)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 12.993
INFO:root:Testing 3183 out of 12560 hypotheses for harissa_oil (evidence > 3.0065000822867898)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 14.775
INFO:root:Testing 6434 out of 21832 hypotheses for tomato_soup_can (evidence > 3.0065000822867898)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 14.132
INFO:root:Testing 7361 out of 16976 hypotheses for mustard_bottle (evidence > 3.0065000822867898)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 15.39
INFO:root:Testing 4091 out of 17728 hypotheses for tuna_fish_can (evidence > 3.0065000822867898)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.898
INFO:root:Testing 6071 out of 19024 hypotheses for potted_meat_can (evidence > 3.0065000822867898)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 14.805
DEBUG:root:evidences for each object: [14.09068276 12.09900346 14.42184349 14.96032611 12.99310417 14.77516983
 14.13193244 15.39040983 14.89772794 14.80504456]
DEBUG:root:mean evidence: 14.257, std: 0.953 -> th=12.312327865854645
INFO:root:current most likely hypothesis: mustard_bottle with evidence 15.39
DEBUG:root:evidences for each object: [14.09068276 12.09900346 14.42184349 14.96032611 12.99310417 14.77516983
 14.13193244 15.39040983 14.89772794 14.80504456]
DEBUG:root:mean evidence: 14.257, std: 0.953 -> th=12.312327865854645
DEBUG:root:evidences for each object: [14.09068276 12.09900346 14.42184349 14.96032611 12.99310417 14.77516983
 14.13193244 15.39040983 14.89772794 14.80504456]
DEBUG:root:mean evidence: 14.257, std: 0.953 -> th=13.08184835747056
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: {'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 41 ---
INFO:uvicorn.access:192.168.1.217:49266 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.02716548,  0.31725937,  0.94794964],
       [-0.99635418, -0.08531329,  0.        ],
       [ 0.0808727 , -0.94449359,  0.31842028]]), 'pose_fully_defined': False}}, {'patch': array([-0.00679782, -0.00797354,  0.00036675])}]
INFO:root:Testing 4729 out of 14424 hypotheses for numenta_mug (evidence > 3.0780819664636603)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 14.396
INFO:root:Testing 1046 out of 10992 hypotheses for montys_brain (evidence > 3.0780819664636603)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 12.23
INFO:root:Testing 3834 out of 14880 hypotheses for montys_heart (evidence > 3.0780819664636603)
DEBUG:root:Calculating evidence for montys_heart using input 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: 14.719
INFO:root:Testing 6811 out of 23200 hypotheses for ramen_pack (evidence > 3.0780819664636603)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 15.386
INFO:root:Testing 2913 out of 14864 hypotheses for hot_sauce (evidence > 3.0780819664636603)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 13.101
INFO:root:Testing 3173 out of 12560 hypotheses for harissa_oil (evidence > 3.0780819664636603)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 15.164
INFO:root:Testing 6391 out of 21832 hypotheses for tomato_soup_can (evidence > 3.0780819664636603)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 14.479
INFO:root:Testing 7289 out of 16976 hypotheses for mustard_bottle (evidence > 3.0780819664636603)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 15.848
INFO:root:Testing 4016 out of 17728 hypotheses for tuna_fish_can (evidence > 3.0780819664636603)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 15.314
INFO:root:Testing 5969 out of 19024 hypotheses for potted_meat_can (evidence > 3.0780819664636603)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 15.239
DEBUG:root:evidences for each object: [14.39572806 12.2303589  14.71868212 15.38602666 13.10148192 15.1635814
 14.47944935 15.84758286 15.31433874 15.23948538]
DEBUG:root:mean evidence: 14.588, std: 1.065 -> th=12.678066284270082
INFO:root:current most likely hypothesis: mustard_bottle with evidence 15.85
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 42 ---
INFO:uvicorn.access:192.168.1.217:49266 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.14492336,  0.42828828,  0.89194527],
       [-0.94723998, -0.32052524,  0.        ],
       [ 0.28589097, -0.84488622,  0.45214337]]), 'pose_fully_defined': False}}, {'patch': array([-0.00539601, -0.00152332, -0.00781297])}]
INFO:root:Testing 4701 out of 14424 hypotheses for numenta_mug (evidence > 3.16951657106752)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 13.396
INFO:root:Testing 1037 out of 10992 hypotheses for montys_brain (evidence > 3.16951657106752)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.998
INFO:root:Testing 3806 out of 14880 hypotheses for montys_heart (evidence > 3.16951657106752)
DEBUG:root:Calculating evidence for montys_heart using input 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: 13.719
INFO:root:Testing 6744 out of 23200 hypotheses for ramen_pack (evidence > 3.16951657106752)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 14.529
INFO:root:Testing 2879 out of 14864 hypotheses for hot_sauce (evidence > 3.16951657106752)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 12.443
INFO:root:Testing 3164 out of 12560 hypotheses for harissa_oil (evidence > 3.16951657106752)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 14.164
INFO:root:Testing 6339 out of 21832 hypotheses for tomato_soup_can (evidence > 3.16951657106752)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 14.202
INFO:root:Testing 7222 out of 16976 hypotheses for mustard_bottle (evidence > 3.16951657106752)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 14.901
INFO:root:Testing 3948 out of 17728 hypotheses for tuna_fish_can (evidence > 3.16951657106752)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.314
INFO:root:Testing 5873 out of 19024 hypotheses for potted_meat_can (evidence > 3.16951657106752)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 14.674
DEBUG:root:evidences for each object: [13.39572806 11.99797001 13.71868212 14.52889378 12.44302267 14.1635814
 14.20167818 14.9006321  14.31433874 14.67351253]
DEBUG:root:mean evidence: 13.834, std: 0.912 -> th=11.920505678746347
INFO:root:current most likely hypothesis: mustard_bottle with evidence 14.9
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 43 ---
INFO:uvicorn.access:192.168.1.217:49268 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.12124878,  0.43315408,  0.89312725],
       [-0.96298385,  0.26955909,  0.        ],
       [-0.24075056, -0.86006712,  0.44980409]]), 'pose_fully_defined': False}}, {'patch': array([0.01003525, 0.00988877, 0.00548437])}]
INFO:root:Testing 4614 out of 14424 hypotheses for numenta_mug (evidence > 2.980126419686586)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 13.699
INFO:root:Testing 1017 out of 10992 hypotheses for montys_brain (evidence > 2.980126419686586)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 12.196
INFO:root:Testing 3738 out of 14880 hypotheses for montys_heart (evidence > 2.980126419686586)
DEBUG:root:Calculating evidence for montys_heart using input 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: 13.918
INFO:root:Testing 6672 out of 23200 hypotheses for ramen_pack (evidence > 2.980126419686586)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 14.922
INFO:root:Testing 2789 out of 14864 hypotheses for hot_sauce (evidence > 2.980126419686586)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 12.689
INFO:root:Testing 3096 out of 12560 hypotheses for harissa_oil (evidence > 2.980126419686586)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 14.491
INFO:root:Testing 6253 out of 21832 hypotheses for tomato_soup_can (evidence > 2.980126419686586)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 14.523
INFO:root:Testing 7107 out of 16976 hypotheses for mustard_bottle (evidence > 2.980126419686586)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 15.31
INFO:root:Testing 3860 out of 17728 hypotheses for tuna_fish_can (evidence > 2.980126419686586)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.761
INFO:root:Testing 5748 out of 19024 hypotheses for potted_meat_can (evidence > 2.980126419686586)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 15.041
DEBUG:root:evidences for each object: [13.69903564 12.19644285 13.91836842 14.92201251 12.68923542 14.49091483
 14.52318814 15.30979266 14.76063067 15.04107782]
DEBUG:root:mean evidence: 14.155, std: 0.978 -> th=12.247834128270714
INFO:root:current most likely hypothesis: mustard_bottle with evidence 15.31
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 44 ---
INFO:uvicorn.access:192.168.1.217:49269 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.12830889,  0.53534126,  0.83483326],
       [-0.97245858,  0.23307578,  0.        ],
       [-0.19457941, -0.81184076,  0.55050289]]), 'pose_fully_defined': False}}, {'patch': array([-0.00206301,  0.00477548, -0.00716001])}]
INFO:root:Testing 4558 out of 14424 hypotheses for numenta_mug (evidence > 3.0619585320676777)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 13.887
INFO:root:Testing 1001 out of 10992 hypotheses for montys_brain (evidence > 3.0619585320676777)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 12.368
INFO:root:Testing 3701 out of 14880 hypotheses for montys_heart (evidence > 3.0619585320676777)
DEBUG:root:Calculating evidence for montys_heart using input 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: 14.068
INFO:root:Testing 6558 out of 23200 hypotheses for ramen_pack (evidence > 3.0619585320676777)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 15.342
INFO:root:Testing 2735 out of 14864 hypotheses for hot_sauce (evidence > 3.0619585320676777)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 12.79
INFO:root:Testing 3062 out of 12560 hypotheses for harissa_oil (evidence > 3.0619585320676777)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 14.684
INFO:root:Testing 6159 out of 21832 hypotheses for tomato_soup_can (evidence > 3.0619585320676777)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 14.762
INFO:root:Testing 6989 out of 16976 hypotheses for mustard_bottle (evidence > 3.0619585320676777)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 15.598
INFO:root:Testing 3732 out of 17728 hypotheses for tuna_fish_can (evidence > 3.0619585320676777)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 15.128
INFO:root:Testing 5574 out of 19024 hypotheses for potted_meat_can (evidence > 3.0619585320676777)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 15.343
DEBUG:root:evidences for each object: [13.88670118 12.36849367 14.06756501 15.34172115 12.78955148 14.68437457
 14.76206688 15.59814784 15.12760622 15.34301312]
DEBUG:root:mean evidence: 14.397, std: 1.051 -> th=12.478518268095645
INFO:root:current most likely hypothesis: mustard_bottle with evidence 15.6
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 45 ---
INFO:uvicorn.access:192.168.1.217:49271 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.30282157,  0.05643381,  0.95137496],
       [-0.18320573, -0.9830746 ,  0.        ],
       [ 0.93527256, -0.17429735,  0.30803519]]), 'pose_fully_defined': False}}, {'patch': array([-0.00892541, -0.02883312,  0.01896034])}]
INFO:root:Testing 4517 out of 14424 hypotheses for numenta_mug (evidence > 3.1196295670239103)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 14.151
INFO:root:Testing 981 out of 10992 hypotheses for montys_brain (evidence > 3.1196295670239103)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 12.567
INFO:root:Testing 3675 out of 14880 hypotheses for montys_heart (evidence > 3.1196295670239103)
DEBUG:root:Calculating evidence for montys_heart using input 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: 14.229
INFO:root:Testing 6506 out of 23200 hypotheses for ramen_pack (evidence > 3.1196295670239103)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 15.506
INFO:root:Testing 2712 out of 14864 hypotheses for hot_sauce (evidence > 3.1196295670239103)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 12.903
INFO:root:Testing 3038 out of 12560 hypotheses for harissa_oil (evidence > 3.1196295670239103)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 14.972
INFO:root:Testing 6100 out of 21832 hypotheses for tomato_soup_can (evidence > 3.1196295670239103)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 15.112
INFO:root:Testing 6926 out of 16976 hypotheses for mustard_bottle (evidence > 3.1196295670239103)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 15.963
INFO:root:Testing 3669 out of 17728 hypotheses for tuna_fish_can (evidence > 3.1196295670239103)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 15.431
INFO:root:Testing 5507 out of 19024 hypotheses for potted_meat_can (evidence > 3.1196295670239103)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 15.648
DEBUG:root:evidences for each object: [14.15125588 12.56746888 14.22862292 15.50639768 12.90323594 14.9724188
 15.11205811 15.96279682 15.4314552  15.64819957]
DEBUG:root:mean evidence: 14.648, std: 1.104 -> th=12.770237453889903
INFO:root:current most likely hypothesis: mustard_bottle with evidence 15.96
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 46 ---
INFO:uvicorn.access:192.168.1.217:49272 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.15969765, -0.10664919,  0.9813881 ],
       [ 0.55536369, -0.83160759,  0.        ],
       [ 0.81612979,  0.54502731,  0.19203486]]), 'pose_fully_defined': False}}, {'patch': array([-7.01023364e-05, -5.33364044e-03,  1.77691650e-02])}]
INFO:root:Testing 4318 out of 14424 hypotheses for numenta_mug (evidence > 3.1925593634724745)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 14.144
INFO:root:Testing 972 out of 10992 hypotheses for montys_brain (evidence > 3.1925593634724745)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 12.223
INFO:root:Testing 3625 out of 14880 hypotheses for montys_heart (evidence > 3.1925593634724745)
DEBUG:root:Calculating evidence for montys_heart using input 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: 14.488
INFO:root:Testing 6296 out of 23200 hypotheses for ramen_pack (evidence > 3.1925593634724745)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 15.644
INFO:root:Testing 2457 out of 14864 hypotheses for hot_sauce (evidence > 3.1925593634724745)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 13.127
INFO:root:Testing 2946 out of 12560 hypotheses for harissa_oil (evidence > 3.1925593634724745)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 13.972
INFO:root:Testing 5818 out of 21832 hypotheses for tomato_soup_can (evidence > 3.1925593634724745)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 14.112
INFO:root:Testing 6726 out of 16976 hypotheses for mustard_bottle (evidence > 3.1925593634724745)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 15.414
INFO:root:Testing 3442 out of 17728 hypotheses for tuna_fish_can (evidence > 3.1925593634724745)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.431
INFO:root:Testing 5284 out of 19024 hypotheses for potted_meat_can (evidence > 3.1925593634724745)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 15.024
DEBUG:root:evidences for each object: [14.14395686 12.2233086  14.48791868 15.64397933 13.12743284 13.9724188
 14.11205811 15.41444198 14.4314552  15.02425894]
DEBUG:root:mean evidence: 14.258, std: 0.973 -> th=12.51518346494771
INFO:root:current most likely hypothesis: ramen_pack with evidence 15.64
DEBUG:root:evidences for each object: [14.14395686 12.2233086  14.48791868 15.64397933 13.12743284 13.9724188
 14.11205811 15.41444198 14.4314552  15.02425894]
DEBUG:root:mean evidence: 14.258, std: 0.973 -> th=12.51518346494771
DEBUG:root:evidences for each object: [14.14395686 12.2233086  14.48791868 15.64397933 13.12743284 13.9724188
 14.11205811 15.41444198 14.4314552  15.02425894]
DEBUG:root:mean evidence: 14.258, std: 0.973 -> th=13.297382431506941
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: {'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 47 ---
INFO:uvicorn.access:192.168.1.217:49272 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.04757661,  0.29978911,  0.95281843],
       [-0.9876401 , -0.15673874,  0.        ],
       [ 0.14934356, -0.94104169,  0.30354084]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00337193,  0.01635452, -0.02132562])}]
INFO:root:Testing 4078 out of 14424 hypotheses for numenta_mug (evidence > 3.128795866236926)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 14.546
INFO:root:Testing 884 out of 10992 hypotheses for montys_brain (evidence > 3.128795866236926)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 12.32
INFO:root:Testing 3524 out of 14880 hypotheses for montys_heart (evidence > 3.128795866236926)
DEBUG:root:Calculating evidence for montys_heart using input 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: 14.749
INFO:root:Testing 6030 out of 23200 hypotheses for ramen_pack (evidence > 3.128795866236926)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 16.007
INFO:root:Testing 2321 out of 14864 hypotheses for hot_sauce (evidence > 3.128795866236926)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 13.345
INFO:root:Testing 2820 out of 12560 hypotheses for harissa_oil (evidence > 3.128795866236926)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 14.388
INFO:root:Testing 5557 out of 21832 hypotheses for tomato_soup_can (evidence > 3.128795866236926)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 14.588
INFO:root:Testing 6541 out of 16976 hypotheses for mustard_bottle (evidence > 3.128795866236926)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 15.751
INFO:root:Testing 3270 out of 17728 hypotheses for tuna_fish_can (evidence > 3.128795866236926)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.851
INFO:root:Testing 5074 out of 19024 hypotheses for potted_meat_can (evidence > 3.128795866236926)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 15.315
DEBUG:root:evidences for each object: [14.54614761 12.32030106 14.7488613  16.0065043  13.34463053 14.3884917
 14.58840613 15.75079595 14.85125457 15.31524523]
DEBUG:root:mean evidence: 14.586, std: 1.035 -> th=12.80520343734047
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: {'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 48 ---
INFO:uvicorn.access:192.168.1.217:49274 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.11617011,  0.28495822,  0.95147429],
       [-0.92600602, -0.37750875,  0.        ],
       [ 0.35918987, -0.88107092,  0.30772826]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00192253,  0.00290503, -0.00098693])}]
INFO:root:Testing 3917 out of 14424 hypotheses for numenta_mug (evidence > 3.2013008593351167)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 14.864
INFO:root:Testing 865 out of 10992 hypotheses for montys_brain (evidence > 3.2013008593351167)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 12.292
INFO:root:Testing 3485 out of 14880 hypotheses for montys_heart (evidence > 3.2013008593351167)
DEBUG:root:Calculating evidence for montys_heart using input 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: 15.0
INFO:root:Testing 5835 out of 23200 hypotheses for ramen_pack (evidence > 3.2013008593351167)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 16.371
INFO:root:Testing 2270 out of 14864 hypotheses for hot_sauce (evidence > 3.2013008593351167)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 13.529
INFO:root:Testing 2746 out of 12560 hypotheses for harissa_oil (evidence > 3.2013008593351167)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 14.771
INFO:root:Testing 5356 out of 21832 hypotheses for tomato_soup_can (evidence > 3.2013008593351167)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 15.031
INFO:root:Testing 6378 out of 16976 hypotheses for mustard_bottle (evidence > 3.2013008593351167)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 16.085
INFO:root:Testing 3134 out of 17728 hypotheses for tuna_fish_can (evidence > 3.2013008593351167)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 15.242
INFO:root:Testing 4840 out of 19024 hypotheses for potted_meat_can (evidence > 3.2013008593351167)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 15.672
DEBUG:root:evidences for each object: [14.86404926 12.29221752 14.99956974 16.37138523 13.52852173 14.77108589
 15.0313068  16.08548662 15.24154016 15.67156459]
DEBUG:root:mean evidence: 14.886, std: 1.14 -> th=13.097108181836251
INFO:root:current most likely hypothesis: ramen_pack with evidence 16.37
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 49 ---
INFO:uvicorn.access:192.168.1.217:49274 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.04913277,  0.7237478 ,  0.68831322],
       [-0.99770364,  0.0677307 ,  0.        ],
       [-0.04661994, -0.68673261,  0.72541361]]), 'pose_fully_defined': False}}, {'patch': array([-0.0261814 , -0.03906745,  0.01071807])}]
INFO:root:Testing 3800 out of 14424 hypotheses for numenta_mug (evidence > 3.274277045459062)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 14.734
INFO:root:Testing 845 out of 10992 hypotheses for montys_brain (evidence > 3.274277045459062)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.884
INFO:root:Testing 3437 out of 14880 hypotheses for montys_heart (evidence > 3.274277045459062)
DEBUG:root:Calculating evidence for montys_heart using input 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: 14.803
INFO:root:Testing 5700 out of 23200 hypotheses for ramen_pack (evidence > 3.274277045459062)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 16.488
INFO:root:Testing 2232 out of 14864 hypotheses for hot_sauce (evidence > 3.274277045459062)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 13.254
INFO:root:Testing 2698 out of 12560 hypotheses for harissa_oil (evidence > 3.274277045459062)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 13.771
INFO:root:Testing 5212 out of 21832 hypotheses for tomato_soup_can (evidence > 3.274277045459062)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 14.031
INFO:root:Testing 6263 out of 16976 hypotheses for mustard_bottle (evidence > 3.274277045459062)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 15.942
INFO:root:Testing 3047 out of 17728 hypotheses for tuna_fish_can (evidence > 3.274277045459062)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 15.071
INFO:root:Testing 4718 out of 19024 hypotheses for potted_meat_can (evidence > 3.274277045459062)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 15.355
DEBUG:root:evidences for each object: [14.73367808 11.88403128 14.80301101 16.4881953  13.25370838 13.77108589
 14.0313068  15.94161652 15.0713687  15.35451867]
DEBUG:root:mean evidence: 14.533, std: 1.279 -> th=13.190556242284936
INFO:root:current most likely hypothesis: ramen_pack with evidence 16.49
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 50 ---
INFO:uvicorn.access:192.168.1.217:49274 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.03571448,  0.66057893,  0.74990663],
       [-0.99854166, -0.05398657,  0.        ],
       [ 0.04048489, -0.74881301,  0.66154368]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0299804 ,  0.05487471, -0.02375226])}]
INFO:root:Testing 3415 out of 14424 hypotheses for numenta_mug (evidence > 3.2976390605712336)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 14.992
INFO:root:Testing 694 out of 10992 hypotheses for montys_brain (evidence > 3.2976390605712336)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.956
INFO:root:Testing 3188 out of 14880 hypotheses for montys_heart (evidence > 3.2976390605712336)
DEBUG:root:Calculating evidence for montys_heart using input 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: 14.888
INFO:root:Testing 5377 out of 23200 hypotheses for ramen_pack (evidence > 3.2976390605712336)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 16.908
INFO:root:Testing 2027 out of 14864 hypotheses for hot_sauce (evidence > 3.2976390605712336)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 13.373
INFO:root:Testing 2434 out of 12560 hypotheses for harissa_oil (evidence > 3.2976390605712336)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 14.031
INFO:root:Testing 4738 out of 21832 hypotheses for tomato_soup_can (evidence > 3.2976390605712336)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 14.342
INFO:root:Testing 5888 out of 16976 hypotheses for mustard_bottle (evidence > 3.2976390605712336)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 16.413
INFO:root:Testing 2792 out of 17728 hypotheses for tuna_fish_can (evidence > 3.2976390605712336)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 15.444
INFO:root:Testing 4288 out of 19024 hypotheses for potted_meat_can (evidence > 3.2976390605712336)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 15.776
DEBUG:root:evidences for each object: [14.99223481 11.9555409  14.88806209 16.90767755 13.37284905 14.03099032
 14.34204323 16.41279547 15.44388999 15.77563924]
DEBUG:root:mean evidence: 14.812, std: 1.392 -> th=13.526142041329896
INFO:root:current most likely hypothesis: ramen_pack with evidence 16.91
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 51 ---
INFO:uvicorn.access:192.168.1.217:49274 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.0668018 ,  0.60938695,  0.79005384],
       [-0.9940452 , -0.10896854,  0.        ],
       [ 0.08609101, -0.78534922,  0.61303747]]), 'pose_fully_defined': False}}, {'patch': array([0.00367755, 0.00934932, 0.00497347])}]
INFO:root:Testing 3322 out of 14424 hypotheses for numenta_mug (evidence > 3.3815355103324727)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 14.103
INFO:root:Testing 685 out of 10992 hypotheses for montys_brain (evidence > 3.3815355103324727)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.956
INFO:root:Testing 3139 out of 14880 hypotheses for montys_heart (evidence > 3.3815355103324727)
DEBUG:root:Calculating evidence for montys_heart using input 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: 14.959
INFO:root:Testing 5087 out of 23200 hypotheses for ramen_pack (evidence > 3.3815355103324727)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 16.078
INFO:root:Testing 1994 out of 14864 hypotheses for hot_sauce (evidence > 3.3815355103324727)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 13.442
INFO:root:Testing 2370 out of 12560 hypotheses for harissa_oil (evidence > 3.3815355103324727)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 13.273
INFO:root:Testing 4612 out of 21832 hypotheses for tomato_soup_can (evidence > 3.3815355103324727)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 13.578
INFO:root:Testing 5754 out of 16976 hypotheses for mustard_bottle (evidence > 3.3815355103324727)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 16.744
INFO:root:Testing 2703 out of 17728 hypotheses for tuna_fish_can (evidence > 3.3815355103324727)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 15.263
INFO:root:Testing 4136 out of 19024 hypotheses for potted_meat_can (evidence > 3.3815355103324727)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 16.132
DEBUG:root:evidences for each object: [14.10279954 10.9555409  14.95926213 16.07775765 13.44186522 13.27320148
 13.57777434 16.74407711 15.26266988 16.13164647]
DEBUG:root:mean evidence: 14.453, std: 1.648 -> th=13.395261689557298
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: {'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 52 ---
INFO:uvicorn.access:192.168.1.217:49277 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.99487705,  0.10041998, -0.01163992],
       [-0.10042679, -0.99494445,  0.        ],
       [-0.01158107,  0.00116896,  0.99993225]]), 'pose_fully_defined': False}}, {'patch': array([-0.00585146, -0.03815933, -0.03126181])}]
INFO:root:Testing 3184 out of 14424 hypotheses for numenta_mug (evidence > 3.3488154223893236)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 13.606
INFO:root:Testing 588 out of 10992 hypotheses for montys_brain (evidence > 3.3488154223893236)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.607
INFO:root:Testing 3028 out of 14880 hypotheses for montys_heart (evidence > 3.3488154223893236)
DEBUG:root:Calculating evidence for montys_heart using input 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: 14.527
INFO:root:Testing 4941 out of 23200 hypotheses for ramen_pack (evidence > 3.3488154223893236)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 15.583
INFO:root:Testing 1791 out of 14864 hypotheses for hot_sauce (evidence > 3.3488154223893236)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.04
INFO:root:Testing 2214 out of 12560 hypotheses for harissa_oil (evidence > 3.3488154223893236)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 12.782
INFO:root:Testing 4431 out of 21832 hypotheses for tomato_soup_can (evidence > 3.3488154223893236)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 13.17
INFO:root:Testing 5653 out of 16976 hypotheses for mustard_bottle (evidence > 3.3488154223893236)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 16.252
INFO:root:Testing 2637 out of 17728 hypotheses for tuna_fish_can (evidence > 3.3488154223893236)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.764
INFO:root:Testing 3984 out of 19024 hypotheses for potted_meat_can (evidence > 3.3488154223893236)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 15.634
DEBUG:root:evidences for each object: [13.60563054 10.60743047 14.52718646 15.58306077 13.03971871 12.78196653
 13.17003461 16.25184149 14.76446084 15.63431874]
DEBUG:root:mean evidence: 13.997, std: 1.608 -> th=13.001473188585825
INFO:root:current most likely hypothesis: mustard_bottle with evidence 16.25
DEBUG:root:evidences for each object: [13.60563054 10.60743047 14.52718646 15.58306077 13.03971871 12.78196653
 13.17003461 16.25184149 14.76446084 15.63431874]
DEBUG:root:mean evidence: 13.997, std: 1.608 -> th=13.001473188585825
DEBUG:root:evidences for each object: [13.60563054 10.60743047 14.52718646 15.58306077 13.03971871 12.78196653
 13.17003461 16.25184149 14.76446084 15.63431874]
DEBUG:root:mean evidence: 13.997, std: 1.608 -> th=13.81406526287244
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: {'tomato_soup_can', 'hot_sauce', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 53 ---
INFO:uvicorn.access:192.168.1.217:49277 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.99684839,  0.06627055, -0.04360631],
       [-0.06633364, -0.9977975 ,  0.        ],
       [-0.04351026,  0.00289257,  0.99904879]]), 'pose_fully_defined': False}}, {'patch': array([0.00175549, 0.00762479, 0.01313255])}]
INFO:root:Testing 3095 out of 14424 hypotheses for numenta_mug (evidence > 3.250368297146455)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 13.11
INFO:root:Testing 555 out of 10992 hypotheses for montys_brain (evidence > 3.250368297146455)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No 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 2925 out of 14880 hypotheses for montys_heart (evidence > 3.250368297146455)
DEBUG:root:Calculating evidence for montys_heart using input 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: 14.039
INFO:root:Testing 4804 out of 23200 hypotheses for ramen_pack (evidence > 3.250368297146455)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 15.09
INFO:root:Testing 1642 out of 14864 hypotheses for hot_sauce (evidence > 3.250368297146455)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.547
INFO:root:Testing 2132 out of 12560 hypotheses for harissa_oil (evidence > 3.250368297146455)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 12.294
INFO:root:Testing 4358 out of 21832 hypotheses for tomato_soup_can (evidence > 3.250368297146455)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 12.842
INFO:root:Testing 5526 out of 16976 hypotheses for mustard_bottle (evidence > 3.250368297146455)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 15.756
INFO:root:Testing 2610 out of 17728 hypotheses for tuna_fish_can (evidence > 3.250368297146455)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 14.28
INFO:root:Testing 3963 out of 19024 hypotheses for potted_meat_can (evidence > 3.250368297146455)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 16.062
DEBUG:root:evidences for each object: [13.11045144 10.12915204 14.03922107 15.09011418 12.54704799 12.29362395
 12.84173147 15.75565527 14.2804757  16.06233593]
DEBUG:root:mean evidence: 13.615, std: 1.711 -> th=12.849868743755213
INFO:root:current most likely hypothesis: potted_meat_can with evidence 16.06
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'potted_meat_can', 'ramen_pack', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 54 ---
INFO:uvicorn.access:192.168.1.217:49277 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.97591291,  0.2152091 ,  0.03576359],
       [-0.21534686, -0.97653762,  0.        ],
       [ 0.03492449, -0.00770158,  0.99936028]]), 'pose_fully_defined': False}}, {'patch': array([-0.00275481,  0.00429915, -0.02366366])}]
INFO:root:Testing 2855 out of 14424 hypotheses for numenta_mug (evidence > 3.2124671859388023)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 12.615
INFO:root:Testing 481 out of 10992 hypotheses for montys_brain (evidence > 3.2124671859388023)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.749
INFO:root:Testing 2700 out of 14880 hypotheses for montys_heart (evidence > 3.2124671859388023)
DEBUG:root:Calculating evidence for montys_heart using input 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: 13.598
INFO:root:Testing 4291 out of 23200 hypotheses for ramen_pack (evidence > 3.2124671859388023)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 14.596
INFO:root:Testing 1516 out of 14864 hypotheses for hot_sauce (evidence > 3.2124671859388023)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.153
INFO:root:Testing 1925 out of 12560 hypotheses for harissa_oil (evidence > 3.2124671859388023)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 12.1
INFO:root:Testing 4103 out of 21832 hypotheses for tomato_soup_can (evidence > 3.2124671859388023)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 11.907
INFO:root:Testing 5130 out of 16976 hypotheses for mustard_bottle (evidence > 3.2124671859388023)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 15.569
INFO:root:Testing 2423 out of 17728 hypotheses for tuna_fish_can (evidence > 3.2124671859388023)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 13.792
INFO:root:Testing 3669 out of 19024 hypotheses for potted_meat_can (evidence > 3.2124671859388023)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 15.725
DEBUG:root:evidences for each object: [12.61545917  9.74854721 13.59845011 14.59615074 12.15336321 12.09987436
 11.90738512 15.56914369 13.79191418 15.72525687]
DEBUG:root:mean evidence: 13.181, std: 1.751 -> th=12.580205492754585
INFO:root:current most likely hypothesis: potted_meat_can with evidence 15.73
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'potted_meat_can', 'ramen_pack', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 55 ---
INFO:uvicorn.access:192.168.1.217:49277 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.97629903,  0.21629358, -0.00756842],
       [-0.21629978, -0.976327  ,  0.        ],
       [-0.00738926,  0.00163705,  0.99997136]]), 'pose_fully_defined': False}}, {'patch': array([-0.0002125 ,  0.01529722,  0.01573009])}]
INFO:root:Testing 2683 out of 14424 hypotheses for numenta_mug (evidence > 3.145051373188645)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 12.356
INFO:root:Testing 420 out of 10992 hypotheses for montys_brain (evidence > 3.145051373188645)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.342
INFO:root:Testing 2487 out of 14880 hypotheses for montys_heart (evidence > 3.145051373188645)
DEBUG:root:Calculating evidence for montys_heart using input 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: 13.118
INFO:root:Testing 4044 out of 23200 hypotheses for ramen_pack (evidence > 3.145051373188645)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 14.104
INFO:root:Testing 1296 out of 14864 hypotheses for hot_sauce (evidence > 3.145051373188645)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.664
INFO:root:Testing 1814 out of 12560 hypotheses for harissa_oil (evidence > 3.145051373188645)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 11.704
INFO:root:Testing 3874 out of 21832 hypotheses for tomato_soup_can (evidence > 3.145051373188645)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 11.921
INFO:root:Testing 4811 out of 16976 hypotheses for mustard_bottle (evidence > 3.145051373188645)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 15.214
INFO:root:Testing 2291 out of 17728 hypotheses for tuna_fish_can (evidence > 3.145051373188645)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 13.345
INFO:root:Testing 3533 out of 19024 hypotheses for potted_meat_can (evidence > 3.145051373188645)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 15.318
DEBUG:root:evidences for each object: [12.35583862  9.34169871 13.117591   14.10403437 11.66355814 11.70396013
 11.92071342 15.21359167 13.34495476 15.31761331]
DEBUG:root:mean evidence: 12.808, std: 1.723 -> th=12.254090649074985
INFO:root:current most likely hypothesis: potted_meat_can with evidence 15.32
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'potted_meat_can', 'ramen_pack', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 56 ---
INFO:uvicorn.access:192.168.1.217:49277 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.97655065,  0.21219862, -0.03633971],
       [-0.21233887, -0.97719609,  0.        ],
       [-0.03551103,  0.00771633,  0.99933949]]), 'pose_fully_defined': False}}, {'patch': array([-0.05614492,  0.00977734,  0.00802143])}]
INFO:root:Testing 2628 out of 14424 hypotheses for numenta_mug (evidence > 3.0635226622687455)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 12.241
INFO:root:Testing 436 out of 10992 hypotheses for montys_brain (evidence > 3.0635226622687455)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.342
INFO:root:Testing 2461 out of 14880 hypotheses for montys_heart (evidence > 3.0635226622687455)
DEBUG:root:Calculating evidence for montys_heart using input 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: 13.496
INFO:root:Testing 3665 out of 23200 hypotheses for ramen_pack (evidence > 3.0635226622687455)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 13.104
INFO:root:Testing 1276 out of 14864 hypotheses for hot_sauce (evidence > 3.0635226622687455)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.664
INFO:root:Testing 1775 out of 12560 hypotheses for harissa_oil (evidence > 3.0635226622687455)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 11.575
INFO:root:Testing 3883 out of 21832 hypotheses for tomato_soup_can (evidence > 3.0635226622687455)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 12.359
INFO:root:Testing 4609 out of 16976 hypotheses for mustard_bottle (evidence > 3.0635226622687455)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 15.144
INFO:root:Testing 2282 out of 17728 hypotheses for tuna_fish_can (evidence > 3.0635226622687455)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 12.956
INFO:root:Testing 3508 out of 19024 hypotheses for potted_meat_can (evidence > 3.0635226622687455)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 15.182
DEBUG:root:evidences for each object: [12.24136226  8.34169871 13.4961238  13.10403437 10.66355814 11.57545923
 12.3585636  15.14367379 12.95623906 15.18183805]
DEBUG:root:mean evidence: 12.506, std: 1.933 -> th=12.145470439896373
INFO:root:current most likely hypothesis: potted_meat_can with evidence 15.18
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 57 ---
INFO:uvicorn.access:192.168.1.217:49278 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.9901195 ,  0.10605581, -0.09173628],
       [-0.1065049 , -0.99431218,  0.        ],
       [-0.0912145 ,  0.00977036,  0.99578334]]), 'pose_fully_defined': False}}, {'patch': array([ 0.05960179, -0.03607187,  0.00190763])}]
INFO:root:Testing 2565 out of 14424 hypotheses for numenta_mug (evidence > 3.036367609974093)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 11.754
INFO:root:Testing 276 out of 10992 hypotheses for montys_brain (evidence > 3.036367609974093)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.871
INFO:root:Testing 2363 out of 14880 hypotheses for montys_heart (evidence > 3.036367609974093)
DEBUG:root:Calculating evidence for montys_heart using input 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: 13.02
INFO:root:Testing 2453 out of 23200 hypotheses for ramen_pack (evidence > 3.036367609974093)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 12.614
INFO:root:Testing 844 out of 14864 hypotheses for hot_sauce (evidence > 3.036367609974093)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.19
INFO:root:Testing 1807 out of 12560 hypotheses for harissa_oil (evidence > 3.036367609974093)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 11.082
INFO:root:Testing 3898 out of 21832 hypotheses for tomato_soup_can (evidence > 3.036367609974093)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 11.872
INFO:root:Testing 3652 out of 16976 hypotheses for mustard_bottle (evidence > 3.036367609974093)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 14.653
INFO:root:Testing 1774 out of 17728 hypotheses for tuna_fish_can (evidence > 3.036367609974093)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 12.73
INFO:root:Testing 2862 out of 19024 hypotheses for potted_meat_can (evidence > 3.036367609974093)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 15.247
DEBUG:root:evidences for each object: [11.75383281  7.87060681 13.01988605 12.61448434 10.19010178 11.08192279
 11.87160381 14.65309162 12.72981195 15.24713787]
DEBUG:root:mean evidence: 12.103, std: 2.017 -> th=12.197710295406393
INFO:root:current most likely hypothesis: potted_meat_can with evidence 15.25
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'ramen_pack', 'tuna_fish_can', 'montys_heart', 'mustard_bottle'}
INFO:root:--- Global Matching Step 58 ---
INFO:uvicorn.access:192.168.1.217:49278 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.98142125,  0.16718123, -0.09414224],
       [-0.16792703, -0.98579943,  0.        ],
       [-0.09280536,  0.01580903,  0.99555876]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00098795, -0.0089918 , -0.01766917])}]
INFO:root:Testing 2141 out of 14424 hypotheses for numenta_mug (evidence > 3.049427573851597)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 11.265
INFO:root:Testing 210 out of 10992 hypotheses for montys_brain (evidence > 3.049427573851597)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.524
INFO:root:Testing 2069 out of 14880 hypotheses for montys_heart (evidence > 3.049427573851597)
DEBUG:root:Calculating evidence for montys_heart using input 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: 12.02
INFO:root:Testing 1884 out of 23200 hypotheses for ramen_pack (evidence > 3.049427573851597)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 12.126
INFO:root:Testing 618 out of 14864 hypotheses for hot_sauce (evidence > 3.049427573851597)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.19
INFO:root:Testing 1547 out of 12560 hypotheses for harissa_oil (evidence > 3.049427573851597)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 10.59
INFO:root:Testing 3414 out of 21832 hypotheses for tomato_soup_can (evidence > 3.049427573851597)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 11.43
INFO:root:Testing 2859 out of 16976 hypotheses for mustard_bottle (evidence > 3.049427573851597)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 14.21
INFO:root:Testing 1447 out of 17728 hypotheses for tuna_fish_can (evidence > 3.049427573851597)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 11.73
INFO:root:Testing 2436 out of 19024 hypotheses for potted_meat_can (evidence > 3.049427573851597)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 14.966
DEBUG:root:evidences for each object: [11.26498755  7.52409123 12.01988605 12.12623004  9.19010178 10.58988337
 11.43004257 14.20985866 11.72981195 14.96555344]
DEBUG:root:mean evidence: 11.505, std: 2.052 -> th=11.972442752777859
INFO:root:current most likely hypothesis: potted_meat_can with evidence 14.97
DEBUG:root:evidences for each object: [11.26498755  7.52409123 12.01988605 12.12623004  9.19010178 10.58988337
 11.43004257 14.20985866 11.72981195 14.96555344]
DEBUG:root:mean evidence: 11.505, std: 2.052 -> th=11.972442752777859
DEBUG:root:evidences for each object: [11.26498755  7.52409123 12.01988605 12.12623004  9.19010178 10.58988337
 11.43004257 14.20985866 11.72981195 14.96555344]
DEBUG:root:mean evidence: 11.505, std: 2.052 -> th=12.720720424826474
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'montys_heart', 'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 59 ---
INFO:uvicorn.access:192.168.1.217:49278 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.97847985,  0.18258687, -0.09612088],
       [-0.18343624, -0.98303161,  0.        ],
       [-0.09448987,  0.01763205,  0.99536967]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00013154, -0.00149666, -0.00236458])}]
INFO:root:Testing 1974 out of 14424 hypotheses for numenta_mug (evidence > 2.9931106881944647)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 10.777
INFO:root:Testing 205 out of 10992 hypotheses for montys_brain (evidence > 2.9931106881944647)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.181
INFO:root:Testing 1788 out of 14880 hypotheses for montys_heart (evidence > 2.9931106881944647)
DEBUG:root:Calculating evidence for montys_heart using input 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: 11.02
INFO:root:Testing 1932 out of 23200 hypotheses for ramen_pack (evidence > 2.9931106881944647)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 11.639
INFO:root:Testing 568 out of 14864 hypotheses for hot_sauce (evidence > 2.9931106881944647)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.19
INFO:root:Testing 1402 out of 12560 hypotheses for harissa_oil (evidence > 2.9931106881944647)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 10.273
INFO:root:Testing 3181 out of 21832 hypotheses for tomato_soup_can (evidence > 2.9931106881944647)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 10.988
INFO:root:Testing 2700 out of 16976 hypotheses for mustard_bottle (evidence > 2.9931106881944647)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 13.976
INFO:root:Testing 1459 out of 17728 hypotheses for tuna_fish_can (evidence > 2.9931106881944647)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 10.889
INFO:root:Testing 2465 out of 19024 hypotheses for potted_meat_can (evidence > 2.9931106881944647)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 14.994
DEBUG:root:evidences for each object: [10.77682511  7.18123296 11.01988605 11.63853988  8.19010178 10.27282857
 10.98789293 13.97636893 10.88901285 14.99375295]
DEBUG:root:mean evidence: 10.993, std: 2.197 -> th=11.995002359510078
INFO:root:current most likely hypothesis: potted_meat_can with evidence 14.99
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 60 ---
INFO:uvicorn.access:192.168.1.217:49278 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-9.99259443e-01, -1.02546734e-02, -3.70864810e-02],
       [ 1.02617329e-02, -9.99947347e-01,  0.00000000e+00],
       [-3.70845283e-02, -3.80571562e-04,  9.99312060e-01]]), 'pose_fully_defined': False}}, {'patch': array([-0.00177572,  0.00753996,  0.02319821])}]
INFO:root:Testing 1231 out of 14424 hypotheses for numenta_mug (evidence > 2.9987505898775186)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.283
INFO:root:Testing 84 out of 10992 hypotheses for montys_brain (evidence > 2.9987505898775186)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 6.7
INFO:root:Testing 1172 out of 14880 hypotheses for montys_heart (evidence > 2.9987505898775186)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.567
INFO:root:Testing 1267 out of 23200 hypotheses for ramen_pack (evidence > 2.9987505898775186)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.146
INFO:root:Testing 202 out of 14864 hypotheses for hot_sauce (evidence > 2.9987505898775186)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.711
INFO:root:Testing 857 out of 12560 hypotheses for harissa_oil (evidence > 2.9987505898775186)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 9.778
INFO:root:Testing 2134 out of 21832 hypotheses for tomato_soup_can (evidence > 2.9987505898775186)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 10.501
INFO:root:Testing 1797 out of 16976 hypotheses for mustard_bottle (evidence > 2.9987505898775186)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.483
INFO:root:Testing 1055 out of 17728 hypotheses for tuna_fish_can (evidence > 2.9987505898775186)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 11.096
INFO:root:Testing 1952 out of 19024 hypotheses for potted_meat_can (evidence > 2.9987505898775186)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 15.032
DEBUG:root:evidences for each object: [10.28269799  6.69960294 10.5666299  11.14582175  7.71109876  9.77842558
 10.50086122 13.48251923 11.09643694 15.03214736]
DEBUG:root:mean evidence: 10.63, std: 2.299 -> th=12.025717888155281
INFO:root:current most likely hypothesis: potted_meat_can with evidence 15.03
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 61 ---
INFO:uvicorn.access:192.168.1.217:49280 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.98815409,  0.05997723, -0.14125941],
       [-0.06058474, -0.99816306,  0.        ],
       [-0.14099992,  0.00855816,  0.98997262]]), 'pose_fully_defined': False}}, {'patch': array([-0.06462424,  0.01932794, -0.03651664])}]
INFO:root:Testing 975 out of 14424 hypotheses for numenta_mug (evidence > 3.0064294720388194)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.488
INFO:root:Testing 65 out of 10992 hypotheses for montys_brain (evidence > 3.0064294720388194)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.7
INFO:root:Testing 988 out of 14880 hypotheses for montys_heart (evidence > 3.0064294720388194)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.567
INFO:root:Testing 1068 out of 23200 hypotheses for ramen_pack (evidence > 3.0064294720388194)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.146
INFO:root:Testing 143 out of 14864 hypotheses for hot_sauce (evidence > 3.0064294720388194)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.711
INFO:root:Testing 701 out of 12560 hypotheses for harissa_oil (evidence > 3.0064294720388194)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 9.751
INFO:root:Testing 1727 out of 21832 hypotheses for tomato_soup_can (evidence > 3.0064294720388194)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 9.912
INFO:root:Testing 1488 out of 16976 hypotheses for mustard_bottle (evidence > 3.0064294720388194)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.055
INFO:root:Testing 895 out of 17728 hypotheses for tuna_fish_can (evidence > 3.0064294720388194)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 10.096
INFO:root:Testing 1718 out of 19024 hypotheses for potted_meat_can (evidence > 3.0064294720388194)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: [10.4878664   5.69960294  9.5666299  10.14582175  6.71109876  9.75059049
  9.91171354 13.05496488 10.09643694 14.90281311]
DEBUG:root:mean evidence: 10.033, std: 2.514 -> th=11.922250489929187
INFO:root:current most likely hypothesis: potted_meat_can with evidence 14.9
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 62 ---
INFO:uvicorn.access:192.168.1.217:49280 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.99092656,  0.09913089, -0.09076138],
       [-0.09954173, -0.99503339,  0.        ],
       [-0.0903106 ,  0.00903454,  0.99587267]]), 'pose_fully_defined': False}}, {'patch': array([-0.00404339, -0.00063195,  0.00972861])}]
INFO:root:Testing 736 out of 14424 hypotheses for numenta_mug (evidence > 2.980562622482296)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.836
INFO:root:Testing 47 out of 10992 hypotheses for montys_brain (evidence > 2.980562622482296)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 4.7
INFO:root:Testing 741 out of 14880 hypotheses for montys_heart (evidence > 2.980562622482296)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.567
INFO:root:Testing 871 out of 23200 hypotheses for ramen_pack (evidence > 2.980562622482296)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.146
INFO:root:Testing 133 out of 14864 hypotheses for hot_sauce (evidence > 2.980562622482296)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.711
INFO:root:Testing 514 out of 12560 hypotheses for harissa_oil (evidence > 2.980562622482296)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 9.76
INFO:root:Testing 1251 out of 21832 hypotheses for tomato_soup_can (evidence > 2.980562622482296)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.775
INFO:root:Testing 1267 out of 16976 hypotheses for mustard_bottle (evidence > 2.980562622482296)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.9
INFO:root:Testing 757 out of 17728 hypotheses for tuna_fish_can (evidence > 2.980562622482296)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 9.096
INFO:root:Testing 1483 out of 19024 hypotheses for potted_meat_can (evidence > 2.980562622482296)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.275
DEBUG:root:evidences for each object: [10.83564272  4.69960294  8.5666299   9.14582175  5.71109876  9.76029888
  9.77470955 12.90002411  9.09643694 15.27549349]
DEBUG:root:mean evidence: 9.577, std: 2.921 -> th=12.220394789436497
INFO:root:current most likely hypothesis: potted_meat_can with evidence 15.28
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 63 ---
INFO:uvicorn.access:192.168.1.217:49280 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-9.99229594e-01,  3.75829860e-02, -1.13021240e-02],
       [-3.75853866e-02, -9.99293420e-01,  0.00000000e+00],
       [-1.12941381e-02,  4.24794698e-04,  9.99936129e-01]]), 'pose_fully_defined': False}}, {'patch': array([ 0.06533382, -0.03829715,  0.00489581])}]
INFO:root:Testing 475 out of 14424 hypotheses for numenta_mug (evidence > 3.0550986973591243)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.363
INFO:root:Testing 9 out of 10992 hypotheses for montys_brain (evidence > 3.0550986973591243)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 4.389
INFO:root:Testing 443 out of 14880 hypotheses for montys_heart (evidence > 3.0550986973591243)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.678
INFO:root:Testing 503 out of 23200 hypotheses for ramen_pack (evidence > 3.0550986973591243)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.651
INFO:root:Testing 18 out of 14864 hypotheses for hot_sauce (evidence > 3.0550986973591243)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.711
INFO:root:Testing 281 out of 12560 hypotheses for harissa_oil (evidence > 3.0550986973591243)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 9.555
INFO:root:Testing 843 out of 21832 hypotheses for tomato_soup_can (evidence > 3.0550986973591243)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.421
INFO:root:Testing 874 out of 16976 hypotheses for mustard_bottle (evidence > 3.0550986973591243)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.699
INFO:root:Testing 474 out of 17728 hypotheses for tuna_fish_can (evidence > 3.0550986973591243)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.096
INFO:root:Testing 1092 out of 19024 hypotheses for potted_meat_can (evidence > 3.0550986973591243)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.3
DEBUG:root:evidences for each object: [10.3634119   4.38934861  7.67801949  8.6510351   4.71109876  9.55538902
  9.42100052 12.69903594  8.09643694 15.3000672 ]
DEBUG:root:mean evidence: 9.086, std: 3.13 -> th=12.240053759132248
INFO:root:current most likely hypothesis: potted_meat_can with evidence 15.3
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 64 ---
INFO:uvicorn.access:192.168.1.217:49280 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.9893462 ,  0.14110018, -0.03584457],
       [-0.14119091, -0.98998239,  0.        ],
       [-0.03548549,  0.00506093,  0.99935738]]), 'pose_fully_defined': False}}, {'patch': array([0.00126729, 0.00018659, 0.00479813])}]
INFO:root:Testing 293 out of 14424 hypotheses for numenta_mug (evidence > 3.060013439783061)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.885
INFO:root:Testing 5 out of 10992 hypotheses for montys_brain (evidence > 3.060013439783061)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 4.056
INFO:root:Testing 298 out of 14880 hypotheses for montys_heart (evidence > 3.060013439783061)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.231
INFO:root:Testing 378 out of 23200 hypotheses for ramen_pack (evidence > 3.060013439783061)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.158
INFO:root:Testing 9 out of 14864 hypotheses for hot_sauce (evidence > 3.060013439783061)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.711
INFO:root:Testing 192 out of 12560 hypotheses for harissa_oil (evidence > 3.060013439783061)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 9.277
INFO:root:Testing 667 out of 21832 hypotheses for tomato_soup_can (evidence > 3.060013439783061)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.25
INFO:root:Testing 705 out of 16976 hypotheses for mustard_bottle (evidence > 3.060013439783061)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.301
INFO:root:Testing 360 out of 17728 hypotheses for tuna_fish_can (evidence > 3.060013439783061)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.433
INFO:root:Testing 913 out of 19024 hypotheses for potted_meat_can (evidence > 3.060013439783061)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.314
DEBUG:root:evidences for each object: [ 9.88549076  4.055937    7.23064108  8.15830286  3.71109876  9.27717932
  9.24981384 12.30062318  7.43340059 15.31400682]
DEBUG:root:mean evidence: 8.662, std: 3.305 -> th=12.251205453545149
INFO:root:current most likely hypothesis: potted_meat_can with evidence 15.31
DEBUG:root:evidences for each object: [ 9.88549076  4.055937    7.23064108  8.15830286  3.71109876  9.27717932
  9.24981384 12.30062318  7.43340059 15.31400682]
DEBUG:root:mean evidence: 8.662, std: 3.305 -> th=12.251205453545149
DEBUG:root:evidences for each object: [ 9.88549076  4.055937    7.23064108  8.15830286  3.71109876  9.27717932
  9.24981384 12.30062318  7.43340059 15.31400682]
DEBUG:root:mean evidence: 8.662, std: 3.305 -> th=13.01690579439172
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 65 ---
INFO:uvicorn.access:192.168.1.217:49280 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.98002507,  0.19634217, -0.03163247],
       [-0.19644048, -0.98051575,  0.        ],
       [-0.03101613,  0.0062139 ,  0.99949957]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00080604,  0.00981284, -0.00088818])}]
INFO:root:Testing 221 out of 14424 hypotheses for numenta_mug (evidence > 3.0628013633862867)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.394
INFO:root:Testing 3 out of 10992 hypotheses for montys_brain (evidence > 3.0628013633862867)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.724
INFO:root:Testing 167 out of 14880 hypotheses for montys_heart (evidence > 3.0628013633862867)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.774
INFO:root:Testing 268 out of 23200 hypotheses for ramen_pack (evidence > 3.0628013633862867)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.667
INFO:root:Testing 1 out of 14864 hypotheses for hot_sauce (evidence > 3.0628013633862867)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.047
INFO:root:Testing 156 out of 12560 hypotheses for harissa_oil (evidence > 3.0628013633862867)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 8.82
INFO:root:Testing 545 out of 21832 hypotheses for tomato_soup_can (evidence > 3.0628013633862867)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.796
INFO:root:Testing 581 out of 16976 hypotheses for mustard_bottle (evidence > 3.0628013633862867)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.055
INFO:root:Testing 280 out of 17728 hypotheses for tuna_fish_can (evidence > 3.0628013633862867)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.942
INFO:root:Testing 773 out of 19024 hypotheses for potted_meat_can (evidence > 3.0628013633862867)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.894
DEBUG:root:evidences for each object: [ 9.39368435  3.72414658  6.77411795  7.66691314  3.04748427  8.81978714
  8.79608749 12.0553243   6.94179858 14.894079  ]
DEBUG:root:mean evidence: 8.211, std: 3.351 -> th=11.915263200640124
INFO:root:current most likely hypothesis: potted_meat_can with evidence 14.89
DEBUG:root:evidences for each object: [ 9.39368435  3.72414658  6.77411795  7.66691314  3.04748427  8.81978714
  8.79608749 12.0553243   6.94179858 14.894079  ]
DEBUG:root:mean evidence: 8.211, std: 3.351 -> th=11.915263200640124
DEBUG:root:evidences for each object: [ 9.39368435  3.72414658  6.77411795  7.66691314  3.04748427  8.81978714
  8.79608749 12.0553243   6.94179858 14.894079  ]
DEBUG:root:mean evidence: 8.211, std: 3.351 -> th=12.659967150680133
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 66 ---
INFO:uvicorn.access:192.168.1.217:49280 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.95529831,  0.29046212,  0.05510803],
       [-0.29090418, -0.95675219,  0.        ],
       [ 0.05272473, -0.01603116,  0.9984804 ]]), 'pose_fully_defined': False}}, {'patch': array([-2.85419337e-03, -1.42968178e-05, -1.18476233e-02])}]
INFO:root:Testing 239 out of 14424 hypotheses for numenta_mug (evidence > 2.97881580016003)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.908
INFO:root:Testing 6 out of 10992 hypotheses for montys_brain (evidence > 2.97881580016003)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No 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 163 out of 14880 hypotheses for montys_heart (evidence > 2.97881580016003)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.324
INFO:root:Testing 277 out of 23200 hypotheses for ramen_pack (evidence > 2.97881580016003)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.176
INFO:root:Testing 9 out of 14864 hypotheses for hot_sauce (evidence > 2.97881580016003)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.979
INFO:root:Testing 166 out of 12560 hypotheses for harissa_oil (evidence > 2.97881580016003)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 8.543
INFO:root:Testing 550 out of 21832 hypotheses for tomato_soup_can (evidence > 2.97881580016003)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.601
INFO:root:Testing 574 out of 16976 hypotheses for mustard_bottle (evidence > 2.97881580016003)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.801
INFO:root:Testing 275 out of 17728 hypotheses for tuna_fish_can (evidence > 2.97881580016003)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.471
INFO:root:Testing 783 out of 19024 hypotheses for potted_meat_can (evidence > 2.97881580016003)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.842
DEBUG:root:evidences for each object: [ 8.90789475  3.36187208  6.32396633  7.1760477   2.97876751  8.54331162
  8.60114042 11.80086001  6.47110528 14.8421201 ]
DEBUG:root:mean evidence: 7.901, std: 3.394 -> th=11.873696081584637
INFO:root:current most likely hypothesis: potted_meat_can with evidence 14.84
DEBUG:root:evidences for each object: [ 8.90789475  3.36187208  6.32396633  7.1760477   2.97876751  8.54331162
  8.60114042 11.80086001  6.47110528 14.8421201 ]
DEBUG:root:mean evidence: 7.901, std: 3.394 -> th=11.873696081584637
DEBUG:root:evidences for each object: [ 8.90789475  3.36187208  6.32396633  7.1760477   2.97876751  8.54331162
  8.60114042 11.80086001  6.47110528 14.8421201 ]
DEBUG:root:mean evidence: 7.901, std: 3.394 -> th=12.615802086683676
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 67 ---
INFO:uvicorn.access:192.168.1.217:49282 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.95213026,  0.29950631,  0.06118777],
       [-0.30006856, -0.95391764,  0.        ],
       [ 0.0583681 , -0.01836053,  0.99812627]]), 'pose_fully_defined': False}}, {'patch': array([0.00243022, 0.00620957, 0.0085139 ])}]
INFO:root:Testing 225 out of 14424 hypotheses for numenta_mug (evidence > 2.9684240203961583)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.418
INFO:root:Testing 15 out of 10992 hypotheses for montys_brain (evidence > 2.9684240203961583)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.982
INFO:root:Testing 140 out of 14880 hypotheses for montys_heart (evidence > 2.9684240203961583)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.852
INFO:root:Testing 273 out of 23200 hypotheses for ramen_pack (evidence > 2.9684240203961583)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.686
INFO:root:Testing 55 out of 14864 hypotheses for hot_sauce (evidence > 2.9684240203961583)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.968
INFO:root:Testing 196 out of 12560 hypotheses for harissa_oil (evidence > 2.9684240203961583)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 8.082
INFO:root:Testing 525 out of 21832 hypotheses for tomato_soup_can (evidence > 2.9684240203961583)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.213
INFO:root:Testing 547 out of 16976 hypotheses for mustard_bottle (evidence > 2.9684240203961583)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.556
INFO:root:Testing 244 out of 17728 hypotheses for tuna_fish_can (evidence > 2.9684240203961583)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.984
INFO:root:Testing 714 out of 19024 hypotheses for potted_meat_can (evidence > 2.9684240203961583)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.594
DEBUG:root:evidences for each object: [ 8.4182328   2.98194965  5.85244536  6.68590152  2.96804719  8.08179046
  8.2131253  11.55609844  5.98400769 14.59414116]
DEBUG:root:mean evidence: 7.534, std: 3.392 -> th=11.67531292554283
INFO:root:current most likely hypothesis: potted_meat_can with evidence 14.59
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 68 ---
INFO:uvicorn.access:192.168.1.217:49282 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.93802138,  0.34016703,  0.06634974],
       [-0.34091827, -0.94009294,  0.        ],
       [ 0.06237492, -0.02261984,  0.99779643]]), 'pose_fully_defined': False}}, {'patch': array([-0.00056948,  0.00834439,  0.00050921])}]
INFO:root:Testing 510 out of 14424 hypotheses for numenta_mug (evidence > 2.9188282313857066)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.957
INFO:root:Testing 75 out of 10992 hypotheses for montys_brain (evidence > 2.9188282313857066)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.918
INFO:root:Testing 358 out of 14880 hypotheses for montys_heart (evidence > 2.9188282313857066)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.421
INFO:root:Testing 669 out of 23200 hypotheses for ramen_pack (evidence > 2.9188282313857066)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.199
INFO:root:Testing 227 out of 14864 hypotheses for hot_sauce (evidence > 2.9188282313857066)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.919
INFO:root:Testing 395 out of 12560 hypotheses for harissa_oil (evidence > 2.9188282313857066)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 7.595
INFO:root:Testing 901 out of 21832 hypotheses for tomato_soup_can (evidence > 2.9188282313857066)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.013
INFO:root:Testing 973 out of 16976 hypotheses for mustard_bottle (evidence > 2.9188282313857066)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.305
INFO:root:Testing 454 out of 17728 hypotheses for tuna_fish_can (evidence > 2.9188282313857066)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.503
INFO:root:Testing 1050 out of 19024 hypotheses for potted_meat_can (evidence > 2.9188282313857066)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.137
DEBUG:root:evidences for each object: [ 7.95663227  2.91794535  5.42143472  6.19880653  2.91872704  7.59469363
  8.01319274 11.30509347  5.50340523 14.13716809]
DEBUG:root:mean evidence: 7.197, std: 3.318 -> th=11.30973447576368
INFO:root:current most likely hypothesis: potted_meat_can with evidence 14.14
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 69 ---
INFO:uvicorn.access:192.168.1.217:49282 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.94662953,  0.31444953,  0.07080978],
       [-0.31524083, -0.94901171,  0.        ],
       [ 0.06719931, -0.02232213,  0.99748984]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00405303, -0.0155183 , -0.01088432])}]
INFO:root:Testing 817 out of 14424 hypotheses for numenta_mug (evidence > 2.827433618940919)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.472
INFO:root:Testing 175 out of 10992 hypotheses for montys_brain (evidence > 2.827433618940919)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.827
INFO:root:Testing 591 out of 14880 hypotheses for montys_heart (evidence > 2.827433618940919)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.421
INFO:root:Testing 1216 out of 23200 hypotheses for ramen_pack (evidence > 2.827433618940919)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No 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 423 out of 14864 hypotheses for hot_sauce (evidence > 2.827433618940919)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.827
INFO:root:Testing 547 out of 12560 hypotheses for harissa_oil (evidence > 2.827433618940919)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 7.297
INFO:root:Testing 1300 out of 21832 hypotheses for tomato_soup_can (evidence > 2.827433618940919)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.922
INFO:root:Testing 1492 out of 16976 hypotheses for mustard_bottle (evidence > 2.827433618940919)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.007
INFO:root:Testing 724 out of 17728 hypotheses for tuna_fish_can (evidence > 2.827433618940919)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.036
INFO:root:Testing 1539 out of 19024 hypotheses for potted_meat_can (evidence > 2.827433618940919)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.054
DEBUG:root:evidences for each object: [ 7.47203899  2.82712747  4.42143472  5.70923958  2.82733257  7.29730938
  7.92215945 11.00698689  5.03640831 14.05435968]
DEBUG:root:mean evidence: 6.857, std: 3.373 -> th=11.243487743017562
INFO:root:current most likely hypothesis: potted_meat_can with evidence 14.05
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 70 ---
INFO:uvicorn.access:192.168.1.217:49282 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.95664311,  0.27414053,  0.09839174],
       [-0.27547721, -0.9613076 ,  0.        ],
       [ 0.09458473, -0.02710468,  0.99514776]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00105123, -0.01306706, -0.00152184])}]
INFO:root:Testing 204 out of 14424 hypotheses for numenta_mug (evidence > 2.81087193575439)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.472
INFO:root:Testing 39 out of 10992 hypotheses for montys_brain (evidence > 2.81087193575439)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.81
INFO:root:Testing 115 out of 14880 hypotheses for montys_heart (evidence > 2.81087193575439)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.421
INFO:root:Testing 277 out of 23200 hypotheses for ramen_pack (evidence > 2.81087193575439)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.216
INFO:root:Testing 82 out of 14864 hypotheses for hot_sauce (evidence > 2.81087193575439)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.81
INFO:root:Testing 160 out of 12560 hypotheses for harissa_oil (evidence > 2.81087193575439)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 6.297
INFO:root:Testing 446 out of 21832 hypotheses for tomato_soup_can (evidence > 2.81087193575439)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.789
INFO:root:Testing 428 out of 16976 hypotheses for mustard_bottle (evidence > 2.81087193575439)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.007
INFO:root:Testing 166 out of 17728 hypotheses for tuna_fish_can (evidence > 2.81087193575439)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.607
INFO:root:Testing 666 out of 19024 hypotheses for potted_meat_can (evidence > 2.81087193575439)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.945
DEBUG:root:evidences for each object: [ 6.47203899  2.80998532  3.42143472  5.21648658  2.81004166  6.29730938
  7.78861068 10.00698689  4.60684188 13.94541287]
DEBUG:root:mean evidence: 6.338, std: 3.333 -> th=11.156330292013072
INFO:root:current most likely hypothesis: potted_meat_can with evidence 13.95
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 71 ---
INFO:uvicorn.access:192.168.1.217:49282 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.92861763,  0.3646129 ,  0.06875116],
       [-0.36547768, -0.9308201 ,  0.        ],
       [ 0.06399497, -0.02512702,  0.99763384]]), 'pose_fully_defined': False}}, {'patch': array([-0.00253689,  0.02907896,  0.003516  ])}]
INFO:root:Testing 254 out of 14424 hypotheses for numenta_mug (evidence > 2.7890825730032667)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.022
INFO:root:Testing 47 out of 10992 hypotheses for montys_brain (evidence > 2.7890825730032667)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.789
INFO:root:Testing 146 out of 14880 hypotheses for montys_heart (evidence > 2.7890825730032667)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.989
INFO:root:Testing 308 out of 23200 hypotheses for ramen_pack (evidence > 2.7890825730032667)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.731
INFO:root:Testing 103 out of 14864 hypotheses for hot_sauce (evidence > 2.7890825730032667)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.789
INFO:root:Testing 163 out of 12560 hypotheses for harissa_oil (evidence > 2.7890825730032667)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 6.068
INFO:root:Testing 463 out of 21832 hypotheses for tomato_soup_can (evidence > 2.7890825730032667)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.399
INFO:root:Testing 406 out of 16976 hypotheses for mustard_bottle (evidence > 2.7890825730032667)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.77
INFO:root:Testing 206 out of 17728 hypotheses for tuna_fish_can (evidence > 2.7890825730032667)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.128
INFO:root:Testing 632 out of 19024 hypotheses for potted_meat_can (evidence > 2.7890825730032667)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.781
DEBUG:root:evidences for each object: [ 6.02179775  2.78866893  2.98944232  4.73143021  2.78893661  6.06836876
  7.39887236  9.77025669  4.12757907 13.78118867]
DEBUG:root:mean evidence: 6.047, std: 3.339 -> th=11.024950934682355
INFO:root:current most likely hypothesis: potted_meat_can with evidence 13.78
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 72 ---
INFO:uvicorn.access:192.168.1.217:49282 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.89933715,  0.32492478,  0.29260311],
       [-0.33979631, -0.94049905,  0.        ],
       [ 0.27519295, -0.09942546,  0.95623398]]), 'pose_fully_defined': False}}, {'patch': array([-0.0029777 ,  0.00142588, -0.00751297])}]
INFO:root:Testing 330 out of 14424 hypotheses for numenta_mug (evidence > 2.756237733670588)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No 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 49 out of 10992 hypotheses for montys_brain (evidence > 2.756237733670588)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.756
INFO:root:Testing 182 out of 14880 hypotheses for montys_heart (evidence > 2.756237733670588)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.799
INFO:root:Testing 437 out of 23200 hypotheses for ramen_pack (evidence > 2.756237733670588)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.245
INFO:root:Testing 148 out of 14864 hypotheses for hot_sauce (evidence > 2.756237733670588)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.756
INFO:root:Testing 225 out of 12560 hypotheses for harissa_oil (evidence > 2.756237733670588)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 5.768
INFO:root:Testing 564 out of 21832 hypotheses for tomato_soup_can (evidence > 2.756237733670588)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.162
INFO:root:Testing 504 out of 16976 hypotheses for mustard_bottle (evidence > 2.756237733670588)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.466
INFO:root:Testing 315 out of 17728 hypotheses for tuna_fish_can (evidence > 2.756237733670588)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.663
INFO:root:Testing 701 out of 19024 hypotheses for potted_meat_can (evidence > 2.756237733670588)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.666
DEBUG:root:evidences for each object: [ 5.59641054  2.75617228  2.79858499  4.24540837  2.75609434  5.76789254
  7.16186748  9.46585174  3.66300677 13.6663176 ]
DEBUG:root:mean evidence: 5.788, std: 3.343 -> th=10.933054078986883
INFO:root:current most likely hypothesis: potted_meat_can with evidence 13.67
DEBUG:root:evidences for each object: [ 5.59641054  2.75617228  2.79858499  4.24540837  2.75609434  5.76789254
  7.16186748  9.46585174  3.66300677 13.6663176 ]
DEBUG:root:mean evidence: 5.788, std: 3.343 -> th=10.933054078986883
DEBUG:root:evidences for each object: [ 5.59641054  2.75617228  2.79858499  4.24540837  2.75609434  5.76789254
  7.16186748  9.46585174  3.66300677 13.6663176 ]
DEBUG:root:mean evidence: 5.788, std: 3.343 -> th=11.616369958923563
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 73 ---
INFO:uvicorn.access:192.168.1.217:49284 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.94600279,  0.27234965, -0.17579646],
       [-0.27665817, -0.96096839,  0.        ],
       [-0.16893484,  0.04863553,  0.98442654]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00254955, -0.00047591,  0.02245795])}]
INFO:root:Testing 213 out of 14424 hypotheses for numenta_mug (evidence > 2.7332635197467194)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.115
INFO:root:Testing 20 out of 10992 hypotheses for montys_brain (evidence > 2.7332635197467194)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.732
INFO:root:Testing 117 out of 14880 hypotheses for montys_heart (evidence > 2.7332635197467194)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.93
INFO:root:Testing 294 out of 23200 hypotheses for ramen_pack (evidence > 2.7332635197467194)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.768
INFO:root:Testing 100 out of 14864 hypotheses for hot_sauce (evidence > 2.7332635197467194)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.733
INFO:root:Testing 145 out of 12560 hypotheses for harissa_oil (evidence > 2.7332635197467194)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 5.288
INFO:root:Testing 395 out of 21832 hypotheses for tomato_soup_can (evidence > 2.7332635197467194)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.842
INFO:root:Testing 341 out of 16976 hypotheses for mustard_bottle (evidence > 2.7332635197467194)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.988
INFO:root:Testing 198 out of 17728 hypotheses for tuna_fish_can (evidence > 2.7332635197467194)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.185
INFO:root:Testing 530 out of 19024 hypotheses for potted_meat_can (evidence > 2.7332635197467194)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.241
DEBUG:root:evidences for each object: [ 5.11523161  2.7321269   2.93002228  3.7684115   2.73313956  5.28841556
  6.84155271  8.98824453  3.18450288 13.24061518]
DEBUG:root:mean evidence: 5.482, std: 3.23 -> th=10.59249214220588
INFO:root:current most likely hypothesis: potted_meat_can with evidence 13.24
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 74 ---
INFO:uvicorn.access:192.168.1.217:49284 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.95669483,  0.26792169, -0.11381109],
       [-0.26967392, -0.9629517 ,  0.        ],
       [-0.10959458,  0.03069188,  0.99350241]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00124515, -0.00464051, -0.00052002])}]
INFO:root:Testing 561 out of 14424 hypotheses for numenta_mug (evidence > 2.6481230355514693)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.629
INFO:root:Testing 106 out of 10992 hypotheses for montys_brain (evidence > 2.6481230355514693)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.648
INFO:root:Testing 411 out of 14880 hypotheses for montys_heart (evidence > 2.6481230355514693)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.996
INFO:root:Testing 1105 out of 23200 hypotheses for ramen_pack (evidence > 2.6481230355514693)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.285
INFO:root:Testing 340 out of 14864 hypotheses for hot_sauce (evidence > 2.6481230355514693)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.648
INFO:root:Testing 370 out of 12560 hypotheses for harissa_oil (evidence > 2.6481230355514693)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.804
INFO:root:Testing 905 out of 21832 hypotheses for tomato_soup_can (evidence > 2.6481230355514693)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.538
INFO:root:Testing 1072 out of 16976 hypotheses for mustard_bottle (evidence > 2.6481230355514693)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.508
INFO:root:Testing 640 out of 17728 hypotheses for tuna_fish_can (evidence > 2.6481230355514693)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.58
INFO:root:Testing 1147 out of 19024 hypotheses for potted_meat_can (evidence > 2.6481230355514693)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.996
DEBUG:root:evidences for each object: [ 4.62946787  2.64795833  2.99582092  3.28549631  2.64804331  4.80377479
  6.53810055  8.50828358  3.57963031 12.99629322]
DEBUG:root:mean evidence: 5.263, std: 3.133 -> th=10.397034574684104
INFO:root:current most likely hypothesis: potted_meat_can with evidence 13.0
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 75 ---
INFO:uvicorn.access:192.168.1.217:49284 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.9640452 ,  0.26271273, -0.03998587],
       [-0.26292301, -0.96481682,  0.        ],
       [-0.03857904,  0.01051321,  0.99920025]]), 'pose_fully_defined': False}}, {'patch': array([-0.00080199, -0.01507983, -0.01315246])}]
INFO:root:Testing 312 out of 14424 hypotheses for numenta_mug (evidence > 2.5992586436710248)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.145
INFO:root:Testing 63 out of 10992 hypotheses for montys_brain (evidence > 2.5992586436710248)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.599
INFO:root:Testing 209 out of 14880 hypotheses for montys_heart (evidence > 2.5992586436710248)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.715
INFO:root:Testing 449 out of 23200 hypotheses for ramen_pack (evidence > 2.5992586436710248)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.797
INFO:root:Testing 187 out of 14864 hypotheses for hot_sauce (evidence > 2.5992586436710248)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.599
INFO:root:Testing 242 out of 12560 hypotheses for harissa_oil (evidence > 2.5992586436710248)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.555
INFO:root:Testing 614 out of 21832 hypotheses for tomato_soup_can (evidence > 2.5992586436710248)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.446
INFO:root:Testing 554 out of 16976 hypotheses for mustard_bottle (evidence > 2.5992586436710248)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.287
INFO:root:Testing 458 out of 17728 hypotheses for tuna_fish_can (evidence > 2.5992586436710248)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.67
INFO:root:Testing 806 out of 19024 hypotheses for potted_meat_can (evidence > 2.5992586436710248)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.009
DEBUG:root:evidences for each object: [ 4.14478514  2.59882235  2.7147813   2.79741953  2.59918603  4.55454974
  6.44596024  8.28727952  2.67028857 13.00935434]
DEBUG:root:mean evidence: 4.982, std: 3.24 -> th=10.40748347006397
INFO:root:current most likely hypothesis: potted_meat_can with evidence 13.01
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 76 ---
INFO:uvicorn.access:192.168.1.217:49285 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.97426797,  0.22109944, -0.04378302],
       [-0.22131166, -0.97520313,  0.        ],
       [-0.04269734,  0.00968969,  0.99904106]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00368869, -0.01323894, -0.00886997])}]
INFO:root:Testing 13 out of 14424 hypotheses for numenta_mug (evidence > 2.6018708675159914)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.182
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.599
INFO:root:Testing 1 out of 14880 hypotheses for montys_heart (evidence > 2.6018708675159914)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.599
INFO:root:Testing 1 out of 23200 hypotheses for ramen_pack (evidence > 2.6018708675159914)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.599
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.599
INFO:root:Testing 8 out of 12560 hypotheses for harissa_oil (evidence > 2.6018708675159914)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.555
INFO:root:Testing 88 out of 21832 hypotheses for tomato_soup_can (evidence > 2.6018708675159914)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.446
INFO:root:Testing 37 out of 16976 hypotheses for mustard_bottle (evidence > 2.6018708675159914)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.287
INFO:root:Testing 1 out of 17728 hypotheses for tuna_fish_can (evidence > 2.6018708675159914)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.599
INFO:root:Testing 245 out of 19024 hypotheses for potted_meat_can (evidence > 2.6018708675159914)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.009
DEBUG:root:evidences for each object: [ 4.18195213  2.59882235  2.59916199  2.5992242   2.59918603  3.55454974
  5.44596024  7.28727952  2.59914578 12.00935434]
DEBUG:root:mean evidence: 4.547, std: 2.9 -> th=9.607483470063968
INFO:root:current most likely hypothesis: potted_meat_can with evidence 12.01
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 77 ---
INFO:uvicorn.access:192.168.1.217:49285 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.9495597 ,  0.26240533, -0.17169691],
       [-0.26636083, -0.96387339,  0.        ],
       [-0.16549408,  0.04573333,  0.98514982]]), 'pose_fully_defined': False}}, {'patch': array([-0.00029972, -0.00116921,  0.01488617])}]
INFO:root:Testing 1302 out of 14424 hypotheses for numenta_mug (evidence > 2.401870867515992)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.973
INFO:root:Testing 372 out of 10992 hypotheses for montys_brain (evidence > 2.401870867515992)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.401
INFO:root:Testing 1009 out of 14880 hypotheses for montys_heart (evidence > 2.401870867515992)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.979
INFO:root:Testing 2433 out of 23200 hypotheses for ramen_pack (evidence > 2.401870867515992)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 2.492
INFO:root:Testing 759 out of 14864 hypotheses for hot_sauce (evidence > 2.401870867515992)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.439
INFO:root:Testing 940 out of 12560 hypotheses for harissa_oil (evidence > 2.401870867515992)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.555
INFO:root:Testing 1911 out of 21832 hypotheses for tomato_soup_can (evidence > 2.401870867515992)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 5.255
INFO:root:Testing 2498 out of 16976 hypotheses for mustard_bottle (evidence > 2.401870867515992)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 6.992
INFO:root:Testing 1633 out of 17728 hypotheses for tuna_fish_can (evidence > 2.401870867515992)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 2.736
INFO:root:Testing 2227 out of 19024 hypotheses for potted_meat_can (evidence > 2.401870867515992)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 12.078
DEBUG:root:evidences for each object: [ 3.97260208  2.40123979  2.97885332  2.49242707  2.43872924  2.55454974
  5.2549529   6.99206271  2.73632828 12.07799112]
DEBUG:root:mean evidence: 4.39, std: 2.937 -> th=9.662392894798836
INFO:root:current most likely hypothesis: potted_meat_can with evidence 12.08
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 78 ---
INFO:uvicorn.access:192.168.1.217:49289 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.0387443 ,  0.21274598, -0.9763391 ],
       [-0.98381842,  0.17916839,  0.        ],
       [ 0.1749291 ,  0.96054039,  0.21624516]]), 'pose_fully_defined': False}}, {'patch': array([-0.01688929,  0.03548442, -0.0170187 ])}]
INFO:root:Testing 39 out of 14424 hypotheses for numenta_mug (evidence > 2.4155982236997087)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.066
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.401
INFO:root:Testing 3 out of 14880 hypotheses for montys_heart (evidence > 2.4155982236997087)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.402
INFO:root:Testing 2 out of 23200 hypotheses for ramen_pack (evidence > 2.4155982236997087)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.404
INFO:root:Testing 1 out of 14864 hypotheses for hot_sauce (evidence > 2.4155982236997087)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.402
INFO:root:Testing 1 out of 12560 hypotheses for harissa_oil (evidence > 2.4155982236997087)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.001
INFO:root:Testing 77 out of 21832 hypotheses for tomato_soup_can (evidence > 2.4155982236997087)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.673
INFO:root:Testing 24 out of 16976 hypotheses for mustard_bottle (evidence > 2.4155982236997087)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.074
INFO:root:Testing 40 out of 17728 hypotheses for tuna_fish_can (evidence > 2.4155982236997087)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.926
INFO:root:Testing 305 out of 19024 hypotheses for potted_meat_can (evidence > 2.4155982236997087)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.293
DEBUG:root:evidences for each object: [ 4.06626094  2.40123979  2.40150602  2.40412055  2.40167849  3.00105013
  5.67268425  6.07398997  2.92572528 12.29288173]
DEBUG:root:mean evidence: 4.364, std: 2.948 -> th=9.83430538182599
INFO:root:current most likely hypothesis: potted_meat_can with evidence 12.29
DEBUG:root:evidences for each object: [ 4.06626094  2.40123979  2.40150602  2.40412055  2.40167849  3.00105013
  5.67268425  6.07398997  2.92572528 12.29288173]
DEBUG:root:mean evidence: 4.364, std: 2.948 -> th=9.83430538182599
DEBUG:root:evidences for each object: [ 4.06626094  2.40123979  2.40150602  2.40412055  2.40167849  3.00105013
  5.67268425  6.07398997  2.92572528 12.29288173]
DEBUG:root:mean evidence: 4.364, std: 2.948 -> th=10.448949468190115
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 79 ---
INFO:uvicorn.access:192.168.1.217:49289 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.03403433,  0.51859804, -0.85434053],
       [-0.99785344,  0.06548669,  0.        ],
       [ 0.05594794,  0.85250663,  0.51971364]]), 'pose_fully_defined': False}}, {'patch': array([0.00500749, 0.01256346, 0.0045217 ])}]
INFO:root:Testing 19 out of 14424 hypotheses for numenta_mug (evidence > 2.458576345456496)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.998
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.401
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.402
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.404
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.402
INFO:root:Testing 1618 out of 12560 hypotheses for harissa_oil (evidence > 2.458576345456496)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.446
INFO:root:Testing 56 out of 21832 hypotheses for tomato_soup_can (evidence > 2.458576345456496)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.117
INFO:root:Testing 17 out of 16976 hypotheses for mustard_bottle (evidence > 2.458576345456496)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.326
INFO:root:Testing 9 out of 17728 hypotheses for tuna_fish_can (evidence > 2.458576345456496)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.35
INFO:root:Testing 201 out of 19024 hypotheses for potted_meat_can (evidence > 2.458576345456496)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.702
DEBUG:root:evidences for each object: [ 3.99784186  2.40123979  2.40150602  2.40412055  2.40167849  3.44606426
  6.11744296  6.32616481  3.35034246 12.70167111]
DEBUG:root:mean evidence: 4.555, std: 3.057 -> th=10.161336884081429
INFO:root:current most likely hypothesis: potted_meat_can with evidence 12.7
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 80 ---
INFO:uvicorn.access:192.168.1.217:49291 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.05807704, -0.05030816, -0.9970437 ],
       [ 0.65474262,  0.75585191, -0.        ],
       [ 0.75361738, -0.65280701,  0.07683654]]), 'pose_fully_defined': False}}, {'patch': array([-0.01330637, -0.02224916, -0.00607558])}]
INFO:root:Testing 16 out of 14424 hypotheses for numenta_mug (evidence > 2.540334221020357)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.209
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.401
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.402
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.404
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.402
INFO:root:Testing 641 out of 12560 hypotheses for harissa_oil (evidence > 2.540334221020357)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.771
INFO:root:Testing 54 out of 21832 hypotheses for tomato_soup_can (evidence > 2.540334221020357)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.515
INFO:root:Testing 16 out of 16976 hypotheses for mustard_bottle (evidence > 2.540334221020357)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.212
INFO:root:Testing 7 out of 17728 hypotheses for tuna_fish_can (evidence > 2.540334221020357)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.692
INFO:root:Testing 161 out of 19024 hypotheses for potted_meat_can (evidence > 2.540334221020357)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.702
DEBUG:root:evidences for each object: [ 4.2088233   2.40123979  2.40150602  2.40412055  2.40167849  3.77102041
  6.51527468  6.2116302   3.69174882 11.70167111]
DEBUG:root:mean evidence: 4.571, std: 2.787 -> th=9.361336884081428
INFO:root:current most likely hypothesis: potted_meat_can with evidence 11.7
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 81 ---
INFO:uvicorn.access:192.168.1.217:49292 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.0410303 , -0.21322862, -0.97614039],
       [ 0.98198526,  0.18895753, -0.        ],
       [ 0.18444908, -0.95855548,  0.21714035]]), 'pose_fully_defined': False}}, {'patch': array([-0.00306941, -0.00462006,  0.00188051])}]
INFO:root:Testing 403 out of 14424 hypotheses for numenta_mug (evidence > 2.340334221020356)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.565
INFO:root:Testing 110 out of 10992 hypotheses for montys_brain (evidence > 2.340334221020356)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.877
INFO:root:Testing 296 out of 14880 hypotheses for montys_heart (evidence > 2.340334221020356)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.854
INFO:root:Testing 855 out of 23200 hypotheses for ramen_pack (evidence > 2.340334221020356)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.873
INFO:root:Testing 231 out of 14864 hypotheses for hot_sauce (evidence > 2.340334221020356)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.743
INFO:root:Testing 908 out of 12560 hypotheses for harissa_oil (evidence > 2.340334221020356)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.248
INFO:root:Testing 580 out of 21832 hypotheses for tomato_soup_can (evidence > 2.340334221020356)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.931
INFO:root:Testing 657 out of 16976 hypotheses for mustard_bottle (evidence > 2.340334221020356)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.568
INFO:root:Testing 428 out of 17728 hypotheses for tuna_fish_can (evidence > 2.340334221020356)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.095
INFO:root:Testing 754 out of 19024 hypotheses for potted_meat_can (evidence > 2.340334221020356)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.702
DEBUG:root:evidences for each object: [ 4.56515196  2.8765918   2.85362338  2.87267297  2.74273763  4.24809078
  6.93103619  6.56795968  4.09464541 10.70167111]
DEBUG:root:mean evidence: 4.845, std: 2.424 -> th=8.56133688408143
INFO:root:current most likely hypothesis: potted_meat_can with evidence 10.7
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 82 ---
INFO:uvicorn.access:192.168.1.217:49293 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.04263495, -0.03423018, -0.99850416],
       [ 0.62605714,  0.77977718, -0.        ],
       [ 0.77861076, -0.62512066,  0.05467581]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01121613,  0.00374279, -0.00242218])}]
INFO:root:Testing 1574 out of 14424 hypotheses for numenta_mug (evidence > 2.140334221020357)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.013
INFO:root:Testing 457 out of 10992 hypotheses for montys_brain (evidence > 2.140334221020357)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.276
INFO:root:Testing 1229 out of 14880 hypotheses for montys_heart (evidence > 2.140334221020357)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.228
INFO:root:Testing 2920 out of 23200 hypotheses for ramen_pack (evidence > 2.140334221020357)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 3.358
INFO:root:Testing 871 out of 14864 hypotheses for hot_sauce (evidence > 2.140334221020357)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.059
INFO:root:Testing 1286 out of 12560 hypotheses for harissa_oil (evidence > 2.140334221020357)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.741
INFO:root:Testing 2258 out of 21832 hypotheses for tomato_soup_can (evidence > 2.140334221020357)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 7.343
INFO:root:Testing 2794 out of 16976 hypotheses for mustard_bottle (evidence > 2.140334221020357)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 6.907
INFO:root:Testing 2073 out of 17728 hypotheses for tuna_fish_can (evidence > 2.140334221020357)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 4.502
INFO:root:Testing 2528 out of 19024 hypotheses for potted_meat_can (evidence > 2.140334221020357)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 9.702
DEBUG:root:evidences for each object: [5.01335444 3.27573332 3.22816958 3.35847058 3.05923833 4.74147684
 7.34308984 6.90729121 4.50204261 9.70167111]
DEBUG:root:mean evidence: 5.113, std: 2.097 -> th=7.7613368840814285
INFO:root:current most likely hypothesis: potted_meat_can with evidence 9.7
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can'}
INFO:root:--- Global Matching Step 83 ---
INFO:uvicorn.access:192.168.1.217:49293 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.02826033, -0.03527805, -0.99897788],
       [ 0.78045973,  0.62520605, -0.        ],
       [ 0.62456702, -0.77966201,  0.04520163]]), 'pose_fully_defined': False}}, {'patch': array([-0.00522848,  0.00255648, -0.00051129])}]
INFO:root:Testing 1523 out of 14424 hypotheses for numenta_mug (evidence > 1.9403342210203567)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.48
INFO:root:Testing 535 out of 10992 hypotheses for montys_brain (evidence > 1.9403342210203567)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.728
INFO:root:Testing 1239 out of 14880 hypotheses for montys_heart (evidence > 1.9403342210203567)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.707
INFO:root:Testing 4424 out of 23200 hypotheses for ramen_pack (evidence > 1.9403342210203567)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 3.835
INFO:root:Testing 1164 out of 14864 hypotheses for hot_sauce (evidence > 1.9403342210203567)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.47
INFO:root:Testing 1479 out of 12560 hypotheses for harissa_oil (evidence > 1.9403342210203567)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 5.215
INFO:root:Testing 2141 out of 21832 hypotheses for tomato_soup_can (evidence > 1.9403342210203567)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 7.767
INFO:root:Testing 3477 out of 16976 hypotheses for mustard_bottle (evidence > 1.9403342210203567)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 7.24
INFO:root:Testing 2338 out of 17728 hypotheses for tuna_fish_can (evidence > 1.9403342210203567)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 4.102
INFO:root:Testing 3160 out of 19024 hypotheses for potted_meat_can (evidence > 1.9403342210203567)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 9.355
DEBUG:root:evidences for each object: [5.48015777 3.72765677 3.70732121 3.83498586 3.47001325 5.21459514
 7.76742083 7.23951459 4.10225836 9.35530724]
DEBUG:root:mean evidence: 5.39, std: 1.954 -> th=7.484245793114458
INFO:root:current most likely hypothesis: potted_meat_can with evidence 9.36
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 84 ---
INFO:uvicorn.access:192.168.1.217:49293 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.04019699,  0.40850877, -0.91186884],
       [-0.99519366,  0.0979264 ,  0.        ],
       [ 0.08929603,  0.90748609,  0.41048169]]), 'pose_fully_defined': False}}, {'patch': array([0.00363233, 0.01696474, 0.00441967])}]
INFO:root:Testing 1176 out of 14424 hypotheses for numenta_mug (evidence > 1.8710614482786143)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.909
INFO:root:Testing 291 out of 10992 hypotheses for montys_brain (evidence > 1.8710614482786143)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 4.163
INFO:root:Testing 877 out of 14880 hypotheses for montys_heart (evidence > 1.8710614482786143)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.098
INFO:root:Testing 1969 out of 23200 hypotheses for ramen_pack (evidence > 1.8710614482786143)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 4.2
INFO:root:Testing 589 out of 14864 hypotheses for hot_sauce (evidence > 1.8710614482786143)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.814
INFO:root:Testing 1068 out of 12560 hypotheses for harissa_oil (evidence > 1.8710614482786143)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 5.635
INFO:root:Testing 1579 out of 21832 hypotheses for tomato_soup_can (evidence > 1.8710614482786143)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 8.189
INFO:root:Testing 2687 out of 16976 hypotheses for mustard_bottle (evidence > 1.8710614482786143)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 7.537
INFO:root:Testing 1471 out of 17728 hypotheses for tuna_fish_can (evidence > 1.8710614482786143)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 4.445
INFO:root:Testing 2056 out of 19024 hypotheses for potted_meat_can (evidence > 1.8710614482786143)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 9.799
DEBUG:root:evidences for each object: [5.90863206 4.16251043 4.09804691 4.20005377 3.81404417 5.63482645
 8.18879158 7.53707443 4.44456985 9.79883052]
DEBUG:root:mean evidence: 5.779, std: 1.966 -> th=7.839064415010813
INFO:root:current most likely hypothesis: potted_meat_can with evidence 9.8
DEBUG:root:evidences for each object: [5.90863206 4.16251043 4.09804691 4.20005377 3.81404417 5.63482645
 8.18879158 7.53707443 4.44456985 9.79883052]
DEBUG:root:mean evidence: 5.779, std: 1.966 -> th=7.839064415010813
DEBUG:root:evidences for each object: [5.90863206 4.16251043 4.09804691 4.20005377 3.81404417 5.63482645
 8.18879158 7.53707443 4.44456985 9.79883052]
DEBUG:root:mean evidence: 5.779, std: 1.966 -> th=8.329005940948988
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 85 ---
INFO:uvicorn.access:192.168.1.217:49293 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.01171524,  0.37340341, -0.92759509],
       [-0.99950819, -0.03135879,  0.        ],
       [-0.02908826,  0.92713889,  0.37358714]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00376624, -0.00085231, -0.00111155])}]
INFO:root:Testing 513 out of 14424 hypotheses for numenta_mug (evidence > 1.9597661037527025)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.369
INFO:root:Testing 148 out of 10992 hypotheses for montys_brain (evidence > 1.9597661037527025)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 4.507
INFO:root:Testing 569 out of 14880 hypotheses for montys_heart (evidence > 1.9597661037527025)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.505
INFO:root:Testing 848 out of 23200 hypotheses for ramen_pack (evidence > 1.9597661037527025)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.629
INFO:root:Testing 97 out of 14864 hypotheses for hot_sauce (evidence > 1.9597661037527025)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.111
INFO:root:Testing 607 out of 12560 hypotheses for harissa_oil (evidence > 1.9597661037527025)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 6.09
INFO:root:Testing 837 out of 21832 hypotheses for tomato_soup_can (evidence > 1.9597661037527025)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.635
INFO:root:Testing 1686 out of 16976 hypotheses for mustard_bottle (evidence > 1.9597661037527025)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.856
INFO:root:Testing 812 out of 17728 hypotheses for tuna_fish_can (evidence > 1.9597661037527025)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.75
INFO:root:Testing 1061 out of 19024 hypotheses for potted_meat_can (evidence > 1.9597661037527025)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.252
DEBUG:root:evidences for each object: [ 6.36934231  4.50673981  4.50541888  4.62908068  4.11142488  6.09045532
  8.63538806  7.85577     4.74957656 10.25187324]
DEBUG:root:mean evidence: 6.171, std: 1.995 -> th=8.20149859591699
INFO:root:current most likely hypothesis: potted_meat_can with evidence 10.25
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 86 ---
INFO:uvicorn.access:192.168.1.217:49295 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99272454, -0.10750095, -0.054236  ],
       [ 0.10765941,  0.99418784, -0.        ],
       [ 0.05392077, -0.00583902,  0.99852815]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00867942, -0.01244445,  0.04830394])}]
INFO:root:Testing 394 out of 14424 hypotheses for numenta_mug (evidence > 2.050374648979247)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.823
INFO:root:Testing 136 out of 10992 hypotheses for montys_brain (evidence > 2.050374648979247)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 4.881
INFO:root:Testing 477 out of 14880 hypotheses for montys_heart (evidence > 2.050374648979247)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.749
INFO:root:Testing 734 out of 23200 hypotheses for ramen_pack (evidence > 2.050374648979247)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.095
INFO:root:Testing 63 out of 14864 hypotheses for hot_sauce (evidence > 2.050374648979247)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.467
INFO:root:Testing 540 out of 12560 hypotheses for harissa_oil (evidence > 2.050374648979247)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 6.558
INFO:root:Testing 737 out of 21832 hypotheses for tomato_soup_can (evidence > 2.050374648979247)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.067
INFO:root:Testing 1484 out of 16976 hypotheses for mustard_bottle (evidence > 2.050374648979247)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.318
INFO:root:Testing 674 out of 17728 hypotheses for tuna_fish_can (evidence > 2.050374648979247)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.209
INFO:root:Testing 948 out of 19024 hypotheses for potted_meat_can (evidence > 2.050374648979247)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.718
DEBUG:root:evidences for each object: [ 6.82315333  4.88107331  4.74857865  5.09454167  4.46692183  6.55835219
  9.06658188  8.31834107  5.20854208 10.71826022]
DEBUG:root:mean evidence: 6.588, std: 2.029 -> th=8.574608177470784
INFO:root:current most likely hypothesis: potted_meat_can with evidence 10.72
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 87 ---
INFO:uvicorn.access:192.168.1.217:49296 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.97887673, -0.13581016, -0.15282654],
       [ 0.13742448,  0.99051225, -0.        ],
       [ 0.15137656, -0.02100211,  0.98825303]]), 'pose_fully_defined': False}}, {'patch': array([-0.00178787,  0.01571018,  0.00944055])}]
INFO:root:Testing 394 out of 14424 hypotheses for numenta_mug (evidence > 2.1436520443676965)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.995
INFO:root:Testing 136 out of 10992 hypotheses for montys_brain (evidence > 2.1436520443676965)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 4.877
INFO:root:Testing 477 out of 14880 hypotheses for montys_heart (evidence > 2.1436520443676965)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.143
INFO:root:Testing 731 out of 23200 hypotheses for ramen_pack (evidence > 2.1436520443676965)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.461
INFO:root:Testing 66 out of 14864 hypotheses for hot_sauce (evidence > 2.1436520443676965)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.851
INFO:root:Testing 535 out of 12560 hypotheses for harissa_oil (evidence > 2.1436520443676965)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 6.529
INFO:root:Testing 735 out of 21832 hypotheses for tomato_soup_can (evidence > 2.1436520443676965)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.189
INFO:root:Testing 1521 out of 16976 hypotheses for mustard_bottle (evidence > 2.1436520443676965)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.113
INFO:root:Testing 670 out of 17728 hypotheses for tuna_fish_can (evidence > 2.1436520443676965)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.671
INFO:root:Testing 944 out of 19024 hypotheses for potted_meat_can (evidence > 2.1436520443676965)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.455
DEBUG:root:evidences for each object: [ 6.99506023  4.87718471  5.14259601  5.46086585  4.85087097  6.52921284
  9.18886969  8.11297413  5.67124009 10.45531532]
DEBUG:root:mean evidence: 6.728, std: 1.848 -> th=8.364252259415125
INFO:root:current most likely hypothesis: potted_meat_can with evidence 10.46
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 88 ---
INFO:uvicorn.access:192.168.1.217:49296 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99328596, -0.11449983, -0.01651665],
       [ 0.11451545,  0.99342147, -0.        ],
       [ 0.01640799, -0.00189141,  0.99986359]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00442148,  0.01450606, -0.01051942])}]
INFO:root:Testing 384 out of 14424 hypotheses for numenta_mug (evidence > 2.091063064853781)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.378
INFO:root:Testing 136 out of 10992 hypotheses for montys_brain (evidence > 2.091063064853781)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.182
INFO:root:Testing 477 out of 14880 hypotheses for montys_heart (evidence > 2.091063064853781)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.53
INFO:root:Testing 694 out of 23200 hypotheses for ramen_pack (evidence > 2.091063064853781)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.898
INFO:root:Testing 68 out of 14864 hypotheses for hot_sauce (evidence > 2.091063064853781)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.214
INFO:root:Testing 516 out of 12560 hypotheses for harissa_oil (evidence > 2.091063064853781)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 6.742
INFO:root:Testing 726 out of 21832 hypotheses for tomato_soup_can (evidence > 2.091063064853781)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.257
INFO:root:Testing 1508 out of 16976 hypotheses for mustard_bottle (evidence > 2.091063064853781)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.221
INFO:root:Testing 644 out of 17728 hypotheses for tuna_fish_can (evidence > 2.091063064853781)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.115
INFO:root:Testing 897 out of 19024 hypotheses for potted_meat_can (evidence > 2.091063064853781)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.903
DEBUG:root:evidences for each object: [ 7.37807216  5.18192228  5.53021404  5.89813437  5.21431912  6.74151009
  9.25667272  8.22101037  6.1149803  10.90291285]
DEBUG:root:mean evidence: 7.044, std: 1.807 -> th=8.722330280350718
INFO:root:current most likely hypothesis: potted_meat_can with evidence 10.9
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 89 ---
INFO:uvicorn.access:192.168.1.217:49296 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99131627, -0.12367194, -0.04469116],
       [ 0.12379563,  0.99230774, -0.        ],
       [ 0.04434738, -0.00553257,  0.99900085]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00489192, -0.00204295, -0.01860402])}]
INFO:root:Testing 375 out of 14424 hypotheses for numenta_mug (evidence > 2.1805825700876795)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.805
INFO:root:Testing 136 out of 10992 hypotheses for montys_brain (evidence > 2.1805825700876795)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.509
INFO:root:Testing 475 out of 14880 hypotheses for montys_heart (evidence > 2.1805825700876795)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.672
INFO:root:Testing 684 out of 23200 hypotheses for ramen_pack (evidence > 2.1805825700876795)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.344
INFO:root:Testing 66 out of 14864 hypotheses for hot_sauce (evidence > 2.1805825700876795)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.378
INFO:root:Testing 509 out of 12560 hypotheses for harissa_oil (evidence > 2.1805825700876795)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 7.15
INFO:root:Testing 718 out of 21832 hypotheses for tomato_soup_can (evidence > 2.1805825700876795)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.724
INFO:root:Testing 1496 out of 16976 hypotheses for mustard_bottle (evidence > 2.1805825700876795)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.683
INFO:root:Testing 618 out of 17728 hypotheses for tuna_fish_can (evidence > 2.1805825700876795)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.581
INFO:root:Testing 866 out of 19024 hypotheses for potted_meat_can (evidence > 2.1805825700876795)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.397
DEBUG:root:evidences for each object: [ 7.80460183  5.50924627  5.67174646  6.34401509  5.37815882  7.15003215
  9.72396176  8.68308366  6.58139857 11.39703537]
DEBUG:root:mean evidence: 7.424, std: 1.889 -> th=9.11762829223785
INFO:root:current most likely hypothesis: potted_meat_can with evidence 11.4
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 90 ---
INFO:uvicorn.access:192.168.1.217:49296 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.9878152 , -0.13496494, -0.07749575],
       [ 0.13537205,  0.99079484, -0.        ],
       [ 0.07678239, -0.01049076,  0.99699268]]), 'pose_fully_defined': False}}, {'patch': array([-0.00344946, -0.00755237, -0.00293508])}]
INFO:root:Testing 373 out of 14424 hypotheses for numenta_mug (evidence > 2.2794070730594616)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.247
INFO:root:Testing 134 out of 10992 hypotheses for montys_brain (evidence > 2.2794070730594616)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.694
INFO:root:Testing 471 out of 14880 hypotheses for montys_heart (evidence > 2.2794070730594616)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.061
INFO:root:Testing 681 out of 23200 hypotheses for ramen_pack (evidence > 2.2794070730594616)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.797
INFO:root:Testing 61 out of 14864 hypotheses for hot_sauce (evidence > 2.2794070730594616)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.79
INFO:root:Testing 500 out of 12560 hypotheses for harissa_oil (evidence > 2.2794070730594616)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 7.563
INFO:root:Testing 717 out of 21832 hypotheses for tomato_soup_can (evidence > 2.2794070730594616)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.213
INFO:root:Testing 1487 out of 16976 hypotheses for mustard_bottle (evidence > 2.2794070730594616)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.138
INFO:root:Testing 618 out of 17728 hypotheses for tuna_fish_can (evidence > 2.2794070730594616)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.051
INFO:root:Testing 863 out of 19024 hypotheses for potted_meat_can (evidence > 2.2794070730594616)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 11.875
DEBUG:root:evidences for each object: [ 8.2468604   5.69430654  6.06106444  6.79708627  5.79029673  7.5634763
 10.21268437  9.13774485  7.05066831 11.87536604]
DEBUG:root:mean evidence: 7.843, std: 1.937 -> th=9.50029283297371
INFO:root:current most likely hypothesis: potted_meat_can with evidence 11.88
DEBUG:root:evidences for each object: [ 8.2468604   5.69430654  6.06106444  6.79708627  5.79029673  7.5634763
 10.21268437  9.13774485  7.05066831 11.87536604]
DEBUG:root:mean evidence: 7.843, std: 1.937 -> th=9.50029283297371
DEBUG:root:evidences for each object: [ 8.2468604   5.69430654  6.06106444  6.79708627  5.79029673  7.5634763
 10.21268437  9.13774485  7.05066831 11.87536604]
DEBUG:root:mean evidence: 7.843, std: 1.937 -> th=10.094061135034567
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 91 ---
INFO:uvicorn.access:192.168.1.217:49296 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99101964, -0.10394876,  0.08411144],
       [ 0.10431842,  0.99454395, -0.        ],
       [-0.08365252,  0.00877437,  0.99645635]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00235527, -0.00157232, -0.01137894])}]
INFO:root:Testing 373 out of 14424 hypotheses for numenta_mug (evidence > 2.3750732082434265)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.638
INFO:root:Testing 134 out of 10992 hypotheses for montys_brain (evidence > 2.3750732082434265)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.927
INFO:root:Testing 471 out of 14880 hypotheses for montys_heart (evidence > 2.3750732082434265)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.027
INFO:root:Testing 681 out of 23200 hypotheses for ramen_pack (evidence > 2.3750732082434265)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.19
INFO:root:Testing 61 out of 14864 hypotheses for hot_sauce (evidence > 2.3750732082434265)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.167
INFO:root:Testing 502 out of 12560 hypotheses for harissa_oil (evidence > 2.3750732082434265)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 7.974
INFO:root:Testing 717 out of 21832 hypotheses for tomato_soup_can (evidence > 2.3750732082434265)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.645
INFO:root:Testing 1487 out of 16976 hypotheses for mustard_bottle (evidence > 2.3750732082434265)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.573
INFO:root:Testing 618 out of 17728 hypotheses for tuna_fish_can (evidence > 2.3750732082434265)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.495
INFO:root:Testing 863 out of 19024 hypotheses for potted_meat_can (evidence > 2.3750732082434265)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.329
DEBUG:root:evidences for each object: [ 8.6382617   5.92697545  6.02749931  7.18970669  6.16734403  7.97385598
 10.64454551  9.57295156  7.4947394  12.32858545]
DEBUG:root:mean evidence: 8.196, std: 2.017 -> th=9.862868358992543
INFO:root:current most likely hypothesis: potted_meat_can with evidence 12.33
DEBUG:root:evidences for each object: [ 8.6382617   5.92697545  6.02749931  7.18970669  6.16734403  7.97385598
 10.64454551  9.57295156  7.4947394  12.32858545]
DEBUG:root:mean evidence: 8.196, std: 2.017 -> th=9.862868358992543
DEBUG:root:evidences for each object: [ 8.6382617   5.92697545  6.02749931  7.18970669  6.16734403  7.97385598
 10.64454551  9.57295156  7.4947394  12.32858545]
DEBUG:root:mean evidence: 8.196, std: 2.017 -> th=10.479297631429578
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 92 ---
INFO:uvicorn.access:192.168.1.217:49300 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.87065967, -0.21907682,  0.4404056 ],
       [ 0.24401546,  0.96977134, -0.        ],
       [-0.42709273,  0.10746578,  0.89779892]]), 'pose_fully_defined': False}}, {'patch': array([-0.00303773, -0.01057406, -0.01315569])}]
INFO:root:Testing 360 out of 14424 hypotheses for numenta_mug (evidence > 2.4657170897481357)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.831
INFO:root:Testing 132 out of 10992 hypotheses for montys_brain (evidence > 2.4657170897481357)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.908
INFO:root:Testing 458 out of 14880 hypotheses for montys_heart (evidence > 2.4657170897481357)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.011
INFO:root:Testing 663 out of 23200 hypotheses for ramen_pack (evidence > 2.4657170897481357)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.348
INFO:root:Testing 55 out of 14864 hypotheses for hot_sauce (evidence > 2.4657170897481357)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.336
INFO:root:Testing 481 out of 12560 hypotheses for harissa_oil (evidence > 2.4657170897481357)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 8.151
INFO:root:Testing 700 out of 21832 hypotheses for tomato_soup_can (evidence > 2.4657170897481357)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.949
INFO:root:Testing 1457 out of 16976 hypotheses for mustard_bottle (evidence > 2.4657170897481357)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.776
INFO:root:Testing 613 out of 17728 hypotheses for tuna_fish_can (evidence > 2.4657170897481357)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.847
INFO:root:Testing 857 out of 19024 hypotheses for potted_meat_can (evidence > 2.4657170897481357)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 12.614
DEBUG:root:evidences for each object: [ 8.83073213  5.90775169  6.01109825  7.34839924  6.33602462  8.15068455
 10.9485755   9.77597379  7.84721199 12.61422634]
DEBUG:root:mean evidence: 8.377, std: 2.097 -> th=10.091381068746552
INFO:root:current most likely hypothesis: potted_meat_can with evidence 12.61
DEBUG:root:evidences for each object: [ 8.83073213  5.90775169  6.01109825  7.34839924  6.33602462  8.15068455
 10.9485755   9.77597379  7.84721199 12.61422634]
DEBUG:root:mean evidence: 8.377, std: 2.097 -> th=10.091381068746552
DEBUG:root:evidences for each object: [ 8.83073213  5.90775169  6.01109825  7.34839924  6.33602462  8.15068455
 10.9485755   9.77597379  7.84721199 12.61422634]
DEBUG:root:mean evidence: 8.377, std: 2.097 -> th=10.72209238554321
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 93 ---
INFO:uvicorn.access:192.168.1.217:49300 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.94942165, -0.23248722,  0.21106449],
       [ 0.23784537,  0.97130303, -0.        ],
       [-0.20500758,  0.05020071,  0.97747214]]), 'pose_fully_defined': False}}, {'patch': array([0.00084134, 0.00155146, 0.00241305])}]
INFO:root:Testing 318 out of 14424 hypotheses for numenta_mug (evidence > 2.5228452671866375)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.135
INFO:root:Testing 120 out of 10992 hypotheses for montys_brain (evidence > 2.5228452671866375)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 6.11
INFO:root:Testing 366 out of 14880 hypotheses for montys_heart (evidence > 2.5228452671866375)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.269
INFO:root:Testing 620 out of 23200 hypotheses for ramen_pack (evidence > 2.5228452671866375)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.651
INFO:root:Testing 46 out of 14864 hypotheses for hot_sauce (evidence > 2.5228452671866375)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.621
INFO:root:Testing 464 out of 12560 hypotheses for harissa_oil (evidence > 2.5228452671866375)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 8.455
INFO:root:Testing 661 out of 21832 hypotheses for tomato_soup_can (evidence > 2.5228452671866375)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.372
INFO:root:Testing 1292 out of 16976 hypotheses for mustard_bottle (evidence > 2.5228452671866375)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.136
INFO:root:Testing 603 out of 17728 hypotheses for tuna_fish_can (evidence > 2.5228452671866375)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.245
INFO:root:Testing 840 out of 19024 hypotheses for potted_meat_can (evidence > 2.5228452671866375)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.017
DEBUG:root:evidences for each object: [ 9.1345741   6.11041401  6.26868989  7.65080867  6.62111014  8.45500143
 11.37209816 10.13557243  8.24521507 13.01714914]
DEBUG:root:mean evidence: 8.701, std: 2.153 -> th=10.413719314924808
INFO:root:current most likely hypothesis: potted_meat_can with evidence 13.02
DEBUG:root:evidences for each object: [ 9.1345741   6.11041401  6.26868989  7.65080867  6.62111014  8.45500143
 11.37209816 10.13557243  8.24521507 13.01714914]
DEBUG:root:mean evidence: 8.701, std: 2.153 -> th=10.413719314924808
DEBUG:root:evidences for each object: [ 9.1345741   6.11041401  6.26868989  7.65080867  6.62111014  8.45500143
 11.37209816 10.13557243  8.24521507 13.01714914]
DEBUG:root:mean evidence: 8.701, std: 2.153 -> th=11.06457677210761
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 94 ---
INFO:uvicorn.access:192.168.1.217:49300 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.14945858, -0.02108375, -0.98854317],
       [ 0.13968452,  0.99019606, -0.        ],
       [ 0.97885156, -0.13808418,  0.15093837]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00285369,  0.00635965, -0.00079863])}]
INFO:root:Testing 282 out of 14424 hypotheses for numenta_mug (evidence > 2.603429828731201)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.315
INFO:root:Testing 76 out of 10992 hypotheses for montys_brain (evidence > 2.603429828731201)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 6.183
INFO:root:Testing 250 out of 14880 hypotheses for montys_heart (evidence > 2.603429828731201)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.384
INFO:root:Testing 594 out of 23200 hypotheses for ramen_pack (evidence > 2.603429828731201)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.083
INFO:root:Testing 36 out of 14864 hypotheses for hot_sauce (evidence > 2.603429828731201)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.168
INFO:root:Testing 453 out of 12560 hypotheses for harissa_oil (evidence > 2.603429828731201)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 8.797
INFO:root:Testing 620 out of 21832 hypotheses for tomato_soup_can (evidence > 2.603429828731201)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.62
INFO:root:Testing 1011 out of 16976 hypotheses for mustard_bottle (evidence > 2.603429828731201)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.614
INFO:root:Testing 590 out of 17728 hypotheses for tuna_fish_can (evidence > 2.603429828731201)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.213
INFO:root:Testing 811 out of 19024 hypotheses for potted_meat_can (evidence > 2.603429828731201)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.099
DEBUG:root:evidences for each object: [ 9.31505116  6.18323842  6.38422529  8.08347213  6.16840021  8.79721852
 11.61964424 10.61368125  8.21251516 13.09908222]
DEBUG:root:mean evidence: 8.848, std: 2.246 -> th=10.479265774012191
INFO:root:current most likely hypothesis: potted_meat_can with evidence 13.1
DEBUG:root:evidences for each object: [ 9.31505116  6.18323842  6.38422529  8.08347213  6.16840021  8.79721852
 11.61964424 10.61368125  8.21251516 13.09908222]
DEBUG:root:mean evidence: 8.848, std: 2.246 -> th=10.479265774012191
DEBUG:root:evidences for each object: [ 9.31505116  6.18323842  6.38422529  8.08347213  6.16840021  8.79721852
 11.61964424 10.61368125  8.21251516 13.09908222]
DEBUG:root:mean evidence: 8.848, std: 2.246 -> th=11.134219884887953
DEBUG:root:Hypothesis jump indicated: sufficient steps elapsed with no jump
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 95 ---
INFO:uvicorn.access:192.168.1.217:49301 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.62904754, -0.13354544, -0.7658099 ],
       [ 0.20766955,  0.97819904, -0.        ],
       [ 0.74911451, -0.1590354 ,  0.64306702]]), 'pose_fully_defined': False}}, {'patch': array([-0.00164896, -0.00024586,  0.00093211])}]
INFO:root:Testing 256 out of 14424 hypotheses for numenta_mug (evidence > 2.6198164435030478)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.604
INFO:root:Testing 51 out of 10992 hypotheses for montys_brain (evidence > 2.6198164435030478)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 6.607
INFO:root:Testing 176 out of 14880 hypotheses for montys_heart (evidence > 2.6198164435030478)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.78
INFO:root:Testing 573 out of 23200 hypotheses for ramen_pack (evidence > 2.6198164435030478)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.551
INFO:root:Testing 28 out of 14864 hypotheses for hot_sauce (evidence > 2.6198164435030478)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.421
INFO:root:Testing 424 out of 12560 hypotheses for harissa_oil (evidence > 2.6198164435030478)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 9.257
INFO:root:Testing 585 out of 21832 hypotheses for tomato_soup_can (evidence > 2.6198164435030478)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.662
INFO:root:Testing 713 out of 16976 hypotheses for mustard_bottle (evidence > 2.6198164435030478)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.093
INFO:root:Testing 586 out of 17728 hypotheses for tuna_fish_can (evidence > 2.6198164435030478)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.419
INFO:root:Testing 785 out of 19024 hypotheses for potted_meat_can (evidence > 2.6198164435030478)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.328
DEBUG:root:evidences for each object: [ 9.60372376  6.60742886  6.78046374  8.55086058  6.42120815  9.2566207
 11.66237103 11.09273505  8.41857778 13.32767664]
DEBUG:root:mean evidence: 9.172, std: 2.195 -> th=10.66214131236342
INFO:root:current most likely hypothesis: potted_meat_can with evidence 13.33
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 96 ---
INFO:uvicorn.access:192.168.1.217:49301 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.4967918 ,  0.20473778, -0.84337439],
       [-0.38103056,  0.92456244,  0.        ],
       [ 0.77975228,  0.32135142,  0.53732639]]), 'pose_fully_defined': False}}, {'patch': array([0.00033832, 0.0073937 , 0.00633271])}]
INFO:root:Testing 234 out of 14424 hypotheses for numenta_mug (evidence > 2.6655353280908543)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.965
INFO:root:Testing 44 out of 10992 hypotheses for montys_brain (evidence > 2.6655353280908543)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.043
INFO:root:Testing 155 out of 14880 hypotheses for montys_heart (evidence > 2.6655353280908543)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.061
INFO:root:Testing 532 out of 23200 hypotheses for ramen_pack (evidence > 2.6655353280908543)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.669
INFO:root:Testing 27 out of 14864 hypotheses for hot_sauce (evidence > 2.6655353280908543)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.516
INFO:root:Testing 414 out of 12560 hypotheses for harissa_oil (evidence > 2.6655353280908543)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 9.709
INFO:root:Testing 576 out of 21832 hypotheses for tomato_soup_can (evidence > 2.6655353280908543)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.708
INFO:root:Testing 557 out of 16976 hypotheses for mustard_bottle (evidence > 2.6655353280908543)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.053
INFO:root:Testing 581 out of 17728 hypotheses for tuna_fish_can (evidence > 2.6655353280908543)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.618
INFO:root:Testing 760 out of 19024 hypotheses for potted_meat_can (evidence > 2.6655353280908543)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.498
DEBUG:root:evidences for each object: [ 9.9651746   7.04294856  7.06085173  8.66918612  6.51572795  9.70916052
 11.70837891 11.05283722  8.61762108 13.49837238]
DEBUG:root:mean evidence: 9.384, std: 2.139 -> th=10.798697902741464
INFO:root:current most likely hypothesis: potted_meat_can with evidence 13.5
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 97 ---
INFO:uvicorn.access:192.168.1.217:49303 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.04171737, -0.12500428, -0.99127877],
       [ 0.94857105,  0.31656432, -0.        ],
       [ 0.31380349, -0.94029834,  0.13178167]]), 'pose_fully_defined': False}}, {'patch': array([-0.02667689, -0.02989674, -0.01140588])}]
INFO:root:Testing 227 out of 14424 hypotheses for numenta_mug (evidence > 2.699674475685365)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.407
INFO:root:Testing 42 out of 10992 hypotheses for montys_brain (evidence > 2.699674475685365)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.508
INFO:root:Testing 129 out of 14880 hypotheses for montys_heart (evidence > 2.699674475685365)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.247
INFO:root:Testing 497 out of 23200 hypotheses for ramen_pack (evidence > 2.699674475685365)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.976
INFO:root:Testing 23 out of 14864 hypotheses for hot_sauce (evidence > 2.699674475685365)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.925
INFO:root:Testing 409 out of 12560 hypotheses for harissa_oil (evidence > 2.699674475685365)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 10.171
INFO:root:Testing 570 out of 21832 hypotheses for tomato_soup_can (evidence > 2.699674475685365)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.124
INFO:root:Testing 503 out of 16976 hypotheses for mustard_bottle (evidence > 2.699674475685365)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.376
INFO:root:Testing 580 out of 17728 hypotheses for tuna_fish_can (evidence > 2.699674475685365)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 9.034
INFO:root:Testing 739 out of 19024 hypotheses for potted_meat_can (evidence > 2.699674475685365)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 13.776
DEBUG:root:evidences for each object: [10.40680133  7.50836649  7.24692439  8.97617865  6.92537916 10.17081189
 12.12419663 11.37606691  9.03374016 13.77645541]
DEBUG:root:mean evidence: 9.754, std: 2.133 -> th=11.021164328879799
INFO:root:current most likely hypothesis: potted_meat_can with evidence 13.78
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 98 ---
INFO:uvicorn.access:192.168.1.217:49303 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.06649624, -0.00431857, -0.99777733],
       [ 0.06480799,  0.99789775, -0.        ],
       [ 0.99567975, -0.06466394,  0.06663633]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0040352 ,  0.00544023, -0.00121358])}]
INFO:root:Testing 226 out of 14424 hypotheses for numenta_mug (evidence > 2.7552910822199497)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.882
INFO:root:Testing 42 out of 10992 hypotheses for montys_brain (evidence > 2.7552910822199497)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.965
INFO:root:Testing 127 out of 14880 hypotheses for montys_heart (evidence > 2.7552910822199497)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.546
INFO:root:Testing 492 out of 23200 hypotheses for ramen_pack (evidence > 2.7552910822199497)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.361
INFO:root:Testing 22 out of 14864 hypotheses for hot_sauce (evidence > 2.7552910822199497)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.406
INFO:root:Testing 409 out of 12560 hypotheses for harissa_oil (evidence > 2.7552910822199497)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 10.6
INFO:root:Testing 567 out of 21832 hypotheses for tomato_soup_can (evidence > 2.7552910822199497)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.53
INFO:root:Testing 478 out of 16976 hypotheses for mustard_bottle (evidence > 2.7552910822199497)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.707
INFO:root:Testing 579 out of 17728 hypotheses for tuna_fish_can (evidence > 2.7552910822199497)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 9.441
INFO:root:Testing 736 out of 19024 hypotheses for potted_meat_can (evidence > 2.7552910822199497)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.149
DEBUG:root:evidences for each object: [10.88215831  7.96508157  7.54589944  9.36119214  7.40569257 10.60021652
 12.53005893 11.70660986  9.44116797 14.14892725]
DEBUG:root:mean evidence: 10.159, std: 2.122 -> th=11.319141802423786
INFO:root:current most likely hypothesis: potted_meat_can with evidence 14.15
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 99 ---
INFO:uvicorn.access:192.168.1.217:49303 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.05768866,  0.24360472, -0.9681574 ],
       [-0.97308674,  0.23043915,  0.        ],
       [ 0.22310137,  0.94210113,  0.25034225]]), 'pose_fully_defined': False}}, {'patch': array([0.00616305, 0.00464529, 0.0003815 ])}]
INFO:root:Testing 222 out of 14424 hypotheses for numenta_mug (evidence > 2.8297854506059466)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.364
INFO:root:Testing 43 out of 10992 hypotheses for montys_brain (evidence > 2.8297854506059466)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.332
INFO:root:Testing 126 out of 14880 hypotheses for montys_heart (evidence > 2.8297854506059466)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.951
INFO:root:Testing 490 out of 23200 hypotheses for ramen_pack (evidence > 2.8297854506059466)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.797
INFO:root:Testing 21 out of 14864 hypotheses for hot_sauce (evidence > 2.8297854506059466)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.774
INFO:root:Testing 405 out of 12560 hypotheses for harissa_oil (evidence > 2.8297854506059466)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 11.076
INFO:root:Testing 566 out of 21832 hypotheses for tomato_soup_can (evidence > 2.8297854506059466)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.932
INFO:root:Testing 464 out of 16976 hypotheses for mustard_bottle (evidence > 2.8297854506059466)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.028
INFO:root:Testing 578 out of 17728 hypotheses for tuna_fish_can (evidence > 2.8297854506059466)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 9.839
INFO:root:Testing 734 out of 19024 hypotheses for potted_meat_can (evidence > 2.8297854506059466)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.452
DEBUG:root:evidences for each object: [11.36403887  8.33163794  7.95090075  9.79702786  7.77360339 11.07557415
 12.93188786 12.02845527  9.83929262 14.45150042]
DEBUG:root:mean evidence: 10.554, std: 2.109 -> th=11.561200335551826
INFO:root:current most likely hypothesis: potted_meat_can with evidence 14.45
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 100 ---
INFO:uvicorn.access:192.168.1.217:49303 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.04860143,  0.43073172, -0.9011704 ],
       [-0.99369433,  0.11212307,  0.        ],
       [ 0.101042  ,  0.89548791,  0.43346501]]), 'pose_fully_defined': False}}, {'patch': array([0.00145703, 0.00842221, 0.00361397])}]
INFO:root:Testing 221 out of 14424 hypotheses for numenta_mug (evidence > 2.890300083887956)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.787
INFO:root:Testing 45 out of 10992 hypotheses for montys_brain (evidence > 2.890300083887956)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.673
INFO:root:Testing 126 out of 14880 hypotheses for montys_heart (evidence > 2.890300083887956)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.181
INFO:root:Testing 486 out of 23200 hypotheses for ramen_pack (evidence > 2.890300083887956)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.202
INFO:root:Testing 20 out of 14864 hypotheses for hot_sauce (evidence > 2.890300083887956)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.137
INFO:root:Testing 399 out of 12560 hypotheses for harissa_oil (evidence > 2.890300083887956)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 11.489
INFO:root:Testing 564 out of 21832 hypotheses for tomato_soup_can (evidence > 2.890300083887956)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 13.342
INFO:root:Testing 459 out of 16976 hypotheses for mustard_bottle (evidence > 2.890300083887956)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.313
INFO:root:Testing 577 out of 17728 hypotheses for tuna_fish_can (evidence > 2.890300083887956)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 10.246
INFO:root:Testing 726 out of 19024 hypotheses for potted_meat_can (evidence > 2.890300083887956)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 14.895
DEBUG:root:evidences for each object: [11.78675979  8.67277697  8.18112662 10.20202114  8.13712086 11.48891545
 13.34247865 12.31346877 10.24578069 14.89500995]
DEBUG:root:mean evidence: 10.927, std: 2.144 -> th=11.9160079592598
INFO:root:current most likely hypothesis: potted_meat_can with evidence 14.9
DEBUG:root:evidences for each object: [11.78675979  8.67277697  8.18112662 10.20202114  8.13712086 11.48891545
 13.34247865 12.31346877 10.24578069 14.89500995]
DEBUG:root:mean evidence: 10.927, std: 2.144 -> th=11.9160079592598
DEBUG:root:evidences for each object: [11.78675979  8.67277697  8.18112662 10.20202114  8.13712086 11.48891545
 13.34247865 12.31346877 10.24578069 14.89500995]
DEBUG:root:mean evidence: 10.927, std: 2.144 -> th=12.660758456713538
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 101 ---
INFO:uvicorn.access:192.168.1.217:49303 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.13675417,  0.43985793, -0.88759411],
       [-0.9549125 ,  0.29688738,  0.        ],
       [ 0.26351549,  0.84757471,  0.46062642]]), 'pose_fully_defined': False}}, {'patch': array([-0.00247543, -0.01026571, -0.00532232])}]
INFO:root:Testing 221 out of 14424 hypotheses for numenta_mug (evidence > 2.9790019898149485)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.156
INFO:root:Testing 45 out of 10992 hypotheses for montys_brain (evidence > 2.9790019898149485)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.915
INFO:root:Testing 126 out of 14880 hypotheses for montys_heart (evidence > 2.9790019898149485)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.601
INFO:root:Testing 486 out of 23200 hypotheses for ramen_pack (evidence > 2.9790019898149485)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.597
INFO:root:Testing 20 out of 14864 hypotheses for hot_sauce (evidence > 2.9790019898149485)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.436
INFO:root:Testing 399 out of 12560 hypotheses for harissa_oil (evidence > 2.9790019898149485)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 11.864
INFO:root:Testing 564 out of 21832 hypotheses for tomato_soup_can (evidence > 2.9790019898149485)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 13.636
INFO:root:Testing 456 out of 16976 hypotheses for mustard_bottle (evidence > 2.9790019898149485)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.525
INFO:root:Testing 571 out of 17728 hypotheses for tuna_fish_can (evidence > 2.9790019898149485)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 10.566
INFO:root:Testing 726 out of 19024 hypotheses for potted_meat_can (evidence > 2.9790019898149485)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.089
DEBUG:root:evidences for each object: [12.15575794  8.91475859  8.60082874 10.59740541  8.43564918 11.86443627
 13.6364908  12.5252865  10.5659398  15.08853766]
DEBUG:root:mean evidence: 11.239, std: 2.11 -> th=12.07083013063114
INFO:root:current most likely hypothesis: potted_meat_can with evidence 15.09
DEBUG:root:evidences for each object: [12.15575794  8.91475859  8.60082874 10.59740541  8.43564918 11.86443627
 13.6364908  12.5252865  10.5659398  15.08853766]
DEBUG:root:mean evidence: 11.239, std: 2.11 -> th=12.07083013063114
DEBUG:root:evidences for each object: [12.15575794  8.91475859  8.60082874 10.59740541  8.43564918 11.86443627
 13.6364908  12.5252865  10.5659398  15.08853766]
DEBUG:root:mean evidence: 11.239, std: 2.11 -> th=12.825257013795586
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can', 'numenta_mug', 'mustard_bottle'}
INFO:root:--- Global Matching Step 102 ---
INFO:uvicorn.access:192.168.1.217:49305 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.11638745,  0.17321727, -0.97798248],
       [-0.83003386,  0.557713  ,  0.        ],
       [ 0.54543354,  0.81175858,  0.208687  ]]), 'pose_fully_defined': False}}, {'patch': array([0.00360964, 0.00740716, 0.00331622])}]
INFO:root:Testing 218 out of 14424 hypotheses for numenta_mug (evidence > 3.0177075326577842)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.619
INFO:root:Testing 45 out of 10992 hypotheses for montys_brain (evidence > 3.0177075326577842)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.319
INFO:root:Testing 123 out of 14880 hypotheses for montys_heart (evidence > 3.0177075326577842)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.054
INFO:root:Testing 484 out of 23200 hypotheses for ramen_pack (evidence > 3.0177075326577842)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.076
INFO:root:Testing 20 out of 14864 hypotheses for hot_sauce (evidence > 3.0177075326577842)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.9
INFO:root:Testing 391 out of 12560 hypotheses for harissa_oil (evidence > 3.0177075326577842)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 12.267
INFO:root:Testing 562 out of 21832 hypotheses for tomato_soup_can (evidence > 3.0177075326577842)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 14.025
INFO:root:Testing 449 out of 16976 hypotheses for mustard_bottle (evidence > 3.0177075326577842)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.921
INFO:root:Testing 567 out of 17728 hypotheses for tuna_fish_can (evidence > 3.0177075326577842)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 10.949
INFO:root:Testing 718 out of 19024 hypotheses for potted_meat_can (evidence > 3.0177075326577842)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.521
DEBUG:root:evidences for each object: [12.61893464  9.318924    9.05416355 11.07607636  8.90042021 12.26722249
 14.02464177 12.92080751 10.94868709 15.5206746 ]
DEBUG:root:mean evidence: 11.665, std: 2.1 -> th=12.416539677098019
INFO:root:current most likely hypothesis: potted_meat_can with evidence 15.52
DEBUG:root:evidences for each object: [12.61893464  9.318924    9.05416355 11.07607636  8.90042021 12.26722249
 14.02464177 12.92080751 10.94868709 15.5206746 ]
DEBUG:root:mean evidence: 11.665, std: 2.1 -> th=12.416539677098019
DEBUG:root:evidences for each object: [12.61893464  9.318924    9.05416355 11.07607636  8.90042021 12.26722249
 14.02464177 12.92080751 10.94868709 15.5206746 ]
DEBUG:root:mean evidence: 11.665, std: 2.1 -> th=13.192573406916646
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can', 'numenta_mug', 'mustard_bottle'}
INFO:root:--- Global Matching Step 103 ---
INFO:uvicorn.access:192.168.1.217:49305 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.74247309,  0.39480487, -0.54116802],
       [-0.46949468, -0.8829353 ,  0.        ],
       [-0.47781635,  0.25407551,  0.84091449]]), 'pose_fully_defined': False}}, {'patch': array([-0.00126198,  0.01418343,  0.01084651])}]
INFO:root:Testing 218 out of 14424 hypotheses for numenta_mug (evidence > 3.104134919274504)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.733
INFO:root:Testing 45 out of 10992 hypotheses for montys_brain (evidence > 3.104134919274504)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.413
INFO:root:Testing 123 out of 14880 hypotheses for montys_heart (evidence > 3.104134919274504)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.805
INFO:root:Testing 484 out of 23200 hypotheses for ramen_pack (evidence > 3.104134919274504)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.173
INFO:root:Testing 20 out of 14864 hypotheses for hot_sauce (evidence > 3.104134919274504)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.581
INFO:root:Testing 390 out of 12560 hypotheses for harissa_oil (evidence > 3.104134919274504)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 12.438
INFO:root:Testing 562 out of 21832 hypotheses for tomato_soup_can (evidence > 3.104134919274504)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 14.16
INFO:root:Testing 447 out of 16976 hypotheses for mustard_bottle (evidence > 3.104134919274504)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.921
INFO:root:Testing 557 out of 17728 hypotheses for tuna_fish_can (evidence > 3.104134919274504)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 11.08
INFO:root:Testing 718 out of 19024 hypotheses for potted_meat_can (evidence > 3.104134919274504)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.618
DEBUG:root:evidences for each object: [12.73318915  9.41328796  8.80497468 11.17338808  8.58052387 12.43825478
 14.15969758 11.92080751 11.0804627  15.6175195 ]
DEBUG:root:mean evidence: 11.592, std: 2.167 -> th=12.494015597029346
INFO:root:current most likely hypothesis: potted_meat_can with evidence 15.62
DEBUG:root:evidences for each object: [12.73318915  9.41328796  8.80497468 11.17338808  8.58052387 12.43825478
 14.15969758 11.92080751 11.0804627  15.6175195 ]
DEBUG:root:mean evidence: 11.592, std: 2.167 -> th=12.494015597029346
DEBUG:root:evidences for each object: [12.73318915  9.41328796  8.80497468 11.17338808  8.58052387 12.43825478
 14.15969758 11.92080751 11.0804627  15.6175195 ]
DEBUG:root:mean evidence: 11.592, std: 2.167 -> th=13.27489157184368
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'numenta_mug', 'potted_meat_can'}
INFO:root:--- Global Matching Step 104 ---
INFO:uvicorn.access:192.168.1.217:49305 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.04738459,  0.47042121, -0.88116887],
       [-0.99496521,  0.10022086,  0.        ],
       [ 0.0883115 ,  0.87673238,  0.47280166]]), 'pose_fully_defined': False}}, {'patch': array([-0.00171016, -0.00126972, -0.00355417])}]
INFO:root:Testing 214 out of 14424 hypotheses for numenta_mug (evidence > 3.1235038992573365)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 13.149
INFO:root:Testing 45 out of 10992 hypotheses for montys_brain (evidence > 3.1235038992573365)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.892
INFO:root:Testing 120 out of 14880 hypotheses for montys_heart (evidence > 3.1235038992573365)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.144
INFO:root:Testing 482 out of 23200 hypotheses for ramen_pack (evidence > 3.1235038992573365)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.604
INFO:root:Testing 19 out of 14864 hypotheses for hot_sauce (evidence > 3.1235038992573365)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.008
INFO:root:Testing 377 out of 12560 hypotheses for harissa_oil (evidence > 3.1235038992573365)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 12.834
INFO:root:Testing 559 out of 21832 hypotheses for tomato_soup_can (evidence > 3.1235038992573365)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 14.584
INFO:root:Testing 432 out of 16976 hypotheses for mustard_bottle (evidence > 3.1235038992573365)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.066
INFO:root:Testing 555 out of 17728 hypotheses for tuna_fish_can (evidence > 3.1235038992573365)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 11.509
INFO:root:Testing 715 out of 19024 hypotheses for potted_meat_can (evidence > 3.1235038992573365)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.03
DEBUG:root:evidences for each object: [13.14948644  9.89216503  9.14381783 11.60391982  9.00796306 12.83417419
 14.58402031 12.06578047 11.50943378 16.03007433]
DEBUG:root:mean evidence: 11.982, std: 2.165 -> th=12.824059460527888
INFO:root:current most likely hypothesis: potted_meat_can with evidence 16.03
DEBUG:root:evidences for each object: [13.14948644  9.89216503  9.14381783 11.60391982  9.00796306 12.83417419
 14.58402031 12.06578047 11.50943378 16.03007433]
DEBUG:root:mean evidence: 11.982, std: 2.165 -> th=12.824059460527888
DEBUG:root:evidences for each object: [13.14948644  9.89216503  9.14381783 11.60391982  9.00796306 12.83417419
 14.58402031 12.06578047 11.50943378 16.03007433]
DEBUG:root:mean evidence: 11.982, std: 2.165 -> th=13.625563176810882
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'harissa_oil', 'tomato_soup_can', 'numenta_mug', 'potted_meat_can'}
INFO:root:--- Global Matching Step 105 ---
INFO:uvicorn.access:192.168.1.217:49307 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.1266367 ,  0.01605012, -0.99181931],
       [-0.12573563, -0.99206378,  0.        ],
       [-0.98394802,  0.12470703,  0.12764975]]), 'pose_fully_defined': False}}, {'patch': array([-0.00312861, -0.02475287, -0.00751736])}]
INFO:root:Testing 200 out of 14424 hypotheses for numenta_mug (evidence > 3.206014865131971)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 13.611
INFO:root:Testing 45 out of 10992 hypotheses for montys_brain (evidence > 3.206014865131971)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.265
INFO:root:Testing 119 out of 14880 hypotheses for montys_heart (evidence > 3.206014865131971)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.426
INFO:root:Testing 476 out of 23200 hypotheses for ramen_pack (evidence > 3.206014865131971)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.055
INFO:root:Testing 15 out of 14864 hypotheses for hot_sauce (evidence > 3.206014865131971)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.484
INFO:root:Testing 354 out of 12560 hypotheses for harissa_oil (evidence > 3.206014865131971)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 13.208
INFO:root:Testing 551 out of 21832 hypotheses for tomato_soup_can (evidence > 3.206014865131971)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 15.078
INFO:root:Testing 400 out of 16976 hypotheses for mustard_bottle (evidence > 3.206014865131971)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.407
INFO:root:Testing 554 out of 17728 hypotheses for tuna_fish_can (evidence > 3.206014865131971)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 12.008
INFO:root:Testing 703 out of 19024 hypotheses for potted_meat_can (evidence > 3.206014865131971)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.38
DEBUG:root:evidences for each object: [13.61139109 10.2645155   9.42631262 12.054981    9.48429406 13.20811073
 15.07772083 12.40743271 12.00826564 16.38049928]
DEBUG:root:mean evidence: 12.392, std: 2.175 -> th=13.104399420557906
INFO:root:current most likely hypothesis: potted_meat_can with evidence 16.38
DEBUG:root:evidences for each object: [13.61139109 10.2645155   9.42631262 12.054981    9.48429406 13.20811073
 15.07772083 12.40743271 12.00826564 16.38049928]
DEBUG:root:mean evidence: 12.392, std: 2.175 -> th=13.104399420557906
DEBUG:root:evidences for each object: [13.61139109 10.2645155   9.42631262 12.054981    9.48429406 13.20811073
 15.07772083 12.40743271 12.00826564 16.38049928]
DEBUG:root:mean evidence: 12.392, std: 2.175 -> th=13.923424384342773
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'harissa_oil', 'tomato_soup_can', 'numenta_mug', 'potted_meat_can'}
INFO:root:--- Global Matching Step 106 ---
INFO:uvicorn.access:192.168.1.217:49307 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.23792093,  0.1739945 , -0.95557289],
       [-0.59030231, -0.80718225,  0.        ],
       [-0.77132147,  0.56407688,  0.2947549 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00278467,  0.00447702, -0.00135614])}]
INFO:root:Testing 199 out of 14424 hypotheses for numenta_mug (evidence > 3.276099855139476)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 14.017
INFO:root:Testing 45 out of 10992 hypotheses for montys_brain (evidence > 3.276099855139476)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.567
INFO:root:Testing 119 out of 14880 hypotheses for montys_heart (evidence > 3.276099855139476)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.636
INFO:root:Testing 476 out of 23200 hypotheses for ramen_pack (evidence > 3.276099855139476)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.488
INFO:root:Testing 14 out of 14864 hypotheses for hot_sauce (evidence > 3.276099855139476)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.893
INFO:root:Testing 350 out of 12560 hypotheses for harissa_oil (evidence > 3.276099855139476)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 13.6
INFO:root:Testing 550 out of 21832 hypotheses for tomato_soup_can (evidence > 3.276099855139476)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 15.509
INFO:root:Testing 391 out of 16976 hypotheses for mustard_bottle (evidence > 3.276099855139476)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.74
INFO:root:Testing 552 out of 17728 hypotheses for tuna_fish_can (evidence > 3.276099855139476)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 12.452
INFO:root:Testing 696 out of 19024 hypotheses for potted_meat_can (evidence > 3.276099855139476)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.693
DEBUG:root:evidences for each object: [14.01705583 10.56655142  9.63561408 12.48813074  9.89336446 13.60018888
 15.50850791 12.74035531 12.4523026  16.6934249 ]
DEBUG:root:mean evidence: 12.76, std: 2.197 -> th=13.354739923972256
INFO:root:current most likely hypothesis: potted_meat_can with evidence 16.69
DEBUG:root:evidences for each object: [14.01705583 10.56655142  9.63561408 12.48813074  9.89336446 13.60018888
 15.50850791 12.74035531 12.4523026  16.6934249 ]
DEBUG:root:mean evidence: 12.76, std: 2.197 -> th=13.354739923972256
DEBUG:root:evidences for each object: [14.01705583 10.56655142  9.63561408 12.48813074  9.89336446 13.60018888
 15.50850791 12.74035531 12.4523026  16.6934249 ]
DEBUG:root:mean evidence: 12.76, std: 2.197 -> th=14.189411169220522
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'harissa_oil', 'tomato_soup_can', 'numenta_mug', 'potted_meat_can'}
INFO:root:--- Global Matching Step 107 ---
INFO:uvicorn.access:192.168.1.217:49307 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:49307 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.15719805,  0.26881319, -0.95027798],
       [-0.86323281, -0.50480602,  0.        ],
       [-0.47970605,  0.82031113,  0.31140289]]), 'pose_fully_defined': False}}, {'patch': array([-0.00181161,  0.00905606,  0.00246742])}]
INFO:root:Testing 196 out of 14424 hypotheses for numenta_mug (evidence > 3.3386849809930634)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 14.466
INFO:root:Testing 45 out of 10992 hypotheses for montys_brain (evidence > 3.3386849809930634)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.0
INFO:root:Testing 118 out of 14880 hypotheses for montys_heart (evidence > 3.3386849809930634)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.987
INFO:root:Testing 473 out of 23200 hypotheses for ramen_pack (evidence > 3.3386849809930634)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.971
INFO:root:Testing 14 out of 14864 hypotheses for hot_sauce (evidence > 3.3386849809930634)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.289
INFO:root:Testing 347 out of 12560 hypotheses for harissa_oil (evidence > 3.3386849809930634)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 14.093
INFO:root:Testing 549 out of 21832 hypotheses for tomato_soup_can (evidence > 3.3386849809930634)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 15.982
INFO:root:Testing 382 out of 16976 hypotheses for mustard_bottle (evidence > 3.3386849809930634)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.096
INFO:root:Testing 548 out of 17728 hypotheses for tuna_fish_can (evidence > 3.3386849809930634)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 12.924
INFO:root:Testing 693 out of 19024 hypotheses for potted_meat_can (evidence > 3.3386849809930634)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.144
DEBUG:root:evidences for each object: [14.46580399 11.00047154  9.98700162 12.97139681 10.28938337 14.09349232
 15.98175335 13.09582865 12.9239781  17.14444338]
DEBUG:root:mean evidence: 13.195, std: 2.224 -> th=13.715554701071643
INFO:root:current most likely hypothesis: potted_meat_can with evidence 17.14
DEBUG:root:evidences for each object: [14.46580399 11.00047154  9.98700162 12.97139681 10.28938337 14.09349232
 15.98175335 13.09582865 12.9239781  17.14444338]
DEBUG:root:mean evidence: 13.195, std: 2.224 -> th=13.715554701071643
DEBUG:root:evidences for each object: [14.46580399 11.00047154  9.98700162 12.97139681 10.28938337 14.09349232
 15.98175335 13.09582865 12.9239781  17.14444338]
DEBUG:root:mean evidence: 13.195, std: 2.224 -> th=14.572776869888619
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'harissa_oil', 'tomato_soup_can', 'numenta_mug', 'potted_meat_can'}
INFO:root:--- Global Matching Step 108 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.17727424,  0.13043328, -0.97547988],
       [-0.59263986,  0.80546757,  0.        ],
       [ 0.78571741,  0.57810826,  0.22008861]]), 'pose_fully_defined': False}}, {'patch': array([-0.01612652,  0.02329818, -0.00073971])}]
INFO:root:Testing 195 out of 14424 hypotheses for numenta_mug (evidence > 3.4288886752679097)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 13.806
INFO:root:Testing 45 out of 10992 hypotheses for montys_brain (evidence > 3.4288886752679097)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.441
INFO:root:Testing 118 out of 14880 hypotheses for montys_heart (evidence > 3.4288886752679097)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.696
INFO:root:Testing 468 out of 23200 hypotheses for ramen_pack (evidence > 3.4288886752679097)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.384
INFO:root:Testing 14 out of 14864 hypotheses for hot_sauce (evidence > 3.4288886752679097)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.623
INFO:root:Testing 341 out of 12560 hypotheses for harissa_oil (evidence > 3.4288886752679097)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 13.613
INFO:root:Testing 542 out of 21832 hypotheses for tomato_soup_can (evidence > 3.4288886752679097)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 14.982
INFO:root:Testing 374 out of 16976 hypotheses for mustard_bottle (evidence > 3.4288886752679097)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.477
INFO:root:Testing 542 out of 17728 hypotheses for tuna_fish_can (evidence > 3.4288886752679097)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 12.992
INFO:root:Testing 686 out of 19024 hypotheses for potted_meat_can (evidence > 3.4288886752679097)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.144
DEBUG:root:evidences for each object: [13.80565118 10.44092141  9.69634209 13.38402992 10.62322456 13.61269173
 14.98175335 13.47712972 12.99196203 16.14444338]
DEBUG:root:mean evidence: 12.916, std: 1.956 -> th=12.915554701071642
INFO:root:current most likely hypothesis: potted_meat_can with evidence 16.14
DEBUG:root:evidences for each object: [13.80565118 10.44092141  9.69634209 13.38402992 10.62322456 13.61269173
 14.98175335 13.47712972 12.99196203 16.14444338]
DEBUG:root:mean evidence: 12.916, std: 1.956 -> th=12.915554701071642
DEBUG:root:evidences for each object: [13.80565118 10.44092141  9.69634209 13.38402992 10.62322456 13.61269173
 14.98175335 13.47712972 12.99196203 16.14444338]
DEBUG:root:mean evidence: 12.916, std: 1.956 -> th=13.72277686988862
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 109 ---
INFO:uvicorn.access:192.168.1.217:49307 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.0344882 ,  0.16736869, -0.98529097],
       [-0.97942242,  0.20182101,  0.        ],
       [ 0.19885241,  0.96501606,  0.17088509]]), 'pose_fully_defined': False}}, {'patch': array([ 0.02832624, -0.02577403,  0.00279993])}]
INFO:root:Testing 192 out of 14424 hypotheses for numenta_mug (evidence > 3.2288886752679105)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 14.249
INFO:root:Testing 45 out of 10992 hypotheses for montys_brain (evidence > 3.2288886752679105)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.718
INFO:root:Testing 108 out of 14880 hypotheses for montys_heart (evidence > 3.2288886752679105)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.898
INFO:root:Testing 469 out of 23200 hypotheses for ramen_pack (evidence > 3.2288886752679105)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.736
INFO:root:Testing 15 out of 14864 hypotheses for hot_sauce (evidence > 3.2288886752679105)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.064
INFO:root:Testing 345 out of 12560 hypotheses for harissa_oil (evidence > 3.2288886752679105)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 14.038
INFO:root:Testing 545 out of 21832 hypotheses for tomato_soup_can (evidence > 3.2288886752679105)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 15.422
INFO:root:Testing 363 out of 16976 hypotheses for mustard_bottle (evidence > 3.2288886752679105)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.788
INFO:root:Testing 541 out of 17728 hypotheses for tuna_fish_can (evidence > 3.2288886752679105)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 13.105
INFO:root:Testing 680 out of 19024 hypotheses for potted_meat_can (evidence > 3.2288886752679105)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.618
DEBUG:root:evidences for each object: [14.24894222 10.7175146   9.89755498 13.73599898 11.06353306 14.03813992
 15.42176254 13.7875368  13.10514086 16.61759198]
DEBUG:root:mean evidence: 13.263, std: 2.016 -> th=13.294073586336737
INFO:root:current most likely hypothesis: potted_meat_can with evidence 16.62
DEBUG:root:evidences for each object: [14.24894222 10.7175146   9.89755498 13.73599898 11.06353306 14.03813992
 15.42176254 13.7875368  13.10514086 16.61759198]
DEBUG:root:mean evidence: 13.263, std: 2.016 -> th=13.294073586336737
DEBUG:root:evidences for each object: [14.24894222 10.7175146   9.89755498 13.73599898 11.06353306 14.03813992
 15.42176254 13.7875368  13.10514086 16.61759198]
DEBUG:root:mean evidence: 13.263, std: 2.016 -> th=14.124953185482783
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'mustard_bottle'}
INFO:root:--- Global Matching Step 110 ---
INFO:uvicorn.access:192.168.1.217:49308 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.02026485,  0.16809614, -0.98556229],
       [-0.9928115 ,  0.11968848,  0.        ],
       [ 0.11796046,  0.97847757,  0.16931325]]), 'pose_fully_defined': False}}, {'patch': array([-0.00263678, -0.00989132, -0.00208711])}]
INFO:root:Testing 188 out of 14424 hypotheses for numenta_mug (evidence > 3.323518396584184)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 14.618
INFO:root:Testing 45 out of 10992 hypotheses for montys_brain (evidence > 3.323518396584184)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.958
INFO:root:Testing 105 out of 14880 hypotheses for montys_heart (evidence > 3.323518396584184)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.136
INFO:root:Testing 462 out of 23200 hypotheses for ramen_pack (evidence > 3.323518396584184)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.15
INFO:root:Testing 15 out of 14864 hypotheses for hot_sauce (evidence > 3.323518396584184)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.376
INFO:root:Testing 341 out of 12560 hypotheses for harissa_oil (evidence > 3.323518396584184)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 14.41
INFO:root:Testing 541 out of 21832 hypotheses for tomato_soup_can (evidence > 3.323518396584184)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 15.816
INFO:root:Testing 353 out of 16976 hypotheses for mustard_bottle (evidence > 3.323518396584184)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.151
INFO:root:Testing 527 out of 17728 hypotheses for tuna_fish_can (evidence > 3.323518396584184)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 13.458
INFO:root:Testing 675 out of 19024 hypotheses for potted_meat_can (evidence > 3.323518396584184)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.754
DEBUG:root:evidences for each object: [14.61781178 10.95800518 10.135557   14.14985347 11.37645844 14.41004481
 15.81624741 14.15117209 13.45827446 16.75383927]
DEBUG:root:mean evidence: 13.583, std: 2.027 -> th=13.403071416450128
INFO:root:current most likely hypothesis: potted_meat_can with evidence 16.75
DEBUG:root:evidences for each object: [14.61781178 10.95800518 10.135557   14.14985347 11.37645844 14.41004481
 15.81624741 14.15117209 13.45827446 16.75383927]
DEBUG:root:mean evidence: 13.583, std: 2.027 -> th=13.403071416450128
DEBUG:root:evidences for each object: [14.61781178 10.95800518 10.135557   14.14985347 11.37645844 14.41004481
 15.81624741 14.15117209 13.45827446 16.75383927]
DEBUG:root:mean evidence: 13.583, std: 2.027 -> th=14.240763379978262
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 111 ---
INFO:uvicorn.access:192.168.1.217:49308 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.02952601,  0.23390657, -0.97181065],
       [-0.99212696,  0.12523612,  0.        ],
       [ 0.1217058 ,  0.96415955,  0.23576274]]), 'pose_fully_defined': False}}, {'patch': array([-0.00658876,  0.01523184,  0.00317056])}]
INFO:root:Testing 188 out of 14424 hypotheses for numenta_mug (evidence > 3.350767854112531)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 15.056
INFO:root:Testing 45 out of 10992 hypotheses for montys_brain (evidence > 3.350767854112531)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.34
INFO:root:Testing 103 out of 14880 hypotheses for montys_heart (evidence > 3.350767854112531)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.446
INFO:root:Testing 459 out of 23200 hypotheses for ramen_pack (evidence > 3.350767854112531)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.64
INFO:root:Testing 15 out of 14864 hypotheses for hot_sauce (evidence > 3.350767854112531)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.79
INFO:root:Testing 341 out of 12560 hypotheses for harissa_oil (evidence > 3.350767854112531)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 14.809
INFO:root:Testing 537 out of 21832 hypotheses for tomato_soup_can (evidence > 3.350767854112531)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 16.257
INFO:root:Testing 352 out of 16976 hypotheses for mustard_bottle (evidence > 3.350767854112531)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.539
INFO:root:Testing 523 out of 17728 hypotheses for tuna_fish_can (evidence > 3.350767854112531)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 13.908
INFO:root:Testing 675 out of 19024 hypotheses for potted_meat_can (evidence > 3.350767854112531)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.166
DEBUG:root:evidences for each object: [15.05596947 11.34044194 10.44575281 14.63980153 11.79049235 14.80882304
 16.2569309  14.53939342 13.90786579 17.16578943]
DEBUG:root:mean evidence: 13.995, std: 2.054 -> th=13.73263154294644
INFO:root:current most likely hypothesis: potted_meat_can with evidence 17.17
DEBUG:root:evidences for each object: [15.05596947 11.34044194 10.44575281 14.63980153 11.79049235 14.80882304
 16.2569309  14.53939342 13.90786579 17.16578943]
DEBUG:root:mean evidence: 13.995, std: 2.054 -> th=13.73263154294644
DEBUG:root:evidences for each object: [15.05596947 11.34044194 10.44575281 14.63980153 11.79049235 14.80882304
 16.2569309  14.53939342 13.90786579 17.16578943]
DEBUG:root:mean evidence: 13.995, std: 2.054 -> th=14.59092101438059
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 112 ---
INFO:uvicorn.access:192.168.1.217:49308 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.00554631,  0.2653921 , -0.96412461],
       [-0.9997817 ,  0.02089398,  0.        ],
       [ 0.0201444 ,  0.96391414,  0.26545005]]), 'pose_fully_defined': False}}, {'patch': array([0.01528909, 0.00130684, 0.00259073])}]
INFO:root:Testing 188 out of 14424 hypotheses for numenta_mug (evidence > 3.433157885736609)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 15.286
INFO:root:Testing 45 out of 10992 hypotheses for montys_brain (evidence > 3.433157885736609)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.524
INFO:root:Testing 102 out of 14880 hypotheses for montys_heart (evidence > 3.433157885736609)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.513
INFO:root:Testing 454 out of 23200 hypotheses for ramen_pack (evidence > 3.433157885736609)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.674
INFO:root:Testing 15 out of 14864 hypotheses for hot_sauce (evidence > 3.433157885736609)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.012
INFO:root:Testing 334 out of 12560 hypotheses for harissa_oil (evidence > 3.433157885736609)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 14.903
INFO:root:Testing 536 out of 21832 hypotheses for tomato_soup_can (evidence > 3.433157885736609)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 16.282
INFO:root:Testing 345 out of 16976 hypotheses for mustard_bottle (evidence > 3.433157885736609)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.646
INFO:root:Testing 516 out of 17728 hypotheses for tuna_fish_can (evidence > 3.433157885736609)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 13.913
INFO:root:Testing 658 out of 19024 hypotheses for potted_meat_can (evidence > 3.433157885736609)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.266
DEBUG:root:evidences for each object: [15.28639987 11.52418869 10.51291368 14.67412109 12.01233881 14.90279049
 16.28224528 14.64613314 13.91281978 17.26645607]
DEBUG:root:mean evidence: 14.102, std: 2.034 -> th=13.8131648529915
INFO:root:current most likely hypothesis: potted_meat_can with evidence 17.27
DEBUG:root:evidences for each object: [15.28639987 11.52418869 10.51291368 14.67412109 12.01233881 14.90279049
 16.28224528 14.64613314 13.91281978 17.26645607]
DEBUG:root:mean evidence: 14.102, std: 2.034 -> th=13.8131648529915
DEBUG:root:evidences for each object: [15.28639987 11.52418869 10.51291368 14.67412109 12.01233881 14.90279049
 16.28224528 14.64613314 13.91281978 17.26645607]
DEBUG:root:mean evidence: 14.102, std: 2.034 -> th=14.676487656303468
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 113 ---
INFO:uvicorn.access:192.168.1.217:49308 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.03907105,  0.21488708, -0.97585706],
       [-0.98386936, -0.17888844,  0.        ],
       [-0.17456954,  0.96011586,  0.21841018]]), 'pose_fully_defined': False}}, {'patch': array([-0.00783728,  0.00369038,  0.00023637])}]
INFO:root:Testing 187 out of 14424 hypotheses for numenta_mug (evidence > 3.4532912132478746)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 15.73
INFO:root:Testing 44 out of 10992 hypotheses for montys_brain (evidence > 3.4532912132478746)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.931
INFO:root:Testing 102 out of 14880 hypotheses for montys_heart (evidence > 3.4532912132478746)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.63
INFO:root:Testing 451 out of 23200 hypotheses for ramen_pack (evidence > 3.4532912132478746)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.938
INFO:root:Testing 13 out of 14864 hypotheses for hot_sauce (evidence > 3.4532912132478746)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.261
INFO:root:Testing 333 out of 12560 hypotheses for harissa_oil (evidence > 3.4532912132478746)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 15.353
INFO:root:Testing 536 out of 21832 hypotheses for tomato_soup_can (evidence > 3.4532912132478746)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 16.782
INFO:root:Testing 343 out of 16976 hypotheses for mustard_bottle (evidence > 3.4532912132478746)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.992
INFO:root:Testing 514 out of 17728 hypotheses for tuna_fish_can (evidence > 3.4532912132478746)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 14.361
INFO:root:Testing 653 out of 19024 hypotheses for potted_meat_can (evidence > 3.4532912132478746)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.518
DEBUG:root:evidences for each object: [15.73022523 11.9307095  10.63018727 14.93792162 12.26115282 15.3526906
 16.78224528 14.99217317 14.36079468 17.51797276]
DEBUG:root:mean evidence: 14.45, std: 2.087 -> th=14.014378210241228
INFO:root:current most likely hypothesis: potted_meat_can with evidence 17.52
DEBUG:root:evidences for each object: [15.73022523 11.9307095  10.63018727 14.93792162 12.26115282 15.3526906
 16.78224528 14.99217317 14.36079468 17.51797276]
DEBUG:root:mean evidence: 14.45, std: 2.087 -> th=14.014378210241228
DEBUG:root:evidences for each object: [15.73022523 11.9307095  10.63018727 14.93792162 12.26115282 15.3526906
 16.78224528 14.99217317 14.36079468 17.51797276]
DEBUG:root:mean evidence: 14.45, std: 2.087 -> th=14.890276848381305
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 114 ---
INFO:uvicorn.access:192.168.1.217:49308 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.04970499,  0.14944948, -0.98751925],
       [-0.94889547,  0.31559053,  0.        ],
       [ 0.31165172,  0.93705254,  0.15749836]]), 'pose_fully_defined': False}}, {'patch': array([-0.00116136, -0.03232412, -0.00619355])}]
INFO:root:Testing 186 out of 14424 hypotheses for numenta_mug (evidence > 3.5035945525603065)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 15.982
INFO:root:Testing 44 out of 10992 hypotheses for montys_brain (evidence > 3.5035945525603065)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.83
INFO:root:Testing 101 out of 14880 hypotheses for montys_heart (evidence > 3.5035945525603065)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.864
INFO:root:Testing 449 out of 23200 hypotheses for ramen_pack (evidence > 3.5035945525603065)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.331
INFO:root:Testing 13 out of 14864 hypotheses for hot_sauce (evidence > 3.5035945525603065)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.261
INFO:root:Testing 331 out of 12560 hypotheses for harissa_oil (evidence > 3.5035945525603065)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 15.631
INFO:root:Testing 536 out of 21832 hypotheses for tomato_soup_can (evidence > 3.5035945525603065)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 17.158
INFO:root:Testing 337 out of 16976 hypotheses for mustard_bottle (evidence > 3.5035945525603065)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.297
INFO:root:Testing 510 out of 17728 hypotheses for tuna_fish_can (evidence > 3.5035945525603065)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 14.642
INFO:root:Testing 648 out of 19024 hypotheses for potted_meat_can (evidence > 3.5035945525603065)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.645
DEBUG:root:evidences for each object: [15.98162161 11.83018585 10.86444479 15.33137687 11.26115282 15.63120308
 17.1576051  15.2967248  14.64178917 17.64473445]
DEBUG:root:mean evidence: 14.564, std: 2.293 -> th=14.11578755821328
INFO:root:current most likely hypothesis: potted_meat_can with evidence 17.64
DEBUG:root:evidences for each object: [15.98162161 11.83018585 10.86444479 15.33137687 11.26115282 15.63120308
 17.1576051  15.2967248  14.64178917 17.64473445]
DEBUG:root:mean evidence: 14.564, std: 2.293 -> th=14.11578755821328
DEBUG:root:evidences for each object: [15.98162161 11.83018585 10.86444479 15.33137687 11.26115282 15.63120308
 17.1576051  15.2967248  14.64178917 17.64473445]
DEBUG:root:mean evidence: 14.564, std: 2.293 -> th=14.998024280601609
DEBUG:root:Hypothesis jump indicated: sufficient steps elapsed with no jump
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 115 ---
INFO:uvicorn.access:192.168.1.217:49308 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.04948253,  0.11932579, -0.99162132],
       [-0.92372572,  0.38305455,  0.        ],
       [ 0.37984506,  0.91598612,  0.12917881]]), 'pose_fully_defined': False}}, {'patch': array([-0.00275737, -0.00420454,  0.00085893])}]
INFO:root:Testing 183 out of 14424 hypotheses for numenta_mug (evidence > 3.5289468895533194)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 15.917
INFO:root:Testing 44 out of 10992 hypotheses for montys_brain (evidence > 3.5289468895533194)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.837
INFO:root:Testing 87 out of 14880 hypotheses for montys_heart (evidence > 3.5289468895533194)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 11.105
INFO:root:Testing 442 out of 23200 hypotheses for ramen_pack (evidence > 3.5289468895533194)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.766
INFO:root:Testing 12 out of 14864 hypotheses for hot_sauce (evidence > 3.5289468895533194)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.261
INFO:root:Testing 328 out of 12560 hypotheses for harissa_oil (evidence > 3.5289468895533194)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 15.975
INFO:root:Testing 534 out of 21832 hypotheses for tomato_soup_can (evidence > 3.5289468895533194)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 17.485
INFO:root:Testing 325 out of 16976 hypotheses for mustard_bottle (evidence > 3.5289468895533194)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.679
INFO:root:Testing 505 out of 17728 hypotheses for tuna_fish_can (evidence > 3.5289468895533194)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 14.848
INFO:root:Testing 643 out of 19024 hypotheses for potted_meat_can (evidence > 3.5289468895533194)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.645
DEBUG:root:evidences for each object: [15.91650848 11.83721946 11.10531967 15.76631165 10.26115282 15.97478005
 17.48514433 15.67878065 14.8484932  16.64473445]
DEBUG:root:mean evidence: 14.552, std: 2.395 -> th=13.988115461468121
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 17.49
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 116 ---
INFO:uvicorn.access:192.168.1.217:49310 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.00233222, -0.01411689, -0.99989763],
       [ 0.98662633, -0.16299843,  0.        ],
       [-0.16298174, -0.98652533,  0.01430824]]), 'pose_fully_defined': False}}, {'patch': array([-0.00558249,  0.0195092 , -0.00312889])}]
INFO:root:Testing 178 out of 14424 hypotheses for numenta_mug (evidence > 3.49702886536703)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 16.397
INFO:root:Testing 42 out of 10992 hypotheses for montys_brain (evidence > 3.49702886536703)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 12.316
INFO:root:Testing 68 out of 14880 hypotheses for montys_heart (evidence > 3.49702886536703)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 11.414
INFO:root:Testing 427 out of 23200 hypotheses for ramen_pack (evidence > 3.49702886536703)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.255
INFO:root:Testing 9 out of 14864 hypotheses for hot_sauce (evidence > 3.49702886536703)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.717
INFO:root:Testing 322 out of 12560 hypotheses for harissa_oil (evidence > 3.49702886536703)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 16.433
INFO:root:Testing 524 out of 21832 hypotheses for tomato_soup_can (evidence > 3.49702886536703)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 17.985
INFO:root:Testing 312 out of 16976 hypotheses for mustard_bottle (evidence > 3.49702886536703)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.127
INFO:root:Testing 498 out of 17728 hypotheses for tuna_fish_can (evidence > 3.49702886536703)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 15.297
INFO:root:Testing 639 out of 19024 hypotheses for potted_meat_can (evidence > 3.49702886536703)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.08
DEBUG:root:evidences for each object: [16.39706928 12.31581986 11.41385933 16.25527073 10.7170112  16.43258716
 17.98514433 16.12717269 15.29697357 17.07968543]
DEBUG:root:mean evidence: 15.002, std: 2.42 -> th=14.388115461468121
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 17.99
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 117 ---
INFO:uvicorn.access:192.168.1.217:49310 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.01430319,  0.09047263, -0.99579623],
       [-0.98773262,  0.15615467,  0.        ],
       [ 0.15549823,  0.98358041,  0.09159627]]), 'pose_fully_defined': False}}, {'patch': array([0.00088942, 0.01124721, 0.00392189])}]
INFO:root:Testing 178 out of 14424 hypotheses for numenta_mug (evidence > 3.5970288653670295)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 16.822
INFO:root:Testing 42 out of 10992 hypotheses for montys_brain (evidence > 3.5970288653670295)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 12.736
INFO:root:Testing 68 out of 14880 hypotheses for montys_heart (evidence > 3.5970288653670295)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 11.705
INFO:root:Testing 426 out of 23200 hypotheses for ramen_pack (evidence > 3.5970288653670295)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.738
INFO:root:Testing 12 out of 14864 hypotheses for hot_sauce (evidence > 3.5970288653670295)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.182
INFO:root:Testing 322 out of 12560 hypotheses for harissa_oil (evidence > 3.5970288653670295)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 16.882
INFO:root:Testing 522 out of 21832 hypotheses for tomato_soup_can (evidence > 3.5970288653670295)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 18.465
INFO:root:Testing 310 out of 16976 hypotheses for mustard_bottle (evidence > 3.5970288653670295)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.555
INFO:root:Testing 496 out of 17728 hypotheses for tuna_fish_can (evidence > 3.5970288653670295)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 15.741
INFO:root:Testing 633 out of 19024 hypotheses for potted_meat_can (evidence > 3.5970288653670295)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.536
DEBUG:root:evidences for each object: [16.82247198 12.73634943 11.70477822 16.73770678 11.18158898 16.8819495
 18.46534625 16.55502269 15.74133964 17.53595295]
DEBUG:root:mean evidence: 15.436, std: 2.448 -> th=14.772276996497421
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 18.47
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 118 ---
INFO:uvicorn.access:192.168.1.217:49310 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.02013625,  0.22239307, -0.97474912],
       [-0.99592597, -0.09017465,  0.        ],
       [-0.08789766,  0.97077796,  0.22330281]]), 'pose_fully_defined': False}}, {'patch': array([-0.0043401 ,  0.00900755,  0.00577981])}]
INFO:root:Testing 176 out of 14424 hypotheses for numenta_mug (evidence > 3.6930692491243544)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 17.263
INFO:root:Testing 42 out of 10992 hypotheses for montys_brain (evidence > 3.6930692491243544)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 13.179
INFO:root:Testing 67 out of 14880 hypotheses for montys_heart (evidence > 3.6930692491243544)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 11.007
INFO:root:Testing 424 out of 23200 hypotheses for ramen_pack (evidence > 3.6930692491243544)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.142
INFO:root:Testing 12 out of 14864 hypotheses for hot_sauce (evidence > 3.6930692491243544)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.648
INFO:root:Testing 315 out of 12560 hypotheses for harissa_oil (evidence > 3.6930692491243544)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 17.341
INFO:root:Testing 519 out of 21832 hypotheses for tomato_soup_can (evidence > 3.6930692491243544)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 18.85
INFO:root:Testing 309 out of 16976 hypotheses for mustard_bottle (evidence > 3.6930692491243544)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.014
INFO:root:Testing 496 out of 17728 hypotheses for tuna_fish_can (evidence > 3.6930692491243544)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 16.19
INFO:root:Testing 630 out of 19024 hypotheses for potted_meat_can (evidence > 3.6930692491243544)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.866
DEBUG:root:evidences for each object: [17.26288467 13.1790067  11.0070889  17.1418078  11.64804277 17.34112156
 18.84959528 17.013863   16.19027176 17.86602301]
DEBUG:root:mean evidence: 15.75, std: 2.618 -> th=15.07967622162684
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 18.85
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 119 ---
INFO:uvicorn.access:192.168.1.217:49310 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.00350286,  0.33647379, -0.94168631],
       [-0.99994582,  0.01040993,  0.        ],
       [ 0.00980289,  0.94163529,  0.33649203]]), 'pose_fully_defined': False}}, {'patch': array([0.00108884, 0.00301189, 0.00267944])}]
INFO:root:Testing 167 out of 14424 hypotheses for numenta_mug (evidence > 3.76991905540671)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 17.644
INFO:root:Testing 42 out of 10992 hypotheses for montys_brain (evidence > 3.76991905540671)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 13.599
INFO:root:Testing 55 out of 14880 hypotheses for montys_heart (evidence > 3.76991905540671)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 11.282
INFO:root:Testing 401 out of 23200 hypotheses for ramen_pack (evidence > 3.76991905540671)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.616
INFO:root:Testing 9 out of 14864 hypotheses for hot_sauce (evidence > 3.76991905540671)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.07
INFO:root:Testing 302 out of 12560 hypotheses for harissa_oil (evidence > 3.76991905540671)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 17.741
INFO:root:Testing 507 out of 21832 hypotheses for tomato_soup_can (evidence > 3.76991905540671)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 19.304
INFO:root:Testing 298 out of 16976 hypotheses for mustard_bottle (evidence > 3.76991905540671)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.494
INFO:root:Testing 490 out of 17728 hypotheses for tuna_fish_can (evidence > 3.76991905540671)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 16.614
INFO:root:Testing 615 out of 19024 hypotheses for potted_meat_can (evidence > 3.76991905540671)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.066
DEBUG:root:evidences for each object: [17.64407703 13.59944138 11.28211426 17.61615034 12.07026898 17.74142678
 19.30397626 17.49389301 16.61393773 18.06620917]
DEBUG:root:mean evidence: 16.143, std: 2.634 -> th=15.443181007598238
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 19.3
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 120 ---
INFO:uvicorn.access:192.168.1.217:49310 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.08242464,  0.38905999, -0.91751758],
       [-0.97828679, -0.20725579,  0.        ],
       [-0.19016083,  0.89759532,  0.39769523]]), 'pose_fully_defined': False}}, {'patch': array([0.00205741, 0.00094728, 0.00218376])}]
INFO:root:Testing 159 out of 14424 hypotheses for numenta_mug (evidence > 3.8607952518995585)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 17.807
INFO:root:Testing 40 out of 10992 hypotheses for montys_brain (evidence > 3.8607952518995585)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 12.961
INFO:root:Testing 48 out of 14880 hypotheses for montys_heart (evidence > 3.8607952518995585)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 11.544
INFO:root:Testing 380 out of 23200 hypotheses for ramen_pack (evidence > 3.8607952518995585)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.866
INFO:root:Testing 9 out of 14864 hypotheses for hot_sauce (evidence > 3.8607952518995585)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.473
INFO:root:Testing 288 out of 12560 hypotheses for harissa_oil (evidence > 3.8607952518995585)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 18.124
INFO:root:Testing 498 out of 21832 hypotheses for tomato_soup_can (evidence > 3.8607952518995585)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 19.804
INFO:root:Testing 284 out of 16976 hypotheses for mustard_bottle (evidence > 3.8607952518995585)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.936
INFO:root:Testing 477 out of 17728 hypotheses for tuna_fish_can (evidence > 3.8607952518995585)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 17.074
INFO:root:Testing 602 out of 19024 hypotheses for potted_meat_can (evidence > 3.8607952518995585)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.291
DEBUG:root:evidences for each object: [17.80678852 12.96061972 11.54394062 17.86562733 12.47270506 18.12388844
 19.80397626 17.93615339 17.07431481 18.29139528]
DEBUG:root:mean evidence: 16.388, std: 2.755 -> th=15.843181007598238
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 19.8
DEBUG:root:evidences for each object: [17.80678852 12.96061972 11.54394062 17.86562733 12.47270506 18.12388844
 19.80397626 17.93615339 17.07431481 18.29139528]
DEBUG:root:mean evidence: 16.388, std: 2.755 -> th=15.843181007598238
DEBUG:root:evidences for each object: [17.80678852 12.96061972 11.54394062 17.86562733 12.47270506 18.12388844
 19.80397626 17.93615339 17.07431481 18.29139528]
DEBUG:root:mean evidence: 16.388, std: 2.755 -> th=16.83337982057313
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: {'tomato_soup_can', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 121 ---
INFO:uvicorn.access:192.168.1.217:49312 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.0427189 ,  0.09520453,  0.99454069],
       [-0.91236259,  0.40938307,  0.        ],
       [-0.40714813, -0.90738173,  0.10434945]]), 'pose_fully_defined': False}}, {'patch': array([ 0.02213183, -0.02974541,  0.05283431])}]
INFO:root:Testing 154 out of 14424 hypotheses for numenta_mug (evidence > 3.960795251899558)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 18.061
INFO:root:Testing 40 out of 10992 hypotheses for montys_brain (evidence > 3.960795251899558)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.961
INFO:root:Testing 43 out of 14880 hypotheses for montys_heart (evidence > 3.960795251899558)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.544
INFO:root:Testing 372 out of 23200 hypotheses for ramen_pack (evidence > 3.960795251899558)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.63
INFO:root:Testing 9 out of 14864 hypotheses for hot_sauce (evidence > 3.960795251899558)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.226
INFO:root:Testing 278 out of 12560 hypotheses for harissa_oil (evidence > 3.960795251899558)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 17.906
INFO:root:Testing 478 out of 21832 hypotheses for tomato_soup_can (evidence > 3.960795251899558)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 20.185
INFO:root:Testing 275 out of 16976 hypotheses for mustard_bottle (evidence > 3.960795251899558)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.065
INFO:root:Testing 466 out of 17728 hypotheses for tuna_fish_can (evidence > 3.960795251899558)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 16.986
INFO:root:Testing 566 out of 19024 hypotheses for potted_meat_can (evidence > 3.960795251899558)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.507
DEBUG:root:evidences for each object: [18.06124705 11.96061972 10.54394062 17.62984884 12.22642627 17.9055534
 20.18537729 17.06532298 16.98593049 18.50733361]
DEBUG:root:mean evidence: 16.107, std: 3.109 -> th=16.148301828041493
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 20.19
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 122 ---
INFO:uvicorn.access:192.168.1.217:49312 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.08739339,  0.1200334 ,  0.98891576],
       [-0.80842724,  0.58859613,  0.        ],
       [-0.58207199, -0.79946644,  0.14847768]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00385926,  0.01210997, -0.0030243 ])}]
INFO:root:Testing 151 out of 14424 hypotheses for numenta_mug (evidence > 4.037075457010374)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 18.043
INFO:root:Testing 36 out of 10992 hypotheses for montys_brain (evidence > 4.037075457010374)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.961
INFO:root:Testing 42 out of 14880 hypotheses for montys_heart (evidence > 4.037075457010374)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.544
INFO:root:Testing 367 out of 23200 hypotheses for ramen_pack (evidence > 4.037075457010374)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.409
INFO:root:Testing 9 out of 14864 hypotheses for hot_sauce (evidence > 4.037075457010374)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.008
INFO:root:Testing 274 out of 12560 hypotheses for harissa_oil (evidence > 4.037075457010374)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 18.096
INFO:root:Testing 470 out of 21832 hypotheses for tomato_soup_can (evidence > 4.037075457010374)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 20.685
INFO:root:Testing 271 out of 16976 hypotheses for mustard_bottle (evidence > 4.037075457010374)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.011
INFO:root:Testing 463 out of 17728 hypotheses for tuna_fish_can (evidence > 4.037075457010374)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 16.781
INFO:root:Testing 557 out of 19024 hypotheses for potted_meat_can (evidence > 4.037075457010374)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.695
DEBUG:root:evidences for each object: [18.04264308 10.96061972  9.54394062 17.40931521 12.00839355 18.09596912
 20.68537729 17.01112047 16.78146637 18.69490972]
DEBUG:root:mean evidence: 15.923, std: 3.526 -> th=16.548301828041495
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 20.69
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'mustard_bottle'}
INFO:root:--- Global Matching Step 123 ---
INFO:uvicorn.access:192.168.1.217:49313 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.02869927,  0.24658896,  0.96869512],
       [-0.9932953 ,  0.11560471,  0.        ],
       [-0.11198572, -0.96220031,  0.24825343]]), 'pose_fully_defined': False}}, {'patch': array([-0.00592195,  0.00440985, -0.00353396])}]
INFO:root:Testing 149 out of 14424 hypotheses for numenta_mug (evidence > 4.137075457010372)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 18.316
INFO:root:Testing 26 out of 10992 hypotheses for montys_brain (evidence > 4.137075457010372)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.123
INFO:root:Testing 37 out of 14880 hypotheses for montys_heart (evidence > 4.137075457010372)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.551
INFO:root:Testing 360 out of 23200 hypotheses for ramen_pack (evidence > 4.137075457010372)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 17.17
INFO:root:Testing 9 out of 14864 hypotheses for hot_sauce (evidence > 4.137075457010372)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.77
INFO:root:Testing 266 out of 12560 hypotheses for harissa_oil (evidence > 4.137075457010372)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 18.436
INFO:root:Testing 467 out of 21832 hypotheses for tomato_soup_can (evidence > 4.137075457010372)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 20.733
INFO:root:Testing 261 out of 16976 hypotheses for mustard_bottle (evidence > 4.137075457010372)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.857
INFO:root:Testing 462 out of 17728 hypotheses for tuna_fish_can (evidence > 4.137075457010372)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 16.543
INFO:root:Testing 542 out of 19024 hypotheses for potted_meat_can (evidence > 4.137075457010372)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.987
DEBUG:root:evidences for each object: [18.3157568  11.12318646  9.55061395 17.1698442  11.7697704  18.4362331
 20.7325495  16.85700991 16.54267769 18.98716343]
DEBUG:root:mean evidence: 15.948, std: 3.581 -> th=16.58603960320749
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 20.73
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'mustard_bottle'}
INFO:root:--- Global Matching Step 124 ---
INFO:uvicorn.access:192.168.1.217:49313 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.0208789 ,  0.33658347,  0.94142214],
       [-0.99808156,  0.06191287,  0.        ],
       [-0.05828615, -0.93961607,  0.33723042]]), 'pose_fully_defined': False}}, {'patch': array([-0.00120929,  0.00560186, -0.00256322])}]
INFO:root:Testing 149 out of 14424 hypotheses for numenta_mug (evidence > 4.14650990080187)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 18.575
INFO:root:Testing 26 out of 10992 hypotheses for montys_brain (evidence > 4.14650990080187)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.254
INFO:root:Testing 37 out of 14880 hypotheses for montys_heart (evidence > 4.14650990080187)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.528
INFO:root:Testing 352 out of 23200 hypotheses for ramen_pack (evidence > 4.14650990080187)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.929
INFO:root:Testing 9 out of 14864 hypotheses for hot_sauce (evidence > 4.14650990080187)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.576
INFO:root:Testing 263 out of 12560 hypotheses for harissa_oil (evidence > 4.14650990080187)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 18.687
INFO:root:Testing 465 out of 21832 hypotheses for tomato_soup_can (evidence > 4.14650990080187)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 20.586
INFO:root:Testing 258 out of 16976 hypotheses for mustard_bottle (evidence > 4.14650990080187)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.63
INFO:root:Testing 459 out of 17728 hypotheses for tuna_fish_can (evidence > 4.14650990080187)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 16.344
INFO:root:Testing 532 out of 19024 hypotheses for potted_meat_can (evidence > 4.14650990080187)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 19.319
DEBUG:root:evidences for each object: [18.57493685 11.25404839  9.52787466 16.92880311 11.57642667 18.68700731
 20.58612598 16.63016196 16.34369459 19.31933926]
DEBUG:root:mean evidence: 15.943, std: 3.623 -> th=16.468900783453396
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 20.59
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'mustard_bottle'}
INFO:root:--- Global Matching Step 125 ---
INFO:uvicorn.access:192.168.1.217:49313 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.02647323,  0.39808164,  0.91696792],
       [-0.99779605, -0.06635545,  0.        ],
       [ 0.06084582, -0.91494697,  0.39896093]]), 'pose_fully_defined': False}}, {'patch': array([-0.00322427,  0.00917421, -0.00565609])}]
INFO:root:Testing 148 out of 14424 hypotheses for numenta_mug (evidence > 4.117225195863348)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 18.728
INFO:root:Testing 26 out of 10992 hypotheses for montys_brain (evidence > 4.117225195863348)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.386
INFO:root:Testing 36 out of 14880 hypotheses for montys_heart (evidence > 4.117225195863348)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.433
INFO:root:Testing 348 out of 23200 hypotheses for ramen_pack (evidence > 4.117225195863348)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.673
INFO:root:Testing 9 out of 14864 hypotheses for hot_sauce (evidence > 4.117225195863348)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.476
INFO:root:Testing 260 out of 12560 hypotheses for harissa_oil (evidence > 4.117225195863348)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 18.965
INFO:root:Testing 465 out of 21832 hypotheses for tomato_soup_can (evidence > 4.117225195863348)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 20.83
INFO:root:Testing 256 out of 16976 hypotheses for mustard_bottle (evidence > 4.117225195863348)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.823
INFO:root:Testing 457 out of 17728 hypotheses for tuna_fish_can (evidence > 4.117225195863348)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 16.157
INFO:root:Testing 527 out of 19024 hypotheses for potted_meat_can (evidence > 4.117225195863348)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 19.721
DEBUG:root:evidences for each object: [18.72845279 11.38555414  9.43314762 16.67261624 11.47558068 18.96536897
 20.83027168 16.82272366 16.15680977 19.7213702 ]
DEBUG:root:mean evidence: 16.019, std: 3.734 -> th=16.66421734503627
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 20.83
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'numenta_mug', 'potted_meat_can', 'ramen_pack', 'harissa_oil', 'mustard_bottle'}
INFO:root:--- Global Matching Step 126 ---
INFO:uvicorn.access:192.168.1.217:49313 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.03935737,  0.56859047,  0.8216787 ],
       [-0.99761293,  0.06905395,  0.        ],
       [-0.05674016, -0.81971729,  0.56995098]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00023607, -0.00450791,  0.00034428])}]
INFO:root:Testing 148 out of 14424 hypotheses for numenta_mug (evidence > 4.166054336259066)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 18.977
INFO:root:Testing 26 out of 10992 hypotheses for montys_brain (evidence > 4.166054336259066)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.557
INFO:root:Testing 35 out of 14880 hypotheses for montys_heart (evidence > 4.166054336259066)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.458
INFO:root:Testing 340 out of 23200 hypotheses for ramen_pack (evidence > 4.166054336259066)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.442
INFO:root:Testing 9 out of 14864 hypotheses for hot_sauce (evidence > 4.166054336259066)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.423
INFO:root:Testing 260 out of 12560 hypotheses for harissa_oil (evidence > 4.166054336259066)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 19.384
INFO:root:Testing 464 out of 21832 hypotheses for tomato_soup_can (evidence > 4.166054336259066)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 21.272
INFO:root:Testing 248 out of 16976 hypotheses for mustard_bottle (evidence > 4.166054336259066)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.291
INFO:root:Testing 454 out of 17728 hypotheses for tuna_fish_can (evidence > 4.166054336259066)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 15.939
INFO:root:Testing 518 out of 19024 hypotheses for potted_meat_can (evidence > 4.166054336259066)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 20.186
DEBUG:root:evidences for each object: [18.97737071 11.55735871  9.45827728 16.44225764 11.4234904  19.38440353
 21.27206704 17.29106623 15.93906699 20.18638228]
DEBUG:root:mean evidence: 16.193, std: 3.881 -> th=17.01765363053509
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 21.27
DEBUG:root:evidences for each object: [18.97737071 11.55735871  9.45827728 16.44225764 11.4234904  19.38440353
 21.27206704 17.29106623 15.93906699 20.18638228]
DEBUG:root:mean evidence: 16.193, std: 3.881 -> th=17.01765363053509
DEBUG:root:evidences for each object: [18.97737071 11.55735871  9.45827728 16.44225764 11.4234904  19.38440353
 21.27206704 17.29106623 15.93906699 20.18638228]
DEBUG:root:mean evidence: 16.193, std: 3.881 -> th=18.081256982443534
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: {'tomato_soup_can', 'numenta_mug', 'potted_meat_can', 'harissa_oil', 'mustard_bottle'}
INFO:root:--- Global Matching Step 127 ---
INFO:uvicorn.access:192.168.1.217:49313 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.08092886,  0.61002117,  0.78824152],
       [-0.9913144 ,  0.13151338,  0.        ],
       [-0.10366431, -0.78139517,  0.61536599]]), 'pose_fully_defined': False}}, {'patch': array([-0.00086196,  0.00334422, -0.00578354])}]
INFO:root:Testing 147 out of 14424 hypotheses for numenta_mug (evidence > 4.254413407633773)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 19.244
INFO:root:Testing 26 out of 10992 hypotheses for montys_brain (evidence > 4.254413407633773)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.75
INFO:root:Testing 34 out of 14880 hypotheses for montys_heart (evidence > 4.254413407633773)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.494
INFO:root:Testing 332 out of 23200 hypotheses for ramen_pack (evidence > 4.254413407633773)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 16.228
INFO:root:Testing 8 out of 14864 hypotheses for hot_sauce (evidence > 4.254413407633773)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.401
INFO:root:Testing 259 out of 12560 hypotheses for harissa_oil (evidence > 4.254413407633773)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 19.627
INFO:root:Testing 461 out of 21832 hypotheses for tomato_soup_can (evidence > 4.254413407633773)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 21.594
INFO:root:Testing 245 out of 16976 hypotheses for mustard_bottle (evidence > 4.254413407633773)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.743
INFO:root:Testing 452 out of 17728 hypotheses for tuna_fish_can (evidence > 4.254413407633773)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 15.727
INFO:root:Testing 510 out of 19024 hypotheses for potted_meat_can (evidence > 4.254413407633773)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 20.641
DEBUG:root:evidences for each object: [19.24415258 11.750054    9.49409897 16.22758381 11.40133129 19.62725677
 21.59351131 17.74306482 15.72683199 20.6412459 ]
DEBUG:root:mean evidence: 16.345, std: 4.0 -> th=17.274809047819375
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 21.59
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'numenta_mug', 'potted_meat_can', 'harissa_oil', 'mustard_bottle'}
INFO:root:--- Global Matching Step 128 ---
INFO:uvicorn.access:192.168.1.217:49313 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.02909882,  0.63910981,  0.76856484],
       [-0.99896511,  0.04548311,  0.        ],
       [-0.03495672, -0.76776946,  0.6397719 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00015506, -0.00073015,  0.00063605])}]
INFO:root:Testing 145 out of 14424 hypotheses for numenta_mug (evidence > 4.318702261954844)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 19.512
INFO:root:Testing 26 out of 10992 hypotheses for montys_brain (evidence > 4.318702261954844)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.94
INFO:root:Testing 34 out of 14880 hypotheses for montys_heart (evidence > 4.318702261954844)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.538
INFO:root:Testing 331 out of 23200 hypotheses for ramen_pack (evidence > 4.318702261954844)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.996
INFO:root:Testing 8 out of 14864 hypotheses for hot_sauce (evidence > 4.318702261954844)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.367
INFO:root:Testing 256 out of 12560 hypotheses for harissa_oil (evidence > 4.318702261954844)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 19.881
INFO:root:Testing 460 out of 21832 hypotheses for tomato_soup_can (evidence > 4.318702261954844)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 21.905
INFO:root:Testing 244 out of 16976 hypotheses for mustard_bottle (evidence > 4.318702261954844)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.181
INFO:root:Testing 442 out of 17728 hypotheses for tuna_fish_can (evidence > 4.318702261954844)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 15.575
INFO:root:Testing 499 out of 19024 hypotheses for potted_meat_can (evidence > 4.318702261954844)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 21.113
DEBUG:root:evidences for each object: [19.51197799 11.93967753  9.538272   15.99596316 11.36722615 19.88067715
 21.90499065 18.18127893 15.57533817 21.11335399]
DEBUG:root:mean evidence: 16.501, std: 4.13 -> th=17.523992516237318
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 21.9
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'numenta_mug', 'potted_meat_can', 'harissa_oil', 'mustard_bottle'}
INFO:root:--- Global Matching Step 129 ---
INFO:uvicorn.access:192.168.1.217:49315 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.04746433, -0.15088998,  0.98741043],
       [ 0.95391816, -0.30006691,  0.        ],
       [ 0.2962892 ,  0.94190873,  0.15817917]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00245626, -0.02402307,  0.01484571])}]
INFO:root:Testing 143 out of 14424 hypotheses for numenta_mug (evidence > 4.3809981290593285)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 19.714
INFO:root:Testing 26 out of 10992 hypotheses for montys_brain (evidence > 4.3809981290593285)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 12.088
INFO:root:Testing 33 out of 14880 hypotheses for montys_heart (evidence > 4.3809981290593285)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.538
INFO:root:Testing 320 out of 23200 hypotheses for ramen_pack (evidence > 4.3809981290593285)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.734
INFO:root:Testing 8 out of 14864 hypotheses for hot_sauce (evidence > 4.3809981290593285)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.114
INFO:root:Testing 255 out of 12560 hypotheses for harissa_oil (evidence > 4.3809981290593285)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 20.121
INFO:root:Testing 457 out of 21832 hypotheses for tomato_soup_can (evidence > 4.3809981290593285)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 22.292
INFO:root:Testing 241 out of 16976 hypotheses for mustard_bottle (evidence > 4.3809981290593285)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.507
INFO:root:Testing 438 out of 17728 hypotheses for tuna_fish_can (evidence > 4.3809981290593285)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 15.335
INFO:root:Testing 491 out of 19024 hypotheses for potted_meat_can (evidence > 4.3809981290593285)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 21.237
DEBUG:root:evidences for each object: [19.71415681 12.08807632  8.538272   15.73374513 11.11354745 20.12132857
 22.29215103 18.50748997 15.33496085 21.23729561]
DEBUG:root:mean evidence: 16.468, std: 4.441 -> th=17.83372082282404
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 22.29
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'numenta_mug', 'potted_meat_can', 'harissa_oil', 'mustard_bottle'}
INFO:root:--- Global Matching Step 130 ---
INFO:uvicorn.access:192.168.1.217:49315 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.0393671 , -0.05975271,  0.99743664],
       [ 0.83505689, -0.5501636 ,  0.        ],
       [ 0.54875333,  0.83291634,  0.07155526]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0012773 ,  0.00376438, -0.00119045])}]
INFO:root:Testing 143 out of 14424 hypotheses for numenta_mug (evidence > 4.458430205706009)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 19.951
INFO:root:Testing 26 out of 10992 hypotheses for montys_brain (evidence > 4.458430205706009)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No 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 32 out of 14880 hypotheses for montys_heart (evidence > 4.458430205706009)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.802
INFO:root:Testing 301 out of 23200 hypotheses for ramen_pack (evidence > 4.458430205706009)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.472
INFO:root:Testing 8 out of 14864 hypotheses for hot_sauce (evidence > 4.458430205706009)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.855
INFO:root:Testing 253 out of 12560 hypotheses for harissa_oil (evidence > 4.458430205706009)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 20.163
INFO:root:Testing 456 out of 21832 hypotheses for tomato_soup_can (evidence > 4.458430205706009)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 22.658
INFO:root:Testing 233 out of 16976 hypotheses for mustard_bottle (evidence > 4.458430205706009)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.763
INFO:root:Testing 434 out of 17728 hypotheses for tuna_fish_can (evidence > 4.458430205706009)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 15.095
INFO:root:Testing 481 out of 19024 hypotheses for potted_meat_can (evidence > 4.458430205706009)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 21.388
DEBUG:root:evidences for each object: [19.95065453 12.19258941  8.80155237 15.47219919 10.85477517 20.16321316
 22.65759618 18.76326023 15.09493031 21.3877286 ]
DEBUG:root:mean evidence: 16.534, std: 4.527 -> th=18.126076947328833
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 22.66
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'numenta_mug', 'potted_meat_can', 'harissa_oil', 'mustard_bottle'}
INFO:root:--- Global Matching Step 131 ---
INFO:uvicorn.access:192.168.1.217:49315 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.0620947 ,  0.01809547,  0.99790621],
       [-0.27977936, -0.96006432,  0.        ],
       [ 0.95805415, -0.27919356,  0.06467764]]), 'pose_fully_defined': False}}, {'patch': array([-0.00051763,  0.00700102, -0.00292611])}]
INFO:root:Testing 140 out of 14424 hypotheses for numenta_mug (evidence > 4.531519236832207)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 20.117
INFO:root:Testing 26 out of 10992 hypotheses for montys_brain (evidence > 4.531519236832207)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 12.32
INFO:root:Testing 31 out of 14880 hypotheses for montys_heart (evidence > 4.531519236832207)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.052
INFO:root:Testing 293 out of 23200 hypotheses for ramen_pack (evidence > 4.531519236832207)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 15.202
INFO:root:Testing 8 out of 14864 hypotheses for hot_sauce (evidence > 4.531519236832207)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.588
INFO:root:Testing 248 out of 12560 hypotheses for harissa_oil (evidence > 4.531519236832207)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 20.409
INFO:root:Testing 453 out of 21832 hypotheses for tomato_soup_can (evidence > 4.531519236832207)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 22.932
INFO:root:Testing 228 out of 16976 hypotheses for mustard_bottle (evidence > 4.531519236832207)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 19.107
INFO:root:Testing 428 out of 17728 hypotheses for tuna_fish_can (evidence > 4.531519236832207)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 14.855
INFO:root:Testing 462 out of 19024 hypotheses for potted_meat_can (evidence > 4.531519236832207)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 21.593
DEBUG:root:evidences for each object: [20.11708874 12.32015341  9.0517298  15.20194035 10.58803314 20.40892756
 22.93222434 19.10651475 14.85507073 21.59290463]
DEBUG:root:mean evidence: 16.617, std: 4.633 -> th=18.345779475296247
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 22.93
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'numenta_mug', 'potted_meat_can', 'harissa_oil', 'mustard_bottle'}
INFO:root:--- Global Matching Step 132 ---
INFO:uvicorn.access:192.168.1.217:49315 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.11088738,  0.13962788,  0.98397563],
       [-0.78309334, -0.62190419,  0.        ],
       [ 0.61193857, -0.77054476,  0.17830299]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0047827 ,  0.01050166, -0.00843024])}]
INFO:root:Testing 137 out of 14424 hypotheses for numenta_mug (evidence > 4.58644486882406)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 20.123
INFO:root:Testing 26 out of 10992 hypotheses for montys_brain (evidence > 4.58644486882406)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 12.208
INFO:root:Testing 29 out of 14880 hypotheses for montys_heart (evidence > 4.58644486882406)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.007
INFO:root:Testing 280 out of 23200 hypotheses for ramen_pack (evidence > 4.58644486882406)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.916
INFO:root:Testing 7 out of 14864 hypotheses for hot_sauce (evidence > 4.58644486882406)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.341
INFO:root:Testing 246 out of 12560 hypotheses for harissa_oil (evidence > 4.58644486882406)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 20.27
INFO:root:Testing 450 out of 21832 hypotheses for tomato_soup_can (evidence > 4.58644486882406)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 23.06
INFO:root:Testing 224 out of 16976 hypotheses for mustard_bottle (evidence > 4.58644486882406)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 19.177
INFO:root:Testing 424 out of 17728 hypotheses for tuna_fish_can (evidence > 4.58644486882406)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 14.701
INFO:root:Testing 455 out of 19024 hypotheses for potted_meat_can (evidence > 4.58644486882406)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 21.866
DEBUG:root:evidences for each object: [20.12339823 12.20825306  9.0073868  14.91613259 10.34067758 20.27011815
 23.05977789 19.176868   14.700514   21.86559495]
DEBUG:root:mean evidence: 16.567, std: 4.738 -> th=18.447822311095784
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 23.06
DEBUG:root:evidences for each object: [20.12339823 12.20825306  9.0073868  14.91613259 10.34067758 20.27011815
 23.05977789 19.176868   14.700514   21.86559495]
DEBUG:root:mean evidence: 16.567, std: 4.738 -> th=18.447822311095784
DEBUG:root:evidences for each object: [20.12339823 12.20825306  9.0073868  14.91613259 10.34067758 20.27011815
 23.05977789 19.176868   14.700514   21.86559495]
DEBUG:root:mean evidence: 16.567, std: 4.738 -> th=19.600811205539273
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: {'tomato_soup_can', 'numenta_mug', 'potted_meat_can', 'harissa_oil', 'mustard_bottle'}
INFO:root:--- Global Matching Step 133 ---
INFO:uvicorn.access:192.168.1.217:49315 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.04319205,  0.26571788,  0.96308279],
       [-0.98704515, -0.16044273,  0.        ],
       [ 0.15451963, -0.95060619,  0.2692054 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00573135,  0.00355121,  0.00075302])}]
INFO:root:Testing 137 out of 14424 hypotheses for numenta_mug (evidence > 4.611955577773944)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 20.2
INFO:root:Testing 25 out of 10992 hypotheses for montys_brain (evidence > 4.611955577773944)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 12.277
INFO:root:Testing 28 out of 14880 hypotheses for montys_heart (evidence > 4.611955577773944)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.942
INFO:root:Testing 271 out of 23200 hypotheses for ramen_pack (evidence > 4.611955577773944)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.653
INFO:root:Testing 7 out of 14864 hypotheses for hot_sauce (evidence > 4.611955577773944)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.173
INFO:root:Testing 243 out of 12560 hypotheses for harissa_oil (evidence > 4.611955577773944)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 20.454
INFO:root:Testing 446 out of 21832 hypotheses for tomato_soup_can (evidence > 4.611955577773944)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 23.258
INFO:root:Testing 218 out of 16976 hypotheses for mustard_bottle (evidence > 4.611955577773944)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 19.549
INFO:root:Testing 422 out of 17728 hypotheses for tuna_fish_can (evidence > 4.611955577773944)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 14.573
INFO:root:Testing 444 out of 19024 hypotheses for potted_meat_can (evidence > 4.611955577773944)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 22.2
DEBUG:root:evidences for each object: [20.1998735  12.27746101  8.94184735 14.65271439 10.17335659 20.4535167
 23.25834903 19.54909521 14.57321207 22.20001347]
DEBUG:root:mean evidence: 16.628, std: 4.886 -> th=18.6066792243917
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 23.26
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'numenta_mug', 'potted_meat_can', 'harissa_oil', 'mustard_bottle'}
INFO:root:--- Global Matching Step 134 ---
INFO:uvicorn.access:192.168.1.217:49315 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.24662054,  0.32191503,  0.91408371],
       [-0.7938218 , -0.60815043,  0.        ],
       [ 0.5559004 , -0.72561958,  0.40552555]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00010895,  0.00414738, -0.01176444])}]
INFO:root:Testing 134 out of 14424 hypotheses for numenta_mug (evidence > 4.6516698060979245)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 20.146
INFO:root:Testing 25 out of 10992 hypotheses for montys_brain (evidence > 4.6516698060979245)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 12.183
INFO:root:Testing 27 out of 14880 hypotheses for montys_heart (evidence > 4.6516698060979245)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.809
INFO:root:Testing 258 out of 23200 hypotheses for ramen_pack (evidence > 4.6516698060979245)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 14.417
INFO:root:Testing 6 out of 14864 hypotheses for hot_sauce (evidence > 4.6516698060979245)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.951
INFO:root:Testing 240 out of 12560 hypotheses for harissa_oil (evidence > 4.6516698060979245)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 20.476
INFO:root:Testing 442 out of 21832 hypotheses for tomato_soup_can (evidence > 4.6516698060979245)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 23.311
INFO:root:Testing 213 out of 16976 hypotheses for mustard_bottle (evidence > 4.6516698060979245)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 19.591
INFO:root:Testing 419 out of 17728 hypotheses for tuna_fish_can (evidence > 4.6516698060979245)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 14.375
INFO:root:Testing 433 out of 19024 hypotheses for potted_meat_can (evidence > 4.6516698060979245)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 22.461
DEBUG:root:evidences for each object: [20.14618859 12.18343665  8.80902047 14.41728617  9.95077973 20.47599718
 23.31147201 19.59130532 14.37464939 22.46110738]
DEBUG:root:mean evidence: 16.572, std: 5.001 -> th=18.649177605534575
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 23.31
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'numenta_mug', 'potted_meat_can', 'harissa_oil', 'mustard_bottle'}
INFO:root:--- Global Matching Step 135 ---
INFO:uvicorn.access:192.168.1.217:49317 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-9.90240286e-01, -6.77162877e-03,  1.39206035e-01],
       [ 6.83820941e-03, -9.99976619e-01,  0.00000000e+00],
       [ 1.39202780e-01,  9.51920017e-04,  9.90263440e-01]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00314811, -0.01489044,  0.00622527])}]
INFO:root:Testing 129 out of 14424 hypotheses for numenta_mug (evidence > 4.662294401383644)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 19.647
INFO:root:Testing 25 out of 10992 hypotheses for montys_brain (evidence > 4.662294401383644)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.712
INFO:root:Testing 26 out of 14880 hypotheses for montys_heart (evidence > 4.662294401383644)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.36
INFO:root:Testing 248 out of 23200 hypotheses for ramen_pack (evidence > 4.662294401383644)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.918
INFO:root:Testing 6 out of 14864 hypotheses for hot_sauce (evidence > 4.662294401383644)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.454
INFO:root:Testing 238 out of 12560 hypotheses for harissa_oil (evidence > 4.662294401383644)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 19.978
INFO:root:Testing 435 out of 21832 hypotheses for tomato_soup_can (evidence > 4.662294401383644)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 22.82
INFO:root:Testing 206 out of 16976 hypotheses for mustard_bottle (evidence > 4.662294401383644)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 19.135
INFO:root:Testing 416 out of 17728 hypotheses for tuna_fish_can (evidence > 4.662294401383644)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 13.888
INFO:root:Testing 426 out of 19024 hypotheses for potted_meat_can (evidence > 4.662294401383644)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 22.138
DEBUG:root:evidences for each object: [19.64732565 11.71180843  8.35966075 13.91792192  9.45403912 19.97798477
 22.81987048 19.13533235 13.88799953 22.13849397]
DEBUG:root:mean evidence: 16.105, std: 5.014 -> th=18.25589638517793
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 22.82
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'numenta_mug', 'potted_meat_can', 'harissa_oil', 'mustard_bottle'}
INFO:root:--- Global Matching Step 136 ---
INFO:uvicorn.access:192.168.1.217:49317 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.88962005,  0.01819946,  0.45633863],
       [-0.02045329, -0.99979081,  0.        ],
       [ 0.45624316, -0.00933363,  0.88980619]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00092072, -0.00173393,  0.00138886])}]
INFO:root:Testing 128 out of 14424 hypotheses for numenta_mug (evidence > 4.5639740962944835)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 19.168
INFO:root:Testing 23 out of 10992 hypotheses for montys_brain (evidence > 4.5639740962944835)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.304
INFO:root:Testing 26 out of 14880 hypotheses for montys_heart (evidence > 4.5639740962944835)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.988
INFO:root:Testing 243 out of 23200 hypotheses for ramen_pack (evidence > 4.5639740962944835)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.437
INFO:root:Testing 6 out of 14864 hypotheses for hot_sauce (evidence > 4.5639740962944835)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.971
INFO:root:Testing 236 out of 12560 hypotheses for harissa_oil (evidence > 4.5639740962944835)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 19.493
INFO:root:Testing 431 out of 21832 hypotheses for tomato_soup_can (evidence > 4.5639740962944835)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 22.361
INFO:root:Testing 205 out of 16976 hypotheses for mustard_bottle (evidence > 4.5639740962944835)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.704
INFO:root:Testing 414 out of 17728 hypotheses for tuna_fish_can (evidence > 4.5639740962944835)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 13.433
INFO:root:Testing 418 out of 19024 hypotheses for potted_meat_can (evidence > 4.5639740962944835)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 21.665
DEBUG:root:evidences for each object: [19.1678574  11.30436864  7.98792328 13.43654572  8.97092752 19.49323415
 22.36065635 18.70405212 13.43285799 21.66477567]
DEBUG:root:mean evidence: 15.652, std: 4.997 -> th=17.888525082800037
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 22.36
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'numenta_mug', 'potted_meat_can', 'harissa_oil', 'mustard_bottle'}
INFO:root:--- Global Matching Step 137 ---
INFO:uvicorn.access:192.168.1.217:49317 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.39527133, -0.00257039,  0.91856081],
       [ 0.00650272, -0.99997886,  0.        ],
       [ 0.91854139,  0.00597314,  0.39527969]]), 'pose_fully_defined': False}}, {'patch': array([-0.00256187,  0.01007705, -0.00628497])}]
INFO:root:Testing 123 out of 14424 hypotheses for numenta_mug (evidence > 4.472131270700007)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 18.879
INFO:root:Testing 26 out of 10992 hypotheses for montys_brain (evidence > 4.472131270700007)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 11.049
INFO:root:Testing 27 out of 14880 hypotheses for montys_heart (evidence > 4.472131270700007)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.756
INFO:root:Testing 242 out of 23200 hypotheses for ramen_pack (evidence > 4.472131270700007)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 13.102
INFO:root:Testing 7 out of 14864 hypotheses for hot_sauce (evidence > 4.472131270700007)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.637
INFO:root:Testing 233 out of 12560 hypotheses for harissa_oil (evidence > 4.472131270700007)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 19.382
INFO:root:Testing 429 out of 21832 hypotheses for tomato_soup_can (evidence > 4.472131270700007)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 22.025
INFO:root:Testing 205 out of 16976 hypotheses for mustard_bottle (evidence > 4.472131270700007)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 18.427
INFO:root:Testing 411 out of 17728 hypotheses for tuna_fish_can (evidence > 4.472131270700007)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 13.108
INFO:root:Testing 411 out of 19024 hypotheses for potted_meat_can (evidence > 4.472131270700007)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 21.515
DEBUG:root:evidences for each object: [18.87911125 11.04947802  7.75622521 13.102154    8.63742647 19.38195781
 22.02521012 18.42684466 13.10773801 21.51468752]
DEBUG:root:mean evidence: 15.388, std: 5.02 -> th=17.62016809380971
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 22.03
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'numenta_mug', 'potted_meat_can', 'harissa_oil', 'mustard_bottle'}
INFO:root:--- Global Matching Step 138 ---
INFO:uvicorn.access:192.168.1.217:49318 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.96525224,  0.21019716, -0.15525869],
       [-0.21277733, -0.97710071,  0.        ],
       [-0.15170338,  0.03303553,  0.98787385]]), 'pose_fully_defined': False}}, {'patch': array([-0.00214257, -0.00466985,  0.00012163])}]
INFO:root:Testing 118 out of 14424 hypotheses for numenta_mug (evidence > 4.4050420234524275)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 18.42
INFO:root:Testing 24 out of 10992 hypotheses for montys_brain (evidence > 4.4050420234524275)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.642
INFO:root:Testing 24 out of 14880 hypotheses for montys_heart (evidence > 4.4050420234524275)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.33
INFO:root:Testing 239 out of 23200 hypotheses for ramen_pack (evidence > 4.4050420234524275)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.638
INFO:root:Testing 7 out of 14864 hypotheses for hot_sauce (evidence > 4.4050420234524275)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.176
INFO:root:Testing 228 out of 12560 hypotheses for harissa_oil (evidence > 4.4050420234524275)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 18.9
INFO:root:Testing 425 out of 21832 hypotheses for tomato_soup_can (evidence > 4.4050420234524275)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 21.548
INFO:root:Testing 200 out of 16976 hypotheses for mustard_bottle (evidence > 4.4050420234524275)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.948
INFO:root:Testing 414 out of 17728 hypotheses for tuna_fish_can (evidence > 4.4050420234524275)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 12.63
INFO:root:Testing 405 out of 19024 hypotheses for potted_meat_can (evidence > 4.4050420234524275)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 21.203
DEBUG:root:evidences for each object: [18.42049991 10.64188664  7.33001229 12.63827118  8.17642585 18.89981142
 21.54819554 17.94790578 12.62988133 21.20306913]
DEBUG:root:mean evidence: 14.944, std: 5.025 -> th=17.238556430082216
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 21.55
DEBUG:root:evidences for each object: [18.42049991 10.64188664  7.33001229 12.63827118  8.17642585 18.89981142
 21.54819554 17.94790578 12.62988133 21.20306913]
DEBUG:root:mean evidence: 14.944, std: 5.025 -> th=17.238556430082216
DEBUG:root:evidences for each object: [18.42049991 10.64188664  7.33001229 12.63827118  8.17642585 18.89981142
 21.54819554 17.94790578 12.62988133 21.20306913]
DEBUG:root:mean evidence: 14.944, std: 5.025 -> th=18.315966206962354
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'numenta_mug', 'potted_meat_can', 'harissa_oil', 'mustard_bottle'}
INFO:root:--- Global Matching Step 139 ---
INFO:uvicorn.access:192.168.1.217:49318 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.93662228,  0.15816913,  0.31260394],
       [-0.16651423, -0.98603905,  0.        ],
       [ 0.30823969, -0.052053  ,  0.94988356]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00273082,  0.00748853, -0.00037547])}]
INFO:root:Testing 118 out of 14424 hypotheses for numenta_mug (evidence > 4.309639107520553)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 18.189
INFO:root:Testing 24 out of 10992 hypotheses for montys_brain (evidence > 4.309639107520553)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 10.255
INFO:root:Testing 24 out of 14880 hypotheses for montys_heart (evidence > 4.309639107520553)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.927
INFO:root:Testing 235 out of 23200 hypotheses for ramen_pack (evidence > 4.309639107520553)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 12.252
INFO:root:Testing 5 out of 14864 hypotheses for hot_sauce (evidence > 4.309639107520553)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.77
INFO:root:Testing 221 out of 12560 hypotheses for harissa_oil (evidence > 4.309639107520553)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 18.732
INFO:root:Testing 429 out of 21832 hypotheses for tomato_soup_can (evidence > 4.309639107520553)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 21.564
INFO:root:Testing 201 out of 16976 hypotheses for mustard_bottle (evidence > 4.309639107520553)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.521
INFO:root:Testing 407 out of 17728 hypotheses for tuna_fish_can (evidence > 4.309639107520553)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 12.209
INFO:root:Testing 402 out of 19024 hypotheses for potted_meat_can (evidence > 4.309639107520553)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 20.84
DEBUG:root:evidences for each object: [18.18932845 10.25499782  6.92663453 12.25206976  7.77044064 18.73219652
 21.56376132 17.52130686 12.20886459 20.83962068]
DEBUG:root:mean evidence: 14.626, std: 5.114 -> th=17.251009057466526
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 21.56
DEBUG:root:evidences for each object: [18.18932845 10.25499782  6.92663453 12.25206976  7.77044064 18.73219652
 21.56376132 17.52130686 12.20886459 20.83962068]
DEBUG:root:mean evidence: 14.626, std: 5.114 -> th=17.251009057466526
DEBUG:root:evidences for each object: [18.18932845 10.25499782  6.92663453 12.25206976  7.77044064 18.73219652
 21.56376132 17.52130686 12.20886459 20.83962068]
DEBUG:root:mean evidence: 14.626, std: 5.114 -> th=18.329197123558185
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'numenta_mug', 'potted_meat_can', 'harissa_oil', 'mustard_bottle'}
INFO:root:--- Global Matching Step 140 ---
INFO:uvicorn.access:192.168.1.217:49320 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.1384707 ,  0.18823599,  0.97231326],
       [-0.80552461,  0.59256231,  0.        ],
       [-0.5761562 , -0.78322226,  0.23368124]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01139512, -0.03788985,  0.0117611 ])}]
INFO:root:Testing 96 out of 14424 hypotheses for numenta_mug (evidence > 4.31275226436663)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 17.189
INFO:root:Testing 22 out of 10992 hypotheses for montys_brain (evidence > 4.31275226436663)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 9.255
INFO:root:Testing 17 out of 14880 hypotheses for montys_heart (evidence > 4.31275226436663)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.927
INFO:root:Testing 195 out of 23200 hypotheses for ramen_pack (evidence > 4.31275226436663)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.252
INFO:root:Testing 5 out of 14864 hypotheses for hot_sauce (evidence > 4.31275226436663)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.77
INFO:root:Testing 210 out of 12560 hypotheses for harissa_oil (evidence > 4.31275226436663)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 17.732
INFO:root:Testing 404 out of 21832 hypotheses for tomato_soup_can (evidence > 4.31275226436663)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 20.564
INFO:root:Testing 173 out of 16976 hypotheses for mustard_bottle (evidence > 4.31275226436663)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.521
INFO:root:Testing 399 out of 17728 hypotheses for tuna_fish_can (evidence > 4.31275226436663)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 11.297
INFO:root:Testing 356 out of 19024 hypotheses for potted_meat_can (evidence > 4.31275226436663)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 19.84
DEBUG:root:evidences for each object: [17.18932845  9.25499782  5.92663453 11.25206976  6.77044064 17.73219652
 20.56376132 16.52130686 11.29708278 19.83962068]
DEBUG:root:mean evidence: 13.635, std: 5.11 -> th=16.45100905746653
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 20.56
DEBUG:root:evidences for each object: [17.18932845  9.25499782  5.92663453 11.25206976  6.77044064 17.73219652
 20.56376132 16.52130686 11.29708278 19.83962068]
DEBUG:root:mean evidence: 13.635, std: 5.11 -> th=16.45100905746653
DEBUG:root:evidences for each object: [17.18932845  9.25499782  5.92663453 11.25206976  6.77044064 17.73219652
 20.56376132 16.52130686 11.29708278 19.83962068]
DEBUG:root:mean evidence: 13.635, std: 5.11 -> th=17.479197123558183
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'numenta_mug', 'potted_meat_can', 'harissa_oil', 'mustard_bottle'}
INFO:root:--- Global Matching Step 141 ---
INFO:uvicorn.access:192.168.1.217:49320 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.13757124,  0.17742058,  0.97447221],
       [-0.79026344,  0.61276724,  0.        ],
       [-0.59712465, -0.77008976,  0.22450815]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0012917 ,  0.02055014, -0.00365665])}]
INFO:root:Testing 112 out of 14424 hypotheses for numenta_mug (evidence > 4.11275226436663)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 16.189
INFO:root:Testing 22 out of 10992 hypotheses for montys_brain (evidence > 4.11275226436663)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 8.255
INFO:root:Testing 19 out of 14880 hypotheses for montys_heart (evidence > 4.11275226436663)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.927
INFO:root:Testing 236 out of 23200 hypotheses for ramen_pack (evidence > 4.11275226436663)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.252
INFO:root:Testing 6 out of 14864 hypotheses for hot_sauce (evidence > 4.11275226436663)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.77
INFO:root:Testing 220 out of 12560 hypotheses for harissa_oil (evidence > 4.11275226436663)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 16.732
INFO:root:Testing 418 out of 21832 hypotheses for tomato_soup_can (evidence > 4.11275226436663)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 19.564
INFO:root:Testing 194 out of 16976 hypotheses for mustard_bottle (evidence > 4.11275226436663)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.521
INFO:root:Testing 413 out of 17728 hypotheses for tuna_fish_can (evidence > 4.11275226436663)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 10.297
INFO:root:Testing 400 out of 19024 hypotheses for potted_meat_can (evidence > 4.11275226436663)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.84
DEBUG:root:evidences for each object: [16.18932845  8.25499782  4.92663453 10.25206976  5.77044064 16.73219652
 19.56376132 15.52130686 10.29708278 18.83962068]
DEBUG:root:mean evidence: 12.635, std: 5.11 -> th=15.651009057466528
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 19.56
DEBUG:root:evidences for each object: [16.18932845  8.25499782  4.92663453 10.25206976  5.77044064 16.73219652
 19.56376132 15.52130686 10.29708278 18.83962068]
DEBUG:root:mean evidence: 12.635, std: 5.11 -> th=15.651009057466528
DEBUG:root:evidences for each object: [16.18932845  8.25499782  4.92663453 10.25206976  5.77044064 16.73219652
 19.56376132 15.52130686 10.29708278 18.83962068]
DEBUG:root:mean evidence: 12.635, std: 5.11 -> th=16.629197123558185
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'harissa_oil', 'tomato_soup_can', 'numenta_mug', 'potted_meat_can'}
INFO:root:--- Global Matching Step 142 ---
INFO:uvicorn.access:192.168.1.217:49320 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.12380769,  0.24576884,  0.96138927],
       [-0.89308117,  0.44989557,  0.        ],
       [-0.43252478, -0.85859865,  0.27519205]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00035367, -0.000671  ,  0.00070587])}]
INFO:root:Testing 101 out of 14424 hypotheses for numenta_mug (evidence > 3.912752264366631)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 15.189
INFO:root:Testing 21 out of 10992 hypotheses for montys_brain (evidence > 3.912752264366631)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.255
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 3.912752264366631)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.927
INFO:root:Testing 208 out of 23200 hypotheses for ramen_pack (evidence > 3.912752264366631)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.252
INFO:root:Testing 4 out of 14864 hypotheses for hot_sauce (evidence > 3.912752264366631)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.77
INFO:root:Testing 210 out of 12560 hypotheses for harissa_oil (evidence > 3.912752264366631)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 15.732
INFO:root:Testing 403 out of 21832 hypotheses for tomato_soup_can (evidence > 3.912752264366631)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 18.564
INFO:root:Testing 174 out of 16976 hypotheses for mustard_bottle (evidence > 3.912752264366631)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.521
INFO:root:Testing 415 out of 17728 hypotheses for tuna_fish_can (evidence > 3.912752264366631)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 9.297
INFO:root:Testing 375 out of 19024 hypotheses for potted_meat_can (evidence > 3.912752264366631)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.84
DEBUG:root:evidences for each object: [15.18932845  7.25499782  3.92663453  9.25206976  4.77044064 15.73219652
 18.56376132 14.52130686  9.29708278 17.83962068]
DEBUG:root:mean evidence: 11.635, std: 5.11 -> th=14.851009057466527
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 18.56
DEBUG:root:evidences for each object: [15.18932845  7.25499782  3.92663453  9.25206976  4.77044064 15.73219652
 18.56376132 14.52130686  9.29708278 17.83962068]
DEBUG:root:mean evidence: 11.635, std: 5.11 -> th=14.851009057466527
DEBUG:root:evidences for each object: [15.18932845  7.25499782  3.92663453  9.25206976  4.77044064 15.73219652
 18.56376132 14.52130686  9.29708278 17.83962068]
DEBUG:root:mean evidence: 11.635, std: 5.11 -> th=15.779197123558184
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'harissa_oil', 'tomato_soup_can', 'numenta_mug', 'potted_meat_can'}
INFO:root:--- Global Matching Step 143 ---
INFO:uvicorn.access:192.168.1.217:49321 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.14228346,  0.31686395,  0.93773805],
       [-0.91225015,  0.40963357,  0.        ],
       [-0.38412899, -0.85545168,  0.34734327]]), 'pose_fully_defined': False}}, {'patch': array([-0.00849546, -0.02364221,  0.00879465])}]
INFO:root:Testing 83 out of 14424 hypotheses for numenta_mug (evidence > 3.7127522643666317)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 15.082
INFO:root:Testing 21 out of 10992 hypotheses for montys_brain (evidence > 3.7127522643666317)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 6.255
INFO:root:Testing 9 out of 14880 hypotheses for montys_heart (evidence > 3.7127522643666317)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
INFO:root:Testing 165 out of 23200 hypotheses for ramen_pack (evidence > 3.7127522643666317)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.06
INFO:root:Testing 2 out of 14864 hypotheses for hot_sauce (evidence > 3.7127522643666317)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.77
INFO:root:Testing 176 out of 12560 hypotheses for harissa_oil (evidence > 3.7127522643666317)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 15.871
INFO:root:Testing 379 out of 21832 hypotheses for tomato_soup_can (evidence > 3.7127522643666317)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 18.724
INFO:root:Testing 150 out of 16976 hypotheses for mustard_bottle (evidence > 3.7127522643666317)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.475
INFO:root:Testing 375 out of 17728 hypotheses for tuna_fish_can (evidence > 3.7127522643666317)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 9.174
INFO:root:Testing 319 out of 19024 hypotheses for potted_meat_can (evidence > 3.7127522643666317)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.673
DEBUG:root:evidences for each object: [15.08208586  6.25499782  3.70029763  9.0603911   3.77044064 15.87061413
 18.72433608 14.47539083  9.17440871 17.67335206]
DEBUG:root:mean evidence: 11.379, std: 5.389 -> th=14.979468864378735
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 18.72
DEBUG:root:evidences for each object: [15.08208586  6.25499782  3.70029763  9.0603911   3.77044064 15.87061413
 18.72433608 14.47539083  9.17440871 17.67335206]
DEBUG:root:mean evidence: 11.379, std: 5.389 -> th=14.979468864378735
DEBUG:root:evidences for each object: [15.08208586  6.25499782  3.70029763  9.0603911   3.77044064 15.87061413
 18.72433608 14.47539083  9.17440871 17.67335206]
DEBUG:root:mean evidence: 11.379, std: 5.389 -> th=15.915685668402405
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'harissa_oil', 'tomato_soup_can', 'numenta_mug', 'potted_meat_can'}
INFO:root:--- Global Matching Step 144 ---
INFO:uvicorn.access:192.168.1.217:49323 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.00554762, -0.3878589 ,  0.92170206],
       [ 0.99989773,  0.01430172, -0.        ],
       [-0.01318192,  0.9216078 ,  0.38789857]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00669975, -0.00412778, -0.00011906])}]
INFO:root:Testing 64 out of 14424 hypotheses for numenta_mug (evidence > 3.7448672160946828)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 14.082
INFO:root:Testing 12 out of 10992 hypotheses for montys_brain (evidence > 3.7448672160946828)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.255
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
INFO:root:Testing 98 out of 23200 hypotheses for ramen_pack (evidence > 3.7448672160946828)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.06
INFO:root:Testing 1 out of 14864 hypotheses for hot_sauce (evidence > 3.7448672160946828)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 142 out of 12560 hypotheses for harissa_oil (evidence > 3.7448672160946828)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 14.871
INFO:root:Testing 349 out of 21832 hypotheses for tomato_soup_can (evidence > 3.7448672160946828)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 19.133
INFO:root:Testing 98 out of 16976 hypotheses for mustard_bottle (evidence > 3.7448672160946828)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.475
INFO:root:Testing 358 out of 17728 hypotheses for tuna_fish_can (evidence > 3.7448672160946828)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.95
INFO:root:Testing 242 out of 19024 hypotheses for potted_meat_can (evidence > 3.7448672160946828)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.673
DEBUG:root:evidences for each object: [14.08208586  5.25499782  3.70029763  8.0603911   3.68758811 14.87061413
 19.13349247 13.47539083  8.95040422 16.67335206]
DEBUG:root:mean evidence: 10.789, std: 5.302 -> th=15.306793978987859
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 19.13
DEBUG:root:evidences for each object: [14.08208586  5.25499782  3.70029763  8.0603911   3.68758811 14.87061413
 19.13349247 13.47539083  8.95040422 16.67335206]
DEBUG:root:mean evidence: 10.789, std: 5.302 -> th=15.306793978987859
DEBUG:root:evidences for each object: [14.08208586  5.25499782  3.70029763  8.0603911   3.68758811 14.87061413
 19.13349247 13.47539083  8.95040422 16.67335206]
DEBUG:root:mean evidence: 10.789, std: 5.302 -> th=16.2634686026746
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 145 ---
INFO:uvicorn.access:192.168.1.217:49323 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.01468208, -0.3467267 ,  0.93785128],
       [ 0.99910466, -0.04230691,  0.        ],
       [ 0.03967759,  0.93701159,  0.34703742]]), 'pose_fully_defined': False}}, {'patch': array([-0.00177923,  0.0071886 ,  0.00160339])}]
INFO:root:Testing 56 out of 14424 hypotheses for numenta_mug (evidence > 3.8266984947469638)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 13.082
INFO:root:Testing 8 out of 10992 hypotheses for montys_brain (evidence > 3.8266984947469638)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 4.255
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
INFO:root:Testing 64 out of 23200 hypotheses for ramen_pack (evidence > 3.8266984947469638)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.06
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 120 out of 12560 hypotheses for harissa_oil (evidence > 3.8266984947469638)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 13.871
INFO:root:Testing 330 out of 21832 hypotheses for tomato_soup_can (evidence > 3.8266984947469638)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 19.566
INFO:root:Testing 84 out of 16976 hypotheses for mustard_bottle (evidence > 3.8266984947469638)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.475
INFO:root:Testing 321 out of 17728 hypotheses for tuna_fish_can (evidence > 3.8266984947469638)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.722
INFO:root:Testing 195 out of 19024 hypotheses for potted_meat_can (evidence > 3.8266984947469638)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.75
DEBUG:root:evidences for each object: [13.08208586  4.25499782  3.70029763  7.0603911   3.68758811 13.87061413
 19.56588801 12.47539083  8.72220002 15.74954232]
DEBUG:root:mean evidence: 10.217, std: 5.268 -> th=15.652710411120903
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 19.57
DEBUG:root:evidences for each object: [13.08208586  4.25499782  3.70029763  7.0603911   3.68758811 13.87061413
 19.56588801 12.47539083  8.72220002 15.74954232]
DEBUG:root:mean evidence: 10.217, std: 5.268 -> th=15.652710411120903
DEBUG:root:evidences for each object: [13.08208586  4.25499782  3.70029763  7.0603911   3.68758811 13.87061413
 19.56588801 12.47539083  8.72220002 15.74954232]
DEBUG:root:mean evidence: 10.217, std: 5.268 -> th=16.63100481181596
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 146 ---
INFO:uvicorn.access:192.168.1.217:49323 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.94569112,  0.25133564, -0.20615214],
       [-0.25685285, -0.96645052,  0.        ],
       [-0.19923584,  0.05295076,  0.97851995]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0001011 ,  0.00710258, -0.00336932])}]
INFO:root:Testing 47 out of 14424 hypotheses for numenta_mug (evidence > 3.913177602780225)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.082
INFO:root:Testing 2 out of 10992 hypotheses for montys_brain (evidence > 3.913177602780225)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.835
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
INFO:root:Testing 30 out of 23200 hypotheses for ramen_pack (evidence > 3.913177602780225)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.06
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 95 out of 12560 hypotheses for harissa_oil (evidence > 3.913177602780225)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 12.871
INFO:root:Testing 323 out of 21832 hypotheses for tomato_soup_can (evidence > 3.913177602780225)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 18.566
INFO:root:Testing 70 out of 16976 hypotheses for mustard_bottle (evidence > 3.913177602780225)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.475
INFO:root:Testing 275 out of 17728 hypotheses for tuna_fish_can (evidence > 3.913177602780225)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.333
INFO:root:Testing 162 out of 19024 hypotheses for potted_meat_can (evidence > 3.913177602780225)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.484
DEBUG:root:evidences for each object: [12.08208586  3.83479667  3.70029763  6.0603911   3.68758811 12.87061413
 18.56588801 11.47539083  8.3329412  15.4841094 ]
DEBUG:root:mean evidence: 9.609, std: 5.025 -> th=14.852710411120905
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 18.57
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 147 ---
INFO:uvicorn.access:192.168.1.217:49323 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.05726345, -0.10983232,  0.99229923],
       [ 0.88671847, -0.46230981,  0.        ],
       [ 0.45874967,  0.87989005,  0.1238638 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00414354,  0.00921229,  0.00147005])}]
INFO:root:Testing 45 out of 14424 hypotheses for numenta_mug (evidence > 3.7131776027802257)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.846
INFO:root:Testing 3 out of 10992 hypotheses for montys_brain (evidence > 3.7131776027802257)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
INFO:root:Testing 30 out of 23200 hypotheses for ramen_pack (evidence > 3.7131776027802257)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.806
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 91 out of 12560 hypotheses for harissa_oil (evidence > 3.7131776027802257)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 12.969
INFO:root:Testing 316 out of 21832 hypotheses for tomato_soup_can (evidence > 3.7131776027802257)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 18.778
INFO:root:Testing 62 out of 16976 hypotheses for mustard_bottle (evidence > 3.7131776027802257)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.338
INFO:root:Testing 208 out of 17728 hypotheses for tuna_fish_can (evidence > 3.7131776027802257)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.094
INFO:root:Testing 144 out of 19024 hypotheses for potted_meat_can (evidence > 3.7131776027802257)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.781
DEBUG:root:evidences for each object: [11.84593407  3.74568691  3.70029763  5.80590139  3.68758811 12.96856592
 18.77845272 11.33802474  8.09429686 15.78052449]
DEBUG:root:mean evidence: 9.575, std: 5.124 -> th=15.022762179990258
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 18.78
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 148 ---
INFO:uvicorn.access:192.168.1.217:49323 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.07401466,  0.15020941,  0.98587979],
       [-0.89701582, -0.44199843,  0.        ],
       [ 0.43575732, -0.88434977,  0.16745459]]), 'pose_fully_defined': False}}, {'patch': array([-0.00397295,  0.00322943,  0.00317367])}]
INFO:root:Testing 45 out of 14424 hypotheses for numenta_mug (evidence > 3.755690544997563)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.114
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
INFO:root:Testing 13 out of 23200 hypotheses for ramen_pack (evidence > 3.755690544997563)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.542
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 82 out of 12560 hypotheses for harissa_oil (evidence > 3.755690544997563)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 13.371
INFO:root:Testing 315 out of 21832 hypotheses for tomato_soup_can (evidence > 3.755690544997563)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 19.171
INFO:root:Testing 58 out of 16976 hypotheses for mustard_bottle (evidence > 3.755690544997563)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.736
INFO:root:Testing 152 out of 17728 hypotheses for tuna_fish_can (evidence > 3.755690544997563)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.861
INFO:root:Testing 123 out of 19024 hypotheses for potted_meat_can (evidence > 3.755690544997563)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.2
DEBUG:root:evidences for each object: [12.11382794  3.74568691  3.70029763  5.54180406  3.68758811 13.37131078
 19.17054768 11.73564578  7.8610841  16.19960205]
DEBUG:root:mean evidence: 9.713, std: 5.326 -> th=15.336438141685113
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 19.17
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 149 ---
INFO:uvicorn.access:192.168.1.217:49323 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.07656408,  0.26135869,  0.96220038],
       [-0.95966922, -0.28113162,  0.        ],
       [ 0.27050495, -0.92339409,  0.27234247]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00176602,  0.01202437, -0.01096682])}]
INFO:root:Testing 45 out of 14424 hypotheses for numenta_mug (evidence > 3.834109535421277)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.108
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
INFO:root:Testing 8 out of 23200 hypotheses for ramen_pack (evidence > 3.834109535421277)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.327
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 82 out of 12560 hypotheses for harissa_oil (evidence > 3.834109535421277)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 13.507
INFO:root:Testing 315 out of 21832 hypotheses for tomato_soup_can (evidence > 3.834109535421277)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 19.357
INFO:root:Testing 56 out of 16976 hypotheses for mustard_bottle (evidence > 3.834109535421277)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.848
INFO:root:Testing 119 out of 17728 hypotheses for tuna_fish_can (evidence > 3.834109535421277)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.675
INFO:root:Testing 117 out of 19024 hypotheses for potted_meat_can (evidence > 3.834109535421277)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.921
DEBUG:root:evidences for each object: [12.10798976  3.74568691  3.70029763  5.32686051  3.68758811 13.50654059
 19.35718348 11.84806779  7.67530349 15.92086183]
DEBUG:root:mean evidence: 9.688, std: 5.364 -> th=15.485746780413004
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 19.36
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 150 ---
INFO:uvicorn.access:192.168.1.217:49323 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.03975138,  0.40830663,  0.91197891],
       [-0.99529426, -0.09689855,  0.        ],
       [ 0.08836943, -0.90768737,  0.4102371 ]]), 'pose_fully_defined': False}}, {'patch': array([-2.20870856e-03,  6.44647040e-05,  1.80174473e-04])}]
INFO:root:Testing 44 out of 14424 hypotheses for numenta_mug (evidence > 3.8714366951032506)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.148
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
INFO:root:Testing 7 out of 23200 hypotheses for ramen_pack (evidence > 3.8714366951032506)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.148
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 81 out of 12560 hypotheses for harissa_oil (evidence > 3.8714366951032506)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 13.802
INFO:root:Testing 314 out of 21832 hypotheses for tomato_soup_can (evidence > 3.8714366951032506)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 19.177
INFO:root:Testing 56 out of 16976 hypotheses for mustard_bottle (evidence > 3.8714366951032506)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.127
INFO:root:Testing 102 out of 17728 hypotheses for tuna_fish_can (evidence > 3.8714366951032506)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.523
INFO:root:Testing 115 out of 19024 hypotheses for potted_meat_can (evidence > 3.8714366951032506)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.279
DEBUG:root:evidences for each object: [12.14808585  3.74568691  3.70029763  5.14841775  3.68758811 13.8015652
 19.17693518 12.12749726  7.5233494  16.27909237]
DEBUG:root:mean evidence: 9.734, std: 5.43 -> th=15.341548145814633
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 19.18
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 151 ---
INFO:uvicorn.access:192.168.1.217:49323 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.02520367,  0.45491618,  0.89017754],
       [-0.99846878, -0.05531806,  0.        ],
       [ 0.04924289, -0.88881448,  0.45561382]]), 'pose_fully_defined': False}}, {'patch': array([-0.00142052,  0.00358525, -0.0029194 ])}]
INFO:root:Testing 44 out of 14424 hypotheses for numenta_mug (evidence > 3.835387036453657)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.291
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
INFO:root:Testing 6 out of 23200 hypotheses for ramen_pack (evidence > 3.835387036453657)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.084
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 79 out of 12560 hypotheses for harissa_oil (evidence > 3.835387036453657)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 14.076
INFO:root:Testing 315 out of 21832 hypotheses for tomato_soup_can (evidence > 3.835387036453657)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 19.409
INFO:root:Testing 56 out of 16976 hypotheses for mustard_bottle (evidence > 3.835387036453657)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.49
INFO:root:Testing 95 out of 17728 hypotheses for tuna_fish_can (evidence > 3.835387036453657)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.431
INFO:root:Testing 111 out of 19024 hypotheses for potted_meat_can (evidence > 3.835387036453657)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.603
DEBUG:root:evidences for each object: [12.29101958  3.74568691  3.70029763  5.08370364  3.68758811 14.0759655
 19.40945409 12.48963725  7.43098844 16.60347739]
DEBUG:root:mean evidence: 9.852, std: 5.562 -> th=15.527563271711983
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 19.41
DEBUG:root:evidences for each object: [12.29101958  3.74568691  3.70029763  5.08370364  3.68758811 14.0759655
 19.40945409 12.48963725  7.43098844 16.60347739]
DEBUG:root:mean evidence: 9.852, std: 5.562 -> th=15.527563271711983
DEBUG:root:evidences for each object: [12.29101958  3.74568691  3.70029763  5.08370364  3.68758811 14.0759655
 19.40945409 12.48963725  7.43098844 16.60347739]
DEBUG:root:mean evidence: 9.852, std: 5.562 -> th=16.498035976193982
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: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 152 ---
INFO:uvicorn.access:192.168.1.217:49323 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.02356254,  0.58621861,  0.80981019],
       [-0.99919319,  0.04016169,  0.        ],
       [-0.03252335, -0.80915683,  0.58669196]]), 'pose_fully_defined': False}}, {'patch': array([-7.67579760e-04, -2.80683183e-03,  4.19801597e-05])}]
INFO:root:Testing 42 out of 14424 hypotheses for numenta_mug (evidence > 3.881890817927996)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.487
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
INFO:root:Testing 5 out of 23200 hypotheses for ramen_pack (evidence > 3.881890817927996)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.217
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 77 out of 12560 hypotheses for harissa_oil (evidence > 3.881890817927996)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 14.43
INFO:root:Testing 314 out of 21832 hypotheses for tomato_soup_can (evidence > 3.881890817927996)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 19.701
INFO:root:Testing 56 out of 16976 hypotheses for mustard_bottle (evidence > 3.881890817927996)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.851
INFO:root:Testing 85 out of 17728 hypotheses for tuna_fish_can (evidence > 3.881890817927996)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.418
INFO:root:Testing 109 out of 19024 hypotheses for potted_meat_can (evidence > 3.881890817927996)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.865
DEBUG:root:evidences for each object: [12.48654103  3.74568691  3.70029763  5.21654484  3.68758811 14.42968127
 19.70112678 12.85113704  7.41814935 16.86503524]
DEBUG:root:mean evidence: 10.01, std: 5.687 -> th=15.76090142291827
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 19.7
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 153 ---
INFO:uvicorn.access:192.168.1.217:49323 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.02161889,  0.68042992,  0.73249419],
       [-0.99949564, -0.03175638,  0.        ],
       [ 0.02326136, -0.73212475,  0.68077328]]), 'pose_fully_defined': False}}, {'patch': array([-0.00405423, -0.00026888, -0.00048402])}]
INFO:root:Testing 41 out of 14424 hypotheses for numenta_mug (evidence > 3.9402253557295666)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.76
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
INFO:root:Testing 5 out of 23200 hypotheses for ramen_pack (evidence > 3.9402253557295666)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.409
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 77 out of 12560 hypotheses for harissa_oil (evidence > 3.9402253557295666)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 14.873
INFO:root:Testing 314 out of 21832 hypotheses for tomato_soup_can (evidence > 3.9402253557295666)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 20.061
INFO:root:Testing 55 out of 16976 hypotheses for mustard_bottle (evidence > 3.9402253557295666)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.32
INFO:root:Testing 75 out of 17728 hypotheses for tuna_fish_can (evidence > 3.9402253557295666)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.407
INFO:root:Testing 106 out of 19024 hypotheses for potted_meat_can (evidence > 3.9402253557295666)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.143
DEBUG:root:evidences for each object: [12.76031714  3.74568691  3.70029763  5.4089183   3.68758811 14.87323303
 20.06101078 13.3196887   7.40703332 17.14334184]
DEBUG:root:mean evidence: 10.211, std: 5.836 -> th=16.04880862295581
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 20.06
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 154 ---
INFO:uvicorn.access:192.168.1.217:49323 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.00975987,  0.70848321,  0.70566018],
       [-0.99990513, -0.01377442,  0.        ],
       [ 0.00972006, -0.70559323,  0.70855043]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00356598, -0.00010684, -0.00043041])}]
INFO:root:Testing 41 out of 14424 hypotheses for numenta_mug (evidence > 4.012202155738951)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.967
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
INFO:root:Testing 4 out of 23200 hypotheses for ramen_pack (evidence > 4.012202155738951)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.619
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 77 out of 12560 hypotheses for harissa_oil (evidence > 4.012202155738951)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 15.285
INFO:root:Testing 313 out of 21832 hypotheses for tomato_soup_can (evidence > 4.012202155738951)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 20.44
INFO:root:Testing 51 out of 16976 hypotheses for mustard_bottle (evidence > 4.012202155738951)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.672
INFO:root:Testing 64 out of 17728 hypotheses for tuna_fish_can (evidence > 4.012202155738951)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.406
INFO:root:Testing 105 out of 19024 hypotheses for potted_meat_can (evidence > 4.012202155738951)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.358
DEBUG:root:evidences for each object: [12.96679213  3.74568691  3.70029763  5.61907283  3.68758811 15.28453361
 20.44025243 13.67237534  7.40632329 17.35807695]
DEBUG:root:mean evidence: 10.388, std: 5.97 -> th=16.352201944567618
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 20.44
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 155 ---
INFO:uvicorn.access:192.168.1.217:49323 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.02945876,  0.67278216,  0.73925391],
       [-0.99904275,  0.04374456,  0.        ],
       [-0.03233834, -0.73854626,  0.6734268 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00048165, -0.00105464,  0.00199151])}]
INFO:root:Testing 41 out of 14424 hypotheses for numenta_mug (evidence > 4.088050486141903)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 13.185
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
INFO:root:Testing 3 out of 23200 hypotheses for ramen_pack (evidence > 4.088050486141903)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.803
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 77 out of 12560 hypotheses for harissa_oil (evidence > 4.088050486141903)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 15.753
INFO:root:Testing 313 out of 21832 hypotheses for tomato_soup_can (evidence > 4.088050486141903)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 20.794
INFO:root:Testing 49 out of 16976 hypotheses for mustard_bottle (evidence > 4.088050486141903)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.08
INFO:root:Testing 59 out of 17728 hypotheses for tuna_fish_can (evidence > 4.088050486141903)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.414
INFO:root:Testing 101 out of 19024 hypotheses for potted_meat_can (evidence > 4.088050486141903)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.637
DEBUG:root:evidences for each object: [13.18513406  3.74568691  3.70029763  5.80339499  3.68758811 15.75319638
 20.79387882 14.08011969  7.4143436  17.63652173]
DEBUG:root:mean evidence: 10.58, std: 6.118 -> th=16.635103054800076
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 20.79
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 156 ---
INFO:uvicorn.access:192.168.1.217:49323 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.10300793,  0.71007965,  0.69654595],
       [-0.98964124, -0.14356262,  0.        ],
       [ 0.09999796, -0.68933059,  0.71751219]]), 'pose_fully_defined': False}}, {'patch': array([-0.00112942,  0.0057109 , -0.00931413])}]
INFO:root:Testing 41 out of 14424 hypotheses for numenta_mug (evidence > 4.158775763700017)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 13.299
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
INFO:root:Testing 3 out of 23200 hypotheses for ramen_pack (evidence > 4.158775763700017)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.951
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 73 out of 12560 hypotheses for harissa_oil (evidence > 4.158775763700017)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 16.005
INFO:root:Testing 313 out of 21832 hypotheses for tomato_soup_can (evidence > 4.158775763700017)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 21.062
INFO:root:Testing 47 out of 16976 hypotheses for mustard_bottle (evidence > 4.158775763700017)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.941
INFO:root:Testing 47 out of 17728 hypotheses for tuna_fish_can (evidence > 4.158775763700017)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.213
INFO:root:Testing 100 out of 19024 hypotheses for potted_meat_can (evidence > 4.158775763700017)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.446
DEBUG:root:evidences for each object: [13.29879076  3.74568691  3.70029763  5.95112151  3.68758811 16.00462256
 21.061672   13.94055548  7.21258334 17.44638306]
DEBUG:root:mean evidence: 10.605, std: 6.16 -> th=16.849337600821237
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 21.06
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 157 ---
INFO:uvicorn.access:192.168.1.217:49323 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.00649221,  0.71150294,  0.70265313],
       [-0.99995837, -0.00912426,  0.        ],
       [ 0.00641119, -0.70262388,  0.71153256]]), 'pose_fully_defined': False}}, {'patch': array([-0.0015484 , -0.00264687,  0.00560351])}]
INFO:root:Testing 41 out of 14424 hypotheses for numenta_mug (evidence > 4.212334400205307)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No 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
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
INFO:root:Testing 3 out of 23200 hypotheses for ramen_pack (evidence > 4.212334400205307)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.163
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 71 out of 12560 hypotheses for harissa_oil (evidence > 4.212334400205307)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 16.419
INFO:root:Testing 312 out of 21832 hypotheses for tomato_soup_can (evidence > 4.212334400205307)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 21.421
INFO:root:Testing 46 out of 16976 hypotheses for mustard_bottle (evidence > 4.212334400205307)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.294
INFO:root:Testing 43 out of 17728 hypotheses for tuna_fish_can (evidence > 4.212334400205307)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.261
INFO:root:Testing 95 out of 19024 hypotheses for potted_meat_can (evidence > 4.212334400205307)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.879
DEBUG:root:evidences for each object: [13.5917213   3.74568691  3.70029763  6.16310365  3.68758811 16.41853575
 21.42110005 14.29443385  7.26080891 17.87865684]
DEBUG:root:mean evidence: 10.816, std: 6.319 -> th=17.136880039427517
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 21.42
DEBUG:root:evidences for each object: [13.5917213   3.74568691  3.70029763  6.16310365  3.68758811 16.41853575
 21.42110005 14.29443385  7.26080891 17.87865684]
DEBUG:root:mean evidence: 10.816, std: 6.319 -> th=17.136880039427517
DEBUG:root:evidences for each object: [13.5917213   3.74568691  3.70029763  6.16310365  3.68758811 16.41853575
 21.42110005 14.29443385  7.26080891 17.87865684]
DEBUG:root:mean evidence: 10.816, std: 6.319 -> th=18.207935041891734
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: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 158 ---
INFO:uvicorn.access:192.168.1.217:49323 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.09107053,  0.58001417,  0.80949967],
       [-0.98789659,  0.15511391,  0.        ],
       [-0.12556466, -0.79970197,  0.58712033]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00865181, -0.01930227,  0.01544773])}]
INFO:root:Testing 40 out of 14424 hypotheses for numenta_mug (evidence > 4.2842200098568775)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 13.842
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
INFO:root:Testing 3 out of 23200 hypotheses for ramen_pack (evidence > 4.2842200098568775)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.042
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 71 out of 12560 hypotheses for harissa_oil (evidence > 4.2842200098568775)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 16.733
INFO:root:Testing 311 out of 21832 hypotheses for tomato_soup_can (evidence > 4.2842200098568775)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 21.768
INFO:root:Testing 45 out of 16976 hypotheses for mustard_bottle (evidence > 4.2842200098568775)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.342
INFO:root:Testing 40 out of 17728 hypotheses for tuna_fish_can (evidence > 4.2842200098568775)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.255
INFO:root:Testing 94 out of 19024 hypotheses for potted_meat_can (evidence > 4.2842200098568775)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.062
DEBUG:root:evidences for each object: [13.84212104  3.74568691  3.70029763  6.04192989  3.68758811 16.73278071
 21.76843566 14.34168953  7.25509643 18.06234484]
DEBUG:root:mean evidence: 10.918, std: 6.449 -> th=17.41474852829522
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 21.77
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 159 ---
INFO:uvicorn.access:192.168.1.217:49323 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.02601619,  0.28050397,  0.95950023],
       [-0.99572645,  0.09235166,  0.        ],
       [-0.08861144, -0.95539976,  0.28170786]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00100611, -0.00307708, -0.00175542])}]
INFO:root:Testing 40 out of 14424 hypotheses for numenta_mug (evidence > 4.353687132073805)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 13.795
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
INFO:root:Testing 2 out of 23200 hypotheses for ramen_pack (evidence > 4.353687132073805)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.827
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 71 out of 12560 hypotheses for harissa_oil (evidence > 4.353687132073805)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 16.59
INFO:root:Testing 309 out of 21832 hypotheses for tomato_soup_can (evidence > 4.353687132073805)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 22.205
INFO:root:Testing 41 out of 16976 hypotheses for mustard_bottle (evidence > 4.353687132073805)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.366
INFO:root:Testing 40 out of 17728 hypotheses for tuna_fish_can (evidence > 4.353687132073805)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.152
INFO:root:Testing 94 out of 19024 hypotheses for potted_meat_can (evidence > 4.353687132073805)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.472
DEBUG:root:evidences for each object: [13.79509507  3.74568691  3.70029763  5.82734673  3.68758811 16.59027959
 22.20543195 14.36596409  7.15221023 18.47207349]
DEBUG:root:mean evidence: 10.954, std: 6.578 -> th=17.76434556119181
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 22.21
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 160 ---
INFO:uvicorn.access:192.168.1.217:49323 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.08944352,  0.08880962,  0.99202455],
       [-0.70458772,  0.7096169 ,  0.        ],
       [-0.70395738, -0.69896832,  0.12604481]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00154399, -0.01312588,  0.00252152])}]
INFO:root:Testing 39 out of 14424 hypotheses for numenta_mug (evidence > 4.441086390297951)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 13.667
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
INFO:root:Testing 2 out of 23200 hypotheses for ramen_pack (evidence > 4.441086390297951)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.611
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 70 out of 12560 hypotheses for harissa_oil (evidence > 4.441086390297951)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 16.91
INFO:root:Testing 308 out of 21832 hypotheses for tomato_soup_can (evidence > 4.441086390297951)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 22.549
INFO:root:Testing 39 out of 16976 hypotheses for mustard_bottle (evidence > 4.441086390297951)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.295
INFO:root:Testing 34 out of 17728 hypotheses for tuna_fish_can (evidence > 4.441086390297951)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.916
INFO:root:Testing 93 out of 19024 hypotheses for potted_meat_can (evidence > 4.441086390297951)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.826
DEBUG:root:evidences for each object: [13.66682125  3.74568691  3.70029763  5.6106486   3.68758811 16.91004359
 22.54920008 14.29542949  6.91598718 18.82593163]
DEBUG:root:mean evidence: 10.991, std: 6.728 -> th=18.039360061661597
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 22.55
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 161 ---
INFO:uvicorn.access:192.168.1.217:49323 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.02746912, -0.03814403,  0.99889463],
       [ 0.8114797 , -0.58438061,  0.        ],
       [ 0.58373466,  0.81058271,  0.04700552]]), 'pose_fully_defined': False}}, {'patch': array([0.00366398, 0.01880372, 0.00496312])}]
INFO:root:Testing 37 out of 14424 hypotheses for numenta_mug (evidence > 4.509840015415399)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.667
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
INFO:root:Testing 1 out of 23200 hypotheses for ramen_pack (evidence > 4.509840015415399)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.611
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 66 out of 12560 hypotheses for harissa_oil (evidence > 4.509840015415399)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 15.91
INFO:root:Testing 308 out of 21832 hypotheses for tomato_soup_can (evidence > 4.509840015415399)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 22.875
INFO:root:Testing 34 out of 16976 hypotheses for mustard_bottle (evidence > 4.509840015415399)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.295
INFO:root:Testing 26 out of 17728 hypotheses for tuna_fish_can (evidence > 4.509840015415399)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.107
INFO:root:Testing 88 out of 19024 hypotheses for potted_meat_can (evidence > 4.509840015415399)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.826
DEBUG:root:evidences for each object: [12.66682125  3.74568691  3.70029763  4.6106486   3.68758811 15.91004359
 22.87490438 13.29542949  7.10673929 17.82593163]
DEBUG:root:mean evidence: 10.542, std: 6.581 -> th=18.29992350746739
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 22.87
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can'}
INFO:root:--- Global Matching Step 162 ---
INFO:uvicorn.access:192.168.1.217:49326 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98920938,  0.12874793,  0.06991976],
       [-0.1290638 ,  0.99163629,  0.        ],
       [-0.06933497, -0.00902411,  0.99755262]]), 'pose_fully_defined': False}}, {'patch': array([-0.00720986,  0.00049402, -0.02901781])}]
INFO:root:Testing 32 out of 14424 hypotheses for numenta_mug (evidence > 4.574980876866846)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 13.036
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
INFO:root:Testing 1 out of 23200 hypotheses for ramen_pack (evidence > 4.574980876866846)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.994
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 64 out of 12560 hypotheses for harissa_oil (evidence > 4.574980876866846)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 16.298
INFO:root:Testing 305 out of 21832 hypotheses for tomato_soup_can (evidence > 4.574980876866846)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 23.345
INFO:root:Testing 30 out of 16976 hypotheses for mustard_bottle (evidence > 4.574980876866846)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.768
INFO:root:Testing 22 out of 17728 hypotheses for tuna_fish_can (evidence > 4.574980876866846)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.476
INFO:root:Testing 86 out of 19024 hypotheses for potted_meat_can (evidence > 4.574980876866846)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.224
DEBUG:root:evidences for each object: [13.03627425  3.74568691  3.70029763  4.99354134  3.68758811 16.2975857
 23.34480684 13.76821913  7.47571481 18.22372061]
DEBUG:root:mean evidence: 10.827, std: 6.723 -> th=18.67584547212887
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 23.34
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can'}
INFO:root:--- Global Matching Step 163 ---
INFO:uvicorn.access:192.168.1.217:49326 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98305841,  0.07232328, -0.1684206 ],
       [-0.07337137,  0.99730469,  0.        ],
       [ 0.16796666,  0.01235725,  0.98571522]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00160644,  0.01354095, -0.01166908])}]
INFO:root:Testing 36 out of 14424 hypotheses for numenta_mug (evidence > 4.6689613680322175)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 13.477
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
INFO:root:Testing 1 out of 23200 hypotheses for ramen_pack (evidence > 4.6689613680322175)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.653
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 65 out of 12560 hypotheses for harissa_oil (evidence > 4.6689613680322175)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 16.739
INFO:root:Testing 305 out of 21832 hypotheses for tomato_soup_can (evidence > 4.6689613680322175)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 23.765
INFO:root:Testing 30 out of 16976 hypotheses for mustard_bottle (evidence > 4.6689613680322175)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.075
INFO:root:Testing 32 out of 17728 hypotheses for tuna_fish_can (evidence > 4.6689613680322175)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.846
INFO:root:Testing 86 out of 19024 hypotheses for potted_meat_can (evidence > 4.6689613680322175)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.6
DEBUG:root:evidences for each object: [13.47698465  3.74568691  3.70029763  4.65312235  3.68758811 16.73892229
 23.7650814  14.07494941  7.84588609 18.60036721]
DEBUG:root:mean evidence: 11.029, std: 6.92 -> th=19.01206511838009
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 23.77
DEBUG:root:evidences for each object: [13.47698465  3.74568691  3.70029763  4.65312235  3.68758811 16.73892229
 23.7650814  14.07494941  7.84588609 18.60036721]
DEBUG:root:mean evidence: 11.029, std: 6.92 -> th=19.01206511838009
DEBUG:root:evidences for each object: [13.47698465  3.74568691  3.70029763  4.65312235  3.68758811 16.73892229
 23.7650814  14.07494941  7.84588609 18.60036721]
DEBUG:root:mean evidence: 11.029, std: 6.92 -> th=20.200319188278847
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can'}
INFO:root:--- Global Matching Step 164 ---
INFO:uvicorn.access:192.168.1.217:49326 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99551927,  0.02244713, -0.09185595],
       [-0.02254243,  0.99974589,  0.        ],
       [ 0.0918326 ,  0.00207066,  0.99577231]]), 'pose_fully_defined': False}}, {'patch': array([-0.00929154, -0.02868498,  0.01905415])}]
INFO:root:Testing 30 out of 14424 hypotheses for numenta_mug (evidence > 4.753016279595023)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 13.935
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.653
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 63 out of 12560 hypotheses for harissa_oil (evidence > 4.753016279595023)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 17.217
INFO:root:Testing 305 out of 21832 hypotheses for tomato_soup_can (evidence > 4.753016279595023)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 24.237
INFO:root:Testing 30 out of 16976 hypotheses for mustard_bottle (evidence > 4.753016279595023)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.573
INFO:root:Testing 30 out of 17728 hypotheses for tuna_fish_can (evidence > 4.753016279595023)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.247
INFO:root:Testing 85 out of 19024 hypotheses for potted_meat_can (evidence > 4.753016279595023)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 19.074
DEBUG:root:evidences for each object: [13.93539037  3.74568691  3.70029763  4.65312235  3.68758811 17.21699345
 24.23674391 14.57283378  8.24676113 19.07400756]
DEBUG:root:mean evidence: 11.307, std: 7.119 -> th=19.389395127545303
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 24.24
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can'}
INFO:root:--- Global Matching Step 165 ---
INFO:uvicorn.access:192.168.1.217:49326 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 9.99806310e-01,  1.03751285e-02, -1.67242019e-02],
       [-1.03765798e-02,  9.99946162e-01,  0.00000000e+00],
       [ 1.67233015e-02,  1.73540015e-04,  9.99860141e-01]]), 'pose_fully_defined': False}}, {'patch': array([-0.00067136, -0.01222728, -0.00654779])}]
INFO:root:Testing 34 out of 14424 hypotheses for numenta_mug (evidence > 4.847348781886325)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 14.377
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.653
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 69 out of 12560 hypotheses for harissa_oil (evidence > 4.847348781886325)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 17.674
INFO:root:Testing 306 out of 21832 hypotheses for tomato_soup_can (evidence > 4.847348781886325)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 24.717
INFO:root:Testing 37 out of 16976 hypotheses for mustard_bottle (evidence > 4.847348781886325)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.055
INFO:root:Testing 37 out of 17728 hypotheses for tuna_fish_can (evidence > 4.847348781886325)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.632
INFO:root:Testing 85 out of 19024 hypotheses for potted_meat_can (evidence > 4.847348781886325)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 19.537
DEBUG:root:evidences for each object: [14.37722655  3.74568691  3.70029763  4.65312235  3.68758811 17.67356513
 24.7171823  15.05454205  8.63172809 19.53739659]
DEBUG:root:mean evidence: 11.578, std: 7.317 -> th=19.773745836828063
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 24.72
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can'}
INFO:root:--- Global Matching Step 166 ---
INFO:uvicorn.access:192.168.1.217:49326 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99478389,  0.02918093, -0.09774189],
       [-0.02932133,  0.99957004,  0.        ],
       [ 0.09769986,  0.00286592,  0.9952118 ]]), 'pose_fully_defined': False}}, {'patch': array([0.00146394, 0.00392335, 0.01209255])}]
INFO:root:Testing 40 out of 14424 hypotheses for numenta_mug (evidence > 4.943436459207014)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 14.83
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.653
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 67 out of 12560 hypotheses for harissa_oil (evidence > 4.943436459207014)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 18.148
INFO:root:Testing 306 out of 21832 hypotheses for tomato_soup_can (evidence > 4.943436459207014)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 25.186
INFO:root:Testing 37 out of 16976 hypotheses for mustard_bottle (evidence > 4.943436459207014)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.535
INFO:root:Testing 33 out of 17728 hypotheses for tuna_fish_can (evidence > 4.943436459207014)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 9.037
INFO:root:Testing 85 out of 19024 hypotheses for potted_meat_can (evidence > 4.943436459207014)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 20.009
DEBUG:root:evidences for each object: [14.82988373  3.74568691  3.70029763  4.65312235  3.68758811 18.14792487
 25.1862623  15.5345364   9.03656815 20.00918069]
DEBUG:root:mean evidence: 11.853, std: 7.517 -> th=20.1490098439697
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 25.19
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can'}
INFO:root:--- Global Matching Step 167 ---
INFO:uvicorn.access:192.168.1.217:49328 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.9981209 , -0.02939619,  0.05376365],
       [ 0.02943877,  0.99956659, -0.        ],
       [-0.05374035,  0.00158274,  0.99855369]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00215654,  0.03187778, -0.02312385])}]
INFO:root:Testing 40 out of 14424 hypotheses for numenta_mug (evidence > 5.037252460992423)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 15.247
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.653
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 67 out of 12560 hypotheses for harissa_oil (evidence > 5.037252460992423)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 18.572
INFO:root:Testing 306 out of 21832 hypotheses for tomato_soup_can (evidence > 5.037252460992423)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 25.664
INFO:root:Testing 36 out of 16976 hypotheses for mustard_bottle (evidence > 5.037252460992423)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.998
INFO:root:Testing 54 out of 17728 hypotheses for tuna_fish_can (evidence > 5.037252460992423)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 9.42
INFO:root:Testing 85 out of 19024 hypotheses for potted_meat_can (evidence > 5.037252460992423)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 20.465
DEBUG:root:evidences for each object: [15.24693027  3.74568691  3.70029763  4.65312235  3.68758811 18.57178375
 25.66395988 15.99794496  9.42049404 20.46485352]
DEBUG:root:mean evidence: 12.115, std: 7.712 -> th=20.531167904246892
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 25.66
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can'}
INFO:root:--- Global Matching Step 168 ---
INFO:uvicorn.access:192.168.1.217:49328 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.9947406 , -0.03233877,  0.09718716],
       [ 0.03249258,  0.99947198, -0.        ],
       [-0.09713585,  0.00315786,  0.99526612]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00649288,  0.00582274, -0.00784932])}]
INFO:root:Testing 62 out of 14424 hypotheses for numenta_mug (evidence > 5.132791976061721)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 14.247
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.653
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 75 out of 12560 hypotheses for harissa_oil (evidence > 5.132791976061721)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 17.572
INFO:root:Testing 306 out of 21832 hypotheses for tomato_soup_can (evidence > 5.132791976061721)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 25.731
INFO:root:Testing 38 out of 16976 hypotheses for mustard_bottle (evidence > 5.132791976061721)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.424
INFO:root:Testing 88 out of 17728 hypotheses for tuna_fish_can (evidence > 5.132791976061721)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 9.776
INFO:root:Testing 86 out of 19024 hypotheses for potted_meat_can (evidence > 5.132791976061721)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 20.789
DEBUG:root:evidences for each object: [14.24693027  3.74568691  3.70029763  4.65312235  3.68758811 17.57178375
 25.7306008  16.42352433  9.77645966 20.78896518]
DEBUG:root:mean evidence: 12.032, std: 7.658 -> th=20.584480641777127
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 25.73
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 169 ---
INFO:uvicorn.access:192.168.1.217:49328 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 9.99649884e-01, -2.62913349e-02, -2.97898285e-03],
       [ 2.62914515e-02,  9.99654320e-01, -0.00000000e+00],
       [ 2.97795308e-03, -7.83217834e-05,  9.99995563e-01]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00716931,  0.00086369, -0.01273432])}]
INFO:root:Testing 36 out of 14424 hypotheses for numenta_mug (evidence > 5.14612016044428)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 13.247
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.653
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 66 out of 12560 hypotheses for harissa_oil (evidence > 5.14612016044428)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 16.572
INFO:root:Testing 306 out of 21832 hypotheses for tomato_soup_can (evidence > 5.14612016044428)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 24.731
INFO:root:Testing 36 out of 16976 hypotheses for mustard_bottle (evidence > 5.14612016044428)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.424
INFO:root:Testing 82 out of 17728 hypotheses for tuna_fish_can (evidence > 5.14612016044428)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.776
INFO:root:Testing 86 out of 19024 hypotheses for potted_meat_can (evidence > 5.14612016044428)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 19.789
DEBUG:root:evidences for each object: [13.24693027  3.74568691  3.70029763  4.65312235  3.68758811 16.57178375
 24.7306008  15.42352433  8.77645966 19.78896518]
DEBUG:root:mean evidence: 11.432, std: 7.24 -> th=19.784480641777126
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 24.73
DEBUG:root:evidences for each object: [13.24693027  3.74568691  3.70029763  4.65312235  3.68758811 16.57178375
 24.7306008  15.42352433  8.77645966 19.78896518]
DEBUG:root:mean evidence: 11.432, std: 7.24 -> th=19.784480641777126
DEBUG:root:evidences for each object: [13.24693027  3.74568691  3.70029763  4.65312235  3.68758811 16.57178375
 24.7306008  15.42352433  8.77645966 19.78896518]
DEBUG:root:mean evidence: 11.432, std: 7.24 -> th=21.021010681888196
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 170 ---
INFO:uvicorn.access:192.168.1.217:49328 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99527543, -0.09612541,  0.01366437],
       [ 0.09613439,  0.99536836, -0.        ],
       [-0.01360108,  0.00131362,  0.99990664]]), 'pose_fully_defined': False}}, {'patch': array([-0.00548307, -0.01642099,  0.00646367])}]
INFO:root:Testing 57 out of 14424 hypotheses for numenta_mug (evidence > 4.946120160444281)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.247
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.653
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 90 out of 12560 hypotheses for harissa_oil (evidence > 4.946120160444281)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 15.572
INFO:root:Testing 308 out of 21832 hypotheses for tomato_soup_can (evidence > 4.946120160444281)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 25.165
INFO:root:Testing 43 out of 16976 hypotheses for mustard_bottle (evidence > 4.946120160444281)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.862
INFO:root:Testing 161 out of 17728 hypotheses for tuna_fish_can (evidence > 4.946120160444281)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 9.038
INFO:root:Testing 88 out of 19024 hypotheses for potted_meat_can (evidence > 4.946120160444281)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 19.901
DEBUG:root:evidences for each object: [12.24693027  3.74568691  3.70029763  4.65312235  3.68758811 15.57178375
 25.16480333 15.86173667  9.03754974 19.90112337]
DEBUG:root:mean evidence: 11.357, std: 7.268 -> th=20.131842663309463
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 25.16
DEBUG:root:evidences for each object: [12.24693027  3.74568691  3.70029763  4.65312235  3.68758811 15.57178375
 25.16480333 15.86173667  9.03754974 19.90112337]
DEBUG:root:mean evidence: 11.357, std: 7.268 -> th=20.131842663309463
DEBUG:root:evidences for each object: [12.24693027  3.74568691  3.70029763  4.65312235  3.68758811 15.57178375
 25.16480333 15.86173667  9.03754974 19.90112337]
DEBUG:root:mean evidence: 11.357, std: 7.268 -> th=21.390082829766307
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can'}
INFO:root:--- Global Matching Step 171 ---
INFO:uvicorn.access:192.168.1.217:49328 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99489061, -0.09287105,  0.03959336],
       [ 0.09294393,  0.99567134, -0.        ],
       [-0.03942198,  0.00367996,  0.99921588]]), 'pose_fully_defined': False}}, {'patch': array([-0.00556191, -0.00712087,  0.01099597])}]
INFO:root:Testing 24 out of 14424 hypotheses for numenta_mug (evidence > 5.032960665827364)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.673
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.653
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 55 out of 12560 hypotheses for harissa_oil (evidence > 5.032960665827364)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 15.994
INFO:root:Testing 303 out of 21832 hypotheses for tomato_soup_can (evidence > 5.032960665827364)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 25.602
INFO:root:Testing 36 out of 16976 hypotheses for mustard_bottle (evidence > 5.032960665827364)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.227
INFO:root:Testing 48 out of 17728 hypotheses for tuna_fish_can (evidence > 5.032960665827364)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 9.456
INFO:root:Testing 82 out of 19024 hypotheses for potted_meat_can (evidence > 5.032960665827364)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 20.376
DEBUG:root:evidences for each object: [12.67341077  3.74568691  3.70029763  4.65312235  3.68758811 15.99415442
 25.60245484 16.22730178  9.45554904 20.37595669]
DEBUG:root:mean evidence: 11.612, std: 7.447 -> th=20.48196387228105
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 25.6
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can'}
INFO:root:--- Global Matching Step 172 ---
INFO:uvicorn.access:192.168.1.217:49328 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99550271, -0.08928427,  0.03166487],
       [ 0.08932907,  0.99600217, -0.        ],
       [-0.03153828,  0.00282859,  0.99949854]]), 'pose_fully_defined': False}}, {'patch': array([-0.00866198, -0.00968332,  0.01651061])}]
INFO:root:Testing 23 out of 14424 hypotheses for numenta_mug (evidence > 5.120490968070261)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 13.106
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.653
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 107 out of 12560 hypotheses for harissa_oil (evidence > 5.120490968070261)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 16.421
INFO:root:Testing 303 out of 21832 hypotheses for tomato_soup_can (evidence > 5.120490968070261)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 26.038
INFO:root:Testing 43 out of 16976 hypotheses for mustard_bottle (evidence > 5.120490968070261)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.661
INFO:root:Testing 47 out of 17728 hypotheses for tuna_fish_can (evidence > 5.120490968070261)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 9.806
INFO:root:Testing 82 out of 19024 hypotheses for potted_meat_can (evidence > 5.120490968070261)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 20.824
DEBUG:root:evidences for each object: [13.1060931   3.74568691  3.70029763  4.65312235  3.68758811 16.4209126
 26.03750514 16.66089452  9.80572035 20.82416445]
DEBUG:root:mean evidence: 11.864, std: 7.63 -> th=20.83000411277583
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 26.04
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can'}
INFO:root:--- Global Matching Step 173 ---
INFO:uvicorn.access:192.168.1.217:49328 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.9959793 , -0.08745381,  0.0194183 ],
       [ 0.0874703 ,  0.99616713, -0.        ],
       [-0.01934387,  0.00169852,  0.99981145]]), 'pose_fully_defined': False}}, {'patch': array([-0.00174326, -0.00490531,  0.00521081])}]
INFO:root:Testing 24 out of 14424 hypotheses for numenta_mug (evidence > 5.207501028193956)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 13.556
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.653
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 106 out of 12560 hypotheses for harissa_oil (evidence > 5.207501028193956)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 16.855
INFO:root:Testing 303 out of 21832 hypotheses for tomato_soup_can (evidence > 5.207501028193956)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 26.469
INFO:root:Testing 131 out of 16976 hypotheses for mustard_bottle (evidence > 5.207501028193956)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.105
INFO:root:Testing 43 out of 17728 hypotheses for tuna_fish_can (evidence > 5.207501028193956)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.806
INFO:root:Testing 83 out of 19024 hypotheses for potted_meat_can (evidence > 5.207501028193956)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 21.273
DEBUG:root:evidences for each object: [13.55579986  3.74568691  3.70029763  4.65312235  3.68758811 16.85472616
 26.46944021 17.10475813  8.80572035 21.27348154]
DEBUG:root:mean evidence: 11.985, std: 7.859 -> th=21.175552170456918
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 26.47
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 174 ---
INFO:uvicorn.access:192.168.1.217:49328 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 9.93588697e-01, -1.12932727e-01,  5.26317060e-03],
       [ 1.12934291e-01,  9.93602459e-01, -0.00000000e+00],
       [-5.22949924e-03,  5.94392441e-04,  9.99986149e-01]]), 'pose_fully_defined': False}}, {'patch': array([-0.00042981, -0.0085307 ,  0.00320143])}]
INFO:root:Testing 24 out of 14424 hypotheses for numenta_mug (evidence > 5.293888042614228)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 13.875
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.653
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 103 out of 12560 hypotheses for harissa_oil (evidence > 5.293888042614228)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 16.967
INFO:root:Testing 303 out of 21832 hypotheses for tomato_soup_can (evidence > 5.293888042614228)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 26.299
INFO:root:Testing 125 out of 16976 hypotheses for mustard_bottle (evidence > 5.293888042614228)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 17.544
INFO:root:Testing 30 out of 17728 hypotheses for tuna_fish_can (evidence > 5.293888042614228)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.951
INFO:root:Testing 82 out of 19024 hypotheses for potted_meat_can (evidence > 5.293888042614228)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 21.734
DEBUG:root:evidences for each object: [13.87529831  3.74568691  3.70029763  4.65312235  3.68758811 16.96711795
 26.2986027  17.5438128   7.95106857 21.73366649]
DEBUG:root:mean evidence: 12.016, std: 7.966 -> th=21.03888215714654
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 26.3
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 175 ---
INFO:uvicorn.access:192.168.1.217:49328 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98369893, -0.17590601, -0.03732946],
       [ 0.1760287 ,  0.98438503, -0.        ],
       [ 0.03674657, -0.00657106,  0.99930301]]), 'pose_fully_defined': False}}, {'patch': array([-0.00090695,  0.00090813,  0.00960961])}]
INFO:root:Testing 24 out of 14424 hypotheses for numenta_mug (evidence > 5.259720539286633)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 13.899
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.653
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 75 out of 12560 hypotheses for harissa_oil (evidence > 5.259720539286633)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 16.819
INFO:root:Testing 302 out of 21832 hypotheses for tomato_soup_can (evidence > 5.259720539286633)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 26.129
INFO:root:Testing 115 out of 16976 hypotheses for mustard_bottle (evidence > 5.259720539286633)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.544
INFO:root:Testing 28 out of 17728 hypotheses for tuna_fish_can (evidence > 5.259720539286633)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.444
INFO:root:Testing 82 out of 19024 hypotheses for potted_meat_can (evidence > 5.259720539286633)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 20.734
DEBUG:root:evidences for each object: [13.89905817  3.74568691  3.70029763  4.65312235  3.68758811 16.81919022
 26.12855101 16.5438128   8.44363512 20.73366649]
DEBUG:root:mean evidence: 11.835, std: 7.719 -> th=20.902840804254783
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 26.13
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can'}
INFO:root:--- Global Matching Step 176 ---
INFO:uvicorn.access:192.168.1.217:49330 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.99411237,  0.05782074, -0.0916371 ],
       [-0.05806505, -0.9983128 ,  0.        ],
       [-0.09148249,  0.00532091,  0.99579247]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00602254,  0.03394206, -0.01879995])}]
INFO:root:Testing 24 out of 14424 hypotheses for numenta_mug (evidence > 5.225710201063695)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 13.405
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.653
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 69 out of 12560 hypotheses for harissa_oil (evidence > 5.225710201063695)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 16.331
INFO:root:Testing 300 out of 21832 hypotheses for tomato_soup_can (evidence > 5.225710201063695)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 25.633
INFO:root:Testing 104 out of 16976 hypotheses for mustard_bottle (evidence > 5.225710201063695)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 16.056
INFO:root:Testing 22 out of 17728 hypotheses for tuna_fish_can (evidence > 5.225710201063695)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.969
INFO:root:Testing 82 out of 19024 hypotheses for potted_meat_can (evidence > 5.225710201063695)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 20.54
DEBUG:root:evidences for each object: [13.40524187  3.74568691  3.70029763  4.65312235  3.68758811 16.33148182
 25.63277765 16.05603639  7.96884973 20.54009608]
DEBUG:root:mean evidence: 11.572, std: 7.553 -> th=20.506222117303956
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 25.63
DEBUG:root:evidences for each object: [13.40524187  3.74568691  3.70029763  4.65312235  3.68758811 16.33148182
 25.63277765 16.05603639  7.96884973 20.54009608]
DEBUG:root:mean evidence: 11.572, std: 7.553 -> th=20.506222117303956
DEBUG:root:evidences for each object: [13.40524187  3.74568691  3.70029763  4.65312235  3.68758811 16.33148182
 25.63277765 16.05603639  7.96884973 20.54009608]
DEBUG:root:mean evidence: 11.572, std: 7.553 -> th=21.787860999635452
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 177 ---
INFO:uvicorn.access:192.168.1.217:49330 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.99305565,  0.0961066 , -0.06785281],
       [-0.09632861, -0.99534959,  0.        ],
       [-0.06753726,  0.00653617,  0.99769534]]), 'pose_fully_defined': False}}, {'patch': array([-0.00182534, -0.01212637, -0.00473554])}]
INFO:root:Testing 40 out of 14424 hypotheses for numenta_mug (evidence > 5.126555529325987)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.909
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.653
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 72 out of 12560 hypotheses for harissa_oil (evidence > 5.126555529325987)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 15.841
INFO:root:Testing 299 out of 21832 hypotheses for tomato_soup_can (evidence > 5.126555529325987)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 25.256
INFO:root:Testing 124 out of 16976 hypotheses for mustard_bottle (evidence > 5.126555529325987)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.568
INFO:root:Testing 25 out of 17728 hypotheses for tuna_fish_can (evidence > 5.126555529325987)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.478
INFO:root:Testing 87 out of 19024 hypotheses for potted_meat_can (evidence > 5.126555529325987)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 20.948
DEBUG:root:evidences for each object: [12.90909552  3.74568691  3.70029763  4.65312235  3.68758811 15.84141884
 25.25603541 15.56766446  7.47832329 20.94775151]
DEBUG:root:mean evidence: 11.379, std: 7.488 -> th=20.20482832937227
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 25.26
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 178 ---
INFO:uvicorn.access:192.168.1.217:49330 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.98861187,  0.09417932, -0.11737476],
       [-0.09483484, -0.99549302,  0.        ],
       [-0.11684575,  0.01113122,  0.99308769]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00045036, -0.00644295, -0.01380475])}]
INFO:root:Testing 51 out of 14424 hypotheses for numenta_mug (evidence > 5.0512070823430655)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 12.416
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.653
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 84 out of 12560 hypotheses for harissa_oil (evidence > 5.0512070823430655)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 15.355
INFO:root:Testing 297 out of 21832 hypotheses for tomato_soup_can (evidence > 5.0512070823430655)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 24.961
INFO:root:Testing 113 out of 16976 hypotheses for mustard_bottle (evidence > 5.0512070823430655)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 15.082
INFO:root:Testing 20 out of 17728 hypotheses for tuna_fish_can (evidence > 5.0512070823430655)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.99
INFO:root:Testing 83 out of 19024 hypotheses for potted_meat_can (evidence > 5.0512070823430655)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 20.539
DEBUG:root:evidences for each object: [12.41596692  3.74568691  3.70029763  4.65312235  3.68758811 15.3551273
 24.96146236 15.08201065  6.9903077  20.53887633]
DEBUG:root:mean evidence: 11.113, std: 7.343 -> th=19.969169889587103
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 24.96
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 179 ---
INFO:uvicorn.access:192.168.1.217:49330 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.96458865,  0.17367069,  0.19851254],
       [-0.17719721, -0.98417537,  0.        ],
       [ 0.19537115, -0.03517587,  0.98009835]]), 'pose_fully_defined': False}}, {'patch': array([-0.05066057,  0.00876911,  0.00764823])}]
INFO:root:Testing 36 out of 14424 hypotheses for numenta_mug (evidence > 4.992292472396773)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 11.416
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.653
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 68 out of 12560 hypotheses for harissa_oil (evidence > 4.992292472396773)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 14.355
INFO:root:Testing 297 out of 21832 hypotheses for tomato_soup_can (evidence > 4.992292472396773)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 23.961
INFO:root:Testing 106 out of 16976 hypotheses for mustard_bottle (evidence > 4.992292472396773)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 14.082
INFO:root:Testing 17 out of 17728 hypotheses for tuna_fish_can (evidence > 4.992292472396773)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.99
INFO:root:Testing 83 out of 19024 hypotheses for potted_meat_can (evidence > 4.992292472396773)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 19.539
DEBUG:root:evidences for each object: [11.41596692  3.74568691  3.70029763  4.65312235  3.68758811 14.3551273
 23.96146236 14.08201065  5.9903077  19.53887633]
DEBUG:root:mean evidence: 10.513, std: 6.959 -> th=19.169169889587103
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 23.96
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 180 ---
INFO:uvicorn.access:192.168.1.217:49330 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.98174392,  0.12719591, -0.14142164],
       [-0.12848728, -0.99171116,  0.        ],
       [-0.14024942,  0.01817088,  0.98994945]]), 'pose_fully_defined': False}}, {'patch': array([ 0.04591414, -0.00356559,  0.01160937])}]
INFO:root:Testing 68 out of 14424 hypotheses for numenta_mug (evidence > 4.792292472396774)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.924
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.653
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 169 out of 12560 hypotheses for harissa_oil (evidence > 4.792292472396774)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 13.871
INFO:root:Testing 297 out of 21832 hypotheses for tomato_soup_can (evidence > 4.792292472396774)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 23.469
INFO:root:Testing 222 out of 16976 hypotheses for mustard_bottle (evidence > 4.792292472396774)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 13.082
INFO:root:Testing 107 out of 17728 hypotheses for tuna_fish_can (evidence > 4.792292472396774)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.505
INFO:root:Testing 102 out of 19024 hypotheses for potted_meat_can (evidence > 4.792292472396774)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 19.292
DEBUG:root:evidences for each object: [10.92407322  3.74568691  3.70029763  4.65312235  3.68758811 13.8707251
 23.46863154 13.08201065  5.50498047 19.29187971]
DEBUG:root:mean evidence: 10.193, std: 6.783 -> th=18.774905231505127
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 23.47
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 181 ---
INFO:uvicorn.access:192.168.1.217:49330 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-9.94064751e-01,  2.80242133e-03, -1.08753930e-01],
       [-2.81914251e-03, -9.99996026e-01,  0.00000000e+00],
       [-1.08753498e-01,  3.06592828e-04,  9.94068701e-01]]), 'pose_fully_defined': False}}, {'patch': array([0.00107259, 0.00458455, 0.01152527])}]
INFO:root:Testing 38 out of 14424 hypotheses for numenta_mug (evidence > 4.6937263078762825)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 10.431
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.653
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 127 out of 12560 hypotheses for harissa_oil (evidence > 4.6937263078762825)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 13.38
INFO:root:Testing 287 out of 21832 hypotheses for tomato_soup_can (evidence > 4.6937263078762825)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 22.986
INFO:root:Testing 155 out of 16976 hypotheses for mustard_bottle (evidence > 4.6937263078762825)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.592
INFO:root:Testing 50 out of 17728 hypotheses for tuna_fish_can (evidence > 4.6937263078762825)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.043
INFO:root:Testing 156 out of 19024 hypotheses for potted_meat_can (evidence > 4.6937263078762825)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.798
DEBUG:root:evidences for each object: [10.43061522  3.74568691  3.70029763  4.65312235  3.68758811 13.37996958
 22.98591194 12.59156754  5.04267741 18.79768942]
DEBUG:root:mean evidence: 9.902, std: 6.604 -> th=18.388729553579207
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 22.99
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 182 ---
INFO:uvicorn.access:192.168.1.217:49330 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.98828495,  0.08600293, -0.12608074],
       [-0.08669475, -0.99623492,  0.        ],
       [-0.12560603,  0.01093054,  0.99201998]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00313619,  0.01397263, -0.00449125])}]
INFO:root:Testing 56 out of 14424 hypotheses for numenta_mug (evidence > 4.597182388394803)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.94
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
INFO:root:Testing 1 out of 23200 hypotheses for ramen_pack (evidence > 4.597182388394803)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.451
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 108 out of 12560 hypotheses for harissa_oil (evidence > 4.597182388394803)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 13.13
INFO:root:Testing 286 out of 21832 hypotheses for tomato_soup_can (evidence > 4.597182388394803)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 22.495
INFO:root:Testing 116 out of 16976 hypotheses for mustard_bottle (evidence > 4.597182388394803)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 12.118
INFO:root:Testing 69 out of 17728 hypotheses for tuna_fish_can (evidence > 4.597182388394803)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.615
INFO:root:Testing 144 out of 19024 hypotheses for potted_meat_can (evidence > 4.597182388394803)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.575
DEBUG:root:evidences for each object: [ 9.94004283  3.74568691  3.70029763  4.45101323  3.68758811 13.13034989
 22.49461435 12.11750954  4.61454733 18.57538204]
DEBUG:root:mean evidence: 9.646, std: 6.489 -> th=17.995691476670242
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 22.49
DEBUG:root:evidences for each object: [ 9.94004283  3.74568691  3.70029763  4.45101323  3.68758811 13.13034989
 22.49461435 12.11750954  4.61454733 18.57538204]
DEBUG:root:mean evidence: 9.646, std: 6.489 -> th=17.995691476670242
DEBUG:root:evidences for each object: [ 9.94004283  3.74568691  3.70029763  4.45101323  3.68758811 13.13034989
 22.49461435 12.11750954  4.61454733 18.57538204]
DEBUG:root:mean evidence: 9.646, std: 6.489 -> th=19.12042219396213
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 183 ---
INFO:uvicorn.access:192.168.1.217:49330 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.97904048,  0.06508028, -0.19298781],
       [-0.06632715, -0.99779793,  0.        ],
       [-0.19256284,  0.01280033,  0.98120115]]), 'pose_fully_defined': False}}, {'patch': array([-0.00161441,  0.00226906,  0.006447  ])}]
INFO:root:Testing 45 out of 14424 hypotheses for numenta_mug (evidence > 4.498922869167561)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.659
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.451
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 127 out of 12560 hypotheses for harissa_oil (evidence > 4.498922869167561)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 12.86
INFO:root:Testing 285 out of 21832 hypotheses for tomato_soup_can (evidence > 4.498922869167561)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 22.278
INFO:root:Testing 89 out of 16976 hypotheses for mustard_bottle (evidence > 4.498922869167561)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.923
INFO:root:Testing 59 out of 17728 hypotheses for tuna_fish_can (evidence > 4.498922869167561)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.498
INFO:root:Testing 135 out of 19024 hypotheses for potted_meat_can (evidence > 4.498922869167561)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.473
DEBUG:root:evidences for each object: [ 9.65924653  3.74568691  3.70029763  4.45101323  3.68758811 12.86027912
 22.27786964 11.92279911  4.4984444  18.47271764]
DEBUG:root:mean evidence: 9.528, std: 6.419 -> th=17.82229571358763
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 22.28
DEBUG:root:evidences for each object: [ 9.65924653  3.74568691  3.70029763  4.45101323  3.68758811 12.86027912
 22.27786964 11.92279911  4.4984444  18.47271764]
DEBUG:root:mean evidence: 9.528, std: 6.419 -> th=17.82229571358763
DEBUG:root:evidences for each object: [ 9.65924653  3.74568691  3.70029763  4.45101323  3.68758811 12.86027912
 22.27786964 11.92279911  4.4984444  18.47271764]
DEBUG:root:mean evidence: 9.528, std: 6.419 -> th=18.936189195686858
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 184 ---
INFO:uvicorn.access:192.168.1.217:49330 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.89291767,  0.35208372,  0.28059774],
       [-0.36682057, -0.93029171,  0.        ],
       [ 0.26103775, -0.10292902,  0.95982546]]), 'pose_fully_defined': False}}, {'patch': array([-0.00095146,  0.00270349, -0.00519445])}]
INFO:root:Testing 20 out of 14424 hypotheses for numenta_mug (evidence > 4.455573928396905)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.572
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.451
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 82 out of 12560 hypotheses for harissa_oil (evidence > 4.455573928396905)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 12.796
INFO:root:Testing 278 out of 21832 hypotheses for tomato_soup_can (evidence > 4.455573928396905)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 22.285
INFO:root:Testing 78 out of 16976 hypotheses for mustard_bottle (evidence > 4.455573928396905)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.957
INFO:root:Testing 26 out of 17728 hypotheses for tuna_fish_can (evidence > 4.455573928396905)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.455
INFO:root:Testing 112 out of 19024 hypotheses for potted_meat_can (evidence > 4.455573928396905)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.615
DEBUG:root:evidences for each object: [ 9.57201149  3.74568691  3.70029763  4.45101323  3.68758811 12.79564479
 22.28464318 11.95741397  4.45526136 18.61543323]
DEBUG:root:mean evidence: 9.526, std: 6.441 -> th=17.827714547931837
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 22.28
DEBUG:root:evidences for each object: [ 9.57201149  3.74568691  3.70029763  4.45101323  3.68758811 12.79564479
 22.28464318 11.95741397  4.45526136 18.61543323]
DEBUG:root:mean evidence: 9.526, std: 6.441 -> th=17.827714547931837
DEBUG:root:evidences for each object: [ 9.57201149  3.74568691  3.70029763  4.45101323  3.68758811 12.79564479
 22.28464318 11.95741397  4.45526136 18.61543323]
DEBUG:root:mean evidence: 9.526, std: 6.441 -> th=18.941946707177575
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 185 ---
INFO:uvicorn.access:192.168.1.217:49330 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.9879287 ,  0.0857333 , -0.12902202],
       [-0.08645593, -0.99625568,  0.        ],
       [-0.12853892,  0.01115472,  0.99164173]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00120225, -0.01524021,  0.00168445])}]
INFO:root:Testing 8 out of 14424 hypotheses for numenta_mug (evidence > 4.456928636982958)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 9.081
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.451
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 42 out of 12560 hypotheses for harissa_oil (evidence > 4.456928636982958)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 12.31
INFO:root:Testing 273 out of 21832 hypotheses for tomato_soup_can (evidence > 4.456928636982958)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 21.804
INFO:root:Testing 21 out of 16976 hypotheses for mustard_bottle (evidence > 4.456928636982958)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 11.466
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.455
INFO:root:Testing 77 out of 19024 hypotheses for potted_meat_can (evidence > 4.456928636982958)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.499
DEBUG:root:evidences for each object: [ 9.08058785  3.74568691  3.70029763  4.45101323  3.68758811 12.31017911
 21.80369422 11.46612093  4.45526136 18.4986196 ]
DEBUG:root:mean evidence: 9.32, std: 6.288 -> th=17.442955375356235
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 21.8
DEBUG:root:evidences for each object: [ 9.08058785  3.74568691  3.70029763  4.45101323  3.68758811 12.31017911
 21.80369422 11.46612093  4.45526136 18.4986196 ]
DEBUG:root:mean evidence: 9.32, std: 6.288 -> th=17.442955375356235
DEBUG:root:evidences for each object: [ 9.08058785  3.74568691  3.70029763  4.45101323  3.68758811 12.31017911
 21.80369422 11.46612093  4.45526136 18.4986196 ]
DEBUG:root:mean evidence: 9.32, std: 6.288 -> th=18.533140086316
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 186 ---
INFO:uvicorn.access:192.168.1.217:49330 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.99583223, -0.02988876, -0.08616749],
       [ 0.03000034, -0.99954989,  0.        ],
       [-0.08612871, -0.00258505,  0.99628066]]), 'pose_fully_defined': False}}, {'patch': array([-0.00445116, -0.02730296, -0.01031195])}]
INFO:root:Testing 56 out of 14424 hypotheses for numenta_mug (evidence > 4.360738843839059)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.644
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
INFO:root:Testing 2 out of 23200 hypotheses for ramen_pack (evidence > 4.360738843839059)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.247
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 138 out of 12560 hypotheses for harissa_oil (evidence > 4.360738843839059)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 12.116
INFO:root:Testing 289 out of 21832 hypotheses for tomato_soup_can (evidence > 4.360738843839059)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 20.804
INFO:root:Testing 153 out of 16976 hypotheses for mustard_bottle (evidence > 4.360738843839059)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.466
INFO:root:Testing 109 out of 17728 hypotheses for tuna_fish_can (evidence > 4.360738843839059)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.36
INFO:root:Testing 156 out of 19024 hypotheses for potted_meat_can (evidence > 4.360738843839059)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 18.003
DEBUG:root:evidences for each object: [ 8.64377707  3.74568691  3.70029763  4.24651814  3.68758811 12.11552985
 20.80369422 10.46612093  4.35980908 18.00259539]
DEBUG:root:mean evidence: 8.977, std: 6.003 -> th=16.642955375356234
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 20.8
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 187 ---
INFO:uvicorn.access:192.168.1.217:49332 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.95845099,  0.19697533, -0.20633083],
       [-0.20130699, -0.9795282 ,  0.        ],
       [-0.20210687,  0.04153584,  0.97848229]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00237133,  0.00394899, -0.00626341])}]
INFO:root:Testing 156 out of 14424 hypotheses for numenta_mug (evidence > 4.160738843839059)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 8.158
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
INFO:root:Testing 5 out of 23200 hypotheses for ramen_pack (evidence > 4.160738843839059)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.092
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 258 out of 12560 hypotheses for harissa_oil (evidence > 4.160738843839059)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 11.635
INFO:root:Testing 330 out of 21832 hypotheses for tomato_soup_can (evidence > 4.160738843839059)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 20.309
INFO:root:Testing 388 out of 16976 hypotheses for mustard_bottle (evidence > 4.160738843839059)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.466
INFO:root:Testing 228 out of 17728 hypotheses for tuna_fish_can (evidence > 4.160738843839059)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.229
INFO:root:Testing 374 out of 19024 hypotheses for potted_meat_can (evidence > 4.160738843839059)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.621
DEBUG:root:evidences for each object: [ 8.15829819  3.74568691  3.70029763  4.09248559  3.68758811 11.63503808
 20.30945666  9.46612093  4.22923146 17.6211833 ]
DEBUG:root:mean evidence: 8.665, std: 5.829 -> th=16.24756532971822
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 20.31
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 188 ---
INFO:uvicorn.access:192.168.1.217:49332 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.93576181,  0.30608665, -0.17510226],
       [-0.31088982, -0.95044596,  0.        ],
       [-0.16642523,  0.05443751,  0.98455025]]), 'pose_fully_defined': False}}, {'patch': array([-0.00100603,  0.00253932, -0.00984013])}]
INFO:root:Testing 61 out of 14424 hypotheses for numenta_mug (evidence > 4.061891332429553)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.676
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
INFO:root:Testing 19 out of 23200 hypotheses for ramen_pack (evidence > 4.061891332429553)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.061
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 151 out of 12560 hypotheses for harissa_oil (evidence > 4.061891332429553)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 11.156
INFO:root:Testing 298 out of 21832 hypotheses for tomato_soup_can (evidence > 4.061891332429553)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 19.309
INFO:root:Testing 202 out of 16976 hypotheses for mustard_bottle (evidence > 4.061891332429553)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.812
INFO:root:Testing 123 out of 17728 hypotheses for tuna_fish_can (evidence > 4.061891332429553)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.061
INFO:root:Testing 217 out of 19024 hypotheses for potted_meat_can (evidence > 4.061891332429553)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 17.396
DEBUG:root:evidences for each object: [ 7.67598518  3.74568691  3.70029763  4.06064878  3.68758811 11.15625758
 19.30945666  8.8120873   4.06137587 17.39619997]
DEBUG:root:mean evidence: 8.361, std: 5.584 -> th=15.44756532971822
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 19.31
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 189 ---
INFO:uvicorn.access:192.168.1.217:49332 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.93855638,  0.3428499 , -0.03957096],
       [-0.34311865, -0.93929207,  0.        ],
       [-0.03716869,  0.01357754,  0.99921676]]), 'pose_fully_defined': False}}, {'patch': array([-0.00260123,  0.00574254, -0.00379591])}]
INFO:root:Testing 182 out of 14424 hypotheses for numenta_mug (evidence > 3.861891332429554)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.189
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.746
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.7
INFO:root:Testing 115 out of 23200 hypotheses for ramen_pack (evidence > 3.861891332429554)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.86
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 460 out of 12560 hypotheses for harissa_oil (evidence > 3.861891332429554)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 10.671
INFO:root:Testing 367 out of 21832 hypotheses for tomato_soup_can (evidence > 3.861891332429554)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 18.309
INFO:root:Testing 958 out of 16976 hypotheses for mustard_bottle (evidence > 3.861891332429554)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.604
INFO:root:Testing 280 out of 17728 hypotheses for tuna_fish_can (evidence > 3.861891332429554)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.86
INFO:root:Testing 343 out of 19024 hypotheses for potted_meat_can (evidence > 3.861891332429554)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.916
DEBUG:root:evidences for each object: [ 7.18873712  3.74568691  3.70029763  3.86047363  3.68758811 10.67083624
 18.30945666  8.60390036  3.86043523 16.91583633]
DEBUG:root:mean evidence: 8.054, std: 5.323 -> th=14.64756532971822
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 18.31
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 190 ---
INFO:uvicorn.access:192.168.1.217:49332 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.92907475,  0.34148696, -0.14215049],
       [-0.34499032, -0.93860624,  0.        ],
       [-0.13342333,  0.04904054,  0.98984506]]), 'pose_fully_defined': False}}, {'patch': array([-7.74663709e-05,  4.13629421e-03, -9.56166981e-03])}]
INFO:root:Testing 1202 out of 14424 hypotheses for numenta_mug (evidence > 3.661891332429555)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.817
INFO:root:Testing 2 out of 10992 hypotheses for montys_brain (evidence > 3.661891332429555)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.639
INFO:root:Testing 3 out of 14880 hypotheses for montys_heart (evidence > 3.661891332429555)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.717
INFO:root:Testing 89 out of 23200 hypotheses for ramen_pack (evidence > 3.661891332429555)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.878
INFO:root:Testing 1 out of 14864 hypotheses for hot_sauce (evidence > 3.661891332429555)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.545
INFO:root:Testing 989 out of 12560 hypotheses for harissa_oil (evidence > 3.661891332429555)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 10.524
INFO:root:Testing 360 out of 21832 hypotheses for tomato_soup_can (evidence > 3.661891332429555)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 17.309
INFO:root:Testing 1848 out of 16976 hypotheses for mustard_bottle (evidence > 3.661891332429555)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 8.452
INFO:root:Testing 248 out of 17728 hypotheses for tuna_fish_can (evidence > 3.661891332429555)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.031
INFO:root:Testing 434 out of 19024 hypotheses for potted_meat_can (evidence > 3.661891332429555)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.862
DEBUG:root:evidences for each object: [ 6.81701606  3.63929567  3.71745464  3.87846887  3.54498648 10.52448627
 17.30945666  8.45152867  4.03092088 16.86208673]
DEBUG:root:mean evidence: 7.878, std: 5.128 -> th=13.847565329718218
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 17.31
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 191 ---
INFO:uvicorn.access:192.168.1.217:49332 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.91697893,  0.28146178, -0.28271703],
       [-0.29343285, -0.95597969,  0.        ],
       [-0.27027174,  0.08295846,  0.95920336]]), 'pose_fully_defined': False}}, {'patch': array([0.00201161, 0.0008387 , 0.02802523])}]
INFO:root:Testing 1098 out of 14424 hypotheses for numenta_mug (evidence > 3.4618913324295537)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.343
INFO:root:Testing 11 out of 10992 hypotheses for montys_brain (evidence > 3.4618913324295537)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.458
INFO:root:Testing 14 out of 14880 hypotheses for montys_heart (evidence > 3.4618913324295537)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.461
INFO:root:Testing 269 out of 23200 hypotheses for ramen_pack (evidence > 3.4618913324295537)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.461
INFO:root:Testing 2 out of 14864 hypotheses for hot_sauce (evidence > 3.4618913324295537)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.298
INFO:root:Testing 1132 out of 12560 hypotheses for harissa_oil (evidence > 3.4618913324295537)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 10.058
INFO:root:Testing 409 out of 21832 hypotheses for tomato_soup_can (evidence > 3.4618913324295537)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 16.309
INFO:root:Testing 3293 out of 16976 hypotheses for mustard_bottle (evidence > 3.4618913324295537)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 7.972
INFO:root:Testing 329 out of 17728 hypotheses for tuna_fish_can (evidence > 3.4618913324295537)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.461
INFO:root:Testing 434 out of 19024 hypotheses for potted_meat_can (evidence > 3.4618913324295537)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.968
DEBUG:root:evidences for each object: [ 6.34267329  3.45755033  3.46143225  3.46114543  3.29821476 10.05779242
 16.30945666  7.97208316  3.46137363 16.96829541]
DEBUG:root:mean evidence: 7.479, std: 5.082 -> th=13.574636328103185
INFO:root:current most likely hypothesis: potted_meat_can with evidence 16.97
DEBUG:root:evidences for each object: [ 6.34267329  3.45755033  3.46143225  3.46114543  3.29821476 10.05779242
 16.30945666  7.97208316  3.46137363 16.96829541]
DEBUG:root:mean evidence: 7.479, std: 5.082 -> th=13.574636328103185
DEBUG:root:evidences for each object: [ 6.34267329  3.45755033  3.46143225  3.46114543  3.29821476 10.05779242
 16.30945666  7.97208316  3.46137363 16.96829541]
DEBUG:root:mean evidence: 7.479, std: 5.082 -> th=14.423051098609633
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: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 192 ---
INFO:uvicorn.access:192.168.1.217:49334 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.93177457,  0.32811159, -0.15536712],
       [-0.33214489, -0.94322838,  0.        ],
       [-0.14654667,  0.05160439,  0.9878568 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00081179,  0.02332107,  0.00047445])}]
INFO:root:Testing 747 out of 14424 hypotheses for numenta_mug (evidence > 3.3936590820257955)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.343
INFO:root:Testing 3 out of 10992 hypotheses for montys_brain (evidence > 3.3936590820257955)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.392
INFO:root:Testing 7 out of 14880 hypotheses for montys_heart (evidence > 3.3936590820257955)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.367
INFO:root:Testing 69 out of 23200 hypotheses for ramen_pack (evidence > 3.3936590820257955)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.551
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.298
INFO:root:Testing 492 out of 12560 hypotheses for harissa_oil (evidence > 3.3936590820257955)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 9.058
INFO:root:Testing 270 out of 21832 hypotheses for tomato_soup_can (evidence > 3.3936590820257955)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 16.246
INFO:root:Testing 1409 out of 16976 hypotheses for mustard_bottle (evidence > 3.3936590820257955)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.972
INFO:root:Testing 82 out of 17728 hypotheses for tuna_fish_can (evidence > 3.3936590820257955)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.393
INFO:root:Testing 201 out of 19024 hypotheses for potted_meat_can (evidence > 3.3936590820257955)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 16.858
DEBUG:root:evidences for each object: [ 5.34267329  3.392116    3.36721659  3.55125547  3.29821476  9.05779242
 16.24600942  6.97208316  3.39309555 16.85821832]
DEBUG:root:mean evidence: 7.148, std: 5.042 -> th=13.486574659801317
INFO:root:current most likely hypothesis: potted_meat_can with evidence 16.86
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 193 ---
INFO:uvicorn.access:192.168.1.217:49334 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.88514376,  0.34994349, -0.30669215],
       [-0.36766156, -0.92995966,  0.        ],
       [-0.28521133,  0.11275892,  0.95180876]]), 'pose_fully_defined': False}}, {'patch': array([-0.0024491 , -0.01384926, -0.02280652])}]
INFO:root:Testing 270 out of 14424 hypotheses for numenta_mug (evidence > 3.3716436649503283)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.418
INFO:root:Testing 2 out of 10992 hypotheses for montys_brain (evidence > 3.3716436649503283)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.324
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.367
INFO:root:Testing 25 out of 23200 hypotheses for ramen_pack (evidence > 3.3716436649503283)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.438
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.298
INFO:root:Testing 168 out of 12560 hypotheses for harissa_oil (evidence > 3.3716436649503283)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 8.058
INFO:root:Testing 231 out of 21832 hypotheses for tomato_soup_can (evidence > 3.3716436649503283)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 15.246
INFO:root:Testing 456 out of 16976 hypotheses for mustard_bottle (evidence > 3.3716436649503283)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.855
INFO:root:Testing 31 out of 17728 hypotheses for tuna_fish_can (evidence > 3.3716436649503283)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.432
INFO:root:Testing 105 out of 19024 hypotheses for potted_meat_can (evidence > 3.3716436649503283)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.858
DEBUG:root:evidences for each object: [ 4.4176548   3.32409799  3.36721659  3.43811013  3.29821476  8.05779242
 15.24600942  6.85500051  3.4319047  15.85821832]
DEBUG:root:mean evidence: 6.729, std: 4.684 -> th=12.686574659801318
INFO:root:current most likely hypothesis: potted_meat_can with evidence 15.86
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 194 ---
INFO:uvicorn.access:192.168.1.217:49334 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.95428966,  0.29528673, -0.04622757],
       [-0.29560275, -0.95531095,  0.        ],
       [-0.0441617 ,  0.013665  ,  0.99893093]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00382531, -0.01909104, -0.00431117])}]
INFO:root:Testing 1921 out of 14424 hypotheses for numenta_mug (evidence > 3.171643664950329)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 3.948
INFO:root:Testing 18 out of 10992 hypotheses for montys_brain (evidence > 3.171643664950329)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.167
INFO:root:Testing 36 out of 14880 hypotheses for montys_heart (evidence > 3.171643664950329)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.305
INFO:root:Testing 156 out of 23200 hypotheses for ramen_pack (evidence > 3.171643664950329)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.385
INFO:root:Testing 7 out of 14864 hypotheses for hot_sauce (evidence > 3.171643664950329)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.152
INFO:root:Testing 1839 out of 12560 hypotheses for harissa_oil (evidence > 3.171643664950329)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 7.846
INFO:root:Testing 354 out of 21832 hypotheses for tomato_soup_can (evidence > 3.171643664950329)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 14.713
INFO:root:Testing 3136 out of 16976 hypotheses for mustard_bottle (evidence > 3.171643664950329)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 6.633
INFO:root:Testing 646 out of 17728 hypotheses for tuna_fish_can (evidence > 3.171643664950329)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.649
INFO:root:Testing 368 out of 19024 hypotheses for potted_meat_can (evidence > 3.171643664950329)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.871
DEBUG:root:evidences for each object: [ 3.94835798  3.16707115  3.30490946  3.38480147  3.1522906   7.84597448
 14.71284271  6.63295901  3.64945087 15.87101204]
DEBUG:root:mean evidence: 6.567, std: 4.625 -> th=12.696809635726972
INFO:root:current most likely hypothesis: potted_meat_can with evidence 15.87
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 195 ---
INFO:uvicorn.access:192.168.1.217:49334 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.96724407,  0.2534718 , -0.01381851],
       [-0.253496  , -0.96733643,  0.        ],
       [-0.01336715,  0.00350294,  0.99990452]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0020573 , -0.0050484 , -0.00439214])}]
INFO:root:Testing 43 out of 14424 hypotheses for numenta_mug (evidence > 3.174202408931743)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.016
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.167
INFO:root:Testing 2 out of 14880 hypotheses for montys_heart (evidence > 3.174202408931743)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.189
INFO:root:Testing 4 out of 23200 hypotheses for ramen_pack (evidence > 3.174202408931743)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.549
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.152
INFO:root:Testing 20 out of 12560 hypotheses for harissa_oil (evidence > 3.174202408931743)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 7.612
INFO:root:Testing 204 out of 21832 hypotheses for tomato_soup_can (evidence > 3.174202408931743)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 14.228
INFO:root:Testing 17 out of 16976 hypotheses for mustard_bottle (evidence > 3.174202408931743)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.403
INFO:root:Testing 20 out of 17728 hypotheses for tuna_fish_can (evidence > 3.174202408931743)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.049
INFO:root:Testing 95 out of 19024 hypotheses for potted_meat_can (evidence > 3.174202408931743)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.879
DEBUG:root:evidences for each object: [ 4.01636679  3.16707115  3.18919074  3.54949802  3.1522906   7.61177916
 14.22822619  6.40335049  4.04865252 15.87932495]
DEBUG:root:mean evidence: 6.525, std: 4.507 -> th=12.703459962423961
INFO:root:current most likely hypothesis: potted_meat_can with evidence 15.88
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 196 ---
INFO:uvicorn.access:192.168.1.217:49334 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.94814688,  0.31420608, -0.04787531],
       [-0.31456678, -0.94923534,  0.        ],
       [-0.04544493,  0.01505998,  0.99885332]]), 'pose_fully_defined': False}}, {'patch': array([-0.00563306,  0.03318942,  0.0081748 ])}]
INFO:root:Testing 30 out of 14424 hypotheses for numenta_mug (evidence > 3.175864990605989)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.652
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.167
INFO:root:Testing 1 out of 14880 hypotheses for montys_heart (evidence > 3.175864990605989)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.171
INFO:root:Testing 1 out of 23200 hypotheses for ramen_pack (evidence > 3.175864990605989)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.447
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.152
INFO:root:Testing 11 out of 12560 hypotheses for harissa_oil (evidence > 3.175864990605989)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 7.547
INFO:root:Testing 197 out of 21832 hypotheses for tomato_soup_can (evidence > 3.175864990605989)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 14.016
INFO:root:Testing 5 out of 16976 hypotheses for mustard_bottle (evidence > 3.175864990605989)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.403
INFO:root:Testing 12 out of 17728 hypotheses for tuna_fish_can (evidence > 3.175864990605989)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.33
INFO:root:Testing 84 out of 19024 hypotheses for potted_meat_can (evidence > 3.175864990605989)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.811
DEBUG:root:evidences for each object: [ 3.65229848  3.16707115  3.17096236  3.44723087  3.1522906   7.54720609
 14.01564229  5.40335049  4.32957248 15.81074449]
DEBUG:root:mean evidence: 6.37, std: 4.482 -> th=12.648595595439478
INFO:root:current most likely hypothesis: potted_meat_can with evidence 15.81
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 197 ---
INFO:uvicorn.access:192.168.1.217:49334 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.99114664,  0.13162736,  0.01739499],
       [-0.13164728, -0.99129662,  0.        ],
       [ 0.0172436 , -0.00229   ,  0.9998487 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00530289, -0.03440965, -0.00384596])}]
INFO:root:Testing 152 out of 14424 hypotheses for numenta_mug (evidence > 3.1621488988598685)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.984
INFO:root:Testing 2 out of 10992 hypotheses for montys_brain (evidence > 3.1621488988598685)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.159
INFO:root:Testing 1 out of 14880 hypotheses for montys_heart (evidence > 3.1621488988598685)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.152
INFO:root:Testing 14 out of 23200 hypotheses for ramen_pack (evidence > 3.1621488988598685)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.641
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.152
INFO:root:Testing 91 out of 12560 hypotheses for harissa_oil (evidence > 3.1621488988598685)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 7.331
INFO:root:Testing 189 out of 21832 hypotheses for tomato_soup_can (evidence > 3.1621488988598685)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 13.851
INFO:root:Testing 165 out of 16976 hypotheses for mustard_bottle (evidence > 3.1621488988598685)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.174
INFO:root:Testing 102 out of 17728 hypotheses for tuna_fish_can (evidence > 3.1621488988598685)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.793
INFO:root:Testing 71 out of 19024 hypotheses for potted_meat_can (evidence > 3.1621488988598685)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.828
DEBUG:root:evidences for each object: [ 3.98433996  3.15946216  3.15234227  3.64092307  3.1522906   7.33103857
 13.85089541  5.17366068  4.79321397 15.82780624]
DEBUG:root:mean evidence: 6.407, std: 4.409 -> th=12.66224499419169
INFO:root:current most likely hypothesis: potted_meat_can with evidence 15.83
DEBUG:root:evidences for each object: [ 3.98433996  3.15946216  3.15234227  3.64092307  3.1522906   7.33103857
 13.85089541  5.17366068  4.79321397 15.82780624]
DEBUG:root:mean evidence: 6.407, std: 4.409 -> th=12.66224499419169
DEBUG:root:evidences for each object: [ 3.98433996  3.15946216  3.15234227  3.64092307  3.1522906   7.33103857
 13.85089541  5.17366068  4.79321397 15.82780624]
DEBUG:root:mean evidence: 6.407, std: 4.409 -> th=13.453635306328671
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 198 ---
INFO:uvicorn.access:192.168.1.217:49334 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.97995961,  0.18266547, -0.07945119],
       [-0.18324475, -0.98306732,  0.        ],
       [-0.07810586,  0.01455901,  0.99683876]]), 'pose_fully_defined': False}}, {'patch': array([-0.00096912, -0.00564615,  0.00955107])}]
INFO:root:Testing 18 out of 14424 hypotheses for numenta_mug (evidence > 3.165561248547922)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.246
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.159
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.152
INFO:root:Testing 1 out of 23200 hypotheses for ramen_pack (evidence > 3.165561248547922)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.696
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.152
INFO:root:Testing 8 out of 12560 hypotheses for harissa_oil (evidence > 3.165561248547922)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 7.072
INFO:root:Testing 173 out of 21832 hypotheses for tomato_soup_can (evidence > 3.165561248547922)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 13.431
INFO:root:Testing 2 out of 16976 hypotheses for mustard_bottle (evidence > 3.165561248547922)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.968
INFO:root:Testing 10 out of 17728 hypotheses for tuna_fish_can (evidence > 3.165561248547922)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.033
INFO:root:Testing 60 out of 19024 hypotheses for potted_meat_can (evidence > 3.165561248547922)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.693
DEBUG:root:evidences for each object: [ 4.24639259  3.15946216  3.15234227  3.69645258  3.1522906   7.07246668
 13.43067233  4.96780518  5.03254315 15.69320063]
DEBUG:root:mean evidence: 6.36, std: 4.286 -> th=12.554560503633983
INFO:root:current most likely hypothesis: potted_meat_can with evidence 15.69
DEBUG:root:evidences for each object: [ 4.24639259  3.15946216  3.15234227  3.69645258  3.1522906   7.07246668
 13.43067233  4.96780518  5.03254315 15.69320063]
DEBUG:root:mean evidence: 6.36, std: 4.286 -> th=12.554560503633983
DEBUG:root:evidences for each object: [ 4.24639259  3.15946216  3.15234227  3.69645258  3.1522906   7.07246668
 13.43067233  4.96780518  5.03254315 15.69320063]
DEBUG:root:mean evidence: 6.36, std: 4.286 -> th=13.339220535111107
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 199 ---
INFO:uvicorn.access:192.168.1.217:49334 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.95249122,  0.28290359, -0.11280974],
       [-0.28472107, -0.95861041,  0.        ],
       [-0.10814059,  0.03211931,  0.99361661]]), 'pose_fully_defined': False}}, {'patch': array([-0.00030835,  0.02663211, -0.0027292 ])}]
INFO:root:Testing 262 out of 14424 hypotheses for numenta_mug (evidence > 3.138640125908495)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.622
INFO:root:Testing 3 out of 10992 hypotheses for montys_brain (evidence > 3.138640125908495)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.136
INFO:root:Testing 3 out of 14880 hypotheses for montys_heart (evidence > 3.138640125908495)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.134
INFO:root:Testing 106 out of 23200 hypotheses for ramen_pack (evidence > 3.138640125908495)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.138
INFO:root:Testing 4 out of 14864 hypotheses for hot_sauce (evidence > 3.138640125908495)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.044
INFO:root:Testing 180 out of 12560 hypotheses for harissa_oil (evidence > 3.138640125908495)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 6.589
INFO:root:Testing 202 out of 21832 hypotheses for tomato_soup_can (evidence > 3.138640125908495)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 13.007
INFO:root:Testing 467 out of 16976 hypotheses for mustard_bottle (evidence > 3.138640125908495)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.968
INFO:root:Testing 252 out of 17728 hypotheses for tuna_fish_can (evidence > 3.138640125908495)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.237
INFO:root:Testing 101 out of 19024 hypotheses for potted_meat_can (evidence > 3.138640125908495)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 15.251
DEBUG:root:evidences for each object: [ 3.62240255  3.13598467  3.13398077  3.13822321  3.0442211   6.58877044
 13.00737757  3.96780518  5.23658386 15.25073193]
DEBUG:root:mean evidence: 6.013, std: 4.228 -> th=12.200585543757976
INFO:root:current most likely hypothesis: potted_meat_can with evidence 15.25
DEBUG:root:evidences for each object: [ 3.62240255  3.13598467  3.13398077  3.13822321  3.0442211   6.58877044
 13.00737757  3.96780518  5.23658386 15.25073193]
DEBUG:root:mean evidence: 6.013, std: 4.228 -> th=12.200585543757976
DEBUG:root:evidences for each object: [ 3.62240255  3.13598467  3.13398077  3.13822321  3.0442211   6.58877044
 13.00737757  3.96780518  5.23658386 15.25073193]
DEBUG:root:mean evidence: 6.013, std: 4.228 -> th=12.963122140242849
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 200 ---
INFO:root:saving model to /Users/nleadholm/tbp/results/monty/projects/evidence_eval_runs/logs/probe_triggered_data_collection_for_learning/tuna_can/0
INFO:uvicorn.access:192.168.1.217:49334 - "POST /capture HTTP/1.1" 200
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/tuna_can/log.txt (NOTSET)>
