INFO:root:Logger initialized at 2025-09-29 12:19:47.146003
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/ramen_packet/observations',
                                    'vive_url': 'http://192.168.1.237:3001/pose'},
                  'env_init_func': <class 'custom_classes.probe_triggered_environment.ProbeTriggeredUltrasoundEnvironment'>,
                  'rng': RandomState(MT19937) at 0x7FDBC8FA0440,
                  '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/ramen_packet',
                    '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': '5umn6i0i'},
 '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([[ 0.9109722 ,  0.18206071,  0.37011288],
       [-0.19597772,  0.98060835,  0.        ],
       [-0.36293578, -0.07253388,  0.92898679]]), '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: {'ramen_pack', 'harissa_oil', 'montys_brain', 'tuna_fish_can', 'tomato_soup_can', 'mustard_bottle', 'montys_heart', 'hot_sauce', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 1 ---
INFO:uvicorn.access:192.168.1.217:64346 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.92815715,  0.1684704 ,  0.33187653],
       [-0.17859252,  0.98392312,  0.        ],
       [-0.32654099, -0.05927067,  0.94332283]]), 'pose_fully_defined': False}}, {'patch': array([-0.0002147 ,  0.02598579,  0.00147171])}]
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 0.02 seconds. New max evidence: 0.499
INFO:root:Testing 21832 out of 21832 hypotheses for tomato_soup_can (evidence > 0.0)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.05 seconds. New max evidence: 0.5
INFO:root:Testing 16976 out of 16976 hypotheses for mustard_bottle (evidence > 0.0)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 17728 out of 17728 hypotheses for tuna_fish_can (evidence > 0.0)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.04 seconds. New max evidence: 0.5
INFO:root:Testing 19024 out of 19024 hypotheses for potted_meat_can (evidence > 0.0)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.04 seconds. New max evidence: 0.5
INFO:root:current most likely hypothesis: montys_heart with evidence 0.5
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'harissa_oil', 'montys_brain', 'tuna_fish_can', 'tomato_soup_can', 'mustard_bottle', 'montys_heart', 'hot_sauce', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 2 ---
INFO:uvicorn.access:192.168.1.217:64346 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.91601528,  0.17683658,  0.36006225],
       [-0.18955002,  0.98187107,  0.        ],
       [-0.35353471, -0.06824981,  0.93292828]]), 'pose_fully_defined': False}}, {'patch': array([-0.00097939,  0.0136209 ,  0.00444157])}]
INFO:root:Testing 5079 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 0.01 seconds. New max evidence: 0.99
INFO:root:Testing 1489 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 0.0 seconds. New max evidence: 0.851
INFO:root:Testing 4061 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 0.01 seconds. New max evidence: 0.984
INFO:root:Testing 10927 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 0.03 seconds. New max evidence: 0.998
INFO:root:Testing 4590 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 0.01 seconds. New max evidence: 0.994
INFO:root:Testing 4004 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 0.01 seconds. New max evidence: 0.994
INFO:root:Testing 8478 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 0.02 seconds. New max evidence: 0.995
INFO:root:Testing 8943 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 0.02 seconds. New max evidence: 0.994
INFO:root:Testing 7489 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 0.02 seconds. New max evidence: 0.998
INFO:root:Testing 9934 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 0.02 seconds. New max evidence: 0.996
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 1.0
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'harissa_oil', 'montys_brain', 'tuna_fish_can', 'tomato_soup_can', 'mustard_bottle', 'montys_heart', 'hot_sauce', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 3 ---
INFO:uvicorn.access:192.168.1.217:64346 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.89547884,  0.22572706,  0.38362082],
       [-0.24442809,  0.96966742,  0.        ],
       [-0.37198461, -0.0937677 ,  0.9234907 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.0057319 , -0.00769531,  0.01240964])}]
INFO:root:Testing 955 out of 14424 hypotheses for numenta_mug (evidence > 0.1996224999039392)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.483
INFO:root:Testing 82 out of 10992 hypotheses for montys_brain (evidence > 0.1996224999039392)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.235
INFO:root:Testing 762 out of 14880 hypotheses for montys_heart (evidence > 0.1996224999039392)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.427
INFO:root:Testing 4309 out of 23200 hypotheses for ramen_pack (evidence > 0.1996224999039392)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 1.488
INFO:root:Testing 1318 out of 14864 hypotheses for hot_sauce (evidence > 0.1996224999039392)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.457
INFO:root:Testing 745 out of 12560 hypotheses for harissa_oil (evidence > 0.1996224999039392)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.484
INFO:root:Testing 2756 out of 21832 hypotheses for tomato_soup_can (evidence > 0.1996224999039392)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 1.463
INFO:root:Testing 2642 out of 16976 hypotheses for mustard_bottle (evidence > 0.1996224999039392)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 1.473
INFO:root:Testing 3324 out of 17728 hypotheses for tuna_fish_can (evidence > 0.1996224999039392)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 1.481
INFO:root:Testing 5229 out of 19024 hypotheses for potted_meat_can (evidence > 0.1996224999039392)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 1.485
INFO:root:current most likely hypothesis: ramen_pack with evidence 1.49
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'harissa_oil', 'montys_brain', 'tuna_fish_can', 'tomato_soup_can', 'mustard_bottle', 'montys_heart', 'hot_sauce', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 4 ---
INFO:uvicorn.access:192.168.1.217:64346 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.88583173,  0.21514334,  0.41111493],
       [-0.23601057,  0.97175049,  0.        ],
       [-0.39950113, -0.09702747,  0.91158352]]), 'pose_fully_defined': False}}, {'patch': array([-0.00080714, -0.02202771,  0.00907696])}]
INFO:root:Testing 598 out of 14424 hypotheses for numenta_mug (evidence > 0.2975046434317039)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.958
INFO:root:Testing 68 out of 10992 hypotheses for montys_brain (evidence > 0.2975046434317039)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.643
INFO:root:Testing 525 out of 14880 hypotheses for montys_heart (evidence > 0.2975046434317039)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.868
INFO:root:Testing 3475 out of 23200 hypotheses for ramen_pack (evidence > 0.2975046434317039)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 1.976
INFO:root:Testing 750 out of 14864 hypotheses for hot_sauce (evidence > 0.2975046434317039)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.695
INFO:root:Testing 531 out of 12560 hypotheses for harissa_oil (evidence > 0.2975046434317039)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.974
INFO:root:Testing 2060 out of 21832 hypotheses for tomato_soup_can (evidence > 0.2975046434317039)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 1.935
INFO:root:Testing 2161 out of 16976 hypotheses for mustard_bottle (evidence > 0.2975046434317039)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 1.942
INFO:root:Testing 2907 out of 17728 hypotheses for tuna_fish_can (evidence > 0.2975046434317039)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 1.97
INFO:root:Testing 4322 out of 19024 hypotheses for potted_meat_can (evidence > 0.2975046434317039)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 1.97
DEBUG:root:evidences for each object: [1.95782289 1.64332997 1.86844068 1.97595768 1.69517868 1.97369107
 1.93472892 1.94185835 1.96975734 1.96955931]
DEBUG:root:mean evidence: 1.893, std: 0.116 -> th=1.5807661430467324
INFO:root:current most likely hypothesis: ramen_pack with evidence 1.98
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'harissa_oil', 'montys_brain', 'tuna_fish_can', 'tomato_soup_can', 'mustard_bottle', 'montys_heart', 'hot_sauce', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 5 ---
INFO:uvicorn.access:192.168.1.217:64346 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64346 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.88771557,  0.20018327,  0.41459344],
       [-0.21997998,  0.97550439,  0.        ],
       [-0.40443772, -0.09120226,  0.91000675]]), 'pose_fully_defined': False}}, {'patch': array([-0.00357276, -0.01983431,  0.00232334])}]
INFO:root:Testing 282 out of 14424 hypotheses for numenta_mug (evidence > 0.3951915357616831)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.431
INFO:root:Testing 51 out of 10992 hypotheses for montys_brain (evidence > 0.3951915357616831)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.715
INFO:root:Testing 260 out of 14880 hypotheses for montys_heart (evidence > 0.3951915357616831)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.209
INFO:root:Testing 2886 out of 23200 hypotheses for ramen_pack (evidence > 0.3951915357616831)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 2.468
INFO:root:Testing 101 out of 14864 hypotheses for hot_sauce (evidence > 0.3951915357616831)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.817
INFO:root:Testing 326 out of 12560 hypotheses for harissa_oil (evidence > 0.3951915357616831)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.464
INFO:root:Testing 1345 out of 21832 hypotheses for tomato_soup_can (evidence > 0.3951915357616831)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.397
INFO:root:Testing 1532 out of 16976 hypotheses for mustard_bottle (evidence > 0.3951915357616831)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.406
INFO:root:Testing 2482 out of 17728 hypotheses for tuna_fish_can (evidence > 0.3951915357616831)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 2.432
INFO:root:Testing 3737 out of 19024 hypotheses for potted_meat_can (evidence > 0.3951915357616831)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 2.458
DEBUG:root:evidences for each object: [2.43107073 1.71488816 2.20885453 2.46815717 1.81689219 2.46395964
 2.39677597 2.40602938 2.43248811 2.45786751]
DEBUG:root:mean evidence: 2.28, std: 0.267 -> th=1.9745257363105648
INFO:root:current most likely hypothesis: ramen_pack with evidence 2.47
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'tomato_soup_can', 'mustard_bottle', 'montys_heart', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 6 ---
INFO:uvicorn.access:192.168.1.217:64346 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.86112874,  0.16693891,  0.48019652],
       [-0.19031732,  0.98172263,  0.        ],
       [-0.47141979, -0.09138971,  0.87716093]]), 'pose_fully_defined': False}}, {'patch': array([-0.00186945,  0.00542361,  0.00711461])}]
INFO:root:Testing 180 out of 14424 hypotheses for numenta_mug (evidence > 0.4936314340776411)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.895
INFO:root:Testing 21 out of 10992 hypotheses for montys_brain (evidence > 0.4936314340776411)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.972
INFO:root:Testing 151 out of 14880 hypotheses for montys_heart (evidence > 0.4936314340776411)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.647
INFO:root:Testing 2624 out of 23200 hypotheses for ramen_pack (evidence > 0.4936314340776411)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 2.939
INFO:root:Testing 20 out of 14864 hypotheses for hot_sauce (evidence > 0.4936314340776411)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.817
INFO:root:Testing 267 out of 12560 hypotheses for harissa_oil (evidence > 0.4936314340776411)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.913
INFO:root:Testing 1004 out of 21832 hypotheses for tomato_soup_can (evidence > 0.4936314340776411)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.867
INFO:root:Testing 1290 out of 16976 hypotheses for mustard_bottle (evidence > 0.4936314340776411)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.857
INFO:root:Testing 2112 out of 17728 hypotheses for tuna_fish_can (evidence > 0.4936314340776411)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 2.923
INFO:root:Testing 3343 out of 19024 hypotheses for potted_meat_can (evidence > 0.4936314340776411)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 2.919
DEBUG:root:evidences for each object: [2.89516248 1.97236161 2.64681444 2.93859222 0.81689219 2.91316247
 2.86742621 2.85705136 2.92309012 2.91886109]
DEBUG:root:mean evidence: 2.575, std: 0.649 -> th=2.3508737762421545
INFO:root:current most likely hypothesis: ramen_pack with evidence 2.94
DEBUG:root:evidences for each object: [2.89516248 1.97236161 2.64681444 2.93859222 0.81689219 2.91316247
 2.86742621 2.85705136 2.92309012 2.91886109]
DEBUG:root:mean evidence: 2.575, std: 0.649 -> th=2.3508737762421545
DEBUG:root:evidences for each object: [2.89516248 1.97236161 2.64681444 2.93859222 0.81689219 2.91316247
 2.86742621 2.85705136 2.92309012 2.91886109]
DEBUG:root:mean evidence: 2.575, std: 0.649 -> th=2.4978033872572896
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'tomato_soup_can', 'mustard_bottle', 'montys_heart', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 7 ---
INFO:uvicorn.access:192.168.1.217:64346 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.82656848,  0.21539685,  0.51998919],
       [-0.25217009,  0.96768292,  0.        ],
       [-0.50318466, -0.13112572,  0.85417284]]), 'pose_fully_defined': False}}, {'patch': array([-0.00741137,  0.02090235,  0.00286176])}]
INFO:root:Testing 136 out of 14424 hypotheses for numenta_mug (evidence > 0.5877184440605387)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.372
INFO:root:Testing 12 out of 10992 hypotheses for montys_brain (evidence > 0.5877184440605387)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.176
INFO:root:Testing 80 out of 14880 hypotheses for montys_heart (evidence > 0.5877184440605387)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.12
INFO:root:Testing 2401 out of 23200 hypotheses for ramen_pack (evidence > 0.5877184440605387)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 3.413
INFO:root:Testing 6 out of 14864 hypotheses for hot_sauce (evidence > 0.5877184440605387)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
INFO:root:Testing 184 out of 12560 hypotheses for harissa_oil (evidence > 0.5877184440605387)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.381
INFO:root:Testing 729 out of 21832 hypotheses for tomato_soup_can (evidence > 0.5877184440605387)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.28
INFO:root:Testing 1125 out of 16976 hypotheses for mustard_bottle (evidence > 0.5877184440605387)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.319
INFO:root:Testing 1827 out of 17728 hypotheses for tuna_fish_can (evidence > 0.5877184440605387)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 3.385
INFO:root:Testing 2707 out of 19024 hypotheses for potted_meat_can (evidence > 0.5877184440605387)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 3.381
DEBUG:root:evidences for each object: [3.3723008  2.17631714 3.11994061 3.41257783 0.44000356 3.38080221
 3.28011964 3.31946798 3.38526316 3.38126575]
DEBUG:root:mean evidence: 2.927, std: 0.901 -> th=2.7300622663373804
INFO:root:current most likely hypothesis: ramen_pack with evidence 3.41
DEBUG:root:evidences for each object: [3.3723008  2.17631714 3.11994061 3.41257783 0.44000356 3.38080221
 3.28011964 3.31946798 3.38526316 3.38126575]
DEBUG:root:mean evidence: 2.927, std: 0.901 -> th=2.7300622663373804
DEBUG:root:evidences for each object: [3.3723008  2.17631714 3.11994061 3.41257783 0.44000356 3.38080221
 3.28011964 3.31946798 3.38526316 3.38126575]
DEBUG:root:mean evidence: 2.927, std: 0.901 -> th=2.900691157983467
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'tomato_soup_can', 'mustard_bottle', 'montys_heart', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 8 ---
INFO:uvicorn.access:192.168.1.217:64346 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.75817941,  0.20412012,  0.61927293],
       [-0.25996741,  0.96561739,  0.        ],
       [-0.59798071, -0.16099078,  0.7851758 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00323043,  0.02218404, -0.00659485])}]
INFO:root:Testing 104 out of 14424 hypotheses for numenta_mug (evidence > 0.6825155665843448)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.8
INFO:root:Testing 10 out of 10992 hypotheses for montys_brain (evidence > 0.6825155665843448)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.44
INFO:root:Testing 59 out of 14880 hypotheses for montys_heart (evidence > 0.6825155665843448)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.371
INFO:root:Testing 2281 out of 23200 hypotheses for ramen_pack (evidence > 0.6825155665843448)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 3.85
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
INFO:root:Testing 153 out of 12560 hypotheses for harissa_oil (evidence > 0.6825155665843448)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.77
INFO:root:Testing 598 out of 21832 hypotheses for tomato_soup_can (evidence > 0.6825155665843448)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.655
INFO:root:Testing 1000 out of 16976 hypotheses for mustard_bottle (evidence > 0.6825155665843448)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.797
INFO:root:Testing 1634 out of 17728 hypotheses for tuna_fish_can (evidence > 0.6825155665843448)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.764
INFO:root:Testing 2491 out of 19024 hypotheses for potted_meat_can (evidence > 0.6825155665843448)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 3.869
DEBUG:root:evidences for each object: [3.79995923 2.43995034 3.37123789 3.8499747  0.44000356 3.77031847
 3.65463893 3.79685572 3.76365964 3.86927652]
DEBUG:root:mean evidence: 3.276, std: 1.03 -> th=3.095421217765792
INFO:root:current most likely hypothesis: potted_meat_can with evidence 3.87
DEBUG:root:evidences for each object: [3.79995923 2.43995034 3.37123789 3.8499747  0.44000356 3.77031847
 3.65463893 3.79685572 3.76365964 3.86927652]
DEBUG:root:mean evidence: 3.276, std: 1.03 -> th=3.095421217765792
DEBUG:root:evidences for each object: [3.79995923 2.43995034 3.37123789 3.8499747  0.44000356 3.77031847
 3.65463893 3.79685572 3.76365964 3.86927652]
DEBUG:root:mean evidence: 3.276, std: 1.03 -> th=3.288885043876154
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'tomato_soup_can', 'mustard_bottle', 'montys_heart', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 9 ---
INFO:uvicorn.access:192.168.1.217:64346 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.82514133,  0.22161126,  0.51964434],
       [-0.25938173,  0.96577488,  0.        ],
       [-0.50185945, -0.13478625,  0.85438268]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0024787 ,  0.00899939, -0.00138301])}]
INFO:root:Testing 93 out of 14424 hypotheses for numenta_mug (evidence > 0.7738553044414478)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.195
INFO:root:Testing 8 out of 10992 hypotheses for montys_brain (evidence > 0.7738553044414478)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.44
INFO:root:Testing 51 out of 14880 hypotheses for montys_heart (evidence > 0.7738553044414478)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.536
INFO:root:Testing 2244 out of 23200 hypotheses for ramen_pack (evidence > 0.7738553044414478)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 4.32
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
INFO:root:Testing 136 out of 12560 hypotheses for harissa_oil (evidence > 0.7738553044414478)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.225
INFO:root:Testing 521 out of 21832 hypotheses for tomato_soup_can (evidence > 0.7738553044414478)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.091
INFO:root:Testing 883 out of 16976 hypotheses for mustard_bottle (evidence > 0.7738553044414478)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.238
INFO:root:Testing 1377 out of 17728 hypotheses for tuna_fish_can (evidence > 0.7738553044414478)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.207
INFO:root:Testing 2268 out of 19024 hypotheses for potted_meat_can (evidence > 0.7738553044414478)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 4.352
DEBUG:root:evidences for each object: [4.19470466 1.43995034 3.53556164 4.32015194 0.44000356 4.22455029
 4.09134062 4.23824855 4.2066752  4.35217197]
DEBUG:root:mean evidence: 3.504, std: 1.319 -> th=3.481737573458509
INFO:root:current most likely hypothesis: potted_meat_can with evidence 4.35
DEBUG:root:evidences for each object: [4.19470466 1.43995034 3.53556164 4.32015194 0.44000356 4.22455029
 4.09134062 4.23824855 4.2066752  4.35217197]
DEBUG:root:mean evidence: 3.504, std: 1.319 -> th=3.481737573458509
DEBUG:root:evidences for each object: [4.19470466 1.43995034 3.53556164 4.32015194 0.44000356 4.22455029
 4.09134062 4.23824855 4.2066752  4.35217197]
DEBUG:root:mean evidence: 3.504, std: 1.319 -> th=3.699346171799666
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'harissa_oil', 'tuna_fish_can', 'tomato_soup_can', 'mustard_bottle', 'montys_heart', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 10 ---
INFO:uvicorn.access:192.168.1.217:64346 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.83099385,  0.20215597,  0.51824915],
       [-0.23637623,  0.97166161,  0.        ],
       [-0.5035628 , -0.12250178,  0.85522969]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00258088,  0.00971004, -0.00034655])}]
INFO:root:Testing 73 out of 14424 hypotheses for numenta_mug (evidence > 0.870434393364627)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.06
INFO:root:Testing 4 out of 10992 hypotheses for montys_brain (evidence > 0.870434393364627)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
INFO:root:Testing 44 out of 14880 hypotheses for montys_heart (evidence > 0.870434393364627)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.66
INFO:root:Testing 2193 out of 23200 hypotheses for ramen_pack (evidence > 0.870434393364627)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 4.457
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
INFO:root:Testing 127 out of 12560 hypotheses for harissa_oil (evidence > 0.870434393364627)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.225
INFO:root:Testing 429 out of 21832 hypotheses for tomato_soup_can (evidence > 0.870434393364627)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.23
INFO:root:Testing 802 out of 16976 hypotheses for mustard_bottle (evidence > 0.870434393364627)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.616
INFO:root:Testing 1218 out of 17728 hypotheses for tuna_fish_can (evidence > 0.870434393364627)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.556
INFO:root:Testing 2079 out of 19024 hypotheses for potted_meat_can (evidence > 0.870434393364627)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 4.749
DEBUG:root:evidences for each object: [4.06018166 0.67380331 3.6604585  4.45672448 0.44000356 3.22455029
 4.2301817  4.61631426 4.55575461 4.74856378]
DEBUG:root:mean evidence: 3.467, std: 1.521 -> th=3.7988510272646616
INFO:root:current most likely hypothesis: potted_meat_can with evidence 4.75
DEBUG:root:evidences for each object: [4.06018166 0.67380331 3.6604585  4.45672448 0.44000356 3.22455029
 4.2301817  4.61631426 4.55575461 4.74856378]
DEBUG:root:mean evidence: 3.467, std: 1.521 -> th=3.7988510272646616
DEBUG:root:evidences for each object: [4.06018166 0.67380331 3.6604585  4.45672448 0.44000356 3.22455029
 4.2301817  4.61631426 4.55575461 4.74856378]
DEBUG:root:mean evidence: 3.467, std: 1.521 -> th=4.036279216468703
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: {'ramen_pack', 'tuna_fish_can', 'tomato_soup_can', 'mustard_bottle', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 11 ---
INFO:uvicorn.access:192.168.1.217:64346 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.86894036,  0.05996458,  0.4912707 ],
       [-0.06884512,  0.99762736,  0.        ],
       [-0.49010509, -0.03382159,  0.87100695]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00391322,  0.01768597, -0.00371612])}]
INFO:root:Testing 58 out of 14424 hypotheses for numenta_mug (evidence > 0.9497127568161652)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.54
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
INFO:root:Testing 35 out of 14880 hypotheses for montys_heart (evidence > 0.9497127568161652)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.437
INFO:root:Testing 2063 out of 23200 hypotheses for ramen_pack (evidence > 0.9497127568161652)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 4.593
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
INFO:root:Testing 109 out of 12560 hypotheses for harissa_oil (evidence > 0.9497127568161652)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.225
INFO:root:Testing 287 out of 21832 hypotheses for tomato_soup_can (evidence > 0.9497127568161652)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.885
INFO:root:Testing 622 out of 16976 hypotheses for mustard_bottle (evidence > 0.9497127568161652)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.75
INFO:root:Testing 1042 out of 17728 hypotheses for tuna_fish_can (evidence > 0.9497127568161652)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.245
INFO:root:Testing 1839 out of 19024 hypotheses for potted_meat_can (evidence > 0.9497127568161652)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 4.842
DEBUG:root:evidences for each object: [4.53981046 0.67380331 3.43695971 4.59340288 0.44000356 2.22455029
 3.88466859 4.75020167 4.24477366 4.84244412]
DEBUG:root:mean evidence: 3.363, std: 1.586 -> th=3.873955297964538
INFO:root:current most likely hypothesis: potted_meat_can with evidence 4.84
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'tuna_fish_can', 'tomato_soup_can', 'mustard_bottle', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 12 ---
INFO:uvicorn.access:192.168.1.217:64348 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.89156416,  0.22581342,  0.39258329],
       [-0.24552504,  0.96939025,  0.        ],
       [-0.38056641, -0.09638903,  0.91971646]]), 'pose_fully_defined': False}}, {'patch': array([-0.00665069, -0.07055338,  0.00948916])}]
INFO:root:Testing 17 out of 14424 hypotheses for numenta_mug (evidence > 0.9684888244911343)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.907
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
INFO:root:Testing 18 out of 14880 hypotheses for montys_heart (evidence > 0.9684888244911343)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.635
INFO:root:Testing 1748 out of 23200 hypotheses for ramen_pack (evidence > 0.9684888244911343)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 4.978
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
INFO:root:Testing 35 out of 12560 hypotheses for harissa_oil (evidence > 0.9684888244911343)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.696
INFO:root:Testing 185 out of 21832 hypotheses for tomato_soup_can (evidence > 0.9684888244911343)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.145
INFO:root:Testing 433 out of 16976 hypotheses for mustard_bottle (evidence > 0.9684888244911343)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.131
INFO:root:Testing 752 out of 17728 hypotheses for tuna_fish_can (evidence > 0.9684888244911343)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.657
INFO:root:Testing 1470 out of 19024 hypotheses for potted_meat_can (evidence > 0.9684888244911343)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.286
DEBUG:root:evidences for each object: [4.90656592 0.67380331 3.63537438 4.97821942 0.44000356 2.69641933
 4.144869   5.13062262 4.65689608 5.28638531]
DEBUG:root:mean evidence: 3.655, std: 1.719 -> th=4.229108247048204
INFO:root:current most likely hypothesis: potted_meat_can with evidence 5.29
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'tuna_fish_can', 'mustard_bottle', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 13 ---
INFO:uvicorn.access:192.168.1.217:64348 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.94031562,  0.22177614,  0.25811216],
       [-0.2295546 ,  0.97329578,  0.        ],
       [-0.25121948, -0.05925083,  0.96611496]]), 'pose_fully_defined': False}}, {'patch': array([-0.00471433,  0.01269744,  0.00449202])}]
INFO:root:Testing 18 out of 14424 hypotheses for numenta_mug (evidence > 1.0572770617620506)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.095
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
INFO:root:Testing 18 out of 14880 hypotheses for montys_heart (evidence > 1.0572770617620506)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.722
INFO:root:Testing 1747 out of 23200 hypotheses for ramen_pack (evidence > 1.0572770617620506)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 5.312
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
INFO:root:Testing 34 out of 12560 hypotheses for harissa_oil (evidence > 1.0572770617620506)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.098
INFO:root:Testing 185 out of 21832 hypotheses for tomato_soup_can (evidence > 1.0572770617620506)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.317
INFO:root:Testing 429 out of 16976 hypotheses for mustard_bottle (evidence > 1.0572770617620506)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.428
INFO:root:Testing 750 out of 17728 hypotheses for tuna_fish_can (evidence > 1.0572770617620506)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.097
INFO:root:Testing 1461 out of 19024 hypotheses for potted_meat_can (evidence > 1.0572770617620506)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.714
DEBUG:root:evidences for each object: [5.09546592 0.67380331 3.7219313  5.31160721 0.44000356 3.09848298
 4.31720553 5.42814165 5.09680911 5.71445654]
DEBUG:root:mean evidence: 3.89, std: 1.836 -> th=4.571565228977445
INFO:root:current most likely hypothesis: potted_meat_can with evidence 5.71
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'tuna_fish_can', 'mustard_bottle', 'potted_meat_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 14 ---
INFO:uvicorn.access:192.168.1.217:64348 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.22295592,  0.15166927,  0.96295747],
       [-0.56246024,  0.82682433,  0.        ],
       [-0.79619667, -0.54162529,  0.26965332]]), 'pose_fully_defined': False}}, {'patch': array([0.00717139, 0.02049313, 0.00766333])}]
INFO:root:Testing 18 out of 14424 hypotheses for numenta_mug (evidence > 1.1428913072443612)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.095
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
INFO:root:Testing 17 out of 14880 hypotheses for montys_heart (evidence > 1.1428913072443612)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.474
INFO:root:Testing 1745 out of 23200 hypotheses for ramen_pack (evidence > 1.1428913072443612)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 5.037
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
INFO:root:Testing 34 out of 12560 hypotheses for harissa_oil (evidence > 1.1428913072443612)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.098
INFO:root:Testing 183 out of 21832 hypotheses for tomato_soup_can (evidence > 1.1428913072443612)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.469
INFO:root:Testing 417 out of 16976 hypotheses for mustard_bottle (evidence > 1.1428913072443612)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.113
INFO:root:Testing 724 out of 17728 hypotheses for tuna_fish_can (evidence > 1.1428913072443612)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.091
INFO:root:Testing 1442 out of 19024 hypotheses for potted_meat_can (evidence > 1.1428913072443612)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.598
DEBUG:root:evidences for each object: [4.09546592 0.67380331 3.4738053  5.03678277 0.44000356 2.09848298
 4.46938101 5.11274077 5.09135668 5.59754339]
DEBUG:root:mean evidence: 3.609, std: 1.8 -> th=4.478034713018737
INFO:root:current most likely hypothesis: potted_meat_can with evidence 5.6
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'ramen_pack', 'tuna_fish_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 15 ---
INFO:uvicorn.access:192.168.1.217:64349 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.94601187,  0.15671616,  0.28372801],
       [-0.16343245,  0.98655453,  0.        ],
       [-0.27991315, -0.04637036,  0.9589048 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01004704, -0.04810251, -0.06528867])}]
INFO:root:Testing 18 out of 14424 hypotheses for numenta_mug (evidence > 1.1195086782546841)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.187
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
INFO:root:Testing 8 out of 14880 hypotheses for montys_heart (evidence > 1.1195086782546841)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.761
INFO:root:Testing 1731 out of 23200 hypotheses for ramen_pack (evidence > 1.1195086782546841)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 4.8
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
INFO:root:Testing 29 out of 12560 hypotheses for harissa_oil (evidence > 1.1195086782546841)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.871
INFO:root:Testing 157 out of 21832 hypotheses for tomato_soup_can (evidence > 1.1195086782546841)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.612
INFO:root:Testing 393 out of 16976 hypotheses for mustard_bottle (evidence > 1.1195086782546841)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.172
INFO:root:Testing 657 out of 17728 hypotheses for tuna_fish_can (evidence > 1.1195086782546841)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.729
INFO:root:Testing 1373 out of 19024 hypotheses for potted_meat_can (evidence > 1.1195086782546841)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.402
DEBUG:root:evidences for each object: [4.18665364 0.67380331 2.76052673 4.79956469 0.44000356 1.87067429
 4.61225592 5.17246887 4.72932728 5.40238071]
DEBUG:root:mean evidence: 3.465, std: 1.785 -> th=4.3219045667187945
INFO:root:current most likely hypothesis: potted_meat_can with evidence 5.4
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'tuna_fish_can', 'tomato_soup_can', 'mustard_bottle', 'potted_meat_can'}
INFO:root:--- Global Matching Step 16 ---
INFO:uvicorn.access:192.168.1.217:64349 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.97286542,  0.13422865,  0.18845571],
       [-0.13667768,  0.99061557,  0.        ],
       [-0.18668716, -0.02575769,  0.98208169]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00134821,  0.02094888, -0.00207456])}]
INFO:root:Testing 19 out of 14424 hypotheses for numenta_mug (evidence > 1.0804761416796982)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.175
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
INFO:root:Testing 7 out of 14880 hypotheses for montys_heart (evidence > 1.0804761416796982)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.96
INFO:root:Testing 657 out of 23200 hypotheses for ramen_pack (evidence > 1.0804761416796982)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.969
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
INFO:root:Testing 8 out of 12560 hypotheses for harissa_oil (evidence > 1.0804761416796982)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.874
INFO:root:Testing 142 out of 21832 hypotheses for tomato_soup_can (evidence > 1.0804761416796982)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.81
INFO:root:Testing 267 out of 16976 hypotheses for mustard_bottle (evidence > 1.0804761416796982)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.555
INFO:root:Testing 563 out of 17728 hypotheses for tuna_fish_can (evidence > 1.0804761416796982)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.146
INFO:root:Testing 1145 out of 19024 hypotheses for potted_meat_can (evidence > 1.0804761416796982)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.811
DEBUG:root:evidences for each object: [4.17479915 0.67380331 2.96008448 4.96916662 0.44000356 1.87391594
 4.81002121 5.55513773 5.14603889 5.81092402]
DEBUG:root:mean evidence: 3.641, std: 1.915 -> th=4.648739218956045
INFO:root:current most likely hypothesis: potted_meat_can with evidence 5.81
DEBUG:root:evidences for each object: [4.17479915 0.67380331 2.96008448 4.96916662 0.44000356 1.87391594
 4.81002121 5.55513773 5.14603889 5.81092402]
DEBUG:root:mean evidence: 3.641, std: 1.915 -> th=4.648739218956045
DEBUG:root:evidences for each object: [4.17479915 0.67380331 2.96008448 4.96916662 0.44000356 1.87391594
 4.81002121 5.55513773 5.14603889 5.81092402]
DEBUG:root:mean evidence: 3.641, std: 1.915 -> th=4.9392854201407985
DEBUG:root:Hypothesis jump indicated: change in most-likely rotation of MLH
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'tuna_fish_can', 'tomato_soup_can', 'mustard_bottle', 'potted_meat_can'}
INFO:root:--- Global Matching Step 17 ---
INFO:uvicorn.access:192.168.1.217:64349 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99343779,  0.08823227,  0.07277647],
       [-0.08846686,  0.99607912,  0.        ],
       [-0.07249113, -0.00643831,  0.99734828]]), 'pose_fully_defined': False}}, {'patch': array([-0.0033334 ,  0.01187964,  0.00365645])}]
INFO:root:Testing 16 out of 14424 hypotheses for numenta_mug (evidence > 1.1621848047390113)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.471
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
INFO:root:Testing 6 out of 14880 hypotheses for montys_heart (evidence > 1.1621848047390113)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.254
INFO:root:Testing 648 out of 23200 hypotheses for ramen_pack (evidence > 1.1621848047390113)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.916
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
INFO:root:Testing 5 out of 12560 hypotheses for harissa_oil (evidence > 1.1621848047390113)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.284
INFO:root:Testing 131 out of 21832 hypotheses for tomato_soup_can (evidence > 1.1621848047390113)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.045
INFO:root:Testing 264 out of 16976 hypotheses for mustard_bottle (evidence > 1.1621848047390113)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.993
INFO:root:Testing 547 out of 17728 hypotheses for tuna_fish_can (evidence > 1.1621848047390113)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.515
INFO:root:Testing 1074 out of 19024 hypotheses for potted_meat_can (evidence > 1.1621848047390113)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.231
DEBUG:root:evidences for each object: [4.47103984 0.67380331 3.25431048 4.91551109 0.44000356 2.28394005
 5.04469303 5.99325857 5.51518425 6.2307915 ]
DEBUG:root:mean evidence: 3.882, std: 2.012 -> th=4.984633198159555
INFO:root:current most likely hypothesis: potted_meat_can with evidence 6.23
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'tuna_fish_can', 'tomato_soup_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 18 ---
INFO:uvicorn.access:192.168.1.217:64349 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.97828196,  0.03953093,  0.20347413],
       [-0.04037557,  0.99918457,  0.        ],
       [-0.20330821, -0.00821538,  0.97908032]]), 'pose_fully_defined': False}}, {'patch': array([0.00709272, 0.01168289, 0.00034915])}]
INFO:root:Testing 15 out of 14424 hypotheses for numenta_mug (evidence > 1.2461582995398883)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.471
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
INFO:root:Testing 6 out of 14880 hypotheses for montys_heart (evidence > 1.2461582995398883)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.472
INFO:root:Testing 647 out of 23200 hypotheses for ramen_pack (evidence > 1.2461582995398883)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.311
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
INFO:root:Testing 5 out of 12560 hypotheses for harissa_oil (evidence > 1.2461582995398883)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.693
INFO:root:Testing 129 out of 21832 hypotheses for tomato_soup_can (evidence > 1.2461582995398883)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.115
INFO:root:Testing 261 out of 16976 hypotheses for mustard_bottle (evidence > 1.2461582995398883)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.375
INFO:root:Testing 525 out of 17728 hypotheses for tuna_fish_can (evidence > 1.2461582995398883)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.989
INFO:root:Testing 1042 out of 19024 hypotheses for potted_meat_can (evidence > 1.2461582995398883)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.613
DEBUG:root:evidences for each object: [3.47103984 0.67380331 3.47153522 5.31055629 0.44000356 2.69298136
 4.11467649 6.37479843 5.98892197 6.61256559]
DEBUG:root:mean evidence: 3.915, std: 2.1 -> th=5.290052470190008
INFO:root:current most likely hypothesis: potted_meat_can with evidence 6.61
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'ramen_pack', 'tuna_fish_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 19 ---
INFO:uvicorn.access:192.168.1.217:64349 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.9856311 ,  0.16878048,  0.00666996],
       [-0.16878423,  0.98565302,  0.        ],
       [-0.00657426, -0.00112578,  0.99997776]]), 'pose_fully_defined': False}}, {'patch': array([-0.00996994, -0.00020254,  0.00316831])}]
INFO:root:Testing 14 out of 14424 hypotheses for numenta_mug (evidence > 1.3225131175475013)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.826
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
INFO:root:Testing 3 out of 14880 hypotheses for montys_heart (evidence > 1.3225131175475013)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No 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 609 out of 23200 hypotheses for ramen_pack (evidence > 1.3225131175475013)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.152
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
INFO:root:Testing 4 out of 12560 hypotheses for harissa_oil (evidence > 1.3225131175475013)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.023
INFO:root:Testing 126 out of 21832 hypotheses for tomato_soup_can (evidence > 1.3225131175475013)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.294
INFO:root:Testing 240 out of 16976 hypotheses for mustard_bottle (evidence > 1.3225131175475013)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.845
INFO:root:Testing 496 out of 17728 hypotheses for tuna_fish_can (evidence > 1.3225131175475013)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.219
INFO:root:Testing 991 out of 19024 hypotheses for potted_meat_can (evidence > 1.3225131175475013)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.103
DEBUG:root:evidences for each object: [3.82571119 0.67380331 3.80643348 5.15237926 0.44000356 3.02260779
 4.29371658 6.84521566 6.21941075 7.10321256]
DEBUG:root:mean evidence: 4.138, std: 2.205 -> th=5.682570045748848
INFO:root:current most likely hypothesis: potted_meat_can with evidence 7.1
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'tuna_fish_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 20 ---
INFO:uvicorn.access:192.168.1.217:64351 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.20337766,  0.14485569,  0.96832554],
       [-0.5801396 ,  0.81451707,  0.        ],
       [-0.78871768, -0.56176399,  0.2496911 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.01542841, -0.01873569,  0.0689701 ])}]
INFO:root:Testing 13 out of 14424 hypotheses for numenta_mug (evidence > 1.4206425114372117)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.826
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
INFO:root:Testing 3 out of 14880 hypotheses for montys_heart (evidence > 1.4206425114372117)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.806
INFO:root:Testing 609 out of 23200 hypotheses for ramen_pack (evidence > 1.4206425114372117)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.197
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
INFO:root:Testing 12 out of 12560 hypotheses for harissa_oil (evidence > 1.4206425114372117)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.023
INFO:root:Testing 125 out of 21832 hypotheses for tomato_soup_can (evidence > 1.4206425114372117)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.277
INFO:root:Testing 240 out of 16976 hypotheses for mustard_bottle (evidence > 1.4206425114372117)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.957
INFO:root:Testing 472 out of 17728 hypotheses for tuna_fish_can (evidence > 1.4206425114372117)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.647
INFO:root:Testing 955 out of 19024 hypotheses for potted_meat_can (evidence > 1.4206425114372117)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.287
DEBUG:root:evidences for each object: [2.82571119 0.67380331 2.80643348 5.19680308 0.44000356 2.02260779
 4.27731689 6.95721576 6.64696596 7.28710378]
DEBUG:root:mean evidence: 3.913, std: 2.417 -> th=5.829683024277086
INFO:root:current most likely hypothesis: potted_meat_can with evidence 7.29
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'tuna_fish_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 21 ---
INFO:uvicorn.access:192.168.1.217:64351 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.4771882 ,  0.07901753,  0.87524148],
       [-0.16336528,  0.98656565,  0.        ],
       [-0.86348318, -0.14298407,  0.48368621]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00467184,  0.004791  , -0.00225069])}]
INFO:root:Testing 13 out of 14424 hypotheses for numenta_mug (evidence > 1.4574207560692711)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.826
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
INFO:root:Testing 1 out of 14880 hypotheses for montys_heart (evidence > 1.4574207560692711)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.806
INFO:root:Testing 608 out of 23200 hypotheses for ramen_pack (evidence > 1.4574207560692711)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.373
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
INFO:root:Testing 4 out of 12560 hypotheses for harissa_oil (evidence > 1.4574207560692711)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.416
INFO:root:Testing 101 out of 21832 hypotheses for tomato_soup_can (evidence > 1.4574207560692711)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.687
INFO:root:Testing 222 out of 16976 hypotheses for mustard_bottle (evidence > 1.4574207560692711)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.202
INFO:root:Testing 461 out of 17728 hypotheses for tuna_fish_can (evidence > 1.4574207560692711)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.104
INFO:root:Testing 917 out of 19024 hypotheses for potted_meat_can (evidence > 1.4574207560692711)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.539
DEBUG:root:evidences for each object: [1.82571119 0.67380331 1.80643348 5.37280095 0.44000356 1.41649161
 4.68734234 7.2016816  7.10382807 7.53929453]
DEBUG:root:mean evidence: 3.807, std: 2.727 -> th=6.031435626457682
INFO:root:current most likely hypothesis: potted_meat_can with evidence 7.54
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'tuna_fish_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 22 ---
INFO:uvicorn.access:192.168.1.217:64351 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.43197465,  0.08870777,  0.89751258],
       [-0.2011565 ,  0.97955912,  0.        ],
       [-0.87916663, -0.18054049,  0.44098885]]), 'pose_fully_defined': False}}, {'patch': array([-0.00839658,  0.0071101 , -0.00278227])}]
INFO:root:Testing 1 out of 14424 hypotheses for numenta_mug (evidence > 1.5078589066144206)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.507
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
INFO:root:Testing 1 out of 14880 hypotheses for montys_heart (evidence > 1.5078589066144206)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.238
INFO:root:Testing 533 out of 23200 hypotheses for ramen_pack (evidence > 1.5078589066144206)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.528
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.416
INFO:root:Testing 90 out of 21832 hypotheses for tomato_soup_can (evidence > 1.5078589066144206)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.02
INFO:root:Testing 163 out of 16976 hypotheses for mustard_bottle (evidence > 1.5078589066144206)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.422
INFO:root:Testing 416 out of 17728 hypotheses for tuna_fish_can (evidence > 1.5078589066144206)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.473
INFO:root:Testing 836 out of 19024 hypotheses for potted_meat_can (evidence > 1.5078589066144206)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.939
DEBUG:root:evidences for each object: [1.5068555  0.67380331 1.23812762 5.52831527 0.44000356 1.41649161
 5.01952418 7.42192284 7.47251791 7.93943843]
DEBUG:root:mean evidence: 3.866, std: 2.945 -> th=6.35155074136024
INFO:root:current most likely hypothesis: potted_meat_can with evidence 7.94
DEBUG:root:evidences for each object: [1.5068555  0.67380331 1.23812762 5.52831527 0.44000356 1.41649161
 5.01952418 7.42192284 7.47251791 7.93943843]
DEBUG:root:mean evidence: 3.866, std: 2.945 -> th=6.35155074136024
DEBUG:root:evidences for each object: [1.5068555  0.67380331 1.23812762 5.52831527 0.44000356 1.41649161
 5.01952418 7.42192284 7.47251791 7.93943843]
DEBUG:root:mean evidence: 3.866, std: 2.945 -> th=6.748522662695255
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'tuna_fish_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 23 ---
INFO:uvicorn.access:192.168.1.217:64351 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.20356759,  0.18910462,  0.96062463],
       [-0.68060101, -0.73265426,  0.        ],
       [ 0.70380572, -0.6538021 ,  0.27784945]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00374643, -0.01776879, -0.03521671])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.507
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.238
INFO:root:Testing 525 out of 23200 hypotheses for ramen_pack (evidence > 1.5878876853400596)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.528
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.416
INFO:root:Testing 84 out of 21832 hypotheses for tomato_soup_can (evidence > 1.5878876853400596)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.02
INFO:root:Testing 135 out of 16976 hypotheses for mustard_bottle (evidence > 1.5878876853400596)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.422
INFO:root:Testing 367 out of 17728 hypotheses for tuna_fish_can (evidence > 1.5878876853400596)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.504
INFO:root:Testing 785 out of 19024 hypotheses for potted_meat_can (evidence > 1.5878876853400596)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.939
DEBUG:root:evidences for each object: [1.5068555  0.67380331 1.23812762 4.52831527 0.44000356 1.41649161
 4.01952418 6.42192284 6.50379594 6.93943843]
DEBUG:root:mean evidence: 3.369, std: 2.476 -> th=5.55155074136024
INFO:root:current most likely hypothesis: potted_meat_can with evidence 6.94
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'tuna_fish_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 24 ---
INFO:uvicorn.access:192.168.1.217:64351 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.94614588,  0.16669628,  0.27752535],
       [-0.17351213, -0.98483173,  0.        ],
       [ 0.27331577, -0.04815401,  0.96071831]]), 'pose_fully_defined': False}}, {'patch': array([-0.0149401 ,  0.01679938,  0.02706284])}]
INFO:root:Testing 4 out of 14424 hypotheses for numenta_mug (evidence > 1.3878876853400595)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.59
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.238
INFO:root:Testing 478 out of 23200 hypotheses for ramen_pack (evidence > 1.3878876853400595)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.809
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
INFO:root:Testing 5 out of 12560 hypotheses for harissa_oil (evidence > 1.3878876853400595)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.514
INFO:root:Testing 79 out of 21832 hypotheses for tomato_soup_can (evidence > 1.3878876853400595)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.074
INFO:root:Testing 116 out of 16976 hypotheses for mustard_bottle (evidence > 1.3878876853400595)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.059
INFO:root:Testing 364 out of 17728 hypotheses for tuna_fish_can (evidence > 1.3878876853400595)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.891
INFO:root:Testing 735 out of 19024 hypotheses for potted_meat_can (evidence > 1.3878876853400595)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.473
DEBUG:root:evidences for each object: [1.58973592 0.67380331 1.23812762 3.80946503 0.44000356 1.51442302
 4.07380056 6.0594373  6.89099948 6.47272341]
DEBUG:root:mean evidence: 3.276, std: 2.385 -> th=5.512799582848546
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 6.89
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'tuna_fish_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 25 ---
INFO:uvicorn.access:192.168.1.217:64351 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64351 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.37848577,  0.21022625,  0.90141747],
       [-0.48556594, -0.87420004,  0.        ],
       [ 0.78801919, -0.43769762,  0.43295098]]), 'pose_fully_defined': False}}, {'patch': array([-0.00062558,  0.01085143,  0.00267927])}]
INFO:root:Testing 6 out of 14424 hypotheses for numenta_mug (evidence > 1.378199895712136)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.342
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.238
INFO:root:Testing 406 out of 23200 hypotheses for ramen_pack (evidence > 1.378199895712136)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.99
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
INFO:root:Testing 3 out of 12560 hypotheses for harissa_oil (evidence > 1.378199895712136)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.373
INFO:root:Testing 79 out of 21832 hypotheses for tomato_soup_can (evidence > 1.378199895712136)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.528
INFO:root:Testing 76 out of 16976 hypotheses for mustard_bottle (evidence > 1.378199895712136)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.373
INFO:root:Testing 356 out of 17728 hypotheses for tuna_fish_can (evidence > 1.378199895712136)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.336
INFO:root:Testing 646 out of 19024 hypotheses for potted_meat_can (evidence > 1.378199895712136)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.856
DEBUG:root:evidences for each object: [1.34199495 0.67380331 1.23812762 3.98987046 0.44000356 1.37298426
 4.52834674 5.37277391 7.33607573 6.85575284]
DEBUG:root:mean evidence: 3.315, std: 2.492 -> th=5.868860582260463
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 7.34
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 26 ---
INFO:uvicorn.access:192.168.1.217:64351 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.41168335,  0.22046443,  0.88425802],
       [-0.47208794, -0.88155146,  0.        ],
       [ 0.77951895, -0.41744755,  0.46699866]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00286238,  0.00606487, -0.01529149])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.342
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.238
INFO:root:Testing 65 out of 23200 hypotheses for ramen_pack (evidence > 1.467215145565115)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.464
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.373
INFO:root:Testing 61 out of 21832 hypotheses for tomato_soup_can (evidence > 1.467215145565115)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.787
INFO:root:Testing 51 out of 16976 hypotheses for mustard_bottle (evidence > 1.467215145565115)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.295
INFO:root:Testing 320 out of 17728 hypotheses for tuna_fish_can (evidence > 1.467215145565115)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.316
INFO:root:Testing 591 out of 19024 hypotheses for potted_meat_can (evidence > 1.467215145565115)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.999
DEBUG:root:evidences for each object: [1.34199495 0.67380331 1.23812762 3.4643461  0.44000356 1.37298426
 4.78732061 5.29526885 7.31586196 5.99888539]
DEBUG:root:mean evidence: 3.193, std: 2.375 -> th=5.852689571620816
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 7.32
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 27 ---
INFO:uvicorn.access:192.168.1.217:64351 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.67679257,  0.21884212,  0.70289398],
       [-0.30766733, -0.95149399,  0.        ],
       [ 0.6687994 , -0.21625752,  0.71129463]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00240422, -0.01806767,  0.00412068])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.342
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.238
INFO:root:Testing 31 out of 23200 hypotheses for ramen_pack (evidence > 1.4631723929052036)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.856
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.373
INFO:root:Testing 59 out of 21832 hypotheses for tomato_soup_can (evidence > 1.4631723929052036)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.656
INFO:root:Testing 16 out of 16976 hypotheses for mustard_bottle (evidence > 1.4631723929052036)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.295
INFO:root:Testing 315 out of 17728 hypotheses for tuna_fish_can (evidence > 1.4631723929052036)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.348
INFO:root:Testing 492 out of 19024 hypotheses for potted_meat_can (evidence > 1.4631723929052036)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.966
DEBUG:root:evidences for each object: [1.34199495 0.67380331 1.23812762 3.85563269 0.44000356 1.37298426
 4.65550087 4.29526885 7.34757401 5.965538  ]
DEBUG:root:mean evidence: 3.119, std: 2.306 -> th=5.878059204793398
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 7.35
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'potted_meat_can'}
INFO:root:--- Global Matching Step 28 ---
INFO:uvicorn.access:192.168.1.217:64353 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.95008363,  0.03208236, -0.31034145],
       [-0.0337487 , -0.99943035,  0.        ],
       [-0.31016467,  0.01047362,  0.95062515]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00968286, -0.03587779, -0.04473198])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.342
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.238
INFO:root:Testing 22 out of 23200 hypotheses for ramen_pack (evidence > 1.4695148011983488)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.249
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.373
INFO:root:Testing 56 out of 21832 hypotheses for tomato_soup_can (evidence > 1.4695148011983488)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.405
INFO:root:Testing 10 out of 16976 hypotheses for mustard_bottle (evidence > 1.4695148011983488)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.155
INFO:root:Testing 293 out of 17728 hypotheses for tuna_fish_can (evidence > 1.4695148011983488)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.797
INFO:root:Testing 330 out of 19024 hypotheses for potted_meat_can (evidence > 1.4695148011983488)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.716
DEBUG:root:evidences for each object: [1.34199495 0.67380331 1.23812762 4.24940642 0.44000356 1.37298426
 4.40535672 4.15510913 7.79690977 5.71562969]
DEBUG:root:mean evidence: 3.139, std: 2.356 -> th=6.2375278144277475
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 7.8
DEBUG:root:evidences for each object: [1.34199495 0.67380331 1.23812762 4.24940642 0.44000356 1.37298426
 4.40535672 4.15510913 7.79690977 5.71562969]
DEBUG:root:mean evidence: 3.139, std: 2.356 -> th=6.2375278144277475
DEBUG:root:evidences for each object: [1.34199495 0.67380331 1.23812762 4.24940642 0.44000356 1.37298426
 4.40535672 4.15510913 7.79690977 5.71562969]
DEBUG:root:mean evidence: 3.139, std: 2.356 -> th=6.627373302829482
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 29 ---
INFO:uvicorn.access:192.168.1.217:64353 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.9523628 ,  0.02344247, -0.30406503],
       [-0.0246076 , -0.99969719,  0.        ],
       [-0.30397296,  0.00748231,  0.95265128]]), 'pose_fully_defined': False}}, {'patch': array([-0.00233917,  0.02394018, -0.00525803])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.342
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.238
INFO:root:Testing 20 out of 23200 hypotheses for ramen_pack (evidence > 1.5593819536069367)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No 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
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.373
INFO:root:Testing 47 out of 21832 hypotheses for tomato_soup_can (evidence > 1.5593819536069367)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.201
INFO:root:Testing 5 out of 16976 hypotheses for mustard_bottle (evidence > 1.5593819536069367)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.155
INFO:root:Testing 291 out of 17728 hypotheses for tuna_fish_can (evidence > 1.5593819536069367)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.241
INFO:root:Testing 223 out of 19024 hypotheses for potted_meat_can (evidence > 1.5593819536069367)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.716
DEBUG:root:evidences for each object: [1.34199495 0.67380331 1.23812762 4.64566321 0.44000356 1.37298426
 4.20139628 3.15510913 8.24132251 4.71562969]
DEBUG:root:mean evidence: 3.003, std: 2.346 -> th=6.593058010250895
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 8.24
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 30 ---
INFO:uvicorn.access:192.168.1.217:64353 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.96304644,  0.09802107, -0.25086534],
       [-0.10125914, -0.99486008,  0.        ],
       [-0.24957591,  0.02540241,  0.968022  ]]), 'pose_fully_defined': False}}, {'patch': array([-0.01020149,  0.00159375, -0.02089787])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.342
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.238
INFO:root:Testing 19 out of 23200 hypotheses for ramen_pack (evidence > 1.6482645025627232)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.646
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.373
INFO:root:Testing 44 out of 21832 hypotheses for tomato_soup_can (evidence > 1.6482645025627232)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.978
INFO:root:Testing 4 out of 16976 hypotheses for mustard_bottle (evidence > 1.6482645025627232)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.019
INFO:root:Testing 309 out of 17728 hypotheses for tuna_fish_can (evidence > 1.6482645025627232)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.241
INFO:root:Testing 107 out of 19024 hypotheses for potted_meat_can (evidence > 1.6482645025627232)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.341
DEBUG:root:evidences for each object: [1.34199495 0.67380331 1.23812762 3.64566321 0.44000356 1.37298426
 3.9782604  3.01854394 7.24132251 4.34100695]
DEBUG:root:mean evidence: 2.729, std: 2.022 -> th=5.7930580102508955
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 7.24
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 31 ---
INFO:uvicorn.access:192.168.1.217:64353 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64353 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.9042221 ,  0.09471998, -0.41642589],
       [-0.10418296, -0.99455815,  0.        ],
       [-0.41415976,  0.04338448,  0.90916966]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01704347, -0.02384987,  0.01003155])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.342
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.238
INFO:root:Testing 21 out of 23200 hypotheses for ramen_pack (evidence > 1.4482645025627239)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.017
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.373
INFO:root:Testing 33 out of 21832 hypotheses for tomato_soup_can (evidence > 1.4482645025627239)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.978
INFO:root:Testing 5 out of 16976 hypotheses for mustard_bottle (evidence > 1.4482645025627239)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.833
INFO:root:Testing 341 out of 17728 hypotheses for tuna_fish_can (evidence > 1.4482645025627239)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.517
INFO:root:Testing 137 out of 19024 hypotheses for potted_meat_can (evidence > 1.4482645025627239)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.878
DEBUG:root:evidences for each object: [1.34199495 0.67380331 1.23812762 4.01650772 0.44000356 1.37298426
 2.9782604  2.83305375 7.51716891 3.87807093]
DEBUG:root:mean evidence: 2.629, std: 2.033 -> th=6.013735124087994
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 7.52
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 32 ---
INFO:uvicorn.access:192.168.1.217:64353 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.92853222,  0.08914289, -0.36039071],
       [-0.09556469, -0.99542322,  0.        ],
       [-0.35874128,  0.03444063,  0.93280145]]), 'pose_fully_defined': False}}, {'patch': array([-0.00019004, -0.01578272, -0.00152025])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.342
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.238
INFO:root:Testing 19 out of 23200 hypotheses for ramen_pack (evidence > 1.5034337810219984)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.39
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.373
INFO:root:Testing 6 out of 21832 hypotheses for tomato_soup_can (evidence > 1.5034337810219984)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.978
INFO:root:Testing 2 out of 16976 hypotheses for mustard_bottle (evidence > 1.5034337810219984)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 2.131
INFO:root:Testing 310 out of 17728 hypotheses for tuna_fish_can (evidence > 1.5034337810219984)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.678
INFO:root:Testing 82 out of 19024 hypotheses for potted_meat_can (evidence > 1.5034337810219984)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.662
DEBUG:root:evidences for each object: [1.34199495 0.67380331 1.23812762 4.38994914 0.44000356 1.37298426
 1.9782604  2.13135796 7.6782107  3.66180875]
DEBUG:root:mean evidence: 2.491, std: 2.096 -> th=6.142568560233036
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 7.68
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 33 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.99580027,  0.08681538, -0.02906749],
       [-0.08685208, -0.99622122,  0.        ],
       [-0.02895765,  0.00252457,  0.99957745]]), 'pose_fully_defined': False}}, {'patch': array([ 4.30686174e-06, -1.02091263e-02,  2.15027839e-02])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.342
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.238
INFO:root:Testing 17 out of 23200 hypotheses for ramen_pack (evidence > 1.5356421400582585)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.668
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.373
INFO:root:Testing 2 out of 21832 hypotheses for tomato_soup_can (evidence > 1.5356421400582585)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.489
INFO:root:Testing 2 out of 16976 hypotheses for mustard_bottle (evidence > 1.5356421400582585)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 1.446
INFO:root:Testing 265 out of 17728 hypotheses for tuna_fish_can (evidence > 1.5356421400582585)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.405
INFO:root:Testing 50 out of 19024 hypotheses for potted_meat_can (evidence > 1.5356421400582585)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.673
DEBUG:root:evidences for each object: [1.34199495 0.67380331 1.23812762 4.66793586 0.44000356 1.37298426
 1.48903321 1.44595805 7.40510138 3.67349202]
DEBUG:root:mean evidence: 2.375, std: 2.095 -> th=5.924081104129525
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 7.41
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 34 ---
INFO:uvicorn.access:192.168.1.217:64353 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.9639731 ,  0.04097502, -0.26282485],
       [-0.04246805, -0.99909783,  0.        ],
       [-0.26258773,  0.01116166,  0.96484356]]), 'pose_fully_defined': False}}, {'patch': array([-0.0086452 ,  0.02568456,  0.01723321])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.342
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.238
INFO:root:Testing 16 out of 23200 hypotheses for ramen_pack (evidence > 1.481020276032381)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.668
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.373
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 1.481020276032381)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.456
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 1.446
INFO:root:Testing 252 out of 17728 hypotheses for tuna_fish_can (evidence > 1.481020276032381)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.876
INFO:root:Testing 29 out of 19024 hypotheses for potted_meat_can (evidence > 1.481020276032381)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.429
DEBUG:root:evidences for each object: [1.34199495 0.67380331 1.23812762 3.66793586 0.44000356 1.37298426
 1.45604151 1.44595805 7.87588995 3.42870172]
DEBUG:root:mean evidence: 2.294, std: 2.114 -> th=6.300711963711366
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 7.88
DEBUG:root:evidences for each object: [1.34199495 0.67380331 1.23812762 3.66793586 0.44000356 1.37298426
 1.45604151 1.44595805 7.87588995 3.42870172]
DEBUG:root:mean evidence: 2.294, std: 2.114 -> th=6.300711963711366
DEBUG:root:evidences for each object: [1.34199495 0.67380331 1.23812762 3.66793586 0.44000356 1.37298426
 1.45604151 1.44595805 7.87588995 3.42870172]
DEBUG:root:mean evidence: 2.294, std: 2.114 -> th=6.694506461443327
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 35 ---
INFO:uvicorn.access:192.168.1.217:64353 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.97759195,  0.00800922, -0.21035643],
       [-0.00819253, -0.99996644,  0.        ],
       [-0.21034937,  0.00172335,  0.97762476]]), 'pose_fully_defined': False}}, {'patch': array([-0.00465338,  0.03805909,  0.00830377])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.342
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.238
INFO:root:Testing 15 out of 23200 hypotheses for ramen_pack (evidence > 1.5751779909278412)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.87
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.373
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.456
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 1.446
INFO:root:Testing 437 out of 17728 hypotheses for tuna_fish_can (evidence > 1.5751779909278412)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.314
INFO:root:Testing 4 out of 19024 hypotheses for potted_meat_can (evidence > 1.5751779909278412)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 2.429
DEBUG:root:evidences for each object: [1.34199495 0.67380331 1.23812762 2.87015584 0.44000356 1.37298426
 1.45604151 1.44595805 8.31382335 2.42870172]
DEBUG:root:mean evidence: 2.158, std: 2.162 -> th=6.6510586832733605
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 8.31
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 36 ---
INFO:uvicorn.access:192.168.1.217:64353 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.90219746, -0.00523962, -0.43129142],
       [ 0.00580752, -0.99998314,  0.        ],
       [-0.43128414, -0.00250473,  0.90221268]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00054307,  0.01654219, -0.01304034])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.342
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.238
INFO:root:Testing 7 out of 23200 hypotheses for ramen_pack (evidence > 1.6627646708183397)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.02
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.373
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.456
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 1.446
INFO:root:Testing 353 out of 17728 hypotheses for tuna_fish_can (evidence > 1.6627646708183397)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.729
INFO:root:Testing 1 out of 19024 hypotheses for potted_meat_can (evidence > 1.6627646708183397)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.538
DEBUG:root:evidences for each object: [1.34199495 0.67380331 1.23812762 3.02034551 0.44000356 1.37298426
 1.45604151 1.44595805 8.7294463  1.53846896]
DEBUG:root:mean evidence: 2.126, std: 2.293 -> th=6.98355703648524
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 8.73
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 37 ---
INFO:uvicorn.access:192.168.1.217:64353 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.87665767,  0.02864192, -0.48026135],
       [-0.03265431, -0.99946671,  0.        ],
       [-0.48000523,  0.0156826 ,  0.87712544]]), 'pose_fully_defined': False}}, {'patch': array([-0.00063781,  0.01674108,  0.00257096])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.342
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.238
INFO:root:Testing 1 out of 23200 hypotheses for ramen_pack (evidence > 1.7458892591213093)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.988
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.373
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.456
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 1.446
INFO:root:Testing 344 out of 17728 hypotheses for tuna_fish_can (evidence > 1.7458892591213093)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.567
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.538
DEBUG:root:evidences for each object: [1.34199495 0.67380331 1.23812762 2.98750694 0.44000356 1.37298426
 1.45604151 1.44595805 8.5673108  1.53846896]
DEBUG:root:mean evidence: 2.106, std: 2.245 -> th=6.853848643697451
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 8.57
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 38 ---
INFO:uvicorn.access:192.168.1.217:64353 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.87815254,  0.0477929 , -0.47598735],
       [-0.05434395, -0.99852228,  0.        ],
       [-0.47528397,  0.02586703,  0.87945213]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00034741, -0.02121569,  0.00521204])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.342
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.238
INFO:root:Testing 1 out of 23200 hypotheses for ramen_pack (evidence > 1.7134621609243625)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.896
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.373
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.456
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 1.446
INFO:root:Testing 302 out of 17728 hypotheses for tuna_fish_can (evidence > 1.7134621609243625)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.952
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.538
DEBUG:root:evidences for each object: [1.34199495 0.67380331 1.23812762 2.8956756  0.44000356 1.37298426
 1.45604151 1.44595805 8.95171646 1.53846896]
DEBUG:root:mean evidence: 2.135, std: 2.353 -> th=7.161373170740684
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 8.95
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 39 ---
INFO:uvicorn.access:192.168.1.217:64355 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.87973031,  0.22474317, -0.41900488],
       [-0.24751887, -0.96888307,  0.        ],
       [-0.40596674,  0.10371161,  0.90798398]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01143191, -0.04715196, -0.03439299])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.342
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.238
INFO:root:Testing 1 out of 23200 hypotheses for ramen_pack (evidence > 1.7903432926851703)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.18
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.373
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.456
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 1.446
INFO:root:Testing 278 out of 17728 hypotheses for tuna_fish_can (evidence > 1.7903432926851703)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 9.271
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.538
DEBUG:root:evidences for each object: [1.34199495 0.67380331 1.23812762 3.17967056 0.44000356 1.37298426
 1.45604151 1.44595805 9.27064091 1.53846896]
DEBUG:root:mean evidence: 2.196, std: 2.455 -> th=7.4165127308267955
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 9.27
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 40 ---
INFO:uvicorn.access:192.168.1.217:64355 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.92099129,  0.19592059, -0.33673458],
       [-0.20807208, -0.9781135 ,  0.        ],
       [-0.32936463,  0.07006506,  0.94159961]]), 'pose_fully_defined': False}}, {'patch': array([6.21256196e-05, 3.40624753e-02, 2.01993774e-04])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.342
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.238
INFO:root:Testing 3 out of 23200 hypotheses for ramen_pack (evidence > 1.8541281827066989)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.012
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.373
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.456
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 1.446
INFO:root:Testing 278 out of 17728 hypotheses for tuna_fish_can (evidence > 1.8541281827066989)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 9.677
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.538
DEBUG:root:evidences for each object: [1.34199495 0.67380331 1.23812762 3.01238107 0.44000356 1.37298426
 1.45604151 1.44595805 9.67729883 1.53846896]
DEBUG:root:mean evidence: 2.22, std: 2.567 -> th=7.741839062463609
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 9.68
DEBUG:root:evidences for each object: [1.34199495 0.67380331 1.23812762 3.01238107 0.44000356 1.37298426
 1.45604151 1.44595805 9.67729883 1.53846896]
DEBUG:root:mean evidence: 2.22, std: 2.567 -> th=7.741839062463609
DEBUG:root:evidences for each object: [1.34199495 0.67380331 1.23812762 3.01238107 0.44000356 1.37298426
 1.45604151 1.44595805 9.67729883 1.53846896]
DEBUG:root:mean evidence: 2.22, std: 2.567 -> th=8.225704003867584
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 41 ---
INFO:uvicorn.access:192.168.1.217:64355 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64355 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.91045906,  0.15419123, -0.38378296],
       [-0.16697784, -0.98596065,  0.        ],
       [-0.37839489,  0.06408325,  0.92342333]]), 'pose_fully_defined': False}}, {'patch': array([0.00074098, 0.02570065, 0.00202926])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.342
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.238
INFO:root:Testing 1 out of 23200 hypotheses for ramen_pack (evidence > 1.935459765615902)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.012
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.373
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.456
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 1.446
INFO:root:Testing 278 out of 17728 hypotheses for tuna_fish_can (evidence > 1.935459765615902)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 9.576
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.538
DEBUG:root:evidences for each object: [1.34199495 0.67380331 1.23812762 2.01238107 0.44000356 1.37298426
 1.45604151 1.44595805 9.5755735  1.53846896]
DEBUG:root:mean evidence: 2.11, std: 2.524 -> th=7.660458798552455
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 9.58
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 42 ---
INFO:uvicorn.access:192.168.1.217:64355 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.96889852,  0.24677912,  0.01832296],
       [-0.24682056, -0.9690612 ,  0.        ],
       [ 0.01775607, -0.00452248,  0.99983212]]), 'pose_fully_defined': False}}, {'patch': array([-0.04046984, -0.04316707, -0.01161513])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.342
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.238
INFO:root:Testing 1 out of 23200 hypotheses for ramen_pack (evidence > 1.9151146996381136)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.755
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.373
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.456
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 1.446
INFO:root:Testing 260 out of 17728 hypotheses for tuna_fish_can (evidence > 1.9151146996381136)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.576
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.538
DEBUG:root:evidences for each object: [1.34199495 0.67380331 1.23812762 1.75541741 0.44000356 1.37298426
 1.45604151 1.44595805 8.5755735  1.53846896]
DEBUG:root:mean evidence: 1.984, std: 2.23 -> th=6.860458798552455
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 8.58
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 43 ---
INFO:uvicorn.access:192.168.1.217:64356 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.92003305,  0.07131578, -0.3852963 ],
       [-0.07728254, -0.99700923,  0.        ],
       [-0.38414397,  0.02977668,  0.92279291]]), 'pose_fully_defined': False}}, {'patch': array([ 0.04457884,  0.0066887 , -0.01433925])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.342
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.238
INFO:root:Testing 3 out of 23200 hypotheses for ramen_pack (evidence > 1.7151146996381135)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.118
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.373
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.456
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 1.446
INFO:root:Testing 250 out of 17728 hypotheses for tuna_fish_can (evidence > 1.7151146996381135)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.929
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.538
DEBUG:root:evidences for each object: [1.34199495 0.67380331 1.23812762 2.1176413  0.44000356 1.37298426
 1.45604151 1.44595805 7.92890587 1.53846896]
DEBUG:root:mean evidence: 1.955, std: 2.039 -> th=6.343124697318948
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 7.93
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 44 ---
INFO:uvicorn.access:192.168.1.217:64356 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.92521902,  0.10045115, -0.36589524],
       [-0.10793585, -0.99415786,  0.        ],
       [-0.36375763,  0.03949321,  0.93065604]]), 'pose_fully_defined': False}}, {'patch': array([-0.00097405,  0.0252063 ,  0.00105581])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.342
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.238
INFO:root:Testing 51 out of 23200 hypotheses for ramen_pack (evidence > 1.5857811743297363)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.036
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.373
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.456
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 1.446
INFO:root:Testing 247 out of 17728 hypotheses for tuna_fish_can (evidence > 1.5857811743297363)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.754
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.538
DEBUG:root:evidences for each object: [1.34199495 0.67380331 1.23812762 2.03557189 0.44000356 1.37298426
 1.45604151 1.44595805 7.75447983 1.53846896]
DEBUG:root:mean evidence: 1.93, std: 1.987 -> th=6.203583862036337
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 7.75
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 45 ---
INFO:uvicorn.access:192.168.1.217:64356 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.92263186,  0.02654308, -0.38476735],
       [-0.02875697, -0.99958643,  0.        ],
       [-0.38460823,  0.01106474,  0.92301359]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00759053,  0.02904663, -0.00222058])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.342
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.238
INFO:root:Testing 30 out of 23200 hypotheses for ramen_pack (evidence > 1.550895965509084)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.924
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.373
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.456
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 1.446
INFO:root:Testing 219 out of 17728 hypotheses for tuna_fish_can (evidence > 1.550895965509084)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.754
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.538
DEBUG:root:evidences for each object: [1.34199495 0.67380331 1.23812762 1.92436474 0.44000356 1.37298426
 1.45604151 1.44595805 6.75447983 1.53846896]
DEBUG:root:mean evidence: 1.819, std: 1.694 -> th=5.403583862036337
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 6.75
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 46 ---
INFO:uvicorn.access:192.168.1.217:64356 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.69330096,  0.11613659, -0.71122857],
       [-0.16521062, -0.98625831,  0.        ],
       [-0.70145509,  0.11750251,  0.70296083]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01794501, -0.05905961, -0.03237546])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.342
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.238
INFO:root:Testing 133 out of 23200 hypotheses for ramen_pack (evidence > 1.3508959655090838)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.102
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
INFO:root:Testing 3 out of 12560 hypotheses for harissa_oil (evidence > 1.3508959655090838)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.293
INFO:root:Testing 10 out of 21832 hypotheses for tomato_soup_can (evidence > 1.3508959655090838)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.35
INFO:root:Testing 12 out of 16976 hypotheses for mustard_bottle (evidence > 1.3508959655090838)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 1.348
INFO:root:Testing 479 out of 17728 hypotheses for tuna_fish_can (evidence > 1.3508959655090838)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.754
INFO:root:Testing 83 out of 19024 hypotheses for potted_meat_can (evidence > 1.3508959655090838)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.35
DEBUG:root:evidences for each object: [1.34199495 0.67380331 1.23812762 2.10157408 0.44000356 1.29337206
 1.35043015 1.34814373 5.75447983 1.34966779]
DEBUG:root:mean evidence: 1.689, std: 1.418 -> th=4.603583862036336
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 5.75
DEBUG:root:evidences for each object: [1.34199495 0.67380331 1.23812762 2.10157408 0.44000356 1.29337206
 1.35043015 1.34814373 5.75447983 1.34966779]
DEBUG:root:mean evidence: 1.689, std: 1.418 -> th=4.603583862036336
DEBUG:root:evidences for each object: [1.34199495 0.67380331 1.23812762 2.10157408 0.44000356 1.29337206
 1.35043015 1.34814373 5.75447983 1.34966779]
DEBUG:root:mean evidence: 1.689, std: 1.418 -> th=4.891307853413608
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 47 ---
INFO:uvicorn.access:192.168.1.217:64358 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.1564361 ,  0.04005425, -0.98687558],
       [-0.24804079,  0.96874959,  0.        ],
       [ 0.95603531,  0.24478539,  0.1614825 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.01763198,  0.00470741,  0.00937906])}]
INFO:root:Testing 5 out of 14424 hypotheses for numenta_mug (evidence > 1.1508959655090836)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.149
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
INFO:root:Testing 4 out of 14880 hypotheses for montys_heart (evidence > 1.1508959655090836)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.143
INFO:root:Testing 1096 out of 23200 hypotheses for ramen_pack (evidence > 1.1508959655090836)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.39
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
INFO:root:Testing 15 out of 12560 hypotheses for harissa_oil (evidence > 1.1508959655090836)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.149
INFO:root:Testing 36 out of 21832 hypotheses for tomato_soup_can (evidence > 1.1508959655090836)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 1.14
INFO:root:Testing 59 out of 16976 hypotheses for mustard_bottle (evidence > 1.1508959655090836)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 1.63
INFO:root:Testing 497 out of 17728 hypotheses for tuna_fish_can (evidence > 1.1508959655090836)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.754
INFO:root:Testing 277 out of 19024 hypotheses for potted_meat_can (evidence > 1.1508959655090836)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.764
DEBUG:root:evidences for each object: [1.14926266 0.67380331 1.14269208 2.38958658 0.44000356 1.14926881
 1.13958781 1.62994911 4.75447983 1.76427394]
DEBUG:root:mean evidence: 1.623, std: 1.167 -> th=3.8035838620363362
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 4.75
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 48 ---
INFO:uvicorn.access:192.168.1.217:64358 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.24324823,  0.08119951, -0.96655933],
       [-0.31663754, -0.94854661,  0.        ],
       [-0.91682658,  0.30604896,  0.2564431 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00297642,  0.0197689 ,  0.00458205])}]
INFO:root:Testing 27 out of 14424 hypotheses for numenta_mug (evidence > 0.9508959655090838)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.94
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
INFO:root:Testing 13 out of 14880 hypotheses for montys_heart (evidence > 0.9508959655090838)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.94
INFO:root:Testing 956 out of 23200 hypotheses for ramen_pack (evidence > 0.9508959655090838)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.768
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
INFO:root:Testing 65 out of 12560 hypotheses for harissa_oil (evidence > 0.9508959655090838)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.943
INFO:root:Testing 59 out of 21832 hypotheses for tomato_soup_can (evidence > 0.9508959655090838)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.949
INFO:root:Testing 75 out of 16976 hypotheses for mustard_bottle (evidence > 0.9508959655090838)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 1.24
INFO:root:Testing 618 out of 17728 hypotheses for tuna_fish_can (evidence > 0.9508959655090838)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.754
INFO:root:Testing 383 out of 19024 hypotheses for potted_meat_can (evidence > 0.9508959655090838)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 1.988
DEBUG:root:evidences for each object: [0.94019653 0.67380331 0.93968391 2.76757851 0.44000356 0.9426524
 0.94898929 1.24049986 3.75447983 1.98809871]
DEBUG:root:mean evidence: 1.464, std: 1.001 -> th=3.0035838620363364
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 3.75
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can'}
INFO:root:--- Global Matching Step 49 ---
INFO:uvicorn.access:192.168.1.217:64358 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.34529837,  0.13030069, -0.92940345],
       [-0.35305588, -0.93560224,  0.        ],
       [-0.86955194,  0.32813135,  0.36906535]]), 'pose_fully_defined': False}}, {'patch': array([-0.0042383 ,  0.00286925,  0.0017405 ])}]
INFO:root:Testing 31 out of 14424 hypotheses for numenta_mug (evidence > 0.7508959655090841)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.169
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.674
INFO:root:Testing 35 out of 14880 hypotheses for montys_heart (evidence > 0.7508959655090841)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.111
INFO:root:Testing 1019 out of 23200 hypotheses for ramen_pack (evidence > 0.7508959655090841)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.142
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.44
INFO:root:Testing 60 out of 12560 hypotheses for harissa_oil (evidence > 0.7508959655090841)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.75
INFO:root:Testing 92 out of 21832 hypotheses for tomato_soup_can (evidence > 0.7508959655090841)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.748
INFO:root:Testing 129 out of 16976 hypotheses for mustard_bottle (evidence > 0.7508959655090841)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 1.486
INFO:root:Testing 883 out of 17728 hypotheses for tuna_fish_can (evidence > 0.7508959655090841)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.754
INFO:root:Testing 437 out of 19024 hypotheses for potted_meat_can (evidence > 0.7508959655090841)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 2.229
DEBUG:root:evidences for each object: [1.16887175 0.67380331 1.11055143 3.14211226 0.44000356 0.75019306
 0.74829167 1.48559364 2.75447983 2.22890189]
DEBUG:root:mean evidence: 1.45, std: 0.893 -> th=2.513689809203112
INFO:root:current most likely hypothesis: ramen_pack with evidence 3.14
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'tuna_fish_can'}
INFO:root:--- Global Matching Step 50 ---
INFO:root:saving model to /Users/nleadholm/tbp/results/monty/projects/evidence_eval_runs/logs/probe_triggered_data_collection_for_inference/ramen_packet/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/ramen_packet/log.txt (NOTSET)>
