INFO:root:Logger initialized at 2025-10-01 13:09:57.065206
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_inference/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 0x7FE819442440,
                  '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': 50,
                     '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_inference/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_inference',
                    'wandb_group': 'benchmark_experiments',
                    'wandb_handlers': [],
                    'wandb_id': 'tbpsu9k0'},
 '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': 51,
                                 'min_eval_steps': 50,
                                 '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([[ 9.99018874e-01,  3.60597571e-02,  2.57095846e-02],
       [-3.60716805e-02,  9.99349205e-01,  0.00000000e+00],
       [-2.56928529e-02, -9.27387921e-04,  9.99669454e-01]]), 'pose_fully_defined': False}}, None]
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.0
INFO:root:current most likely hypothesis: numenta_mug with evidence 0.0
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_brain', 'hot_sauce', 'ramen_pack', 'tomato_soup_can', 'mustard_bottle', 'tuna_fish_can', 'potted_meat_can', 'montys_heart', 'harissa_oil'}
INFO:root:--- Global Matching Step 1 ---
INFO:uvicorn.access:192.168.1.217:49216 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98975617,  0.05368921, -0.13228826],
       [-0.05416525,  0.99853199,  0.        ],
       [ 0.13209406,  0.00716543,  0.99121129]]), 'pose_fully_defined': False}}, {'patch': array([-0.00053793, -0.01221047, -0.00294488])}]
INFO:root:Testing 14424 out of 14424 hypotheses for numenta_mug (evidence > 0.0)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 10992 out of 10992 hypotheses for montys_brain (evidence > 0.0)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.02 seconds. New max evidence: 0.499
INFO:root:Testing 14880 out of 14880 hypotheses for montys_heart (evidence > 0.0)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 23200 out of 23200 hypotheses for ramen_pack (evidence > 0.0)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.05 seconds. New max evidence: 0.5
INFO:root:Testing 14864 out of 14864 hypotheses for hot_sauce (evidence > 0.0)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 12560 out of 12560 hypotheses for harissa_oil (evidence > 0.0)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.02 seconds. New max evidence: 0.5
INFO:root:Testing 21832 out of 21832 hypotheses for tomato_soup_can (evidence > 0.0)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.05 seconds. New max evidence: 0.5
INFO:root:Testing 16976 out of 16976 hypotheses for mustard_bottle (evidence > 0.0)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 17728 out of 17728 hypotheses for tuna_fish_can (evidence > 0.0)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.04 seconds. New max evidence: 0.5
INFO:root:Testing 19024 out of 19024 hypotheses for potted_meat_can (evidence > 0.0)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.04 seconds. New max evidence: 0.5
INFO:root:current most likely hypothesis: montys_heart with evidence 0.5
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_brain', 'hot_sauce', 'ramen_pack', 'tomato_soup_can', 'mustard_bottle', 'tuna_fish_can', 'potted_meat_can', 'montys_heart', 'harissa_oil'}
INFO:root:--- Global Matching Step 2 ---
INFO:uvicorn.access:192.168.1.217:49217 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98567483,  0.0118962 , -0.16823674],
       [-0.01206822,  0.99992718,  0.        ],
       [ 0.16822449,  0.00203032,  0.98574662]]), 'pose_fully_defined': False}}, {'patch': array([0.00223155, 0.01121312, 0.00844391])}]
INFO:root:Testing 13716 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: 0.984
INFO:root:Testing 10946 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: 0.988
INFO:root:Testing 14159 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: 0.987
INFO:root:Testing 22294 out of 23200 hypotheses for ramen_pack (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.04 seconds. New max evidence: 0.997
INFO:root:Testing 14683 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: 0.989
INFO:root:Testing 12162 out of 12560 hypotheses for harissa_oil (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.02 seconds. New max evidence: 0.981
INFO:root:Testing 19624 out of 21832 hypotheses for tomato_soup_can (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.04 seconds. New max evidence: 1.0
INFO:root:Testing 16681 out of 16976 hypotheses for mustard_bottle (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.03 seconds. New max evidence: 0.992
INFO:root:Testing 15691 out of 17728 hypotheses for tuna_fish_can (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.03 seconds. New max evidence: 0.994
INFO:root:Testing 17363 out of 19024 hypotheses for potted_meat_can (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.04 seconds. New max evidence: 1.0
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 1.0
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_brain', 'hot_sauce', 'ramen_pack', 'tomato_soup_can', 'mustard_bottle', 'tuna_fish_can', 'potted_meat_can', 'montys_heart', 'harissa_oil'}
INFO:root:--- Global Matching Step 3 ---
INFO:uvicorn.access:192.168.1.217:49217 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 9.98343227e-01,  5.68498585e-02,  8.88228697e-03],
       [-5.68521012e-02,  9.98382611e-01,  0.00000000e+00],
       [-8.86792086e-03, -5.04976678e-04,  9.99960552e-01]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00423128,  0.01016022, -0.00228178])}]
INFO:root:Testing 13716 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: 1.468
INFO:root:Testing 10977 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: 1.478
INFO:root:Testing 14155 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: 1.466
INFO:root:Testing 22294 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: 1.467
INFO:root:Testing 14708 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: 1.481
INFO:root:Testing 12162 out of 12560 hypotheses for harissa_oil (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.02 seconds. New max evidence: 1.472
INFO:root:Testing 19612 out of 21832 hypotheses for tomato_soup_can (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.04 seconds. New max evidence: 1.469
INFO:root:Testing 16793 out of 16976 hypotheses for mustard_bottle (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.03 seconds. New max evidence: 1.481
INFO:root:Testing 15688 out of 17728 hypotheses for tuna_fish_can (evidence > 0.19999999999999996)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.03 seconds. New max evidence: 1.472
INFO:root:Testing 17353 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: 1.476
INFO:root:current most likely hypothesis: mustard_bottle with evidence 1.48
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_brain', 'hot_sauce', 'ramen_pack', 'tomato_soup_can', 'mustard_bottle', 'tuna_fish_can', 'potted_meat_can', 'montys_heart', 'harissa_oil'}
INFO:root:--- Global Matching Step 4 ---
INFO:uvicorn.access:192.168.1.217:49217 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99804087, -0.02087741, -0.05897926],
       [ 0.02091381,  0.99978128, -0.        ],
       [ 0.05896636, -0.00123348,  0.99825921]]), 'pose_fully_defined': False}}, {'patch': array([-0.00552279, -0.02191551,  0.00791152])}]
INFO:root:Testing 12813 out of 14424 hypotheses for numenta_mug (evidence > 0.29628506574331737)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 1.929
INFO:root:Testing 10624 out of 10992 hypotheses for montys_brain (evidence > 0.29628506574331737)
DEBUG:root:Calculating evidence for montys_brain using input 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: 1.934
INFO:root:Testing 13359 out of 14880 hypotheses for montys_heart (evidence > 0.29628506574331737)
DEBUG:root:Calculating evidence for montys_heart using input 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: 1.926
INFO:root:Testing 20335 out of 23200 hypotheses for ramen_pack (evidence > 0.29628506574331737)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.04 seconds. New max evidence: 1.936
INFO:root:Testing 13889 out of 14864 hypotheses for hot_sauce (evidence > 0.29628506574331737)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 1.944
INFO:root:Testing 11196 out of 12560 hypotheses for harissa_oil (evidence > 0.29628506574331737)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.02 seconds. New max evidence: 1.95
INFO:root:Testing 18507 out of 21832 hypotheses for tomato_soup_can (evidence > 0.29628506574331737)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.04 seconds. New max evidence: 1.944
INFO:root:Testing 15719 out of 16976 hypotheses for mustard_bottle (evidence > 0.29628506574331737)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 1.962
INFO:root:Testing 14445 out of 17728 hypotheses for tuna_fish_can (evidence > 0.29628506574331737)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 1.943
INFO:root:Testing 16258 out of 19024 hypotheses for potted_meat_can (evidence > 0.29628506574331737)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 1.932
INFO:root:current most likely hypothesis: mustard_bottle with evidence 1.96
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_brain', 'hot_sauce', 'ramen_pack', 'tomato_soup_can', 'mustard_bottle', 'tuna_fish_can', 'potted_meat_can', 'montys_heart', 'harissa_oil'}
INFO:root:--- Global Matching Step 5 ---
INFO:uvicorn.access:192.168.1.217:49217 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99518989, -0.03992304, -0.08946083],
       [ 0.04008376,  0.99919632, -0.        ],
       [ 0.08938894, -0.00358593,  0.99599034]]), 'pose_fully_defined': False}}, {'patch': array([0.00425537, 0.00939845, 0.0122873 ])}]
INFO:root:Testing 11733 out of 14424 hypotheses for numenta_mug (evidence > 0.39246424132811164)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 2.392
INFO:root:Testing 10395 out of 10992 hypotheses for montys_brain (evidence > 0.39246424132811164)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.02 seconds. New max evidence: 2.349
INFO:root:Testing 12823 out of 14880 hypotheses for montys_heart (evidence > 0.39246424132811164)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.03 seconds. New max evidence: 2.371
INFO:root:Testing 18480 out of 23200 hypotheses for ramen_pack (evidence > 0.39246424132811164)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.04 seconds. New max evidence: 2.39
INFO:root:Testing 13115 out of 14864 hypotheses for hot_sauce (evidence > 0.39246424132811164)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.03 seconds. New max evidence: 2.358
INFO:root:Testing 10117 out of 12560 hypotheses for harissa_oil (evidence > 0.39246424132811164)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.02 seconds. New max evidence: 2.403
INFO:root:Testing 16753 out of 21832 hypotheses for tomato_soup_can (evidence > 0.39246424132811164)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.04 seconds. New max evidence: 2.429
INFO:root:Testing 14799 out of 16976 hypotheses for mustard_bottle (evidence > 0.39246424132811164)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.03 seconds. New max evidence: 2.408
INFO:root:Testing 12475 out of 17728 hypotheses for tuna_fish_can (evidence > 0.39246424132811164)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.03 seconds. New max evidence: 2.407
INFO:root:Testing 14573 out of 19024 hypotheses for potted_meat_can (evidence > 0.39246424132811164)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.03 seconds. New max evidence: 2.414
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 2.43
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_brain', 'hot_sauce', 'ramen_pack', 'tomato_soup_can', 'mustard_bottle', 'tuna_fish_can', 'potted_meat_can', 'montys_heart', 'harissa_oil'}
INFO:root:--- Global Matching Step 6 ---
INFO:uvicorn.access:192.168.1.217:49219 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 9.94904572e-01, -9.91500827e-03, -1.00332370e-01],
       [ 9.96529337e-03,  9.99950345e-01, -0.00000000e+00],
       [ 1.00327388e-01, -9.99841497e-04,  9.94953977e-01]]), 'pose_fully_defined': False}}, {'patch': array([-0.00484878, -0.00329431, -0.0137453 ])}]
INFO:root:Testing 10033 out of 14424 hypotheses for numenta_mug (evidence > 0.4858209404600551)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 2.869
INFO:root:Testing 6621 out of 10992 hypotheses for montys_brain (evidence > 0.4858209404600551)
DEBUG:root:Calculating evidence for montys_brain using input 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: 2.823
INFO:root:Testing 9989 out of 14880 hypotheses for montys_heart (evidence > 0.4858209404600551)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.02 seconds. New max evidence: 2.857
INFO:root:Testing 15224 out of 23200 hypotheses for ramen_pack (evidence > 0.4858209404600551)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 2.889
INFO:root:Testing 10951 out of 14864 hypotheses for hot_sauce (evidence > 0.4858209404600551)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.02 seconds. New max evidence: 2.849
INFO:root:Testing 8518 out of 12560 hypotheses for harissa_oil (evidence > 0.4858209404600551)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.02 seconds. New max evidence: 2.895
INFO:root:Testing 14558 out of 21832 hypotheses for tomato_soup_can (evidence > 0.4858209404600551)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.03 seconds. New max evidence: 2.908
INFO:root:Testing 12944 out of 16976 hypotheses for mustard_bottle (evidence > 0.4858209404600551)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.03 seconds. New max evidence: 2.892
INFO:root:Testing 10629 out of 17728 hypotheses for tuna_fish_can (evidence > 0.4858209404600551)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 2.895
INFO:root:Testing 12912 out of 19024 hypotheses for potted_meat_can (evidence > 0.4858209404600551)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.03 seconds. New max evidence: 2.912
INFO:root:current most likely hypothesis: potted_meat_can with evidence 2.91
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_brain', 'hot_sauce', 'ramen_pack', 'tomato_soup_can', 'mustard_bottle', 'tuna_fish_can', 'potted_meat_can', 'montys_heart', 'harissa_oil'}
INFO:root:--- Global Matching Step 7 ---
INFO:uvicorn.access:192.168.1.217:49220 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.42955039,  0.06780755,  0.90049353],
       [-0.15592623, -0.9877687 ,  0.        ],
       [ 0.88947933, -0.14041057,  0.43486941]]), 'pose_fully_defined': False}}, {'patch': array([-0.00047061, -0.00331259,  0.02307462])}]
INFO:root:Testing 10024 out of 14424 hypotheses for numenta_mug (evidence > 0.5824833292392784)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 3.067
INFO:root:Testing 6998 out of 10992 hypotheses for montys_brain (evidence > 0.5824833292392784)
DEBUG:root:Calculating evidence for montys_brain using input 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: 2.83
INFO:root:Testing 9986 out of 14880 hypotheses for montys_heart (evidence > 0.5824833292392784)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.02 seconds. New max evidence: 3.091
INFO:root:Testing 15218 out of 23200 hypotheses for ramen_pack (evidence > 0.5824833292392784)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 3.183
INFO:root:Testing 10949 out of 14864 hypotheses for hot_sauce (evidence > 0.5824833292392784)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.02 seconds. New max evidence: 2.992
INFO:root:Testing 8515 out of 12560 hypotheses for harissa_oil (evidence > 0.5824833292392784)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.02 seconds. New max evidence: 3.154
INFO:root:Testing 14548 out of 21832 hypotheses for tomato_soup_can (evidence > 0.5824833292392784)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.03 seconds. New max evidence: 3.305
INFO:root:Testing 12943 out of 16976 hypotheses for mustard_bottle (evidence > 0.5824833292392784)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.03 seconds. New max evidence: 3.172
INFO:root:Testing 10614 out of 17728 hypotheses for tuna_fish_can (evidence > 0.5824833292392784)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 3.256
INFO:root:Testing 12909 out of 19024 hypotheses for potted_meat_can (evidence > 0.5824833292392784)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.03 seconds. New max evidence: 3.35
DEBUG:root:evidences for each object: [3.06659527 2.83028178 3.09119882 3.18259255 2.99160012 3.15439048
 3.30543312 3.17177877 3.25606637 3.34991937]
DEBUG:root:mean evidence: 3.14, std: 0.146 -> th=2.679935498776648
INFO:root:current most likely hypothesis: potted_meat_can with evidence 3.35
DEBUG:root:evidences for each object: [3.06659527 2.83028178 3.09119882 3.18259255 2.99160012 3.15439048
 3.30543312 3.17177877 3.25606637 3.34991937]
DEBUG:root:mean evidence: 3.14, std: 0.146 -> th=2.679935498776648
DEBUG:root:evidences for each object: [3.06659527 2.83028178 3.09119882 3.18259255 2.99160012 3.15439048
 3.30543312 3.17177877 3.25606637 3.34991937]
DEBUG:root:mean evidence: 3.14, std: 0.146 -> th=2.847431467450188
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_brain', 'hot_sauce', 'ramen_pack', 'tomato_soup_can', 'mustard_bottle', 'tuna_fish_can', 'potted_meat_can', 'montys_heart', 'harissa_oil'}
INFO:root:--- Global Matching Step 8 ---
INFO:uvicorn.access:192.168.1.217:49220 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.76260602,  0.11289598,  0.63693528],
       [-0.1464437 ,  0.98921901,  0.        ],
       [-0.63006849, -0.09327516,  0.77091728]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00707417,  0.00875681, -0.0039944 ])}]
INFO:root:Testing 6213 out of 14424 hypotheses for numenta_mug (evidence > 0.6699838746941618)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 3.384
INFO:root:Testing 2094 out of 10992 hypotheses for montys_brain (evidence > 0.6699838746941618)
DEBUG:root:Calculating evidence for montys_brain using input 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: 3.296
INFO:root:Testing 5232 out of 14880 hypotheses for montys_heart (evidence > 0.6699838746941618)
DEBUG:root:Calculating evidence for montys_heart using input 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: 3.536
INFO:root:Testing 11274 out of 23200 hypotheses for ramen_pack (evidence > 0.6699838746941618)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.02 seconds. New max evidence: 3.63
INFO:root:Testing 5780 out of 14864 hypotheses for hot_sauce (evidence > 0.6699838746941618)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 3.343
INFO:root:Testing 4907 out of 12560 hypotheses for harissa_oil (evidence > 0.6699838746941618)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 3.601
INFO:root:Testing 9418 out of 21832 hypotheses for tomato_soup_can (evidence > 0.6699838746941618)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 3.601
INFO:root:Testing 9810 out of 16976 hypotheses for mustard_bottle (evidence > 0.6699838746941618)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 3.666
INFO:root:Testing 7451 out of 17728 hypotheses for tuna_fish_can (evidence > 0.6699838746941618)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 3.615
INFO:root:Testing 10066 out of 19024 hypotheses for potted_meat_can (evidence > 0.6699838746941618)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 3.768
DEBUG:root:evidences for each object: [3.38448972 3.29610213 3.53574762 3.63048857 3.34283502 3.60078356
 3.60107862 3.6659742  3.61481967 3.76845335]
DEBUG:root:mean evidence: 3.544, std: 0.145 -> th=3.0147626778671643
INFO:root:current most likely hypothesis: potted_meat_can with evidence 3.77
DEBUG:root:evidences for each object: [3.38448972 3.29610213 3.53574762 3.63048857 3.34283502 3.60078356
 3.60107862 3.6659742  3.61481967 3.76845335]
DEBUG:root:mean evidence: 3.544, std: 0.145 -> th=3.0147626778671643
DEBUG:root:evidences for each object: [3.38448972 3.29610213 3.53574762 3.63048857 3.34283502 3.60078356
 3.60107862 3.6659742  3.61481967 3.76845335]
DEBUG:root:mean evidence: 3.544, std: 0.145 -> th=3.2031853452338623
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_brain', 'hot_sauce', 'ramen_pack', 'tomato_soup_can', 'mustard_bottle', 'tuna_fish_can', 'potted_meat_can', 'montys_heart', 'harissa_oil'}
INFO:root:--- Global Matching Step 9 ---
INFO:uvicorn.access:192.168.1.217:49220 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.84084262,  0.0450099 ,  0.53940504],
       [-0.05345299,  0.99857037,  0.        ],
       [-0.53863388, -0.02883281,  0.84204644]]), 'pose_fully_defined': False}}, {'patch': array([-0.0055291 , -0.03956578,  0.0036956 ])}]
INFO:root:Testing 4963 out of 14424 hypotheses for numenta_mug (evidence > 0.7536906694667911)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 3.613
INFO:root:Testing 1352 out of 10992 hypotheses for montys_brain (evidence > 0.7536906694667911)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.46
INFO:root:Testing 3914 out of 14880 hypotheses for montys_heart (evidence > 0.7536906694667911)
DEBUG:root:Calculating evidence for montys_heart using input 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: 3.511
INFO:root:Testing 9528 out of 23200 hypotheses for ramen_pack (evidence > 0.7536906694667911)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.02 seconds. New max evidence: 4.096
INFO:root:Testing 4492 out of 14864 hypotheses for hot_sauce (evidence > 0.7536906694667911)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 3.578
INFO:root:Testing 3771 out of 12560 hypotheses for harissa_oil (evidence > 0.7536906694667911)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 3.805
INFO:root:Testing 7613 out of 21832 hypotheses for tomato_soup_can (evidence > 0.7536906694667911)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 3.724
INFO:root:Testing 8451 out of 16976 hypotheses for mustard_bottle (evidence > 0.7536906694667911)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 3.896
INFO:root:Testing 5827 out of 17728 hypotheses for tuna_fish_can (evidence > 0.7536906694667911)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 3.895
INFO:root:Testing 8632 out of 19024 hypotheses for potted_meat_can (evidence > 0.7536906694667911)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 4.101
DEBUG:root:evidences for each object: [3.61335798 3.46004221 3.51079834 4.09552    3.5777854  3.80507987
 3.72370378 3.89580707 3.89525593 4.10133532]
DEBUG:root:mean evidence: 3.768, std: 0.218 -> th=3.2810682591174194
INFO:root:current most likely hypothesis: potted_meat_can with evidence 4.1
DEBUG:root:evidences for each object: [3.61335798 3.46004221 3.51079834 4.09552    3.5777854  3.80507987
 3.72370378 3.89580707 3.89525593 4.10133532]
DEBUG:root:mean evidence: 3.768, std: 0.218 -> th=3.2810682591174194
DEBUG:root:evidences for each object: [3.61335798 3.46004221 3.51079834 4.09552    3.5777854  3.80507987
 3.72370378 3.89580707 3.89525593 4.10133532]
DEBUG:root:mean evidence: 3.768, std: 0.218 -> th=3.486135025312258
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_brain', 'hot_sauce', 'ramen_pack', 'tomato_soup_can', 'mustard_bottle', 'tuna_fish_can', 'potted_meat_can', 'montys_heart', 'harissa_oil'}
INFO:root:--- Global Matching Step 10 ---
INFO:uvicorn.access:192.168.1.217:49222 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.03457458,  0.3639627 ,  0.93077159],
       [-0.9955183 , -0.0945691 ,  0.        ],
       [ 0.08802223, -0.92660015,  0.36560122]]), 'pose_fully_defined': False}}, {'patch': array([0.00543548, 0.03345462, 0.00113401])}]
INFO:root:Testing 3571 out of 14424 hypotheses for numenta_mug (evidence > 0.8202670647793546)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 3.807
INFO:root:Testing 571 out of 10992 hypotheses for montys_brain (evidence > 0.8202670647793546)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.588
INFO:root:Testing 1888 out of 14880 hypotheses for montys_heart (evidence > 0.8202670647793546)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.724
INFO:root:Testing 8121 out of 23200 hypotheses for ramen_pack (evidence > 0.8202670647793546)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.02 seconds. New max evidence: 4.218
INFO:root:Testing 3493 out of 14864 hypotheses for hot_sauce (evidence > 0.8202670647793546)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 3.323
INFO:root:Testing 2777 out of 12560 hypotheses for harissa_oil (evidence > 0.8202670647793546)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 4.274
INFO:root:Testing 5933 out of 21832 hypotheses for tomato_soup_can (evidence > 0.8202670647793546)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 4.133
INFO:root:Testing 6506 out of 16976 hypotheses for mustard_bottle (evidence > 0.8202670647793546)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 4.217
INFO:root:Testing 4560 out of 17728 hypotheses for tuna_fish_can (evidence > 0.8202670647793546)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 4.262
INFO:root:Testing 7438 out of 19024 hypotheses for potted_meat_can (evidence > 0.8202670647793546)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 4.403
DEBUG:root:evidences for each object: [3.80722993 3.58764546 3.72393555 4.21792339 3.32344454 4.27425212
 4.13289978 4.21726131 4.26159293 4.40269421]
DEBUG:root:mean evidence: 3.995, std: 0.34 -> th=3.522155367731377
INFO:root:current most likely hypothesis: potted_meat_can with evidence 4.4
DEBUG:root:evidences for each object: [3.80722993 3.58764546 3.72393555 4.21792339 3.32344454 4.27425212
 4.13289978 4.21726131 4.26159293 4.40269421]
DEBUG:root:mean evidence: 3.995, std: 0.34 -> th=3.522155367731377
DEBUG:root:evidences for each object: [3.80722993 3.58764546 3.72393555 4.21792339 3.32344454 4.27425212
 4.13289978 4.21726131 4.26159293 4.40269421]
DEBUG:root:mean evidence: 3.995, std: 0.34 -> th=3.7422900782145883
DEBUG:root:Hypothesis jump indicated: sufficient steps elapsed with no jump
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_brain', 'ramen_pack', 'tomato_soup_can', 'mustard_bottle', 'tuna_fish_can', 'potted_meat_can', 'montys_heart', 'harissa_oil'}
INFO:root:--- Global Matching Step 11 ---
INFO:uvicorn.access:192.168.1.217:49223 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.14806765,  0.34094817,  0.92834817],
       [-0.91723788, -0.39833989,  0.        ],
       [ 0.36979811, -0.8515161 ,  0.37171183]]), 'pose_fully_defined': False}}, {'patch': array([-0.00418076, -0.00213017, -0.00403415])}]
INFO:root:Testing 2394 out of 14424 hypotheses for numenta_mug (evidence > 0.8805388419328439)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 4.01
INFO:root:Testing 373 out of 10992 hypotheses for montys_brain (evidence > 0.8805388419328439)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.702
INFO:root:Testing 1201 out of 14880 hypotheses for montys_heart (evidence > 0.8805388419328439)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.919
INFO:root:Testing 6835 out of 23200 hypotheses for ramen_pack (evidence > 0.8805388419328439)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.02 seconds. New max evidence: 4.431
INFO:root:Testing 2010 out of 14864 hypotheses for hot_sauce (evidence > 0.8805388419328439)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.51
INFO:root:Testing 2080 out of 12560 hypotheses for harissa_oil (evidence > 0.8805388419328439)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.687
INFO:root:Testing 4400 out of 21832 hypotheses for tomato_soup_can (evidence > 0.8805388419328439)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 4.441
INFO:root:Testing 4876 out of 16976 hypotheses for mustard_bottle (evidence > 0.8805388419328439)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 4.584
INFO:root:Testing 3967 out of 17728 hypotheses for tuna_fish_can (evidence > 0.8805388419328439)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 4.638
INFO:root:Testing 6440 out of 19024 hypotheses for potted_meat_can (evidence > 0.8805388419328439)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 4.811
DEBUG:root:evidences for each object: [4.00977534 3.70154411 3.91947593 4.43069998 3.51011885 4.68706955
 4.44054131 4.58430514 4.6382777  4.81142612]
DEBUG:root:mean evidence: 4.273, std: 0.43 -> th=3.8491408999967343
INFO:root:current most likely hypothesis: potted_meat_can with evidence 4.81
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'ramen_pack', 'tomato_soup_can', 'mustard_bottle', 'tuna_fish_can', 'potted_meat_can', 'montys_heart', 'harissa_oil'}
INFO:root:--- Global Matching Step 12 ---
INFO:uvicorn.access:192.168.1.217:49223 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.19147923,  0.50069471,  0.84418038],
       [-0.93402872, -0.35719791,  0.        ],
       [ 0.30153946, -0.78848872,  0.53605922]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00364657,  0.00785705, -0.00231206])}]
INFO:root:Testing 1785 out of 14424 hypotheses for numenta_mug (evidence > 0.9622852249991833)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.195
INFO:root:Testing 352 out of 10992 hypotheses for montys_brain (evidence > 0.9622852249991833)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.711
INFO:root:Testing 1076 out of 14880 hypotheses for montys_heart (evidence > 0.9622852249991833)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.071
INFO:root:Testing 6410 out of 23200 hypotheses for ramen_pack (evidence > 0.9622852249991833)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 4.723
INFO:root:Testing 1159 out of 14864 hypotheses for hot_sauce (evidence > 0.9622852249991833)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.615
INFO:root:Testing 1724 out of 12560 hypotheses for harissa_oil (evidence > 0.9622852249991833)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 5.026
INFO:root:Testing 3384 out of 21832 hypotheses for tomato_soup_can (evidence > 0.9622852249991833)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 4.807
INFO:root:Testing 4432 out of 16976 hypotheses for mustard_bottle (evidence > 0.9622852249991833)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 4.924
INFO:root:Testing 3582 out of 17728 hypotheses for tuna_fish_can (evidence > 0.9622852249991833)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 5.002
INFO:root:Testing 5909 out of 19024 hypotheses for potted_meat_can (evidence > 0.9622852249991833)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 5.095
DEBUG:root:evidences for each object: [4.1945353  3.71085801 4.07073627 4.72324085 3.61450757 5.02601672
 4.80719818 4.92432459 5.00206247 5.09463867]
DEBUG:root:mean evidence: 4.517, std: 0.537 -> th=4.075710938315103
INFO:root:current most likely hypothesis: potted_meat_can with evidence 5.09
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'ramen_pack', 'tomato_soup_can', 'mustard_bottle', 'tuna_fish_can', 'potted_meat_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 13 ---
INFO:uvicorn.access:192.168.1.217:49223 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.16857923,  0.56472278,  0.80787946],
       [-0.95821657, -0.28604373,  0.        ],
       [ 0.23108885, -0.77412348,  0.58934776]]), 'pose_fully_defined': False}}, {'patch': array([-0.00133239,  0.00500171, -0.00201687])}]
INFO:root:Testing 1021 out of 14424 hypotheses for numenta_mug (evidence > 1.0189277345787753)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.411
INFO:root:Testing 325 out of 10992 hypotheses for montys_brain (evidence > 1.0189277345787753)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.736
INFO:root:Testing 906 out of 14880 hypotheses for montys_heart (evidence > 1.0189277345787753)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.44
INFO:root:Testing 5342 out of 23200 hypotheses for ramen_pack (evidence > 1.0189277345787753)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 5.139
INFO:root:Testing 632 out of 14864 hypotheses for hot_sauce (evidence > 1.0189277345787753)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.778
INFO:root:Testing 1189 out of 12560 hypotheses for harissa_oil (evidence > 1.0189277345787753)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 5.299
INFO:root:Testing 2651 out of 21832 hypotheses for tomato_soup_can (evidence > 1.0189277345787753)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 5.208
INFO:root:Testing 3283 out of 16976 hypotheses for mustard_bottle (evidence > 1.0189277345787753)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 5.264
INFO:root:Testing 3097 out of 17728 hypotheses for tuna_fish_can (evidence > 1.0189277345787753)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 5.412
INFO:root:Testing 4932 out of 19024 hypotheses for potted_meat_can (evidence > 1.0189277345787753)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 5.48
DEBUG:root:evidences for each object: [4.41088392 3.73588778 4.44047269 5.13934082 3.77803015 5.29939192
 5.20846906 5.26444782 5.4115022  5.47966745]
DEBUG:root:mean evidence: 4.817, std: 0.635 -> th=4.383733961057149
INFO:root:current most likely hypothesis: potted_meat_can with evidence 5.48
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'ramen_pack', 'tomato_soup_can', 'mustard_bottle', 'tuna_fish_can', 'potted_meat_can', 'montys_heart', 'harissa_oil'}
INFO:root:--- Global Matching Step 14 ---
INFO:uvicorn.access:192.168.1.217:49225 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.24582511, -0.13176296,  0.9603169 ],
       [ 0.47241902, -0.88137408,  0.        ],
       [ 0.84639842,  0.45367196,  0.2789112 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00491711, -0.03507022,  0.00684333])}]
INFO:root:Testing 801 out of 14424 hypotheses for numenta_mug (evidence > 1.0959334902642874)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.56
INFO:root:Testing 298 out of 10992 hypotheses for montys_brain (evidence > 1.0959334902642874)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.741
INFO:root:Testing 731 out of 14880 hypotheses for montys_heart (evidence > 1.0959334902642874)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.623
INFO:root:Testing 4860 out of 23200 hypotheses for ramen_pack (evidence > 1.0959334902642874)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 5.536
INFO:root:Testing 449 out of 14864 hypotheses for hot_sauce (evidence > 1.0959334902642874)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.986
INFO:root:Testing 945 out of 12560 hypotheses for harissa_oil (evidence > 1.0959334902642874)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 5.608
INFO:root:Testing 2318 out of 21832 hypotheses for tomato_soup_can (evidence > 1.0959334902642874)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 5.598
INFO:root:Testing 2802 out of 16976 hypotheses for mustard_bottle (evidence > 1.0959334902642874)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 5.6
INFO:root:Testing 2864 out of 17728 hypotheses for tuna_fish_can (evidence > 1.0959334902642874)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 5.763
INFO:root:Testing 4439 out of 19024 hypotheses for potted_meat_can (evidence > 1.0959334902642874)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 5.671
DEBUG:root:evidences for each object: [4.5596925  3.74059957 4.62296938 5.53585943 3.98584445 5.60787075
 5.5976147  5.6001518  5.76264944 5.67088135]
DEBUG:root:mean evidence: 5.068, std: 0.729 -> th=4.610119548051994
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 5.76
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'tomato_soup_can', 'mustard_bottle', 'tuna_fish_can', 'potted_meat_can', 'montys_heart', 'harissa_oil'}
INFO:root:--- Global Matching Step 15 ---
INFO:uvicorn.access:192.168.1.217:49226 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.17025612, -0.37547524,  0.91106048],
       [ 0.9107448 , -0.41296963,  0.        ],
       [ 0.37624031,  0.82974359,  0.41227273]]), 'pose_fully_defined': False}}, {'patch': array([-0.0037622 , -0.01337314, -0.00183228])}]
INFO:root:Testing 579 out of 14424 hypotheses for numenta_mug (evidence > 1.1525298870129985)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.872
INFO:root:Testing 152 out of 10992 hypotheses for montys_brain (evidence > 1.1525298870129985)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 4.003
INFO:root:Testing 470 out of 14880 hypotheses for montys_heart (evidence > 1.1525298870129985)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.719
INFO:root:Testing 4312 out of 23200 hypotheses for ramen_pack (evidence > 1.1525298870129985)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 5.592
INFO:root:Testing 259 out of 14864 hypotheses for hot_sauce (evidence > 1.1525298870129985)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.048
INFO:root:Testing 591 out of 12560 hypotheses for harissa_oil (evidence > 1.1525298870129985)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 5.948
INFO:root:Testing 1762 out of 21832 hypotheses for tomato_soup_can (evidence > 1.1525298870129985)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 5.963
INFO:root:Testing 2285 out of 16976 hypotheses for mustard_bottle (evidence > 1.1525298870129985)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 5.962
INFO:root:Testing 2135 out of 17728 hypotheses for tuna_fish_can (evidence > 1.1525298870129985)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 6.181
INFO:root:Testing 3717 out of 19024 hypotheses for potted_meat_can (evidence > 1.1525298870129985)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 6.009
DEBUG:root:evidences for each object: [4.87224578 4.00290765 4.7192941  5.59176734 4.04751455 5.94849137
 5.96288214 5.96201356 6.18060041 6.00877478]
DEBUG:root:mean evidence: 5.33, std: 0.801 -> th=4.944480326777921
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 6.18
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'tomato_soup_can', 'mustard_bottle', 'tuna_fish_can', 'potted_meat_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 16 ---
INFO:uvicorn.access:192.168.1.217:49228 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.96253824,  0.26333244, -0.06462319],
       [-0.26388402, -0.96455442,  0.        ],
       [-0.06233259,  0.01705303,  0.99790974]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00261176,  0.02033989, -0.04057937])}]
INFO:root:Testing 446 out of 14424 hypotheses for numenta_mug (evidence > 1.2361200816944802)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.383
INFO:root:Testing 45 out of 10992 hypotheses for montys_brain (evidence > 1.2361200816944802)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.618
INFO:root:Testing 308 out of 14880 hypotheses for montys_heart (evidence > 1.2361200816944802)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.269
INFO:root:Testing 3348 out of 23200 hypotheses for ramen_pack (evidence > 1.2361200816944802)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 5.36
INFO:root:Testing 169 out of 14864 hypotheses for hot_sauce (evidence > 1.2361200816944802)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.048
INFO:root:Testing 412 out of 12560 hypotheses for harissa_oil (evidence > 1.2361200816944802)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 5.46
INFO:root:Testing 1294 out of 21832 hypotheses for tomato_soup_can (evidence > 1.2361200816944802)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.876
INFO:root:Testing 1749 out of 16976 hypotheses for mustard_bottle (evidence > 1.2361200816944802)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.488
INFO:root:Testing 1687 out of 17728 hypotheses for tuna_fish_can (evidence > 1.2361200816944802)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.697
INFO:root:Testing 2696 out of 19024 hypotheses for potted_meat_can (evidence > 1.2361200816944802)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 5.78
DEBUG:root:evidences for each object: [4.38316799 3.61833791 4.2693981  5.36043491 3.04751455 5.46012035
 5.87619737 5.48766639 5.69699396 5.78047376]
DEBUG:root:mean evidence: 4.898, std: 0.947 -> th=4.7009578987364
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 5.88
DEBUG:root:evidences for each object: [4.38316799 3.61833791 4.2693981  5.36043491 3.04751455 5.46012035
 5.87619737 5.48766639 5.69699396 5.78047376]
DEBUG:root:mean evidence: 4.898, std: 0.947 -> th=4.7009578987364
DEBUG:root:evidences for each object: [4.38316799 3.61833791 4.2693981  5.36043491 3.04751455 5.46012035
 5.87619737 5.48766639 5.69699396 5.78047376]
DEBUG:root:mean evidence: 4.898, std: 0.947 -> th=4.994767767407424
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', 'tomato_soup_can', 'mustard_bottle', 'tuna_fish_can', 'potted_meat_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 17 ---
INFO:uvicorn.access:192.168.1.217:49230 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.96863633,  0.23290471,  0.08659706],
       [-0.23378293, -0.97228881,  0.        ],
       [ 0.08419735, -0.02024492,  0.99624342]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00233647, -0.00795501,  0.00350644])}]
INFO:root:Testing 328 out of 14424 hypotheses for numenta_mug (evidence > 1.1752394746840995)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.893
INFO:root:Testing 38 out of 10992 hypotheses for montys_brain (evidence > 1.1752394746840995)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.197
INFO:root:Testing 244 out of 14880 hypotheses for montys_heart (evidence > 1.1752394746840995)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.795
INFO:root:Testing 1695 out of 23200 hypotheses for ramen_pack (evidence > 1.1752394746840995)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.085
INFO:root:Testing 60 out of 14864 hypotheses for hot_sauce (evidence > 1.1752394746840995)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.048
INFO:root:Testing 364 out of 12560 hypotheses for harissa_oil (evidence > 1.1752394746840995)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.971
INFO:root:Testing 1096 out of 21832 hypotheses for tomato_soup_can (evidence > 1.1752394746840995)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.712
INFO:root:Testing 999 out of 16976 hypotheses for mustard_bottle (evidence > 1.1752394746840995)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.014
INFO:root:Testing 1390 out of 17728 hypotheses for tuna_fish_can (evidence > 1.1752394746840995)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.23
INFO:root:Testing 2220 out of 19024 hypotheses for potted_meat_can (evidence > 1.1752394746840995)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 5.667
DEBUG:root:evidences for each object: [3.89312516 3.196527   3.79462797 5.08538564 2.04751455 4.97084997
 5.71217143 5.01433448 5.23004702 5.66744191]
DEBUG:root:mean evidence: 4.461, std: 1.13 -> th=4.569737142344644
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 5.71
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'tomato_soup_can', 'mustard_bottle', 'tuna_fish_can', 'potted_meat_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 18 ---
INFO:uvicorn.access:192.168.1.217:49230 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.9632633 ,  0.2669556 , -0.02930064],
       [-0.26707027, -0.96367706,  0.        ],
       [-0.02823636,  0.00782533,  0.99957064]]), 'pose_fully_defined': False}}, {'patch': array([-0.06001524,  0.02384793, -0.00156031])}]
INFO:root:Testing 182 out of 14424 hypotheses for numenta_mug (evidence > 1.1424342855861607)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.761
INFO:root:Testing 27 out of 10992 hypotheses for montys_brain (evidence > 1.1424342855861607)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.197
INFO:root:Testing 155 out of 14880 hypotheses for montys_heart (evidence > 1.1424342855861607)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.734
INFO:root:Testing 713 out of 23200 hypotheses for ramen_pack (evidence > 1.1424342855861607)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.87
INFO:root:Testing 15 out of 14864 hypotheses for hot_sauce (evidence > 1.1424342855861607)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.141
INFO:root:Testing 268 out of 12560 hypotheses for harissa_oil (evidence > 1.1424342855861607)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.654
INFO:root:Testing 929 out of 21832 hypotheses for tomato_soup_can (evidence > 1.1424342855861607)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.342
INFO:root:Testing 589 out of 16976 hypotheses for mustard_bottle (evidence > 1.1424342855861607)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.883
INFO:root:Testing 1027 out of 17728 hypotheses for tuna_fish_can (evidence > 1.1424342855861607)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.23
INFO:root:Testing 1620 out of 19024 hypotheses for potted_meat_can (evidence > 1.1424342855861607)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 5.625
DEBUG:root:evidences for each object: [3.76123602 2.196527   3.73422788 4.87010274 1.1413745  4.65404218
 5.34233486 4.88281338 4.23004702 5.62510894]
DEBUG:root:mean evidence: 4.044, std: 1.341 -> th=4.5000871540378125
INFO:root:current most likely hypothesis: potted_meat_can with evidence 5.63
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'tomato_soup_can', 'mustard_bottle', 'potted_meat_can', 'harissa_oil'}
INFO:root:--- Global Matching Step 19 ---
INFO:uvicorn.access:192.168.1.217:49230 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.94098833,  0.27517707,  0.19702422],
       [-0.28067876, -0.95980177,  0.        ],
       [ 0.18910419, -0.05530051,  0.98039862]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0602286 , -0.02021936, -0.00181808])}]
INFO:root:Testing 118 out of 14424 hypotheses for numenta_mug (evidence > 1.1250217885094527)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.318
INFO:root:Testing 20 out of 10992 hypotheses for montys_brain (evidence > 1.1250217885094527)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.756
INFO:root:Testing 138 out of 14880 hypotheses for montys_heart (evidence > 1.1250217885094527)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.278
INFO:root:Testing 326 out of 23200 hypotheses for ramen_pack (evidence > 1.1250217885094527)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.514
INFO:root:Testing 14 out of 14864 hypotheses for hot_sauce (evidence > 1.1250217885094527)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.122
INFO:root:Testing 200 out of 12560 hypotheses for harissa_oil (evidence > 1.1250217885094527)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.19
INFO:root:Testing 822 out of 21832 hypotheses for tomato_soup_can (evidence > 1.1250217885094527)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.082
INFO:root:Testing 354 out of 16976 hypotheses for mustard_bottle (evidence > 1.1250217885094527)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.423
INFO:root:Testing 625 out of 17728 hypotheses for tuna_fish_can (evidence > 1.1250217885094527)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.755
INFO:root:Testing 1040 out of 19024 hypotheses for potted_meat_can (evidence > 1.1250217885094527)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.545
DEBUG:root:evidences for each object: [3.31838862 1.75599227 3.27795973 4.51388064 1.12180319 4.18959213
 5.08154514 4.42334395 3.75516991 5.54529714]
DEBUG:root:mean evidence: 3.698, std: 1.323 -> th=4.436237711737149
INFO:root:current most likely hypothesis: potted_meat_can with evidence 5.55
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tomato_soup_can', 'ramen_pack'}
INFO:root:--- Global Matching Step 20 ---
INFO:uvicorn.access:192.168.1.217:49230 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.95834025,  0.27965756, -0.05810009],
       [-0.28013077, -0.95996185,  0.        ],
       [-0.05577387,  0.01627562,  0.99831076]]), 'pose_fully_defined': False}}, {'patch': array([-0.06055075,  0.02050272, -0.01652096])}]
INFO:root:Testing 72 out of 14424 hypotheses for numenta_mug (evidence > 1.1090594279342874)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.892
INFO:root:Testing 18 out of 10992 hypotheses for montys_brain (evidence > 1.1090594279342874)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.108
INFO:root:Testing 95 out of 14880 hypotheses for montys_heart (evidence > 1.1090594279342874)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.491
INFO:root:Testing 190 out of 23200 hypotheses for ramen_pack (evidence > 1.1090594279342874)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.074
INFO:root:Testing 9 out of 14864 hypotheses for hot_sauce (evidence > 1.1090594279342874)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.109
INFO:root:Testing 102 out of 12560 hypotheses for harissa_oil (evidence > 1.1090594279342874)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.127
INFO:root:Testing 655 out of 21832 hypotheses for tomato_soup_can (evidence > 1.1090594279342874)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.997
INFO:root:Testing 264 out of 16976 hypotheses for mustard_bottle (evidence > 1.1090594279342874)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.423
INFO:root:Testing 417 out of 17728 hypotheses for tuna_fish_can (evidence > 1.1090594279342874)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.755
INFO:root:Testing 874 out of 19024 hypotheses for potted_meat_can (evidence > 1.1090594279342874)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.503
DEBUG:root:evidences for each object: [2.89241558 1.10843019 3.49060199 4.07444761 1.10893042 4.12672405
 4.99670154 3.42334395 2.75516991 5.50253125]
DEBUG:root:mean evidence: 3.348, std: 1.382 -> th=4.402025000815238
INFO:root:current most likely hypothesis: potted_meat_can with evidence 5.5
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 21 ---
INFO:uvicorn.access:192.168.1.217:49230 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.9525782 ,  0.30393368, -0.0148018 ],
       [-0.30396698, -0.95268257,  0.        ],
       [-0.01410141,  0.00449926,  0.99989045]]), 'pose_fully_defined': False}}, {'patch': array([ 0.06095382, -0.02764144,  0.00758666])}]
INFO:root:Testing 61 out of 14424 hypotheses for numenta_mug (evidence > 1.100506250203809)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.334
INFO:root:Testing 3 out of 10992 hypotheses for montys_brain (evidence > 1.100506250203809)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.095
INFO:root:Testing 59 out of 14880 hypotheses for montys_heart (evidence > 1.100506250203809)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.009
INFO:root:Testing 76 out of 23200 hypotheses for ramen_pack (evidence > 1.100506250203809)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.074
INFO:root:Testing 4 out of 14864 hypotheses for hot_sauce (evidence > 1.100506250203809)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.099
INFO:root:Testing 88 out of 12560 hypotheses for harissa_oil (evidence > 1.100506250203809)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.822
INFO:root:Testing 440 out of 21832 hypotheses for tomato_soup_can (evidence > 1.100506250203809)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.642
INFO:root:Testing 168 out of 16976 hypotheses for mustard_bottle (evidence > 1.100506250203809)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.199
INFO:root:Testing 160 out of 17728 hypotheses for tuna_fish_can (evidence > 1.100506250203809)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.308
INFO:root:Testing 527 out of 19024 hypotheses for potted_meat_can (evidence > 1.100506250203809)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.043
DEBUG:root:evidences for each object: [2.3340598  1.09519273 3.00913474 3.07444761 1.09926807 3.82201513
 4.6415717  3.19910558 2.30842254 5.04284974]
DEBUG:root:mean evidence: 2.963, std: 1.255 -> th=4.034279790913812
INFO:root:current most likely hypothesis: potted_meat_can with evidence 5.04
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 22 ---
INFO:uvicorn.access:192.168.1.217:49233 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.9795105 ,  0.20062065,  0.01762187],
       [-0.2006518 , -0.97966262,  0.        ],
       [ 0.01726348, -0.00353586,  0.99984472]]), 'pose_fully_defined': False}}, {'patch': array([-0.00617199,  0.02048403, -0.02057718])}]
INFO:root:Testing 210 out of 14424 hypotheses for numenta_mug (evidence > 1.0085699477284527)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.862
INFO:root:Testing 45 out of 10992 hypotheses for montys_brain (evidence > 1.0085699477284527)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.007
INFO:root:Testing 174 out of 14880 hypotheses for montys_heart (evidence > 1.0085699477284527)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.646
INFO:root:Testing 615 out of 23200 hypotheses for ramen_pack (evidence > 1.0085699477284527)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.074
INFO:root:Testing 119 out of 14864 hypotheses for hot_sauce (evidence > 1.0085699477284527)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.008
INFO:root:Testing 250 out of 12560 hypotheses for harissa_oil (evidence > 1.0085699477284527)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.822
INFO:root:Testing 693 out of 21832 hypotheses for tomato_soup_can (evidence > 1.0085699477284527)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.329
INFO:root:Testing 672 out of 16976 hypotheses for mustard_bottle (evidence > 1.0085699477284527)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.199
INFO:root:Testing 505 out of 17728 hypotheses for tuna_fish_can (evidence > 1.0085699477284527)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.071
INFO:root:Testing 1021 out of 19024 hypotheses for potted_meat_can (evidence > 1.0085699477284527)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.561
DEBUG:root:evidences for each object: [1.86170929 1.00677865 2.64614958 2.07444761 1.00806557 2.82201513
 4.32900583 2.19910558 2.07100636 4.56054433]
DEBUG:root:mean evidence: 2.458, std: 1.141 -> th=3.6484354635450926
INFO:root:current most likely hypothesis: potted_meat_can with evidence 4.56
DEBUG:root:evidences for each object: [1.86170929 1.00677865 2.64614958 2.07444761 1.00806557 2.82201513
 4.32900583 2.19910558 2.07100636 4.56054433]
DEBUG:root:mean evidence: 2.458, std: 1.141 -> th=3.6484354635450926
DEBUG:root:evidences for each object: [1.86170929 1.00677865 2.64614958 2.07444761 1.00806557 2.82201513
 4.32900583 2.19910558 2.07100636 4.56054433]
DEBUG:root:mean evidence: 2.458, std: 1.141 -> th=3.876462680016661
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 23 ---
INFO:uvicorn.access:192.168.1.217:49233 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.83949419,  0.28038787, -0.46543759],
       [-0.31679356, -0.94849451,  0.        ],
       [-0.441465  ,  0.14744763,  0.8850807 ]]), 'pose_fully_defined': False}}, {'patch': array([0.00080798, 0.01300389, 0.00598546])}]
INFO:root:Testing 575 out of 14424 hypotheses for numenta_mug (evidence > 0.9121088658862728)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.603
INFO:root:Testing 55 out of 10992 hypotheses for montys_brain (evidence > 0.9121088658862728)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.908
INFO:root:Testing 249 out of 14880 hypotheses for montys_heart (evidence > 0.9121088658862728)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.427
INFO:root:Testing 1099 out of 23200 hypotheses for ramen_pack (evidence > 0.9121088658862728)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.423
INFO:root:Testing 368 out of 14864 hypotheses for hot_sauce (evidence > 0.9121088658862728)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.983
INFO:root:Testing 502 out of 12560 hypotheses for harissa_oil (evidence > 0.9121088658862728)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.822
INFO:root:Testing 1143 out of 21832 hypotheses for tomato_soup_can (evidence > 0.9121088658862728)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.421
INFO:root:Testing 942 out of 16976 hypotheses for mustard_bottle (evidence > 0.9121088658862728)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.099
INFO:root:Testing 671 out of 17728 hypotheses for tuna_fish_can (evidence > 0.9121088658862728)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.122
INFO:root:Testing 1260 out of 19024 hypotheses for potted_meat_can (evidence > 0.9121088658862728)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.683
DEBUG:root:evidences for each object: [1.60316807 0.90751416 2.42712464 1.42297435 0.98258864 1.82201513
 4.42070803 2.09861116 2.12219352 4.68319071]
DEBUG:root:mean evidence: 2.249, std: 1.241 -> th=3.746552566193447
INFO:root:current most likely hypothesis: potted_meat_can with evidence 4.68
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 24 ---
INFO:uvicorn.access:192.168.1.217:49233 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.84744976,  0.44007883, -0.29691669],
       [-0.46086216, -0.88747173,  0.        ],
       [-0.26350517,  0.13683767,  0.95490339]]), 'pose_fully_defined': False}}, {'patch': array([-0.00127043,  0.00015228, -0.00017892])}]
INFO:root:Testing 28 out of 14424 hypotheses for numenta_mug (evidence > 0.9366381415483618)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.761
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.908
INFO:root:Testing 8 out of 14880 hypotheses for montys_heart (evidence > 0.9366381415483618)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.217
INFO:root:Testing 64 out of 23200 hypotheses for ramen_pack (evidence > 0.9366381415483618)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.869
INFO:root:Testing 7 out of 14864 hypotheses for hot_sauce (evidence > 0.9366381415483618)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.93
INFO:root:Testing 77 out of 12560 hypotheses for harissa_oil (evidence > 0.9366381415483618)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.28
INFO:root:Testing 461 out of 21832 hypotheses for tomato_soup_can (evidence > 0.9366381415483618)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.474
INFO:root:Testing 61 out of 16976 hypotheses for mustard_bottle (evidence > 0.9366381415483618)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.058
INFO:root:Testing 211 out of 17728 hypotheses for tuna_fish_can (evidence > 0.9366381415483618)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.205
INFO:root:Testing 348 out of 19024 hypotheses for potted_meat_can (evidence > 0.9366381415483618)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.912
DEBUG:root:evidences for each object: [1.76082876 0.90751416 2.21718883 1.86858326 0.92992141 1.28001718
 4.47386885 2.05791076 2.20471624 4.91150032]
DEBUG:root:mean evidence: 2.261, std: 1.301 -> th=3.9292002584711923
INFO:root:current most likely hypothesis: potted_meat_can with evidence 4.91
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 25 ---
INFO:uvicorn.access:192.168.1.217:49234 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.01979073, -0.12548579, -0.991898  ],
       [ 0.98779062, -0.15578734,  0.        ],
       [-0.15452515, -0.97978754,  0.12703684]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00030239, -0.01267458, -0.00646546])}]
INFO:root:Testing 14 out of 14424 hypotheses for numenta_mug (evidence > 0.9823000646177977)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.072
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.908
INFO:root:Testing 4 out of 14880 hypotheses for montys_heart (evidence > 0.9823000646177977)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.314
INFO:root:Testing 43 out of 23200 hypotheses for ramen_pack (evidence > 0.9823000646177977)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.199
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.93
INFO:root:Testing 10 out of 12560 hypotheses for harissa_oil (evidence > 0.9823000646177977)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.72
INFO:root:Testing 374 out of 21832 hypotheses for tomato_soup_can (evidence > 0.9823000646177977)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.87
INFO:root:Testing 35 out of 16976 hypotheses for mustard_bottle (evidence > 0.9823000646177977)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 1.772
INFO:root:Testing 124 out of 17728 hypotheses for tuna_fish_can (evidence > 0.9823000646177977)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.471
INFO:root:Testing 262 out of 19024 hypotheses for potted_meat_can (evidence > 0.9823000646177977)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.656
DEBUG:root:evidences for each object: [2.07155647 0.90751416 2.31391192 2.19858729 0.92992141 1.71968982
 4.87028625 1.77173759 2.47135051 4.65638377]
DEBUG:root:mean evidence: 2.391, std: 1.288 -> th=3.89622900059656
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 4.87
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 26 ---
INFO:uvicorn.access:192.168.1.217:49234 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.90145544,  0.12219498,  0.41526675],
       [-0.13432453, -0.99093739,  0.        ],
       [ 0.41150335, -0.05578051,  0.90969969]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00511619, -0.02416642,  0.01175066])}]
INFO:root:Testing 11 out of 14424 hypotheses for numenta_mug (evidence > 0.9740572501491398)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.682
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.908
INFO:root:Testing 2 out of 14880 hypotheses for montys_heart (evidence > 0.9740572501491398)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.83
INFO:root:Testing 25 out of 23200 hypotheses for ramen_pack (evidence > 0.9740572501491398)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.409
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.93
INFO:root:Testing 6 out of 12560 hypotheses for harissa_oil (evidence > 0.9740572501491398)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.151
INFO:root:Testing 290 out of 21832 hypotheses for tomato_soup_can (evidence > 0.9740572501491398)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.512
INFO:root:Testing 21 out of 16976 hypotheses for mustard_bottle (evidence > 0.9740572501491398)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 1.342
INFO:root:Testing 120 out of 17728 hypotheses for tuna_fish_can (evidence > 0.9740572501491398)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.471
INFO:root:Testing 191 out of 19024 hypotheses for potted_meat_can (evidence > 0.9740572501491398)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.381
DEBUG:root:evidences for each object: [1.68163361 0.90751416 1.82989959 1.40907274 0.92992141 1.15127346
 4.51159325 1.34207388 2.47068612 4.38129396]
DEBUG:root:mean evidence: 2.061, std: 1.27 -> th=3.60927460010648
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 4.51
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 27 ---
INFO:uvicorn.access:192.168.1.217:49236 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.12608945,  0.14884999, -0.98078801],
       [-0.76303365, -0.64635876,  0.        ],
       [-0.63394092,  0.74837426,  0.19507657]]), 'pose_fully_defined': False}}, {'patch': array([-1.54671238e-02,  1.97644673e-02, -9.55611035e-06])}]
INFO:root:Testing 99 out of 14424 hypotheses for numenta_mug (evidence > 0.9023186500266198)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.044
INFO:root:Testing 6 out of 10992 hypotheses for montys_brain (evidence > 0.9023186500266198)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.312
INFO:root:Testing 22 out of 14880 hypotheses for montys_heart (evidence > 0.9023186500266198)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.188
INFO:root:Testing 168 out of 23200 hypotheses for ramen_pack (evidence > 0.9023186500266198)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.889
INFO:root:Testing 67 out of 14864 hypotheses for hot_sauce (evidence > 0.9023186500266198)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.327
INFO:root:Testing 111 out of 12560 hypotheses for harissa_oil (evidence > 0.9023186500266198)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.479
INFO:root:Testing 394 out of 21832 hypotheses for tomato_soup_can (evidence > 0.9023186500266198)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.954
INFO:root:Testing 128 out of 16976 hypotheses for mustard_bottle (evidence > 0.9023186500266198)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 1.776
INFO:root:Testing 235 out of 17728 hypotheses for tuna_fish_can (evidence > 0.9023186500266198)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.72
INFO:root:Testing 271 out of 19024 hypotheses for potted_meat_can (evidence > 0.9023186500266198)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.381
DEBUG:root:evidences for each object: [2.04428061 1.31164259 1.18781185 1.88946336 1.32721128 1.47881836
 4.9540263  1.7764712  2.71957269 3.38129396]
DEBUG:root:mean evidence: 2.207, std: 1.125 -> th=3.963221043283999
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 4.95
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can'}
INFO:root:--- Global Matching Step 28 ---
INFO:uvicorn.access:192.168.1.217:49236 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.0944734 ,  0.25522121, -0.96225616],
       [-0.93781214, -0.34714318,  0.        ],
       [-0.33404066,  0.90241551,  0.27214535]]), 'pose_fully_defined': False}}, {'patch': array([-1.08431261e-03,  6.81452721e-03,  7.17737020e-05])}]
INFO:root:Testing 36 out of 14424 hypotheses for numenta_mug (evidence > 0.9908052608209994)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.48
INFO:root:Testing 3 out of 10992 hypotheses for montys_brain (evidence > 0.9908052608209994)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.793
INFO:root:Testing 8 out of 14880 hypotheses for montys_heart (evidence > 0.9908052608209994)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.585
INFO:root:Testing 46 out of 23200 hypotheses for ramen_pack (evidence > 0.9908052608209994)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.33
INFO:root:Testing 11 out of 14864 hypotheses for hot_sauce (evidence > 0.9908052608209994)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.786
INFO:root:Testing 46 out of 12560 hypotheses for harissa_oil (evidence > 0.9908052608209994)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.91
INFO:root:Testing 282 out of 21832 hypotheses for tomato_soup_can (evidence > 0.9908052608209994)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.418
INFO:root:Testing 36 out of 16976 hypotheses for mustard_bottle (evidence > 0.9908052608209994)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.253
INFO:root:Testing 106 out of 17728 hypotheses for tuna_fish_can (evidence > 0.9908052608209994)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.998
INFO:root:Testing 125 out of 19024 hypotheses for potted_meat_can (evidence > 0.9908052608209994)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.716
DEBUG:root:evidences for each object: [2.47979457 1.79300676 1.5849192  2.33024994 1.78587096 1.91044751
 5.41829331 2.2533145  2.99842703 3.71586679]
DEBUG:root:mean evidence: 2.627, std: 1.112 -> th=4.334634645752298
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 5.42
DEBUG:root:evidences for each object: [2.47979457 1.79300676 1.5849192  2.33024994 1.78587096 1.91044751
 5.41829331 2.2533145  2.99842703 3.71586679]
DEBUG:root:mean evidence: 2.627, std: 1.112 -> th=4.334634645752298
DEBUG:root:evidences for each object: [2.47979457 1.79300676 1.5849192  2.33024994 1.78587096 1.91044751
 5.41829331 2.2533145  2.99842703 3.71586679]
DEBUG:root:mean evidence: 2.627, std: 1.112 -> th=4.605549311111817
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 29 ---
INFO:uvicorn.access:192.168.1.217:49236 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.03731353,  0.32426615, -0.94522969],
       [-0.9934444 ,  0.11431635,  0.        ],
       [ 0.1080552 ,  0.93903314,  0.32640594]]), 'pose_fully_defined': False}}, {'patch': array([-0.00039062,  0.00268992,  0.00067054])}]
INFO:root:Testing 33 out of 14424 hypotheses for numenta_mug (evidence > 1.0836586614380748)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.95
INFO:root:Testing 150 out of 10992 hypotheses for montys_brain (evidence > 1.0836586614380748)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.24
INFO:root:Testing 9 out of 14880 hypotheses for montys_heart (evidence > 1.0836586614380748)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.961
INFO:root:Testing 45 out of 23200 hypotheses for ramen_pack (evidence > 1.0836586614380748)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.717
INFO:root:Testing 583 out of 14864 hypotheses for hot_sauce (evidence > 1.0836586614380748)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.238
INFO:root:Testing 528 out of 12560 hypotheses for harissa_oil (evidence > 1.0836586614380748)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.354
INFO:root:Testing 273 out of 21832 hypotheses for tomato_soup_can (evidence > 1.0836586614380748)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.915
INFO:root:Testing 32 out of 16976 hypotheses for mustard_bottle (evidence > 1.0836586614380748)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.625
INFO:root:Testing 93 out of 17728 hypotheses for tuna_fish_can (evidence > 1.0836586614380748)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.233
INFO:root:Testing 109 out of 19024 hypotheses for potted_meat_can (evidence > 1.0836586614380748)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.115
DEBUG:root:evidences for each object: [2.94957746 2.23972206 1.9605059  2.71660005 2.23788176 2.35356955
 5.91512411 2.62537443 3.23318626 4.11451908]
DEBUG:root:mean evidence: 3.035, std: 1.125 -> th=4.732099284962908
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 5.92
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can'}
INFO:root:--- Global Matching Step 30 ---
INFO:uvicorn.access:192.168.1.217:49238 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.20938616,  0.39664896, -0.89377125],
       [-0.88434457,  0.46683475,  0.        ],
       [ 0.41724347,  0.79040175,  0.44852309]]), 'pose_fully_defined': False}}, {'patch': array([-0.00421369,  0.00331211,  0.00082167])}]
INFO:root:Testing 33 out of 14424 hypotheses for numenta_mug (evidence > 1.1830248212407266)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.345
INFO:root:Testing 93 out of 10992 hypotheses for montys_brain (evidence > 1.1830248212407266)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.594
INFO:root:Testing 10 out of 14880 hypotheses for montys_heart (evidence > 1.1830248212407266)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.019
INFO:root:Testing 42 out of 23200 hypotheses for ramen_pack (evidence > 1.1830248212407266)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.9
INFO:root:Testing 88 out of 14864 hypotheses for hot_sauce (evidence > 1.1830248212407266)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.598
INFO:root:Testing 250 out of 12560 hypotheses for harissa_oil (evidence > 1.1830248212407266)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.755
INFO:root:Testing 268 out of 21832 hypotheses for tomato_soup_can (evidence > 1.1830248212407266)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.265
INFO:root:Testing 31 out of 16976 hypotheses for mustard_bottle (evidence > 1.1830248212407266)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.987
INFO:root:Testing 85 out of 17728 hypotheses for tuna_fish_can (evidence > 1.1830248212407266)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.272
INFO:root:Testing 105 out of 19024 hypotheses for potted_meat_can (evidence > 1.1830248212407266)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.438
DEBUG:root:evidences for each object: [3.34456677 2.59353141 2.01891942 2.89983341 2.59798157 2.75455183
 6.26538553 2.98706417 3.27236969 4.43840822]
DEBUG:root:mean evidence: 3.317, std: 1.152 -> th=5.012308424149598
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 6.27
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can'}
INFO:root:--- Global Matching Step 31 ---
INFO:uvicorn.access:192.168.1.217:49240 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.0225666 ,  0.24762889, -0.96859211],
       [-0.99587328,  0.09075466,  0.        ],
       [ 0.08790424,  0.96459501,  0.24865502]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01134733, -0.01140754, -0.00559179])}]
INFO:root:Testing 30 out of 14424 hypotheses for numenta_mug (evidence > 1.2530771060373995)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.717
INFO:root:Testing 93 out of 10992 hypotheses for montys_brain (evidence > 1.2530771060373995)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.481
INFO:root:Testing 7 out of 14880 hypotheses for montys_heart (evidence > 1.2530771060373995)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.072
INFO:root:Testing 38 out of 23200 hypotheses for ramen_pack (evidence > 1.2530771060373995)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.334
INFO:root:Testing 83 out of 14864 hypotheses for hot_sauce (evidence > 1.2530771060373995)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.005
INFO:root:Testing 239 out of 12560 hypotheses for harissa_oil (evidence > 1.2530771060373995)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.19
INFO:root:Testing 263 out of 21832 hypotheses for tomato_soup_can (evidence > 1.2530771060373995)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.744
INFO:root:Testing 30 out of 16976 hypotheses for mustard_bottle (evidence > 1.2530771060373995)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.446
INFO:root:Testing 77 out of 17728 hypotheses for tuna_fish_can (evidence > 1.2530771060373995)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.547
INFO:root:Testing 100 out of 19024 hypotheses for potted_meat_can (evidence > 1.2530771060373995)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.856
DEBUG:root:evidences for each object: [3.71726369 2.48063467 2.07174887 3.33416578 3.00454245 3.18955297
 6.74409261 3.44636651 3.54680111 4.8558806 ]
DEBUG:root:mean evidence: 3.639, std: 1.252 -> th=5.395274087020926
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 6.74
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can'}
INFO:root:--- Global Matching Step 32 ---
INFO:uvicorn.access:192.168.1.217:49241 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.03093965,  0.18284773, -0.98265429],
       [-0.98598427, -0.16683833,  0.        ],
       [-0.1639444 ,  0.96888167,  0.1854469 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00180757, -0.00953571,  0.0016328 ])}]
INFO:root:Testing 22 out of 14424 hypotheses for numenta_mug (evidence > 1.3488185217552315)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.092
INFO:root:Testing 22 out of 10992 hypotheses for montys_brain (evidence > 1.3488185217552315)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.783
INFO:root:Testing 5 out of 14880 hypotheses for montys_heart (evidence > 1.3488185217552315)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.033
INFO:root:Testing 33 out of 23200 hypotheses for ramen_pack (evidence > 1.3488185217552315)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.792
INFO:root:Testing 52 out of 14864 hypotheses for hot_sauce (evidence > 1.3488185217552315)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.984
INFO:root:Testing 166 out of 12560 hypotheses for harissa_oil (evidence > 1.3488185217552315)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.634
INFO:root:Testing 258 out of 21832 hypotheses for tomato_soup_can (evidence > 1.3488185217552315)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.11
INFO:root:Testing 28 out of 16976 hypotheses for mustard_bottle (evidence > 1.3488185217552315)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.867
INFO:root:Testing 65 out of 17728 hypotheses for tuna_fish_can (evidence > 1.3488185217552315)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.78
INFO:root:Testing 93 out of 19024 hypotheses for potted_meat_can (evidence > 1.3488185217552315)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.994
DEBUG:root:evidences for each object: [4.09247409 2.7826714  2.03343704 3.79176925 2.98352622 3.63439527
 7.11029747 3.86716545 3.7799773  4.99356251]
DEBUG:root:mean evidence: 3.907, std: 1.312 -> th=5.688237978810841
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 7.11
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can'}
INFO:root:--- Global Matching Step 33 ---
INFO:uvicorn.access:192.168.1.217:49244 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99726315, -0.06889302,  0.02683223],
       [ 0.06891784,  0.99762234, -0.        ],
       [-0.02676843,  0.00184922,  0.99963995]]), 'pose_fully_defined': False}}, {'patch': array([0.01683245, 0.00586897, 0.01148596])}]
INFO:root:Testing 22 out of 14424 hypotheses for numenta_mug (evidence > 1.4220594947027099)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.539
INFO:root:Testing 16 out of 10992 hypotheses for montys_brain (evidence > 1.4220594947027099)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.041
INFO:root:Testing 1 out of 14880 hypotheses for montys_heart (evidence > 1.4220594947027099)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.175
INFO:root:Testing 26 out of 23200 hypotheses for ramen_pack (evidence > 1.4220594947027099)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.24
INFO:root:Testing 21 out of 14864 hypotheses for hot_sauce (evidence > 1.4220594947027099)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.569
INFO:root:Testing 150 out of 12560 hypotheses for harissa_oil (evidence > 1.4220594947027099)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.082
INFO:root:Testing 254 out of 21832 hypotheses for tomato_soup_can (evidence > 1.4220594947027099)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.477
INFO:root:Testing 23 out of 16976 hypotheses for mustard_bottle (evidence > 1.4220594947027099)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.301
INFO:root:Testing 56 out of 17728 hypotheses for tuna_fish_can (evidence > 1.4220594947027099)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.217
INFO:root:Testing 84 out of 19024 hypotheses for potted_meat_can (evidence > 1.4220594947027099)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.416
DEBUG:root:evidences for each object: [4.53851162 3.04059878 1.17478338 4.24000209 2.56912438 4.08185001
 7.47713597 4.30135077 4.21700549 5.41554632]
DEBUG:root:mean evidence: 4.106, std: 1.595 -> th=5.981708774855752
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 7.48
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can'}
INFO:root:--- Global Matching Step 34 ---
INFO:uvicorn.access:192.168.1.217:49244 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 9.97855223e-01, -6.53875184e-02, -3.07027278e-03],
       [ 6.53878266e-02,  9.97859926e-01, -0.00000000e+00],
       [ 3.06370217e-03, -2.00758464e-04,  9.99995287e-01]]), 'pose_fully_defined': False}}, {'patch': array([0.00068679, 0.0133194 , 0.00640142])}]
INFO:root:Testing 21 out of 14424 hypotheses for numenta_mug (evidence > 1.4954271937139376)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.976
INFO:root:Testing 12 out of 10992 hypotheses for montys_brain (evidence > 1.4954271937139376)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.489
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.175
INFO:root:Testing 25 out of 23200 hypotheses for ramen_pack (evidence > 1.4954271937139376)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.688
INFO:root:Testing 5 out of 14864 hypotheses for hot_sauce (evidence > 1.4954271937139376)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.037
INFO:root:Testing 102 out of 12560 hypotheses for harissa_oil (evidence > 1.4954271937139376)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.543
INFO:root:Testing 249 out of 21832 hypotheses for tomato_soup_can (evidence > 1.4954271937139376)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.887
INFO:root:Testing 18 out of 16976 hypotheses for mustard_bottle (evidence > 1.4954271937139376)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.769
INFO:root:Testing 48 out of 17728 hypotheses for tuna_fish_can (evidence > 1.4954271937139376)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.659
INFO:root:Testing 82 out of 19024 hypotheses for potted_meat_can (evidence > 1.4954271937139376)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.853
DEBUG:root:evidences for each object: [4.97575045 3.48908223 1.17478338 4.68786542 3.03700642 4.5430774
 7.88701065 4.76928091 4.65921655 5.85344526]
DEBUG:root:mean evidence: 4.508, std: 1.67 -> th=6.309608516078442
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 7.89
DEBUG:root:evidences for each object: [4.97575045 3.48908223 1.17478338 4.68786542 3.03700642 4.5430774
 7.88701065 4.76928091 4.65921655 5.85344526]
DEBUG:root:mean evidence: 4.508, std: 1.67 -> th=6.309608516078442
DEBUG:root:evidences for each object: [4.97575045 3.48908223 1.17478338 4.68786542 3.03700642 4.5430774
 7.88701065 4.76928091 4.65921655 5.85344526]
DEBUG:root:mean evidence: 4.508, std: 1.67 -> th=6.703959048333345
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 35 ---
INFO:uvicorn.access:192.168.1.217:49244 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 9.98324515e-01, -5.77454471e-02,  3.69136661e-03],
       [ 5.77458405e-02,  9.98331317e-01, -0.00000000e+00],
       [-3.68520689e-03,  2.13161068e-04,  9.99993187e-01]]), 'pose_fully_defined': False}}, {'patch': array([0.00221164, 0.0132863 , 0.00426941])}]
INFO:root:Testing 21 out of 14424 hypotheses for numenta_mug (evidence > 1.5774021290196103)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.416
INFO:root:Testing 11 out of 10992 hypotheses for montys_brain (evidence > 1.5774021290196103)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.842
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.175
INFO:root:Testing 24 out of 23200 hypotheses for ramen_pack (evidence > 1.5774021290196103)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.131
INFO:root:Testing 19 out of 14864 hypotheses for hot_sauce (evidence > 1.5774021290196103)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.383
INFO:root:Testing 141 out of 12560 hypotheses for harissa_oil (evidence > 1.5774021290196103)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.994
INFO:root:Testing 248 out of 21832 hypotheses for tomato_soup_can (evidence > 1.5774021290196103)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.277
INFO:root:Testing 20 out of 16976 hypotheses for mustard_bottle (evidence > 1.5774021290196103)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.186
INFO:root:Testing 49 out of 17728 hypotheses for tuna_fish_can (evidence > 1.5774021290196103)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.112
INFO:root:Testing 83 out of 19024 hypotheses for potted_meat_can (evidence > 1.5774021290196103)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.3
DEBUG:root:evidences for each object: [5.41571221 3.84203562 1.17478338 5.1314166  3.38298884 4.99359321
 8.27742288 5.18576546 5.11189483 6.29955976]
DEBUG:root:mean evidence: 4.882, std: 1.764 -> th=6.621938300856115
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 8.28
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can'}
INFO:root:--- Global Matching Step 36 ---
INFO:uvicorn.access:192.168.1.217:49244 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 9.94156800e-01, -1.07690855e-01,  7.41189130e-03],
       [ 1.07693813e-01,  9.94184109e-01, -0.00000000e+00],
       [-7.36878454e-03,  7.98214839e-04,  9.99972532e-01]]), 'pose_fully_defined': False}}, {'patch': array([-0.00354615, -0.01868214, -0.00445079])}]
INFO:root:Testing 19 out of 14424 hypotheses for numenta_mug (evidence > 1.6554845752140288)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.832
INFO:root:Testing 10 out of 10992 hypotheses for montys_brain (evidence > 1.6554845752140288)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 4.203
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.175
INFO:root:Testing 23 out of 23200 hypotheses for ramen_pack (evidence > 1.6554845752140288)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.56
INFO:root:Testing 15 out of 14864 hypotheses for hot_sauce (evidence > 1.6554845752140288)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.858
INFO:root:Testing 130 out of 12560 hypotheses for harissa_oil (evidence > 1.6554845752140288)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 5.45
INFO:root:Testing 246 out of 21832 hypotheses for tomato_soup_can (evidence > 1.6554845752140288)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.674
INFO:root:Testing 18 out of 16976 hypotheses for mustard_bottle (evidence > 1.6554845752140288)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.658
INFO:root:Testing 49 out of 17728 hypotheses for tuna_fish_can (evidence > 1.6554845752140288)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.532
INFO:root:Testing 82 out of 19024 hypotheses for potted_meat_can (evidence > 1.6554845752140288)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.717
DEBUG:root:evidences for each object: [5.83238916 4.20322217 1.17478338 5.55978691 3.85796508 5.44966512
 8.67351187 5.65847937 5.53246172 6.71717554]
DEBUG:root:mean evidence: 5.266, std: 1.85 -> th=6.938809493751712
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 8.67
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can'}
INFO:root:--- Global Matching Step 37 ---
INFO:uvicorn.access:192.168.1.217:49244 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99069916, -0.13284841, -0.02943609],
       [ 0.132906  ,  0.99112865, -0.        ],
       [ 0.02917496, -0.00391223,  0.99956666]]), 'pose_fully_defined': False}}, {'patch': array([-0.00357334, -0.00557985,  0.01737967])}]
INFO:root:Testing 20 out of 14424 hypotheses for numenta_mug (evidence > 1.734702373437928)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.232
INFO:root:Testing 10 out of 10992 hypotheses for montys_brain (evidence > 1.734702373437928)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 4.616
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.175
INFO:root:Testing 24 out of 23200 hypotheses for ramen_pack (evidence > 1.734702373437928)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.973
INFO:root:Testing 12 out of 14864 hypotheses for hot_sauce (evidence > 1.734702373437928)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.18
INFO:root:Testing 128 out of 12560 hypotheses for harissa_oil (evidence > 1.734702373437928)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 5.91
INFO:root:Testing 247 out of 21832 hypotheses for tomato_soup_can (evidence > 1.734702373437928)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.013
INFO:root:Testing 17 out of 16976 hypotheses for mustard_bottle (evidence > 1.734702373437928)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.14
INFO:root:Testing 49 out of 17728 hypotheses for tuna_fish_can (evidence > 1.734702373437928)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.935
INFO:root:Testing 89 out of 19024 hypotheses for potted_meat_can (evidence > 1.734702373437928)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.104
DEBUG:root:evidences for each object: [6.2317524  4.61645924 1.17478338 5.97265635 4.1800761  5.9097954
 9.01343829 6.13987564 5.93494545 7.10361573]
DEBUG:root:mean evidence: 5.628, std: 1.937 -> th=7.210750628558768
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 9.01
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can'}
INFO:root:--- Global Matching Step 38 ---
INFO:uvicorn.access:192.168.1.217:49244 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99489029, -0.07821379, -0.0638429 ],
       [ 0.07837368,  0.99692405, -0.        ],
       [ 0.06364652, -0.0050036 ,  0.99795996]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00665722,  0.02583337, -0.00426194])}]
INFO:root:Testing 26 out of 14424 hypotheses for numenta_mug (evidence > 1.8026876571396917)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.66
INFO:root:Testing 11 out of 10992 hypotheses for montys_brain (evidence > 1.8026876571396917)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.058
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.175
INFO:root:Testing 28 out of 23200 hypotheses for ramen_pack (evidence > 1.8026876571396917)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.399
INFO:root:Testing 29 out of 14864 hypotheses for hot_sauce (evidence > 1.8026876571396917)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.544
INFO:root:Testing 140 out of 12560 hypotheses for harissa_oil (evidence > 1.8026876571396917)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 6.354
INFO:root:Testing 250 out of 21832 hypotheses for tomato_soup_can (evidence > 1.8026876571396917)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.373
INFO:root:Testing 20 out of 16976 hypotheses for mustard_bottle (evidence > 1.8026876571396917)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.505
INFO:root:Testing 47 out of 17728 hypotheses for tuna_fish_can (evidence > 1.8026876571396917)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.362
INFO:root:Testing 95 out of 19024 hypotheses for potted_meat_can (evidence > 1.8026876571396917)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.544
DEBUG:root:evidences for each object: [6.6604443  5.05764556 1.17478338 6.39914218 4.54431876 6.35377191
 9.37336702 6.50508264 6.36232532 7.5444367 ]
DEBUG:root:mean evidence: 5.998, std: 2.029 -> th=7.498693613553634
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 9.37
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 39 ---
INFO:uvicorn.access:192.168.1.217:49244 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 9.96902569e-01, -7.80565999e-02,  9.61433366e-03],
       [ 7.80602077e-02,  9.96948647e-01, -0.00000000e+00],
       [-9.58499693e-03,  7.50496882e-04,  9.99953781e-01]]), 'pose_fully_defined': False}}, {'patch': array([0.00143572, 0.00194958, 0.00685999])}]
INFO:root:Testing 25 out of 14424 hypotheses for numenta_mug (evidence > 1.8746734033884085)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.66
INFO:root:Testing 14 out of 10992 hypotheses for montys_brain (evidence > 1.8746734033884085)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 4.919
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.175
INFO:root:Testing 32 out of 23200 hypotheses for ramen_pack (evidence > 1.8746734033884085)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.399
INFO:root:Testing 29 out of 14864 hypotheses for hot_sauce (evidence > 1.8746734033884085)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.544
INFO:root:Testing 136 out of 12560 hypotheses for harissa_oil (evidence > 1.8746734033884085)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 5.354
INFO:root:Testing 250 out of 21832 hypotheses for tomato_soup_can (evidence > 1.8746734033884085)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.669
INFO:root:Testing 1609 out of 16976 hypotheses for mustard_bottle (evidence > 1.8746734033884085)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.505
INFO:root:Testing 47 out of 17728 hypotheses for tuna_fish_can (evidence > 1.8746734033884085)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.687
INFO:root:Testing 95 out of 19024 hypotheses for potted_meat_can (evidence > 1.8746734033884085)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.009
DEBUG:root:evidences for each object: [5.6604443  4.9186278  1.17478338 5.39914218 3.54431876 5.35377191
 9.6689123  5.50508264 6.6865829  7.00886086]
DEBUG:root:mean evidence: 5.492, std: 2.097 -> th=7.735129837851348
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 9.67
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can'}
INFO:root:--- Global Matching Step 40 ---
INFO:uvicorn.access:192.168.1.217:49244 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99024355, -0.11891513, -0.07264232],
       [ 0.11923013,  0.99286665, -0.        ],
       [ 0.07212414, -0.00866115,  0.99735806]]), 'pose_fully_defined': False}}, {'patch': array([-0.00598966, -0.01811252,  0.01061611])}]
INFO:root:Testing 18 out of 14424 hypotheses for numenta_mug (evidence > 1.9337824594628366)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.061
INFO:root:Testing 10 out of 10992 hypotheses for montys_brain (evidence > 1.9337824594628366)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.187
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.175
INFO:root:Testing 23 out of 23200 hypotheses for ramen_pack (evidence > 1.9337824594628366)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.808
INFO:root:Testing 11 out of 14864 hypotheses for hot_sauce (evidence > 1.9337824594628366)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.962
INFO:root:Testing 115 out of 12560 hypotheses for harissa_oil (evidence > 1.9337824594628366)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 5.83
INFO:root:Testing 247 out of 21832 hypotheses for tomato_soup_can (evidence > 1.9337824594628366)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.082
INFO:root:Testing 173 out of 16976 hypotheses for mustard_bottle (evidence > 1.9337824594628366)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.996
INFO:root:Testing 45 out of 17728 hypotheses for tuna_fish_can (evidence > 1.9337824594628366)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.167
INFO:root:Testing 85 out of 19024 hypotheses for potted_meat_can (evidence > 1.9337824594628366)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.407
DEBUG:root:evidences for each object: [ 6.06116951  5.187236    1.17478338  5.80752845  3.96190928  5.83017646
 10.08220535  5.9962996   7.166616    7.40661815]
DEBUG:root:mean evidence: 5.867, std: 2.191 -> th=8.065764280723048
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 10.08
DEBUG:root:evidences for each object: [ 6.06116951  5.187236    1.17478338  5.80752845  3.96190928  5.83017646
 10.08220535  5.9962996   7.166616    7.40661815]
DEBUG:root:mean evidence: 5.867, std: 2.191 -> th=8.065764280723048
DEBUG:root:evidences for each object: [ 6.06116951  5.187236    1.17478338  5.80752845  3.96190928  5.83017646
 10.08220535  5.9962996   7.166616    7.40661815]
DEBUG:root:mean evidence: 5.867, std: 2.191 -> th=8.569874548268238
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 41 ---
INFO:uvicorn.access:192.168.1.217:49244 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99564267, -0.08798825,  0.03088285],
       [ 0.08803024,  0.9961178 , -0.        ],
       [-0.03076296,  0.00271862,  0.99952301]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00383818,  0.01549613, -0.0002603 ])}]
INFO:root:Testing 764 out of 14424 hypotheses for numenta_mug (evidence > 2.016441070180761)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.48
INFO:root:Testing 11 out of 10992 hypotheses for montys_brain (evidence > 2.016441070180761)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.432
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.175
INFO:root:Testing 3201 out of 23200 hypotheses for ramen_pack (evidence > 2.016441070180761)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 6.247
INFO:root:Testing 1172 out of 14864 hypotheses for hot_sauce (evidence > 2.016441070180761)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.384
INFO:root:Testing 899 out of 12560 hypotheses for harissa_oil (evidence > 2.016441070180761)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 6.247
INFO:root:Testing 250 out of 21832 hypotheses for tomato_soup_can (evidence > 2.016441070180761)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.273
INFO:root:Testing 172 out of 16976 hypotheses for mustard_bottle (evidence > 2.016441070180761)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.325
INFO:root:Testing 45 out of 17728 hypotheses for tuna_fish_can (evidence > 2.016441070180761)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.653
INFO:root:Testing 382 out of 19024 hypotheses for potted_meat_can (evidence > 2.016441070180761)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.799
DEBUG:root:evidences for each object: [ 6.48021862  5.43249149  1.17478338  6.24663022  4.38422464  6.24659581
 10.27289569  6.32450426  7.65343205  7.79921139]
DEBUG:root:mean evidence: 6.201, std: 2.247 -> th=8.218316554773187
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 10.27
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can'}
INFO:root:--- Global Matching Step 42 ---
INFO:uvicorn.access:192.168.1.217:49246 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.01381639,  0.11958039,  0.99272838],
       [-0.99339128, -0.114777  ,  0.        ],
       [ 0.11394238, -0.98616772,  0.12037592]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00174114, -0.01018323,  0.00621073])}]
INFO:root:Testing 561 out of 14424 hypotheses for numenta_mug (evidence > 2.0545791386932972)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.688
INFO:root:Testing 10 out of 10992 hypotheses for montys_brain (evidence > 2.0545791386932972)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.494
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.175
INFO:root:Testing 2839 out of 23200 hypotheses for ramen_pack (evidence > 2.0545791386932972)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 5.924
INFO:root:Testing 836 out of 14864 hypotheses for hot_sauce (evidence > 2.0545791386932972)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.384
INFO:root:Testing 637 out of 12560 hypotheses for harissa_oil (evidence > 2.0545791386932972)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 6.221
INFO:root:Testing 250 out of 21832 hypotheses for tomato_soup_can (evidence > 2.0545791386932972)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.544
INFO:root:Testing 172 out of 16976 hypotheses for mustard_bottle (evidence > 2.0545791386932972)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.15
INFO:root:Testing 45 out of 17728 hypotheses for tuna_fish_can (evidence > 2.0545791386932972)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.14
INFO:root:Testing 357 out of 19024 hypotheses for potted_meat_can (evidence > 2.0545791386932972)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.172
DEBUG:root:evidences for each object: [ 5.68843782  5.49391306  1.17478338  5.923522    3.38422464  6.22103846
 10.54385657  6.15044997  7.13954157  8.17159659]
DEBUG:root:mean evidence: 5.989, std: 2.392 -> th=8.435085253638528
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 10.54
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can'}
INFO:root:--- Global Matching Step 43 ---
INFO:uvicorn.access:192.168.1.217:49246 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.04329159,  0.12598767,  0.99108675],
       [-0.94572507, -0.32496782,  0.        ],
       [ 0.3220713 , -0.93729559,  0.13321807]]), 'pose_fully_defined': False}}, {'patch': array([-0.01277807, -0.00213727,  0.00130948])}]
INFO:root:Testing 307 out of 14424 hypotheses for numenta_mug (evidence > 2.1087713134096315)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.795
INFO:root:Testing 9 out of 10992 hypotheses for montys_brain (evidence > 2.1087713134096315)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.783
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.175
INFO:root:Testing 1963 out of 23200 hypotheses for ramen_pack (evidence > 2.1087713134096315)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 5.727
INFO:root:Testing 516 out of 14864 hypotheses for hot_sauce (evidence > 2.1087713134096315)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.192
INFO:root:Testing 375 out of 12560 hypotheses for harissa_oil (evidence > 2.1087713134096315)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 6.525
INFO:root:Testing 245 out of 21832 hypotheses for tomato_soup_can (evidence > 2.1087713134096315)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 10.855
INFO:root:Testing 168 out of 16976 hypotheses for mustard_bottle (evidence > 2.1087713134096315)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.592
INFO:root:Testing 45 out of 17728 hypotheses for tuna_fish_can (evidence > 2.1087713134096315)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.963
INFO:root:Testing 293 out of 19024 hypotheses for potted_meat_can (evidence > 2.1087713134096315)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.659
DEBUG:root:evidences for each object: [ 5.79490701  5.78347883  1.17478338  5.7266065   3.19153322  6.52512108
 10.85459762  6.59170348  6.96256464  8.65855474]
DEBUG:root:mean evidence: 6.126, std: 2.517 -> th=8.683678097565522
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 10.85
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can'}
INFO:root:--- Global Matching Step 44 ---
INFO:uvicorn.access:192.168.1.217:49246 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.02440516,  0.1183883 ,  0.99266742],
       [-0.9794062 ,  0.20189972,  0.        ],
       [-0.20041928, -0.97222462,  0.12087763]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01153982, -0.00401066,  0.00218544])}]
INFO:root:Testing 76 out of 14424 hypotheses for numenta_mug (evidence > 2.1709195243913797)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.903
INFO:root:Testing 9 out of 10992 hypotheses for montys_brain (evidence > 2.1709195243913797)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.924
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.175
INFO:root:Testing 533 out of 23200 hypotheses for ramen_pack (evidence > 2.1709195243913797)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.537
INFO:root:Testing 97 out of 14864 hypotheses for hot_sauce (evidence > 2.1709195243913797)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.203
INFO:root:Testing 235 out of 12560 hypotheses for harissa_oil (evidence > 2.1709195243913797)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 6.813
INFO:root:Testing 243 out of 21832 hypotheses for tomato_soup_can (evidence > 2.1709195243913797)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.231
INFO:root:Testing 144 out of 16976 hypotheses for mustard_bottle (evidence > 2.1709195243913797)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.989
INFO:root:Testing 45 out of 17728 hypotheses for tuna_fish_can (evidence > 2.1709195243913797)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.806
INFO:root:Testing 145 out of 19024 hypotheses for potted_meat_can (evidence > 2.1709195243913797)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.105
DEBUG:root:evidences for each object: [ 5.90326439  5.92392552  1.17478338  5.53661436  3.20270948  6.81343356
 11.23096063  6.98938769  6.80586827  9.10496629]
DEBUG:root:mean evidence: 6.269, std: 2.644 -> th=8.984768505227715
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 11.23
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 45 ---
INFO:uvicorn.access:192.168.1.217:49246 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.01031395,  0.2539215 ,  0.96716984],
       [-0.99917608,  0.04058518,  0.        ],
       [-0.03925276, -0.96637297,  0.25413089]]), 'pose_fully_defined': False}}, {'patch': array([-0.00285644,  0.01230559, -0.0059745 ])}]
INFO:root:Testing 38 out of 14424 hypotheses for numenta_mug (evidence > 2.246192126306928)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.937
INFO:root:Testing 9 out of 10992 hypotheses for montys_brain (evidence > 2.246192126306928)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.932
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.175
INFO:root:Testing 178 out of 23200 hypotheses for ramen_pack (evidence > 2.246192126306928)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.36
INFO:root:Testing 20 out of 14864 hypotheses for hot_sauce (evidence > 2.246192126306928)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.559
INFO:root:Testing 103 out of 12560 hypotheses for harissa_oil (evidence > 2.246192126306928)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 7.024
INFO:root:Testing 236 out of 21832 hypotheses for tomato_soup_can (evidence > 2.246192126306928)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.498
INFO:root:Testing 115 out of 16976 hypotheses for mustard_bottle (evidence > 2.246192126306928)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.273
INFO:root:Testing 45 out of 17728 hypotheses for tuna_fish_can (evidence > 2.246192126306928)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.741
INFO:root:Testing 125 out of 19024 hypotheses for potted_meat_can (evidence > 2.246192126306928)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.93
DEBUG:root:evidences for each object: [ 5.93738262  5.93183105  1.17478338  5.36034425  3.55921407  7.02356771
 11.49827652  7.27334919  6.74083856  8.93031172]
DEBUG:root:mean evidence: 6.343, std: 2.656 -> th=9.198621215371514
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 11.5
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tomato_soup_can'}
INFO:root:--- Global Matching Step 46 ---
INFO:uvicorn.access:192.168.1.217:49246 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.02323785,  0.43657946,  0.89936554],
       [-0.99858644,  0.05315183,  0.        ],
       [-0.04780293, -0.89809424,  0.43719746]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00110948,  0.00564486, -0.00221828])}]
INFO:root:Testing 30 out of 14424 hypotheses for numenta_mug (evidence > 2.2996553038428775)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.111
INFO:root:Testing 9 out of 10992 hypotheses for montys_brain (evidence > 2.2996553038428775)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 6.138
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.175
INFO:root:Testing 140 out of 23200 hypotheses for ramen_pack (evidence > 2.2996553038428775)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.189
INFO:root:Testing 17 out of 14864 hypotheses for hot_sauce (evidence > 2.2996553038428775)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.883
INFO:root:Testing 97 out of 12560 hypotheses for harissa_oil (evidence > 2.2996553038428775)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 7.225
INFO:root:Testing 234 out of 21832 hypotheses for tomato_soup_can (evidence > 2.2996553038428775)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 11.764
INFO:root:Testing 101 out of 16976 hypotheses for mustard_bottle (evidence > 2.2996553038428775)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.14
INFO:root:Testing 45 out of 17728 hypotheses for tuna_fish_can (evidence > 2.2996553038428775)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.85
INFO:root:Testing 117 out of 19024 hypotheses for potted_meat_can (evidence > 2.2996553038428775)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.343
DEBUG:root:evidences for each object: [ 6.11123427  6.13826093  1.17478338  5.18933426  3.88269649  7.22529674
 11.76435602  7.14033129  6.85045519  9.34283341]
DEBUG:root:mean evidence: 6.482, std: 2.721 -> th=9.411484812279848
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 11.76
DEBUG:root:evidences for each object: [ 6.11123427  6.13826093  1.17478338  5.18933426  3.88269649  7.22529674
 11.76435602  7.14033129  6.85045519  9.34283341]
DEBUG:root:mean evidence: 6.482, std: 2.721 -> th=9.411484812279848
DEBUG:root:evidences for each object: [ 6.11123427  6.13826093  1.17478338  5.18933426  3.88269649  7.22529674
 11.76435602  7.14033129  6.85045519  9.34283341]
DEBUG:root:mean evidence: 6.482, std: 2.721 -> th=9.99970261304734
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 47 ---
INFO:uvicorn.access:192.168.1.217:49246 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.00941448,  0.50908988,  0.86066187],
       [-0.99982905,  0.01848961,  0.        ],
       [-0.0159133 , -0.86051475,  0.50917692]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00046723,  0.00521338, -0.00633993])}]
INFO:root:Testing 24 out of 14424 hypotheses for numenta_mug (evidence > 2.3528712030699612)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.078
INFO:root:Testing 9 out of 10992 hypotheses for montys_brain (evidence > 2.3528712030699612)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 6.111
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.175
INFO:root:Testing 123 out of 23200 hypotheses for ramen_pack (evidence > 2.3528712030699612)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.008
INFO:root:Testing 16 out of 14864 hypotheses for hot_sauce (evidence > 2.3528712030699612)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.791
INFO:root:Testing 87 out of 12560 hypotheses for harissa_oil (evidence > 2.3528712030699612)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 6.891
INFO:root:Testing 234 out of 21832 hypotheses for tomato_soup_can (evidence > 2.3528712030699612)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.01
INFO:root:Testing 80 out of 16976 hypotheses for mustard_bottle (evidence > 2.3528712030699612)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.922
INFO:root:Testing 45 out of 17728 hypotheses for tuna_fish_can (evidence > 2.3528712030699612)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.967
INFO:root:Testing 111 out of 19024 hypotheses for potted_meat_can (evidence > 2.3528712030699612)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.776
DEBUG:root:evidences for each object: [ 6.07839904  6.11116949  1.17478338  5.0083706   3.79091159  6.89085264
 12.0098862   6.92185991  6.96657868  9.77632325]
DEBUG:root:mean evidence: 6.473, std: 2.826 -> th=9.607908957426858
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 12.01
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 48 ---
INFO:uvicorn.access:192.168.1.217:49246 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.01195252,  0.60768973,  0.79408459],
       [-0.99980663, -0.01966498,  0.        ],
       [ 0.01561566, -0.79393103,  0.60780726]]), 'pose_fully_defined': False}}, {'patch': array([-0.00606598, -0.00561024,  0.00231938])}]
INFO:root:Testing 16 out of 14424 hypotheses for numenta_mug (evidence > 2.4019772393567145)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.316
INFO:root:Testing 8 out of 10992 hypotheses for montys_brain (evidence > 2.4019772393567145)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 6.145
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.175
INFO:root:Testing 99 out of 23200 hypotheses for ramen_pack (evidence > 2.4019772393567145)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.037
INFO:root:Testing 10 out of 14864 hypotheses for hot_sauce (evidence > 2.4019772393567145)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.099
INFO:root:Testing 60 out of 12560 hypotheses for harissa_oil (evidence > 2.4019772393567145)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 7.313
INFO:root:Testing 227 out of 21832 hypotheses for tomato_soup_can (evidence > 2.4019772393567145)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.302
INFO:root:Testing 74 out of 16976 hypotheses for mustard_bottle (evidence > 2.4019772393567145)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.701
INFO:root:Testing 44 out of 17728 hypotheses for tuna_fish_can (evidence > 2.4019772393567145)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.892
INFO:root:Testing 107 out of 19024 hypotheses for potted_meat_can (evidence > 2.4019772393567145)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.123
DEBUG:root:evidences for each object: [ 6.31587711  6.14493959  1.17478338  5.03732624  4.0992208   7.31296233
 12.30160278  6.70096457  6.89216622 10.12324773]
DEBUG:root:mean evidence: 6.61, std: 2.897 -> th=9.841282225919098
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 12.3
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 49 ---
INFO:uvicorn.access:192.168.1.217:49246 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.01509585,  0.50579426,  0.86252205],
       [-0.99955491, -0.02983254,  0.        ],
       [ 0.02573122, -0.86213815,  0.50601949]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00637931,  0.00808564, -0.00373605])}]
INFO:root:Testing 16 out of 14424 hypotheses for numenta_mug (evidence > 2.4603205564797737)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.268
INFO:root:Testing 8 out of 10992 hypotheses for montys_brain (evidence > 2.4603205564797737)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.145
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.175
INFO:root:Testing 95 out of 23200 hypotheses for ramen_pack (evidence > 2.4603205564797737)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.882
INFO:root:Testing 10 out of 14864 hypotheses for hot_sauce (evidence > 2.4603205564797737)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.078
INFO:root:Testing 55 out of 12560 hypotheses for harissa_oil (evidence > 2.4603205564797737)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 7.529
INFO:root:Testing 226 out of 21832 hypotheses for tomato_soup_can (evidence > 2.4603205564797737)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 12.458
INFO:root:Testing 62 out of 16976 hypotheses for mustard_bottle (evidence > 2.4603205564797737)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.503
INFO:root:Testing 44 out of 17728 hypotheses for tuna_fish_can (evidence > 2.4603205564797737)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.013
INFO:root:Testing 101 out of 19024 hypotheses for potted_meat_can (evidence > 2.4603205564797737)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.494
DEBUG:root:evidences for each object: [ 6.26763857  5.14493959  1.17478338  4.88151702  4.07781718  7.52894283
 12.45806669  6.50317225  7.01349955 10.4936085 ]
DEBUG:root:mean evidence: 6.554, std: 3.024 -> th=9.966453349767118
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 12.46
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 50 ---
INFO:root:saving model to /Users/nleadholm/tbp/results/monty/projects/evidence_eval_runs/logs/probe_triggered_data_collection_for_inference/tuna_can/0
DEBUG:root:Removing and closing python log handler: <FileHandler /Users/nleadholm/tbp/results/monty/projects/evidence_eval_runs/logs/probe_triggered_data_collection_for_inference/tuna_can/log.txt (NOTSET)>
