INFO:root:Logger initialized at 2025-09-29 12:52:02.385694
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/soup_can/observations',
                                    'vive_url': 'http://192.168.1.237:3001/pose'},
                  'env_init_func': <class 'custom_classes.probe_triggered_environment.ProbeTriggeredUltrasoundEnvironment'>,
                  'rng': RandomState(MT19937) at 0x7FA7A9005440,
                  '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/soup_can',
                    'python_log_level': 'DEBUG',
                    'python_log_to_file': True,
                    'python_log_to_stdout': True,
                    'resume_wandb_run': False,
                    'run_name': 'probe_triggered_data_collection_for_inference',
                    'wandb_group': 'benchmark_experiments',
                    'wandb_handlers': [],
                    'wandb_id': 'e0luwrlm'},
 '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([[ 0.79205615,  0.14282725,  0.59350437],
       [-0.17746247,  0.98412757,  0.        ],
       [-0.58408401, -0.10532475,  0.80483077]]), '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', 'ramen_pack', 'harissa_oil', 'mustard_bottle', 'tuna_fish_can', 'tomato_soup_can', 'hot_sauce', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 1 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.8139168 ,  0.14276108,  0.56316846],
       [-0.17276268,  0.98496348,  0.        ],
       [-0.55470037, -0.09729449,  0.82634211]]), 'pose_fully_defined': False}}, {'patch': array([-0.00184081,  0.01774583,  0.00047292])}]
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: 0.498
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 0.03 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 0.04 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: ramen_pack with evidence 0.5
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'montys_brain', 'ramen_pack', 'harissa_oil', 'mustard_bottle', 'tuna_fish_can', 'tomato_soup_can', 'hot_sauce', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 2 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99429952,  0.07624478,  0.07453324],
       [-0.07645744,  0.99707285,  0.        ],
       [-0.07431507, -0.00569862,  0.99721853]]), 'pose_fully_defined': False}}, {'patch': array([-0.00556476,  0.01699062,  0.0043635 ])}]
INFO:root:Testing 11704 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: 0.978
INFO:root:Testing 10134 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: 0.818
INFO:root:Testing 12859 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: 0.951
INFO:root:Testing 18746 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: 0.98
INFO:root:Testing 12909 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: 0.979
INFO:root:Testing 10474 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: 0.966
INFO:root:Testing 17255 out of 21832 hypotheses for tomato_soup_can (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.04 seconds. New max evidence: 0.996
INFO:root:Testing 14689 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: 0.969
INFO:root:Testing 13302 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: 0.953
INFO:root:Testing 15258 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 0.03 seconds. New max evidence: 0.994
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', 'ramen_pack', 'harissa_oil', 'mustard_bottle', 'tuna_fish_can', 'tomato_soup_can', 'hot_sauce', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 3 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.71632066,  0.14395405,  0.68276054],
       [-0.19702399,  0.98039867,  0.        ],
       [-0.66937752, -0.13452021,  0.73064222]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00311647,  0.01096016, -0.00553677])}]
INFO:root:Testing 4152 out of 14424 hypotheses for numenta_mug (evidence > 0.199167612204058)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 1.341
INFO:root:Testing 729 out of 10992 hypotheses for montys_brain (evidence > 0.199167612204058)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.975
INFO:root:Testing 2850 out of 14880 hypotheses for montys_heart (evidence > 0.199167612204058)
DEBUG:root:Calculating evidence for montys_heart using input 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: 1.313
INFO:root:Testing 9347 out of 23200 hypotheses for ramen_pack (evidence > 0.199167612204058)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 1.436
INFO:root:Testing 3928 out of 14864 hypotheses for hot_sauce (evidence > 0.199167612204058)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 1.41
INFO:root:Testing 3244 out of 12560 hypotheses for harissa_oil (evidence > 0.199167612204058)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.01 seconds. New max evidence: 1.339
INFO:root:Testing 6331 out of 21832 hypotheses for tomato_soup_can (evidence > 0.199167612204058)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 1.427
INFO:root:Testing 7705 out of 16976 hypotheses for mustard_bottle (evidence > 0.199167612204058)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 1.402
INFO:root:Testing 5081 out of 17728 hypotheses for tuna_fish_can (evidence > 0.199167612204058)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 1.42
INFO:root:Testing 8026 out of 19024 hypotheses for potted_meat_can (evidence > 0.199167612204058)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.02 seconds. New max evidence: 1.443
DEBUG:root:evidences for each object: [1.34080428 0.97548078 1.31283469 1.43647815 1.41048467 1.33872948
 1.42665215 1.4022922  1.42049237 1.44303378]
DEBUG:root:mean evidence: 1.351, std: 0.132 -> th=1.1544270229528832
INFO:root:current most likely hypothesis: potted_meat_can with evidence 1.44
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'ramen_pack', 'harissa_oil', 'mustard_bottle', 'tuna_fish_can', 'tomato_soup_can', 'hot_sauce', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 4 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.96824911,  0.10124527,  0.2285674 ],
       [-0.1039983 ,  0.99457747,  0.        ],
       [-0.22732798, -0.02377062,  0.97352809]]), 'pose_fully_defined': False}}, {'patch': array([-0.00066521,  0.01343238, -0.00572648])}]
INFO:root:Testing 2288 out of 14424 hypotheses for numenta_mug (evidence > 0.2886067557382208)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 1.734
INFO:root:Testing 81 out of 10992 hypotheses for montys_brain (evidence > 0.2886067557382208)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.805
INFO:root:Testing 1007 out of 14880 hypotheses for montys_heart (evidence > 0.2886067557382208)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.737
INFO:root:Testing 6869 out of 23200 hypotheses for ramen_pack (evidence > 0.2886067557382208)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 1.889
INFO:root:Testing 2376 out of 14864 hypotheses for hot_sauce (evidence > 0.2886067557382208)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 1.783
INFO:root:Testing 1759 out of 12560 hypotheses for harissa_oil (evidence > 0.2886067557382208)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.811
INFO:root:Testing 3683 out of 21832 hypotheses for tomato_soup_can (evidence > 0.2886067557382208)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 1.764
INFO:root:Testing 4395 out of 16976 hypotheses for mustard_bottle (evidence > 0.2886067557382208)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 1.851
INFO:root:Testing 2840 out of 17728 hypotheses for tuna_fish_can (evidence > 0.2886067557382208)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 1.766
INFO:root:Testing 5706 out of 19024 hypotheses for potted_meat_can (evidence > 0.2886067557382208)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 1.892
DEBUG:root:evidences for each object: [1.73375229 0.80523209 1.73749189 1.88937481 1.78302466 1.81131699
 1.76387743 1.85111466 1.76588838 1.89175321]
DEBUG:root:mean evidence: 1.703, std: 0.304 -> th=1.5134025711388113
INFO:root:current most likely hypothesis: potted_meat_can with evidence 1.89
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'ramen_pack', 'harissa_oil', 'mustard_bottle', 'tuna_fish_can', 'tomato_soup_can', 'hot_sauce', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 5 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.90376781,  0.02486203,  0.42730039],
       [-0.02749891,  0.99962183,  0.        ],
       [-0.4271388 , -0.0117503 ,  0.90410971]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00382704, -0.02295556,  0.01089175])}]
INFO:root:Testing 1289 out of 14424 hypotheses for numenta_mug (evidence > 0.37835064278470276)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.186
INFO:root:Testing 2 out of 10992 hypotheses for montys_brain (evidence > 0.37835064278470276)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.093
INFO:root:Testing 368 out of 14880 hypotheses for montys_heart (evidence > 0.37835064278470276)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.188
INFO:root:Testing 5345 out of 23200 hypotheses for ramen_pack (evidence > 0.37835064278470276)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 2.32
INFO:root:Testing 1604 out of 14864 hypotheses for hot_sauce (evidence > 0.37835064278470276)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.237
INFO:root:Testing 845 out of 12560 hypotheses for harissa_oil (evidence > 0.37835064278470276)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.253
INFO:root:Testing 2044 out of 21832 hypotheses for tomato_soup_can (evidence > 0.37835064278470276)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 2.216
INFO:root:Testing 2887 out of 16976 hypotheses for mustard_bottle (evidence > 0.37835064278470276)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 2.288
INFO:root:Testing 1637 out of 17728 hypotheses for tuna_fish_can (evidence > 0.37835064278470276)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 2.231
INFO:root:Testing 3599 out of 19024 hypotheses for potted_meat_can (evidence > 0.37835064278470276)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 2.321
DEBUG:root:evidences for each object: [2.18612181 1.0925009  2.18784567 2.32033627 2.23662051 2.25298333
 2.21648619 2.28788924 2.23108072 2.32099225]
DEBUG:root:mean evidence: 2.133, std: 0.35 -> th=1.8567937993664096
INFO:root:current most likely hypothesis: potted_meat_can with evidence 2.32
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'ramen_pack', 'harissa_oil', 'mustard_bottle', 'tuna_fish_can', 'tomato_soup_can', 'hot_sauce', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 6 ---
INFO:uvicorn.access:192.168.1.217:64442 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.57003497,  0.12508617,  0.81204285],
       [-0.21433625,  0.97675993,  0.        ],
       [-0.79317092, -0.17405022,  0.58359782]]), 'pose_fully_defined': False}}, {'patch': array([-0.00234817, -0.01425892,  0.00081164])}]
INFO:root:Testing 990 out of 14424 hypotheses for numenta_mug (evidence > 0.4641984498416023)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.669
INFO:root:Testing 2 out of 10992 hypotheses for montys_brain (evidence > 0.4641984498416023)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.543
INFO:root:Testing 350 out of 14880 hypotheses for montys_heart (evidence > 0.4641984498416023)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.598
INFO:root:Testing 4843 out of 23200 hypotheses for ramen_pack (evidence > 0.4641984498416023)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 2.782
INFO:root:Testing 1436 out of 14864 hypotheses for hot_sauce (evidence > 0.4641984498416023)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.713
INFO:root:Testing 664 out of 12560 hypotheses for harissa_oil (evidence > 0.4641984498416023)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.719
INFO:root:Testing 1744 out of 21832 hypotheses for tomato_soup_can (evidence > 0.4641984498416023)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 2.65
INFO:root:Testing 2466 out of 16976 hypotheses for mustard_bottle (evidence > 0.4641984498416023)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 2.716
INFO:root:Testing 1467 out of 17728 hypotheses for tuna_fish_can (evidence > 0.4641984498416023)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.663
INFO:root:Testing 3400 out of 19024 hypotheses for potted_meat_can (evidence > 0.4641984498416023)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 2.734
DEBUG:root:evidences for each object: [2.66902047 1.54287995 2.59780869 2.78207833 2.71297476 2.71939573
 2.64994802 2.71644485 2.66341904 2.7336761 ]
DEBUG:root:mean evidence: 2.579, std: 0.349 -> th=2.225662662628838
INFO:root:current most likely hypothesis: ramen_pack with evidence 2.78
DEBUG:root:evidences for each object: [2.66902047 1.54287995 2.59780869 2.78207833 2.71297476 2.71939573
 2.64994802 2.71644485 2.66341904 2.7336761 ]
DEBUG:root:mean evidence: 2.579, std: 0.349 -> th=2.225662662628838
DEBUG:root:evidences for each object: [2.66902047 1.54287995 2.59780869 2.78207833 2.71297476 2.71939573
 2.64994802 2.71644485 2.66341904 2.7336761 ]
DEBUG:root:mean evidence: 2.579, std: 0.349 -> th=2.3647665790431405
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'ramen_pack', 'harissa_oil', 'mustard_bottle', 'tuna_fish_can', 'tomato_soup_can', 'hot_sauce', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 7 ---
INFO:uvicorn.access:192.168.1.217:64442 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64442 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.46382135,  0.10132241,  0.88011563],
       [-0.21341844,  0.97696088,  0.        ],
       [-0.85983855, -0.1878329 ,  0.47475938]]), 'pose_fully_defined': False}}, {'patch': array([-0.00688333,  0.02226302,  0.00034717])}]
INFO:root:Testing 983 out of 14424 hypotheses for numenta_mug (evidence > 0.5564156656572092)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.096
INFO:root:Testing 89 out of 10992 hypotheses for montys_brain (evidence > 0.5564156656572092)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.833
INFO:root:Testing 349 out of 14880 hypotheses for montys_heart (evidence > 0.5564156656572092)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.024
INFO:root:Testing 4841 out of 23200 hypotheses for ramen_pack (evidence > 0.5564156656572092)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 3.208
INFO:root:Testing 1445 out of 14864 hypotheses for hot_sauce (evidence > 0.5564156656572092)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.162
INFO:root:Testing 726 out of 12560 hypotheses for harissa_oil (evidence > 0.5564156656572092)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.145
INFO:root:Testing 1744 out of 21832 hypotheses for tomato_soup_can (evidence > 0.5564156656572092)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 3.126
INFO:root:Testing 2466 out of 16976 hypotheses for mustard_bottle (evidence > 0.5564156656572092)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 3.18
INFO:root:Testing 1503 out of 17728 hypotheses for tuna_fish_can (evidence > 0.5564156656572092)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.056
INFO:root:Testing 3400 out of 19024 hypotheses for potted_meat_can (evidence > 0.5564156656572092)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 3.194
DEBUG:root:evidences for each object: [3.09622981 1.83331832 3.02355392 3.20777237 3.16199595 3.14530915
 3.12552573 3.18028193 3.05577175 3.19392617]
DEBUG:root:mean evidence: 3.002, std: 0.394 -> th=2.566217892673193
INFO:root:current most likely hypothesis: ramen_pack with evidence 3.21
DEBUG:root:evidences for each object: [3.09622981 1.83331832 3.02355392 3.20777237 3.16199595 3.14530915
 3.12552573 3.18028193 3.05577175 3.19392617]
DEBUG:root:mean evidence: 3.002, std: 0.394 -> th=2.566217892673193
DEBUG:root:evidences for each object: [3.09622981 1.83331832 3.02355392 3.20777237 3.16199595 3.14530915
 3.12552573 3.18028193 3.05577175 3.19392617]
DEBUG:root:mean evidence: 3.002, std: 0.394 -> th=2.7266065109652677
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'ramen_pack', 'harissa_oil', 'mustard_bottle', 'tuna_fish_can', 'tomato_soup_can', 'hot_sauce', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 8 ---
INFO:uvicorn.access:192.168.1.217:64442 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64442 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.66903324,  0.10175192,  0.73623438],
       [-0.15035897,  0.98863147,  0.        ],
       [-0.72786448, -0.11069944,  0.67672663]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00579044,  0.0126417 , -0.00196923])}]
INFO:root:Testing 968 out of 14424 hypotheses for numenta_mug (evidence > 0.6415544731682981)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.547
INFO:root:Testing 5 out of 10992 hypotheses for montys_brain (evidence > 0.6415544731682981)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.019
INFO:root:Testing 334 out of 14880 hypotheses for montys_heart (evidence > 0.6415544731682981)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.406
INFO:root:Testing 4776 out of 23200 hypotheses for ramen_pack (evidence > 0.6415544731682981)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 3.688
INFO:root:Testing 1394 out of 14864 hypotheses for hot_sauce (evidence > 0.6415544731682981)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.653
INFO:root:Testing 721 out of 12560 hypotheses for harissa_oil (evidence > 0.6415544731682981)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.555
INFO:root:Testing 1723 out of 21832 hypotheses for tomato_soup_can (evidence > 0.6415544731682981)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 3.593
INFO:root:Testing 2415 out of 16976 hypotheses for mustard_bottle (evidence > 0.6415544731682981)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 3.619
INFO:root:Testing 1473 out of 17728 hypotheses for tuna_fish_can (evidence > 0.6415544731682981)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.493
INFO:root:Testing 3351 out of 19024 hypotheses for potted_meat_can (evidence > 0.6415544731682981)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 3.618
DEBUG:root:evidences for each object: [3.54717092 2.01870203 3.40633581 3.68787934 3.65257124 3.5549353
 3.59271224 3.61891462 3.49288426 3.61761602]
DEBUG:root:mean evidence: 3.419, std: 0.473 -> th=2.950303473382766
INFO:root:current most likely hypothesis: ramen_pack with evidence 3.69
DEBUG:root:evidences for each object: [3.54717092 2.01870203 3.40633581 3.68787934 3.65257124 3.5549353
 3.59271224 3.61891462 3.49288426 3.61761602]
DEBUG:root:mean evidence: 3.419, std: 0.473 -> th=2.950303473382766
DEBUG:root:evidences for each object: [3.54717092 2.01870203 3.40633581 3.68787934 3.65257124 3.5549353
 3.59271224 3.61891462 3.49288426 3.61761602]
DEBUG:root:mean evidence: 3.419, std: 0.473 -> th=3.134697440469189
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'ramen_pack', 'harissa_oil', 'mustard_bottle', 'tuna_fish_can', 'tomato_soup_can', 'hot_sauce', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 9 ---
INFO:uvicorn.access:192.168.1.217:64442 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64442 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.33339166,  0.12866688,  0.93396726],
       [-0.36004976,  0.9329331 ,  0.        ],
       [-0.87132897, -0.33627469,  0.35735859]]), 'pose_fully_defined': False}}, {'patch': array([-0.00940708,  0.01055614,  0.00533934])}]
INFO:root:Testing 923 out of 14424 hypotheses for numenta_mug (evidence > 0.7375758683456914)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.007
INFO:root:Testing 1 out of 10992 hypotheses for montys_brain (evidence > 0.7375758683456914)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.019
INFO:root:Testing 317 out of 14880 hypotheses for montys_heart (evidence > 0.7375758683456914)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.806
INFO:root:Testing 4639 out of 23200 hypotheses for ramen_pack (evidence > 0.7375758683456914)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 4.175
INFO:root:Testing 1343 out of 14864 hypotheses for hot_sauce (evidence > 0.7375758683456914)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.074
INFO:root:Testing 613 out of 12560 hypotheses for harissa_oil (evidence > 0.7375758683456914)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.967
INFO:root:Testing 1654 out of 21832 hypotheses for tomato_soup_can (evidence > 0.7375758683456914)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 4.048
INFO:root:Testing 2329 out of 16976 hypotheses for mustard_bottle (evidence > 0.7375758683456914)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 3.944
INFO:root:Testing 1362 out of 17728 hypotheses for tuna_fish_can (evidence > 0.7375758683456914)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.486
INFO:root:Testing 3256 out of 19024 hypotheses for potted_meat_can (evidence > 0.7375758683456914)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 4.091
DEBUG:root:evidences for each object: [4.00696805 1.01870203 3.80648365 4.17479072 4.07361522 3.96748799
 4.04802101 3.94416916 3.4856543  4.09072911]
DEBUG:root:mean evidence: 3.662, std: 0.9 -> th=3.3398325732525875
INFO:root:current most likely hypothesis: ramen_pack with evidence 4.17
DEBUG:root:evidences for each object: [4.00696805 1.01870203 3.80648365 4.17479072 4.07361522 3.96748799
 4.04802101 3.94416916 3.4856543  4.09072911]
DEBUG:root:mean evidence: 3.662, std: 0.9 -> th=3.3398325732525875
DEBUG:root:evidences for each object: [4.00696805 1.01870203 3.80648365 4.17479072 4.07361522 3.96748799
 4.04802101 3.94416916 3.4856543  4.09072911]
DEBUG:root:mean evidence: 3.662, std: 0.9 -> th=3.548572109080874
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'ramen_pack', 'harissa_oil', 'mustard_bottle', 'tuna_fish_can', 'tomato_soup_can', 'hot_sauce', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 10 ---
INFO:uvicorn.access:192.168.1.217:64442 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.62046141,  0.1260573 ,  0.77403953],
       [-0.19909948,  0.97997928,  0.        ],
       [-0.7585427 , -0.15411087,  0.63313727]]), 'pose_fully_defined': False}}, {'patch': array([ 8.75802255e-03,  4.73231993e-03, -3.53822433e-05])}]
INFO:root:Testing 635 out of 14424 hypotheses for numenta_mug (evidence > 0.8349581433131466)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.294
INFO:root:Testing 1 out of 10992 hypotheses for montys_brain (evidence > 0.8349581433131466)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 178 out of 14880 hypotheses for montys_heart (evidence > 0.8349581433131466)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.178
INFO:root:Testing 4147 out of 23200 hypotheses for ramen_pack (evidence > 0.8349581433131466)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 4.585
INFO:root:Testing 1041 out of 14864 hypotheses for hot_sauce (evidence > 0.8349581433131466)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.552
INFO:root:Testing 442 out of 12560 hypotheses for harissa_oil (evidence > 0.8349581433131466)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.144
INFO:root:Testing 1370 out of 21832 hypotheses for tomato_soup_can (evidence > 0.8349581433131466)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.392
INFO:root:Testing 1849 out of 16976 hypotheses for mustard_bottle (evidence > 0.8349581433131466)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 4.149
INFO:root:Testing 1246 out of 17728 hypotheses for tuna_fish_can (evidence > 0.8349581433131466)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.709
INFO:root:Testing 2879 out of 19024 hypotheses for potted_meat_can (evidence > 0.8349581433131466)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 4.481
DEBUG:root:evidences for each object: [4.29372084 0.621932   4.17800619 4.58548688 4.5518572  4.14395953
 4.3921996  4.14923053 3.70937474 4.4814164 ]
DEBUG:root:mean evidence: 3.911, std: 1.123 -> th=3.6683895054871543
INFO:root:current most likely hypothesis: ramen_pack with evidence 4.59
DEBUG:root:evidences for each object: [4.29372084 0.621932   4.17800619 4.58548688 4.5518572  4.14395953
 4.3921996  4.14923053 3.70937474 4.4814164 ]
DEBUG:root:mean evidence: 3.911, std: 1.123 -> th=3.6683895054871543
DEBUG:root:evidences for each object: [4.29372084 0.621932   4.17800619 4.58548688 4.5518572  4.14395953
 4.3921996  4.14923053 3.70937474 4.4814164 ]
DEBUG:root:mean evidence: 3.911, std: 1.123 -> th=3.8976638495801015
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', 'ramen_pack', 'harissa_oil', 'mustard_bottle', 'tuna_fish_can', 'tomato_soup_can', 'hot_sauce', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 11 ---
INFO:uvicorn.access:192.168.1.217:64442 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.3451175 , -0.02320947,  0.93827247],
       [ 0.06709935,  0.9977463 , -0.        ],
       [-0.93615789,  0.06295747,  0.34589705]]), 'pose_fully_defined': False}}, {'patch': array([0.0206335 , 0.00623921, 0.00567114])}]
INFO:root:Testing 496 out of 14424 hypotheses for numenta_mug (evidence > 0.9170973763717885)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.949
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 118 out of 14880 hypotheses for montys_heart (evidence > 0.9170973763717885)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.178
INFO:root:Testing 3641 out of 23200 hypotheses for ramen_pack (evidence > 0.9170973763717885)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 3.585
INFO:root:Testing 879 out of 14864 hypotheses for hot_sauce (evidence > 0.9170973763717885)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.552
INFO:root:Testing 325 out of 12560 hypotheses for harissa_oil (evidence > 0.9170973763717885)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.144
INFO:root:Testing 1052 out of 21832 hypotheses for tomato_soup_can (evidence > 0.9170973763717885)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.392
INFO:root:Testing 1559 out of 16976 hypotheses for mustard_bottle (evidence > 0.9170973763717885)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 3.149
INFO:root:Testing 736 out of 17728 hypotheses for tuna_fish_can (evidence > 0.9170973763717885)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.709
INFO:root:Testing 2333 out of 19024 hypotheses for potted_meat_can (evidence > 0.9170973763717885)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 3.481
DEBUG:root:evidences for each object: [3.9492698  0.621932   3.17800619 3.58548688 3.5518572  3.14395953
 3.3921996  3.14923053 2.70937474 3.4814164 ]
DEBUG:root:mean evidence: 3.076, std: 0.877 -> th=3.15941584185473
INFO:root:current most likely hypothesis: numenta_mug with evidence 3.95
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'ramen_pack', 'tomato_soup_can', 'hot_sauce', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 12 ---
INFO:uvicorn.access:192.168.1.217:64443 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.09350114,  0.02772889,  0.99523296],
       [-0.28432258, -0.95872867,  0.        ],
       [ 0.95415838, -0.28296721,  0.09752617]]), 'pose_fully_defined': False}}, {'patch': array([-0.02913851, -0.07585717, -0.00432603])}]
INFO:root:Testing 354 out of 14424 hypotheses for numenta_mug (evidence > 0.7898539604636823)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.257
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 93 out of 14880 hypotheses for montys_heart (evidence > 0.7898539604636823)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.424
INFO:root:Testing 3365 out of 23200 hypotheses for ramen_pack (evidence > 0.7898539604636823)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 3.967
INFO:root:Testing 656 out of 14864 hypotheses for hot_sauce (evidence > 0.7898539604636823)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.984
INFO:root:Testing 195 out of 12560 hypotheses for harissa_oil (evidence > 0.7898539604636823)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.572
INFO:root:Testing 785 out of 21832 hypotheses for tomato_soup_can (evidence > 0.7898539604636823)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.688
INFO:root:Testing 1332 out of 16976 hypotheses for mustard_bottle (evidence > 0.7898539604636823)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.559
INFO:root:Testing 499 out of 17728 hypotheses for tuna_fish_can (evidence > 0.7898539604636823)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.74
INFO:root:Testing 2008 out of 19024 hypotheses for potted_meat_can (evidence > 0.7898539604636823)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 3.857
DEBUG:root:evidences for each object: [4.25687749 0.621932   3.42437642 3.96717045 3.98384372 3.57198505
 3.68843985 3.55915613 2.74017382 3.85746086]
DEBUG:root:mean evidence: 3.367, std: 0.994 -> th=3.4055019942539744
INFO:root:current most likely hypothesis: numenta_mug with evidence 4.26
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'ramen_pack', 'harissa_oil', 'mustard_bottle', 'tomato_soup_can', 'hot_sauce', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 13 ---
INFO:uvicorn.access:192.168.1.217:64445 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.97005013,  0.07207437, -0.23196557],
       [-0.0740954 , -0.99725116,  0.        ],
       [-0.23132794,  0.01718758,  0.972724  ]]), 'pose_fully_defined': False}}, {'patch': array([-0.0320832 ,  0.01795456, -0.02855104])}]
INFO:root:Testing 351 out of 14424 hypotheses for numenta_mug (evidence > 0.8513754985634936)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.276
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 91 out of 14880 hypotheses for montys_heart (evidence > 0.8513754985634936)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.736
INFO:root:Testing 3274 out of 23200 hypotheses for ramen_pack (evidence > 0.8513754985634936)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 3.895
INFO:root:Testing 652 out of 14864 hypotheses for hot_sauce (evidence > 0.8513754985634936)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.401
INFO:root:Testing 193 out of 12560 hypotheses for harissa_oil (evidence > 0.8513754985634936)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.789
INFO:root:Testing 779 out of 21832 hypotheses for tomato_soup_can (evidence > 0.8513754985634936)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.597
INFO:root:Testing 1323 out of 16976 hypotheses for mustard_bottle (evidence > 0.8513754985634936)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.019
INFO:root:Testing 472 out of 17728 hypotheses for tuna_fish_can (evidence > 0.8513754985634936)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.74
INFO:root:Testing 1916 out of 19024 hypotheses for potted_meat_can (evidence > 0.8513754985634936)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 4.222
DEBUG:root:evidences for each object: [3.27569362 0.621932   3.73617791 3.89487838 4.40116936 3.78912167
 3.59745946 4.01934849 1.74017382 4.22176809]
DEBUG:root:mean evidence: 3.33, std: 1.142 -> th=3.520935489214031
INFO:root:current most likely hypothesis: hot_sauce with evidence 4.4
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'harissa_oil', 'mustard_bottle', 'tomato_soup_can', 'hot_sauce', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 14 ---
INFO:uvicorn.access:192.168.1.217:64445 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.90884858,  0.02830179, -0.41616496],
       [-0.03112518, -0.99951549,  0.        ],
       [-0.41596332,  0.01295321,  0.90928913]]), 'pose_fully_defined': False}}, {'patch': array([-0.00076159,  0.02355197, -0.00667107])}]
INFO:root:Testing 148 out of 14424 hypotheses for numenta_mug (evidence > 0.8802338723035077)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.276
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 47 out of 14880 hypotheses for montys_heart (evidence > 0.8802338723035077)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.193
INFO:root:Testing 476 out of 23200 hypotheses for ramen_pack (evidence > 0.8802338723035077)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.104
INFO:root:Testing 602 out of 14864 hypotheses for hot_sauce (evidence > 0.8802338723035077)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.846
INFO:root:Testing 101 out of 12560 hypotheses for harissa_oil (evidence > 0.8802338723035077)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.212
INFO:root:Testing 486 out of 21832 hypotheses for tomato_soup_can (evidence > 0.8802338723035077)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.772
INFO:root:Testing 1192 out of 16976 hypotheses for mustard_bottle (evidence > 0.8802338723035077)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.444
INFO:root:Testing 163 out of 17728 hypotheses for tuna_fish_can (evidence > 0.8802338723035077)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.85
INFO:root:Testing 1712 out of 19024 hypotheses for potted_meat_can (evidence > 0.8802338723035077)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 4.671
DEBUG:root:evidences for each object: [2.27569362 0.621932   4.19307811 4.10449963 4.84634801 4.21212683
 3.77184434 4.44449895 0.85016627 4.67104108]
DEBUG:root:mean evidence: 3.399, std: 1.49 -> th=3.877078409147182
INFO:root:current most likely hypothesis: hot_sauce with evidence 4.85
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'mustard_bottle', 'harissa_oil', 'hot_sauce', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 15 ---
INFO:uvicorn.access:192.168.1.217:64445 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64445 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.92184305,  0.06569451, -0.38195499],
       [-0.07108404, -0.99747033,  0.        ],
       [-0.38098877,  0.0271509 ,  0.92418093]]), 'pose_fully_defined': False}}, {'patch': array([-0.00311305,  0.01358381,  0.00566225])}]
INFO:root:Testing 12 out of 14424 hypotheses for numenta_mug (evidence > 0.9692696022867953)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.276
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 39 out of 14880 hypotheses for montys_heart (evidence > 0.9692696022867953)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.632
INFO:root:Testing 258 out of 23200 hypotheses for ramen_pack (evidence > 0.9692696022867953)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.327
INFO:root:Testing 544 out of 14864 hypotheses for hot_sauce (evidence > 0.9692696022867953)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.266
INFO:root:Testing 11 out of 12560 hypotheses for harissa_oil (evidence > 0.9692696022867953)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.602
INFO:root:Testing 108 out of 21832 hypotheses for tomato_soup_can (evidence > 0.9692696022867953)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.989
INFO:root:Testing 1117 out of 16976 hypotheses for mustard_bottle (evidence > 0.9692696022867953)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.836
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.85
INFO:root:Testing 1440 out of 19024 hypotheses for potted_meat_can (evidence > 0.9692696022867953)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.071
DEBUG:root:evidences for each object: [1.27569362 0.621932   4.63189177 4.32743763 5.26630152 4.60184649
 3.98923406 4.83570465 0.85016627 5.07145421]
DEBUG:root:mean evidence: 3.547, std: 1.761 -> th=4.213041215216345
INFO:root:current most likely hypothesis: hot_sauce with evidence 5.27
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'mustard_bottle', 'harissa_oil', 'hot_sauce', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 16 ---
INFO:uvicorn.access:192.168.1.217:64445 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.92800041,  0.11190734, -0.35537584],
       [-0.1197224 , -0.99280741,  0.        ],
       [-0.35281976,  0.04254645,  0.9347235 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00141161,  0.0133732 , -0.01260692])}]
INFO:root:Testing 3 out of 14424 hypotheses for numenta_mug (evidence > 1.0532603038040858)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.493
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 31 out of 14880 hypotheses for montys_heart (evidence > 1.0532603038040858)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.073
INFO:root:Testing 196 out of 23200 hypotheses for ramen_pack (evidence > 1.0532603038040858)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.553
INFO:root:Testing 509 out of 14864 hypotheses for hot_sauce (evidence > 1.0532603038040858)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.671
INFO:root:Testing 10 out of 12560 hypotheses for harissa_oil (evidence > 1.0532603038040858)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.494
INFO:root:Testing 69 out of 21832 hypotheses for tomato_soup_can (evidence > 1.0532603038040858)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.385
INFO:root:Testing 1018 out of 16976 hypotheses for mustard_bottle (evidence > 1.0532603038040858)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.247
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.85
INFO:root:Testing 1301 out of 19024 hypotheses for potted_meat_can (evidence > 1.0532603038040858)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.525
DEBUG:root:evidences for each object: [1.49338342 0.621932   5.07298724 4.55315361 5.6712114  4.49358832
 4.38518567 5.24714687 0.85016627 5.52532679]
DEBUG:root:mean evidence: 3.791, std: 1.89 -> th=4.536969117778755
INFO:root:current most likely hypothesis: hot_sauce with evidence 5.67
DEBUG:root:evidences for each object: [1.49338342 0.621932   5.07298724 4.55315361 5.6712114  4.49358832
 4.38518567 5.24714687 0.85016627 5.52532679]
DEBUG:root:mean evidence: 3.791, std: 1.89 -> th=4.536969117778755
DEBUG:root:evidences for each object: [1.49338342 0.621932   5.07298724 4.55315361 5.6712114  4.49358832
 4.38518567 5.24714687 0.85016627 5.52532679]
DEBUG:root:mean evidence: 3.791, std: 1.89 -> th=4.820529687639928
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', 'mustard_bottle', 'hot_sauce', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 17 ---
INFO:uvicorn.access:192.168.1.217:64445 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.77338079,  0.09710034, -0.62646123],
       [-0.12457504, -0.99221019,  0.        ],
       [-0.62158121,  0.07804143,  0.77945258]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00107153, -0.00701218,  0.00555323])}]
INFO:root:Testing 2 out of 14424 hypotheses for numenta_mug (evidence > 1.1342422794446883)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.848
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 18 out of 14880 hypotheses for montys_heart (evidence > 1.1342422794446883)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.372
INFO:root:Testing 138 out of 23200 hypotheses for ramen_pack (evidence > 1.1342422794446883)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.641
INFO:root:Testing 476 out of 14864 hypotheses for hot_sauce (evidence > 1.1342422794446883)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.122
INFO:root:Testing 9 out of 12560 hypotheses for harissa_oil (evidence > 1.1342422794446883)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.36
INFO:root:Testing 28 out of 21832 hypotheses for tomato_soup_can (evidence > 1.1342422794446883)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.526
INFO:root:Testing 912 out of 16976 hypotheses for mustard_bottle (evidence > 1.1342422794446883)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.54
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.85
INFO:root:Testing 1019 out of 19024 hypotheses for potted_meat_can (evidence > 1.1342422794446883)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.924
DEBUG:root:evidences for each object: [1.84775048 0.621932   5.37161539 4.64135634 6.1217878  4.36013261
 4.52608346 5.54001136 0.85016627 5.92352839]
DEBUG:root:mean evidence: 3.98, std: 1.981 -> th=4.897430241602421
INFO:root:current most likely hypothesis: hot_sauce with evidence 6.12
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 18 ---
INFO:uvicorn.access:192.168.1.217:64445 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.79207433,  0.10620463, -0.60111465],
       [-0.13289486, -0.99113014,  0.        ],
       [-0.59578285,  0.07988505,  0.79916279]]), 'pose_fully_defined': False}}, {'patch': array([-0.00044319, -0.00559221, -0.00224267])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 1.2243575604006045)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.201
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 16 out of 14880 hypotheses for montys_heart (evidence > 1.2243575604006045)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.751
INFO:root:Testing 113 out of 23200 hypotheses for ramen_pack (evidence > 1.2243575604006045)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.742
INFO:root:Testing 469 out of 14864 hypotheses for hot_sauce (evidence > 1.2243575604006045)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.537
INFO:root:Testing 9 out of 12560 hypotheses for harissa_oil (evidence > 1.2243575604006045)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.779
INFO:root:Testing 25 out of 21832 hypotheses for tomato_soup_can (evidence > 1.2243575604006045)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.794
INFO:root:Testing 868 out of 16976 hypotheses for mustard_bottle (evidence > 1.2243575604006045)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.854
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.85
INFO:root:Testing 982 out of 19024 hypotheses for potted_meat_can (evidence > 1.2243575604006045)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.294
DEBUG:root:evidences for each object: [2.20148552 0.621932   5.75145656 4.74244196 6.53663769 4.77853575
 4.79417829 5.85430474 0.85016627 6.29391563]
DEBUG:root:mean evidence: 4.243, std: 2.097 -> th=5.229310153751014
INFO:root:current most likely hypothesis: hot_sauce with evidence 6.54
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 19 ---
INFO:uvicorn.access:192.168.1.217:64445 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.76482396,  0.04247974, -0.6428373 ],
       [-0.05545638, -0.99846111,  0.        ],
       [-0.64184804,  0.03564943,  0.76600275]]), 'pose_fully_defined': False}}, {'patch': array([ 3.36464983e-03, -7.21113233e-03, -5.19035474e-05])}]
INFO:root:Testing 2 out of 14424 hypotheses for numenta_mug (evidence > 1.307327538437753)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.306
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 15 out of 14880 hypotheses for montys_heart (evidence > 1.307327538437753)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.193
INFO:root:Testing 95 out of 23200 hypotheses for ramen_pack (evidence > 1.307327538437753)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.828
INFO:root:Testing 460 out of 14864 hypotheses for hot_sauce (evidence > 1.307327538437753)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.969
INFO:root:Testing 9 out of 12560 hypotheses for harissa_oil (evidence > 1.307327538437753)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.891
INFO:root:Testing 24 out of 21832 hypotheses for tomato_soup_can (evidence > 1.307327538437753)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.051
INFO:root:Testing 862 out of 16976 hypotheses for mustard_bottle (evidence > 1.307327538437753)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.159
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.85
INFO:root:Testing 966 out of 19024 hypotheses for potted_meat_can (evidence > 1.307327538437753)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.668
DEBUG:root:evidences for each object: [1.30557894 0.621932   6.19273089 4.82765223 6.9693695  4.89134796
 5.05117925 6.15887837 0.85016627 6.6677798 ]
DEBUG:root:mean evidence: 4.354, std: 2.352 -> th=5.575495601969642
INFO:root:current most likely hypothesis: hot_sauce with evidence 6.97
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 20 ---
INFO:uvicorn.access:192.168.1.217:64445 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.66118923, -0.01158081, -0.75012978],
       [ 0.01751244, -0.99984665,  0.        ],
       [-0.75001475, -0.0131366 ,  0.66129064]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00760239, -0.03655182, -0.00817307])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.306
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 14 out of 14880 hypotheses for montys_heart (evidence > 1.3938739004924106)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.642
INFO:root:Testing 85 out of 23200 hypotheses for ramen_pack (evidence > 1.3938739004924106)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.851
INFO:root:Testing 459 out of 14864 hypotheses for hot_sauce (evidence > 1.3938739004924106)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.367
INFO:root:Testing 8 out of 12560 hypotheses for harissa_oil (evidence > 1.3938739004924106)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 5.355
INFO:root:Testing 16 out of 21832 hypotheses for tomato_soup_can (evidence > 1.3938739004924106)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.051
INFO:root:Testing 845 out of 16976 hypotheses for mustard_bottle (evidence > 1.3938739004924106)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.61
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.85
INFO:root:Testing 949 out of 19024 hypotheses for potted_meat_can (evidence > 1.3938739004924106)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.002
DEBUG:root:evidences for each object: [1.30557894 0.621932   6.64186708 4.85094583 7.36690198 5.35502062
 4.05117925 6.6098532  0.85016627 7.00220782]
DEBUG:root:mean evidence: 4.466, std: 2.513 -> th=5.893521581825942
INFO:root:current most likely hypothesis: hot_sauce with evidence 7.37
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 21 ---
INFO:uvicorn.access:192.168.1.217:64445 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.85449542, -0.10375241,  0.50899215],
       [ 0.12053426, -0.99270917,  0.        ],
       [ 0.50528118,  0.06135099,  0.86077116]]), 'pose_fully_defined': False}}, {'patch': array([0.00077212, 0.00931163, 0.0377924 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.306
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 13 out of 14880 hypotheses for montys_heart (evidence > 1.473380395456485)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.875
INFO:root:Testing 54 out of 23200 hypotheses for ramen_pack (evidence > 1.473380395456485)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.333
INFO:root:Testing 450 out of 14864 hypotheses for hot_sauce (evidence > 1.473380395456485)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.753
INFO:root:Testing 5 out of 12560 hypotheses for harissa_oil (evidence > 1.473380395456485)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 5.788
INFO:root:Testing 12 out of 21832 hypotheses for tomato_soup_can (evidence > 1.473380395456485)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.412
INFO:root:Testing 843 out of 16976 hypotheses for mustard_bottle (evidence > 1.473380395456485)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.788
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.85
INFO:root:Testing 922 out of 19024 hypotheses for potted_meat_can (evidence > 1.473380395456485)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.322
DEBUG:root:evidences for each object: [1.30557894 0.621932   6.87455315 5.33341245 7.75283012 5.78849795
 4.4119125  6.78815798 0.85016627 7.32221969]
DEBUG:root:mean evidence: 4.705, std: 2.644 -> th=6.202264096280187
INFO:root:current most likely hypothesis: hot_sauce with evidence 7.75
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 22 ---
INFO:uvicorn.access:192.168.1.217:64445 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.83155053, -0.07903519,  0.54979737],
       [ 0.09461915, -0.99551354,  0.        ],
       [ 0.54733073,  0.05202136,  0.83529806]]), 'pose_fully_defined': False}}, {'patch': array([-0.00068578,  0.02725796,  0.00760885])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.306
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 12 out of 14880 hypotheses for montys_heart (evidence > 1.5505660240700463)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.156
INFO:root:Testing 48 out of 23200 hypotheses for ramen_pack (evidence > 1.5505660240700463)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.763
INFO:root:Testing 435 out of 14864 hypotheses for hot_sauce (evidence > 1.5505660240700463)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.043
INFO:root:Testing 5 out of 12560 hypotheses for harissa_oil (evidence > 1.5505660240700463)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 6.131
INFO:root:Testing 9 out of 21832 hypotheses for tomato_soup_can (evidence > 1.5505660240700463)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.73
INFO:root:Testing 822 out of 16976 hypotheses for mustard_bottle (evidence > 1.5505660240700463)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.963
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.85
INFO:root:Testing 902 out of 19024 hypotheses for potted_meat_can (evidence > 1.5505660240700463)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.667
DEBUG:root:evidences for each object: [1.30557894 0.621932   7.15553107 5.76318779 8.04257663 6.13109736
 4.73011556 6.96268094 0.85016627 7.66710139]
DEBUG:root:mean evidence: 4.923, std: 2.771 -> th=6.434061304475025
INFO:root:current most likely hypothesis: hot_sauce with evidence 8.04
DEBUG:root:evidences for each object: [1.30557894 0.621932   7.15553107 5.76318779 8.04257663 6.13109736
 4.73011556 6.96268094 0.85016627 7.66710139]
DEBUG:root:mean evidence: 4.923, std: 2.771 -> th=6.434061304475025
DEBUG:root:evidences for each object: [1.30557894 0.621932   7.15553107 5.76318779 8.04257663 6.13109736
 4.73011556 6.96268094 0.85016627 7.66710139]
DEBUG:root:mean evidence: 4.923, std: 2.771 -> th=6.8361901360047135
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 23 ---
INFO:uvicorn.access:192.168.1.217:64445 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64445 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.76498511, -0.06244881,  0.64101321],
       [ 0.08136336, -0.99668451,  0.        ],
       [ 0.63888793,  0.05215499,  0.76752985]]), 'pose_fully_defined': False}}, {'patch': array([-0.00653124,  0.01276261,  0.00245155])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.306
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 10 out of 14880 hypotheses for montys_heart (evidence > 1.6085153261187557)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.49
INFO:root:Testing 43 out of 23200 hypotheses for ramen_pack (evidence > 1.6085153261187557)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.213
INFO:root:Testing 412 out of 14864 hypotheses for hot_sauce (evidence > 1.6085153261187557)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.343
INFO:root:Testing 4 out of 12560 hypotheses for harissa_oil (evidence > 1.6085153261187557)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 6.565
INFO:root:Testing 6 out of 21832 hypotheses for tomato_soup_can (evidence > 1.6085153261187557)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.73
INFO:root:Testing 734 out of 16976 hypotheses for mustard_bottle (evidence > 1.6085153261187557)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.225
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.85
INFO:root:Testing 828 out of 19024 hypotheses for potted_meat_can (evidence > 1.6085153261187557)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.084
DEBUG:root:evidences for each object: [1.30557894 0.621932   7.48974168 6.21312435 8.34317625 6.56501615
 3.73011556 7.22539128 0.85016627 8.08419633]
DEBUG:root:mean evidence: 5.043, std: 2.956 -> th=6.674541001107083
INFO:root:current most likely hypothesis: hot_sauce with evidence 8.34
DEBUG:root:evidences for each object: [1.30557894 0.621932   7.48974168 6.21312435 8.34317625 6.56501615
 3.73011556 7.22539128 0.85016627 8.08419633]
DEBUG:root:mean evidence: 5.043, std: 2.956 -> th=6.674541001107083
DEBUG:root:evidences for each object: [1.30557894 0.621932   7.48974168 6.21312435 8.34317625 6.56501615
 3.73011556 7.22539128 0.85016627 8.08419633]
DEBUG:root:mean evidence: 5.043, std: 2.956 -> th=7.091699813676276
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 24 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.79536404, -0.07827379,  0.60105679],
       [ 0.09793941, -0.99519238,  0.        ],
       [ 0.59816714,  0.05886714,  0.79920632]]), 'pose_fully_defined': False}}, {'patch': array([0.00349955, 0.0008664 , 0.01171026])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.306
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 8 out of 14880 hypotheses for montys_heart (evidence > 1.66863525027677)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.49
INFO:root:Testing 41 out of 23200 hypotheses for ramen_pack (evidence > 1.66863525027677)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.646
INFO:root:Testing 400 out of 14864 hypotheses for hot_sauce (evidence > 1.66863525027677)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.663
INFO:root:Testing 3 out of 12560 hypotheses for harissa_oil (evidence > 1.66863525027677)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 5.565
INFO:root:Testing 4 out of 21832 hypotheses for tomato_soup_can (evidence > 1.66863525027677)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.73
INFO:root:Testing 507 out of 16976 hypotheses for mustard_bottle (evidence > 1.66863525027677)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.472
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.85
INFO:root:Testing 743 out of 19024 hypotheses for potted_meat_can (evidence > 1.66863525027677)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.717
DEBUG:root:evidences for each object: [1.30557894 0.621932   6.48974168 6.64624643 7.66348703 5.56501615
 2.73011556 7.47206231 0.85016627 7.71691079]
DEBUG:root:mean evidence: 4.706, std: 2.831 -> th=6.173528632791054
INFO:root:current most likely hypothesis: potted_meat_can with evidence 7.72
DEBUG:root:evidences for each object: [1.30557894 0.621932   6.48974168 6.64624643 7.66348703 5.56501615
 2.73011556 7.47206231 0.85016627 7.71691079]
DEBUG:root:mean evidence: 4.706, std: 2.831 -> th=6.173528632791054
DEBUG:root:evidences for each object: [1.30557894 0.621932   6.48974168 6.64624643 7.66348703 5.56501615
 2.73011556 7.47206231 0.85016627 7.71691079]
DEBUG:root:mean evidence: 4.706, std: 2.831 -> th=6.559374172340496
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', 'mustard_bottle', 'hot_sauce', 'potted_meat_can', 'montys_heart'}
INFO:root:--- Global Matching Step 25 ---
INFO:uvicorn.access:192.168.1.217:64447 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.1177191 ,  0.13874899, -0.98330612],
       [-0.76252897,  0.64695407,  0.        ],
       [ 0.6361539 ,  0.74979941,  0.18195897]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01507036, -0.03357752, -0.06449528])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.306
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 8 out of 14880 hypotheses for montys_heart (evidence > 1.5433821581977636)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.49
INFO:root:Testing 36 out of 23200 hypotheses for ramen_pack (evidence > 1.5433821581977636)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.646
INFO:root:Testing 394 out of 14864 hypotheses for hot_sauce (evidence > 1.5433821581977636)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.163
INFO:root:Testing 3 out of 12560 hypotheses for harissa_oil (evidence > 1.5433821581977636)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.565
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 1.5433821581977636)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.73
INFO:root:Testing 503 out of 16976 hypotheses for mustard_bottle (evidence > 1.5433821581977636)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.471
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.85
INFO:root:Testing 690 out of 19024 hypotheses for potted_meat_can (evidence > 1.5433821581977636)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.724
DEBUG:root:evidences for each object: [1.30557894 0.621932   5.48974168 5.64624643 8.16348703 4.56501615
 1.73011556 7.47105705 0.85016627 7.72416392]
DEBUG:root:mean evidence: 4.357, std: 2.846 -> th=6.530789627542177
INFO:root:current most likely hypothesis: hot_sauce with evidence 8.16
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'potted_meat_can'}
INFO:root:--- Global Matching Step 26 ---
INFO:uvicorn.access:192.168.1.217:64447 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64447 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.18401337,  0.1457651 , -0.97205536],
       [-0.62093297,  0.78386367,  0.        ],
       [ 0.76195887,  0.60358122,  0.23475175]]), 'pose_fully_defined': False}}, {'patch': array([0.00233329, 0.01807384, 0.00016728])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.306
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 6 out of 14880 hypotheses for montys_heart (evidence > 1.6326974068855442)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.848
INFO:root:Testing 22 out of 23200 hypotheses for ramen_pack (evidence > 1.6326974068855442)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.646
INFO:root:Testing 385 out of 14864 hypotheses for hot_sauce (evidence > 1.6326974068855442)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.077
INFO:root:Testing 3 out of 12560 hypotheses for harissa_oil (evidence > 1.6326974068855442)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.997
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 1.6326974068855442)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.485
INFO:root:Testing 423 out of 16976 hypotheses for mustard_bottle (evidence > 1.6326974068855442)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.688
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.85
INFO:root:Testing 523 out of 19024 hypotheses for potted_meat_can (evidence > 1.6326974068855442)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.699
DEBUG:root:evidences for each object: [1.30557894 0.621932   5.848225   4.64624643 8.07677005 4.99712942
 1.48533896 6.68825381 0.85016627 7.69939937]
DEBUG:root:mean evidence: 4.222, std: 2.771 -> th=6.461416036426082
INFO:root:current most likely hypothesis: hot_sauce with evidence 8.08
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'potted_meat_can'}
INFO:root:--- Global Matching Step 27 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.231589  ,  0.1598651 , -0.95958829],
       [-0.56809064,  0.822966  ,  0.        ],
       [ 0.78970853,  0.54513312,  0.28140774]]), 'pose_fully_defined': False}}, {'patch': array([0.00180231, 0.00529685, 0.00438711])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.306
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 3 out of 14880 hypotheses for montys_heart (evidence > 1.61535400910652)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.235
INFO:root:Testing 17 out of 23200 hypotheses for ramen_pack (evidence > 1.61535400910652)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.591
INFO:root:Testing 373 out of 14864 hypotheses for hot_sauce (evidence > 1.61535400910652)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.451
INFO:root:Testing 3 out of 12560 hypotheses for harissa_oil (evidence > 1.61535400910652)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.997
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.485
INFO:root:Testing 317 out of 16976 hypotheses for mustard_bottle (evidence > 1.61535400910652)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.688
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.85
INFO:root:Testing 425 out of 19024 hypotheses for potted_meat_can (evidence > 1.61535400910652)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.699
DEBUG:root:evidences for each object: [1.30557894 0.621932   6.2354399  4.59107721 8.45142239 3.99712942
 1.48533896 5.68825381 0.85016627 6.69939937]
DEBUG:root:mean evidence: 3.993, std: 2.65 -> th=6.761137909820422
INFO:root:current most likely hypothesis: hot_sauce with evidence 8.45
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 28 ---
INFO:uvicorn.access:192.168.1.217:64447 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.33846703,  0.16127302, -0.92705506],
       [-0.43014717,  0.90275878,  0.        ],
       [ 0.83690709,  0.39877011,  0.37492521]]), 'pose_fully_defined': False}}, {'patch': array([0.00030657, 0.01061296, 0.00178938])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.306
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 3 out of 14880 hypotheses for montys_heart (evidence > 1.690284477455105)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.603
INFO:root:Testing 17 out of 23200 hypotheses for ramen_pack (evidence > 1.690284477455105)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.583
INFO:root:Testing 364 out of 14864 hypotheses for hot_sauce (evidence > 1.690284477455105)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.826
INFO:root:Testing 2 out of 12560 hypotheses for harissa_oil (evidence > 1.690284477455105)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.806
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.485
INFO:root:Testing 187 out of 16976 hypotheses for mustard_bottle (evidence > 1.690284477455105)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.388
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.85
INFO:root:Testing 296 out of 19024 hypotheses for potted_meat_can (evidence > 1.690284477455105)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.515
DEBUG:root:evidences for each object: [1.30557894 0.621932   6.60300496 4.58289291 8.82630149 3.80570981
 1.48533896 5.38822566 0.85016627 6.51510535]
DEBUG:root:mean evidence: 3.998, std: 2.713 -> th=7.061041195568555
INFO:root:current most likely hypothesis: hot_sauce with evidence 8.83
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 29 ---
INFO:uvicorn.access:192.168.1.217:64447 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.28722357,  0.17017383, -0.94262585],
       [-0.50972983,  0.86033453,  0.        ],
       [ 0.81097356,  0.48048451,  0.33385103]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00012365,  0.01422113, -0.00015171])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.306
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 3 out of 14880 hypotheses for montys_heart (evidence > 1.7652602988921382)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.972
INFO:root:Testing 16 out of 23200 hypotheses for ramen_pack (evidence > 1.7652602988921382)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.553
INFO:root:Testing 354 out of 14864 hypotheses for hot_sauce (evidence > 1.7652602988921382)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.281
INFO:root:Testing 2 out of 12560 hypotheses for harissa_oil (evidence > 1.7652602988921382)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.617
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.485
INFO:root:Testing 121 out of 16976 hypotheses for mustard_bottle (evidence > 1.7652602988921382)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.542
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.85
INFO:root:Testing 236 out of 19024 hypotheses for potted_meat_can (evidence > 1.7652602988921382)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.308
DEBUG:root:evidences for each object: [1.30557894 0.621932   6.97185097 4.55250594 9.28130995 3.61707722
 1.48533896 5.54188301 0.85016627 6.30829052]
DEBUG:root:mean evidence: 4.054, std: 2.824 -> th=7.425047958358189
INFO:root:current most likely hypothesis: hot_sauce with evidence 9.28
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 30 ---
INFO:uvicorn.access:192.168.1.217:64447 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.42542179,  0.05907958, -0.90306473],
       [-0.13755288,  0.99049442,  0.        ],
       [ 0.89448058,  0.12421915,  0.42950448]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00050594, -0.00672959, -0.01224915])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.306
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 2 out of 14880 hypotheses for montys_heart (evidence > 1.8562619895895471)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.972
INFO:root:Testing 14 out of 23200 hypotheses for ramen_pack (evidence > 1.8562619895895471)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.576
INFO:root:Testing 338 out of 14864 hypotheses for hot_sauce (evidence > 1.8562619895895471)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.64
INFO:root:Testing 1 out of 12560 hypotheses for harissa_oil (evidence > 1.8562619895895471)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.954
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.485
INFO:root:Testing 84 out of 16976 hypotheses for mustard_bottle (evidence > 1.8562619895895471)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.717
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.85
INFO:root:Testing 180 out of 19024 hypotheses for potted_meat_can (evidence > 1.8562619895895471)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.674
DEBUG:root:evidences for each object: [1.30557894 0.621932   5.97185097 4.57593506 9.640024   3.95355148
 1.48533896 5.7166637  0.85016627 6.67430388]
DEBUG:root:mean evidence: 4.08, std: 2.846 -> th=7.712019202475341
INFO:root:current most likely hypothesis: hot_sauce with evidence 9.64
DEBUG:root:evidences for each object: [1.30557894 0.621932   5.97185097 4.57593506 9.640024   3.95355148
 1.48533896 5.7166637  0.85016627 6.67430388]
DEBUG:root:mean evidence: 4.08, std: 2.846 -> th=7.712019202475341
DEBUG:root:evidences for each object: [1.30557894 0.621932   5.97185097 4.57593506 9.640024   3.95355148
 1.48533896 5.7166637  0.85016627 6.67430388]
DEBUG:root:mean evidence: 4.08, std: 2.846 -> th=8.194020402630048
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 31 ---
INFO:uvicorn.access:192.168.1.217:64447 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.46181274,  0.07756113, -0.8835798 ],
       [-0.1656296 ,  0.98618803,  0.        ],
       [ 0.87137582,  0.14634697,  0.46828062]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00463169, -0.04507742,  0.00383287])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.306
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 2 out of 14880 hypotheses for montys_heart (evidence > 1.9280048006188348)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.36
INFO:root:Testing 13 out of 23200 hypotheses for ramen_pack (evidence > 1.9280048006188348)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.619
INFO:root:Testing 329 out of 14864 hypotheses for hot_sauce (evidence > 1.9280048006188348)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.023
INFO:root:Testing 1 out of 12560 hypotheses for harissa_oil (evidence > 1.9280048006188348)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.386
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.485
INFO:root:Testing 61 out of 16976 hypotheses for mustard_bottle (evidence > 1.9280048006188348)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.131
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.85
INFO:root:Testing 130 out of 19024 hypotheses for potted_meat_can (evidence > 1.9280048006188348)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.068
DEBUG:root:evidences for each object: [ 1.30557894  0.621932    6.36037871  4.61878792 10.02316444  4.38641738
  1.48533896  6.13092294  0.85016627  7.06794187]
DEBUG:root:mean evidence: 4.285, std: 3.007 -> th=8.018531553379802
INFO:root:current most likely hypothesis: hot_sauce with evidence 10.02
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 32 ---
INFO:uvicorn.access:192.168.1.217:64447 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.40079188,  0.11904432, -0.90840207],
       [-0.28472848,  0.95860821,  0.        ],
       [ 0.87080168,  0.25864794,  0.41809769]]), 'pose_fully_defined': False}}, {'patch': array([-0.00271283,  0.0142323 ,  0.00100581])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.306
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 2 out of 14880 hypotheses for montys_heart (evidence > 2.0046328883449505)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.82
INFO:root:Testing 13 out of 23200 hypotheses for ramen_pack (evidence > 2.0046328883449505)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.636
INFO:root:Testing 302 out of 14864 hypotheses for hot_sauce (evidence > 2.0046328883449505)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.41
INFO:root:Testing 4 out of 12560 hypotheses for harissa_oil (evidence > 2.0046328883449505)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.777
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.485
INFO:root:Testing 52 out of 16976 hypotheses for mustard_bottle (evidence > 2.0046328883449505)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.507
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.85
INFO:root:Testing 95 out of 19024 hypotheses for potted_meat_can (evidence > 2.0046328883449505)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.491
DEBUG:root:evidences for each object: [ 1.30557894  0.621932    6.82032602  4.63595939 10.4103752   4.77660485
  1.48533896  6.50718279  0.85016627  7.49054618]
DEBUG:root:mean evidence: 4.49, std: 3.179 -> th=8.3283001570742
INFO:root:current most likely hypothesis: hot_sauce with evidence 10.41
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 33 ---
INFO:uvicorn.access:192.168.1.217:64447 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64447 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.49286567,  0.13486516, -0.85958991],
       [-0.26393199,  0.96454129,  0.        ],
       [ 0.82910997,  0.22687328,  0.51098452]]), 'pose_fully_defined': False}}, {'patch': array([0.00173277, 0.01264799, 0.00330814])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.306
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 2 out of 14880 hypotheses for montys_heart (evidence > 2.082075039268549)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.32
INFO:root:Testing 13 out of 23200 hypotheses for ramen_pack (evidence > 2.082075039268549)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.7
INFO:root:Testing 264 out of 14864 hypotheses for hot_sauce (evidence > 2.082075039268549)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.793
INFO:root:Testing 3 out of 12560 hypotheses for harissa_oil (evidence > 2.082075039268549)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 5.118
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.485
INFO:root:Testing 51 out of 16976 hypotheses for mustard_bottle (evidence > 2.082075039268549)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.923
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.85
INFO:root:Testing 76 out of 19024 hypotheses for potted_meat_can (evidence > 2.082075039268549)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.912
DEBUG:root:evidences for each object: [ 1.30557894  0.621932    7.32032602  4.69994575 10.793125    5.11830066
  1.48533896  6.9226596   0.85016627  7.91161387]
DEBUG:root:mean evidence: 4.703, std: 3.358 -> th=8.634500000425524
INFO:root:current most likely hypothesis: hot_sauce with evidence 10.79
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 34 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.50768654,  0.11904147, -0.85327809],
       [-0.22828664,  0.97359396,  0.        ],
       [ 0.8307464 ,  0.19479199,  0.52145613]]), 'pose_fully_defined': False}}, {'patch': array([-0.00292468,  0.00825154,  0.0008444 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.306
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 2 out of 14880 hypotheses for montys_heart (evidence > 2.1586250001063814)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.77
INFO:root:Testing 13 out of 23200 hypotheses for ramen_pack (evidence > 2.1586250001063814)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.77
INFO:root:Testing 253 out of 14864 hypotheses for hot_sauce (evidence > 2.1586250001063814)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.193
INFO:root:Testing 12 out of 12560 hypotheses for harissa_oil (evidence > 2.1586250001063814)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.914
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.485
INFO:root:Testing 44 out of 16976 hypotheses for mustard_bottle (evidence > 2.1586250001063814)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.342
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.85
INFO:root:Testing 66 out of 19024 hypotheses for potted_meat_can (evidence > 2.1586250001063814)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.335
DEBUG:root:evidences for each object: [ 1.30557894  0.621932    7.76980302  4.77006093 11.19327434  4.91394697
  1.48533896  7.34192296  0.85016627  8.33489037]
DEBUG:root:mean evidence: 4.859, std: 3.534 -> th=8.954619472378154
INFO:root:current most likely hypothesis: hot_sauce with evidence 11.19
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 35 ---
INFO:uvicorn.access:192.168.1.217:64447 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.78811173, -0.08523257, -0.60960258],
       [ 0.10752087,  0.99420283, -0.        ],
       [ 0.60606861, -0.065545  ,  0.79270719]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00157567,  0.00737338, -0.06942299])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.306
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 5 out of 14880 hypotheses for montys_heart (evidence > 2.238654868094539)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.77
INFO:root:Testing 13 out of 23200 hypotheses for ramen_pack (evidence > 2.238654868094539)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.77
INFO:root:Testing 250 out of 14864 hypotheses for hot_sauce (evidence > 2.238654868094539)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.193
INFO:root:Testing 8 out of 12560 hypotheses for harissa_oil (evidence > 2.238654868094539)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.914
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.485
INFO:root:Testing 43 out of 16976 hypotheses for mustard_bottle (evidence > 2.238654868094539)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.342
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.85
INFO:root:Testing 64 out of 19024 hypotheses for potted_meat_can (evidence > 2.238654868094539)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.335
DEBUG:root:evidences for each object: [ 1.30557894  0.621932    6.76980302  3.77006093 10.19327434  3.91394697
  1.48533896  6.34192296  0.85016627  7.33489037]
DEBUG:root:mean evidence: 4.259, std: 3.114 -> th=8.154619472378155
INFO:root:current most likely hypothesis: hot_sauce with evidence 10.19
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 36 ---
INFO:uvicorn.access:192.168.1.217:64449 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.10082126,  0.10363685,  0.98949203],
       [-0.71677641, -0.69730307,  0.        ],
       [ 0.68997583, -0.70924455,  0.14458742]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00477742, -0.05979181,  0.11654285])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.306
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 6 out of 14880 hypotheses for montys_heart (evidence > 2.0386548680945378)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.975
INFO:root:Testing 6 out of 23200 hypotheses for ramen_pack (evidence > 2.0386548680945378)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.982
INFO:root:Testing 247 out of 14864 hypotheses for hot_sauce (evidence > 2.0386548680945378)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.512
INFO:root:Testing 61 out of 12560 hypotheses for harissa_oil (evidence > 2.0386548680945378)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.292
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.485
INFO:root:Testing 41 out of 16976 hypotheses for mustard_bottle (evidence > 2.0386548680945378)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.409
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.85
INFO:root:Testing 62 out of 19024 hypotheses for potted_meat_can (evidence > 2.0386548680945378)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.366
DEBUG:root:evidences for each object: [ 1.30557894  0.621932    6.97538706  3.98223158 10.512227    4.29209895
  1.48533896  6.40920347  0.85016627  7.36620608]
DEBUG:root:mean evidence: 4.38, std: 3.193 -> th=8.40978160192459
INFO:root:current most likely hypothesis: hot_sauce with evidence 10.51
DEBUG:root:evidences for each object: [ 1.30557894  0.621932    6.97538706  3.98223158 10.512227    4.29209895
  1.48533896  6.40920347  0.85016627  7.36620608]
DEBUG:root:mean evidence: 4.38, std: 3.193 -> th=8.40978160192459
DEBUG:root:evidences for each object: [ 1.30557894  0.621932    6.97538706  3.98223158 10.512227    4.29209895
  1.48533896  6.40920347  0.85016627  7.36620608]
DEBUG:root:mean evidence: 4.38, std: 3.193 -> th=8.935392952044879
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 37 ---
INFO:uvicorn.access:192.168.1.217:64449 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.49624631,  0.07607022,  0.86484272],
       [-0.15152135, -0.98845398,  0.        ],
       [ 0.85485723, -0.13104214,  0.5020429 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.01483128,  0.012553  ,  0.00098842])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.306
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 6 out of 14880 hypotheses for montys_heart (evidence > 2.102445400481148)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.975
INFO:root:Testing 10 out of 23200 hypotheses for ramen_pack (evidence > 2.102445400481148)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.373
INFO:root:Testing 251 out of 14864 hypotheses for hot_sauce (evidence > 2.102445400481148)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.809
INFO:root:Testing 54 out of 12560 hypotheses for harissa_oil (evidence > 2.102445400481148)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.691
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.485
INFO:root:Testing 41 out of 16976 hypotheses for mustard_bottle (evidence > 2.102445400481148)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.724
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.85
INFO:root:Testing 60 out of 19024 hypotheses for potted_meat_can (evidence > 2.102445400481148)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.366
DEBUG:root:evidences for each object: [ 1.30557894  0.621932    5.97538706  4.37338767 10.80851933  4.69133678
  1.48533896  5.72406475  0.85016627  6.36620608]
DEBUG:root:mean evidence: 4.22, std: 3.064 -> th=8.646815467990953
INFO:root:current most likely hypothesis: hot_sauce with evidence 10.81
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 38 ---
INFO:uvicorn.access:192.168.1.217:64449 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.620862  ,  0.04606998,  0.78256497],
       [-0.0739998 , -0.99725826,  0.        ],
       [ 0.78041938, -0.05790965,  0.62256892]]), 'pose_fully_defined': False}}, {'patch': array([-0.00970248,  0.02178958, -0.00172186])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.306
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 4 out of 14880 hypotheses for montys_heart (evidence > 2.1617038669977386)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.136
INFO:root:Testing 15 out of 23200 hypotheses for ramen_pack (evidence > 2.1617038669977386)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.779
INFO:root:Testing 269 out of 14864 hypotheses for hot_sauce (evidence > 2.1617038669977386)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.265
INFO:root:Testing 37 out of 12560 hypotheses for harissa_oil (evidence > 2.1617038669977386)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 5.127
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.485
INFO:root:Testing 30 out of 16976 hypotheses for mustard_bottle (evidence > 2.1617038669977386)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.724
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.85
INFO:root:Testing 50 out of 19024 hypotheses for potted_meat_can (evidence > 2.1617038669977386)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.366
DEBUG:root:evidences for each object: [ 1.30557894  0.621932    6.13593229  4.7794977  11.26492175  5.12718649
  1.48533896  4.72406475  0.85016627  5.36620608]
DEBUG:root:mean evidence: 4.166, std: 3.102 -> th=9.011937403381978
INFO:root:current most likely hypothesis: hot_sauce with evidence 11.26
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 39 ---
INFO:uvicorn.access:192.168.1.217:64449 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.80578971,  0.04599645,  0.59041279],
       [-0.05698967, -0.99837477,  0.        ],
       [ 0.58945324, -0.03364743,  0.80710144]]), 'pose_fully_defined': False}}, {'patch': array([-0.00625088,  0.01890568, -0.00487459])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.306
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 4 out of 14880 hypotheses for montys_heart (evidence > 2.2529843508454945)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.558
INFO:root:Testing 21 out of 23200 hypotheses for ramen_pack (evidence > 2.2529843508454945)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.065
INFO:root:Testing 269 out of 14864 hypotheses for hot_sauce (evidence > 2.2529843508454945)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.748
INFO:root:Testing 31 out of 12560 hypotheses for harissa_oil (evidence > 2.2529843508454945)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 5.58
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.485
INFO:root:Testing 16 out of 16976 hypotheses for mustard_bottle (evidence > 2.2529843508454945)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.36
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.85
INFO:root:Testing 33 out of 19024 hypotheses for potted_meat_can (evidence > 2.2529843508454945)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.302
DEBUG:root:evidences for each object: [ 1.30557894  0.621932    6.55774544  5.06451399 11.74842298  5.58018671
  1.48533896  4.36034977  0.85016627  5.30159484]
DEBUG:root:mean evidence: 4.288, std: 3.258 -> th=9.398738387613196
INFO:root:current most likely hypothesis: hot_sauce with evidence 11.75
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 40 ---
INFO:uvicorn.access:192.168.1.217:64449 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.83681034,  0.0457244 ,  0.54558018],
       [-0.05455991, -0.9985105 ,  0.        ],
       [ 0.54476753, -0.0297668 ,  0.83805863]]), 'pose_fully_defined': False}}, {'patch': array([-0.00158493,  0.00533651, -0.00019208])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.306
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 4 out of 14880 hypotheses for montys_heart (evidence > 2.3496845969032982)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.871
INFO:root:Testing 17 out of 23200 hypotheses for ramen_pack (evidence > 2.3496845969032982)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.338
INFO:root:Testing 257 out of 14864 hypotheses for hot_sauce (evidence > 2.3496845969032982)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.132
INFO:root:Testing 11 out of 12560 hypotheses for harissa_oil (evidence > 2.3496845969032982)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 6.05
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.485
INFO:root:Testing 13 out of 16976 hypotheses for mustard_bottle (evidence > 2.3496845969032982)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.317
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.85
INFO:root:Testing 29 out of 19024 hypotheses for potted_meat_can (evidence > 2.3496845969032982)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.274
DEBUG:root:evidences for each object: [ 1.30557894  0.621932    6.8710379   5.3383192  12.13243869  6.05045757
  1.48533896  4.31670262  0.85016627  5.27445955]
DEBUG:root:mean evidence: 4.425, std: 3.394 -> th=9.70595095332997
INFO:root:current most likely hypothesis: hot_sauce with evidence 12.13
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 41 ---
INFO:uvicorn.access:192.168.1.217:64449 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.75781214,  0.04495518,  0.65092226],
       [-0.05921823, -0.99824506,  0.        ],
       [ 0.64977993, -0.03854646,  0.7591444 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00232211, -0.01428072,  0.00193367])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.306
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 3 out of 14880 hypotheses for montys_heart (evidence > 2.426487738332492)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.371
INFO:root:Testing 32 out of 23200 hypotheses for ramen_pack (evidence > 2.426487738332492)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.579
INFO:root:Testing 255 out of 14864 hypotheses for hot_sauce (evidence > 2.426487738332492)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.618
INFO:root:Testing 6 out of 12560 hypotheses for harissa_oil (evidence > 2.426487738332492)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 6.501
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.485
INFO:root:Testing 5 out of 16976 hypotheses for mustard_bottle (evidence > 2.426487738332492)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.317
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.85
INFO:root:Testing 26 out of 19024 hypotheses for potted_meat_can (evidence > 2.426487738332492)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.274
DEBUG:root:evidences for each object: [ 1.30557894  0.621932    7.3710379   5.57928217 12.61847299  6.50119557
  1.48533896  3.31670262  0.85016627  4.27445955]
DEBUG:root:mean evidence: 4.392, std: 3.582 -> th=10.094778392492275
INFO:root:current most likely hypothesis: hot_sauce with evidence 12.62
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 42 ---
INFO:uvicorn.access:192.168.1.217:64449 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.59031483,  0.06791959,  0.80431047],
       [-0.11430247, -0.993446  ,  0.        ],
       [ 0.79903901, -0.09193467,  0.59420928]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01316212, -0.0355423 ,  0.00641252])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.306
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 3 out of 14880 hypotheses for montys_heart (evidence > 2.5236945981230683)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.651
INFO:root:Testing 23 out of 23200 hypotheses for ramen_pack (evidence > 2.5236945981230683)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.97
INFO:root:Testing 253 out of 14864 hypotheses for hot_sauce (evidence > 2.5236945981230683)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.008
INFO:root:Testing 7 out of 12560 hypotheses for harissa_oil (evidence > 2.5236945981230683)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 6.886
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.485
INFO:root:Testing 2 out of 16976 hypotheses for mustard_bottle (evidence > 2.5236945981230683)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.317
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.85
INFO:root:Testing 23 out of 19024 hypotheses for potted_meat_can (evidence > 2.5236945981230683)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.133
DEBUG:root:evidences for each object: [ 1.30557894  0.621932    7.65094852  5.96963925 13.00777888  6.88582275
  1.48533896  2.31670262  0.85016627  4.1327974 ]
DEBUG:root:mean evidence: 4.423, std: 3.777 -> th=10.406223103939894
INFO:root:current most likely hypothesis: hot_sauce with evidence 13.01
DEBUG:root:evidences for each object: [ 1.30557894  0.621932    7.65094852  5.96963925 13.00777888  6.88582275
  1.48533896  2.31670262  0.85016627  4.1327974 ]
DEBUG:root:mean evidence: 4.423, std: 3.777 -> th=10.406223103939894
DEBUG:root:evidences for each object: [ 1.30557894  0.621932    7.65094852  5.96963925 13.00777888  6.88582275
  1.48533896  2.31670262  0.85016627  4.1327974 ]
DEBUG:root:mean evidence: 4.423, std: 3.777 -> th=11.056612047936138
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 43 ---
INFO:uvicorn.access:192.168.1.217:64449 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.32303373,  0.02446099,  0.94607128],
       [-0.07550655, -0.99714531,  0.        ],
       [ 0.94337054, -0.07143458,  0.32395853]]), 'pose_fully_defined': False}}, {'patch': array([-0.00448392, -0.01707514, -0.00360365])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.306
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 3 out of 14880 hypotheses for montys_heart (evidence > 2.6015557759849735)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.985
INFO:root:Testing 24 out of 23200 hypotheses for ramen_pack (evidence > 2.6015557759849735)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.307
INFO:root:Testing 253 out of 14864 hypotheses for hot_sauce (evidence > 2.6015557759849735)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.48
INFO:root:Testing 13 out of 12560 hypotheses for harissa_oil (evidence > 2.6015557759849735)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No 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
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.485
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.317
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.85
INFO:root:Testing 9 out of 19024 hypotheses for potted_meat_can (evidence > 2.6015557759849735)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.541
DEBUG:root:evidences for each object: [ 1.30557894  0.621932    7.98467637  6.30739717 13.48004205  7.31280947
  1.48533896  2.31670262  0.85016627  4.54054756]
DEBUG:root:mean evidence: 4.621, std: 3.953 -> th=10.78403364388603
INFO:root:current most likely hypothesis: hot_sauce with evidence 13.48
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 44 ---
INFO:uvicorn.access:192.168.1.217:64450 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.64177749,  0.04733742,  0.76542852],
       [-0.07356003, -0.99729079,  0.        ],
       [ 0.76335481, -0.05630495,  0.64352092]]), 'pose_fully_defined': False}}, {'patch': array([-0.00039677,  0.02800746, -0.00329238])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.306
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 2 out of 14880 hypotheses for montys_heart (evidence > 2.6960084109715066)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.36
INFO:root:Testing 24 out of 23200 hypotheses for ramen_pack (evidence > 2.6960084109715066)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.7
INFO:root:Testing 252 out of 14864 hypotheses for hot_sauce (evidence > 2.6960084109715066)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.952
INFO:root:Testing 161 out of 12560 hypotheses for harissa_oil (evidence > 2.6960084109715066)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 7.76
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.485
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.317
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.85
INFO:root:Testing 4 out of 19024 hypotheses for potted_meat_can (evidence > 2.6960084109715066)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.962
DEBUG:root:evidences for each object: [ 1.30557894  0.621932    8.35996672  6.69964505 13.95188743  7.76012051
  1.48533896  2.31670262  0.85016627  4.96199372]
DEBUG:root:mean evidence: 4.831, std: 4.138 -> th=11.16150994724197
INFO:root:current most likely hypothesis: hot_sauce with evidence 13.95
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 45 ---
INFO:uvicorn.access:192.168.1.217:64452 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.44014312,  0.13115545,  0.88829741],
       [-0.28557455,  0.9583565 ,  0.        ],
       [-0.85130559, -0.25367514,  0.45926868]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01980386, -0.01352359,  0.00670796])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.306
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 3 out of 14880 hypotheses for montys_heart (evidence > 2.790377486810492)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.733
INFO:root:Testing 24 out of 23200 hypotheses for ramen_pack (evidence > 2.790377486810492)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.197
INFO:root:Testing 252 out of 14864 hypotheses for hot_sauce (evidence > 2.790377486810492)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.443
INFO:root:Testing 94 out of 12560 hypotheses for harissa_oil (evidence > 2.790377486810492)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 8.128
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.485
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.317
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.85
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 2.790377486810492)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.393
DEBUG:root:evidences for each object: [ 1.30557894  0.621932    8.73290719  7.19665429 14.4434952   8.12776586
  1.48533896  2.31670262  0.85016627  5.39305606]
DEBUG:root:mean evidence: 5.047, std: 4.329 -> th=11.554796161256565
INFO:root:current most likely hypothesis: hot_sauce with evidence 14.44
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 46 ---
INFO:uvicorn.access:192.168.1.217:64452 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.77535006,  0.1181359 ,  0.6203839 ],
       [-0.15062624,  0.98859078,  0.        ],
       [-0.61330581, -0.09344609,  0.78429829]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00776352,  0.0346536 , -0.00762559])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.306
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 3 out of 14880 hypotheses for montys_heart (evidence > 2.8886990403141404)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.191
INFO:root:Testing 23 out of 23200 hypotheses for ramen_pack (evidence > 2.8886990403141404)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.688
INFO:root:Testing 252 out of 14864 hypotheses for hot_sauce (evidence > 2.8886990403141404)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.933
INFO:root:Testing 394 out of 12560 hypotheses for harissa_oil (evidence > 2.8886990403141404)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 8.533
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.485
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.317
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.85
INFO:root:Testing 4 out of 19024 hypotheses for potted_meat_can (evidence > 2.8886990403141404)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.858
DEBUG:root:evidences for each object: [ 1.30557894  0.621932    9.19133215  7.68834051 14.93255308  8.53313761
  1.48533896  2.31670262  0.85016627  5.85750049]
DEBUG:root:mean evidence: 5.278, std: 4.533 -> th=11.946042460451242
INFO:root:current most likely hypothesis: hot_sauce with evidence 14.93
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 47 ---
INFO:uvicorn.access:192.168.1.217:64452 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64452 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.81847954,  0.12582398,  0.5605886 ],
       [-0.15194399,  0.98838911,  0.        ],
       [-0.55407966, -0.08517807,  0.82809445]]), 'pose_fully_defined': False}}, {'patch': array([-0.0014186 ,  0.00871758, -0.00102527])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.306
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 11 out of 14880 hypotheses for montys_heart (evidence > 2.9865106151128096)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.66
INFO:root:Testing 23 out of 23200 hypotheses for ramen_pack (evidence > 2.9865106151128096)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.183
INFO:root:Testing 252 out of 14864 hypotheses for hot_sauce (evidence > 2.9865106151128096)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 15.422
INFO:root:Testing 293 out of 12560 hypotheses for harissa_oil (evidence > 2.9865106151128096)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 8.427
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.485
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.317
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.85
INFO:root:Testing 18 out of 19024 hypotheses for potted_meat_can (evidence > 2.9865106151128096)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.327
DEBUG:root:evidences for each object: [ 1.30557894  0.621932    9.65996223  8.18318077 15.42224988  8.4268944
  1.48533896  2.31670262  0.85016627  6.32733892]
DEBUG:root:mean evidence: 5.46, std: 4.706 -> th=12.337799907652416
INFO:root:current most likely hypothesis: hot_sauce with evidence 15.42
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 48 ---
INFO:uvicorn.access:192.168.1.217:64452 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.88029833,  0.12930994,  0.45645787],
       [-0.1453337 ,  0.98938269,  0.        ],
       [-0.45161152, -0.06633871,  0.88974503]]), 'pose_fully_defined': False}}, {'patch': array([ 6.85434655e-03, -3.41043063e-06, -2.43283655e-03])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.306
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 32 out of 14880 hypotheses for montys_heart (evidence > 3.0844499769131026)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.125
INFO:root:Testing 23 out of 23200 hypotheses for ramen_pack (evidence > 3.0844499769131026)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.996
INFO:root:Testing 252 out of 14864 hypotheses for hot_sauce (evidence > 3.0844499769131026)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 15.904
INFO:root:Testing 109 out of 12560 hypotheses for harissa_oil (evidence > 3.0844499769131026)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 8.83
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.485
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.317
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.85
INFO:root:Testing 52 out of 19024 hypotheses for potted_meat_can (evidence > 3.0844499769131026)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.73
DEBUG:root:evidences for each object: [ 1.30557894  0.621932   10.12470196  7.99611207 15.90421943  8.83034309
  1.48533896  2.31670262  0.85016627  6.73007164]
DEBUG:root:mean evidence: 5.617, std: 4.874 -> th=12.72337554496401
INFO:root:current most likely hypothesis: hot_sauce with evidence 15.9
DEBUG:root:evidences for each object: [ 1.30557894  0.621932   10.12470196  7.99611207 15.90421943  8.83034309
  1.48533896  2.31670262  0.85016627  6.73007164]
DEBUG:root:mean evidence: 5.617, std: 4.874 -> th=12.72337554496401
DEBUG:root:evidences for each object: [ 1.30557894  0.621932   10.12470196  7.99611207 15.90421943  8.83034309
  1.48533896  2.31670262  0.85016627  6.73007164]
DEBUG:root:mean evidence: 5.617, std: 4.874 -> th=13.51858651652426
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 49 ---
INFO:uvicorn.access:192.168.1.217:64452 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.90091751,  0.12825955,  0.41460479],
       [-0.14094432,  0.99001752,  0.        ],
       [-0.41046601, -0.05843619,  0.91000157]]), 'pose_fully_defined': False}}, {'patch': array([-0.00133737, -0.02553862, -0.0002932 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.306
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.622
INFO:root:Testing 25 out of 14880 hypotheses for montys_heart (evidence > 3.180843886241002)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.523
INFO:root:Testing 23 out of 23200 hypotheses for ramen_pack (evidence > 3.180843886241002)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.229
INFO:root:Testing 252 out of 14864 hypotheses for hot_sauce (evidence > 3.180843886241002)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 16.384
INFO:root:Testing 60 out of 12560 hypotheses for harissa_oil (evidence > 3.180843886241002)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 9.179
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.485
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.317
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.85
INFO:root:Testing 51 out of 19024 hypotheses for potted_meat_can (evidence > 3.180843886241002)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.122
DEBUG:root:evidences for each object: [ 1.30557894  0.621932   10.52271146  8.22888237 16.38441512  9.17869657
  1.48533896  2.31670262  0.85016627  7.12161891]
DEBUG:root:mean evidence: 5.802, std: 5.056 -> th=13.1075320922749
INFO:root:current most likely hypothesis: hot_sauce with evidence 16.38
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 50 ---
INFO:uvicorn.access:192.168.1.217:64452 - "POST /capture HTTP/1.1" 200
INFO:root:saving model to /Users/nleadholm/tbp/results/monty/projects/evidence_eval_runs/logs/probe_triggered_data_collection_for_inference/soup_can/0
DEBUG:root:Removing and closing python log handler: <FileHandler /Users/nleadholm/tbp/results/monty/projects/evidence_eval_runs/logs/probe_triggered_data_collection_for_inference/soup_can/log.txt (NOTSET)>
