INFO:root:Logger initialized at 2025-09-29 15:55:52.850681
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/harissa_oil/observations',
                                    'vive_url': 'http://192.168.1.237:3001/pose'},
                  'env_init_func': <class 'custom_classes.probe_triggered_environment.ProbeTriggeredUltrasoundEnvironment'>,
                  'rng': RandomState(MT19937) at 0x7FF57836A440,
                  '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/harissa_oil',
                    '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': 'doklvps6'},
 '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([[-0.28271132,  0.5885097 , -0.75745009],
       [-0.90138758, -0.4330132 ,  0.        ],
       [-0.32798589,  0.68275611,  0.65289307]]), 'pose_fully_defined': False}}, None]
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.0
INFO:root:current most likely hypothesis: numenta_mug with evidence 0.0
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'tuna_fish_can', 'potted_meat_can', 'numenta_mug', 'montys_brain', 'montys_heart', 'harissa_oil', 'mustard_bottle', 'ramen_pack', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 1 ---
INFO:uvicorn.access:192.168.1.217:64666 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.29556812,  0.48182757, -0.82491314],
       [-0.85240063, -0.52288924,  0.        ],
       [-0.43133821,  0.70315648,  0.56525951]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01405393, -0.00157811, -0.00614955])}]
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: 0.499
INFO:root:Testing 10992 out of 10992 hypotheses for montys_brain (evidence > 0.0)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.02 seconds. New max evidence: 0.499
INFO:root:Testing 14880 out of 14880 hypotheses for montys_heart (evidence > 0.0)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 23200 out of 23200 hypotheses for ramen_pack (evidence > 0.0)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.05 seconds. New max evidence: 0.5
INFO:root:Testing 14864 out of 14864 hypotheses for hot_sauce (evidence > 0.0)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 12560 out of 12560 hypotheses for harissa_oil (evidence > 0.0)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 21832 out of 21832 hypotheses for tomato_soup_can (evidence > 0.0)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.05 seconds. New max evidence: 0.5
INFO:root:Testing 16976 out of 16976 hypotheses for mustard_bottle (evidence > 0.0)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 17728 out of 17728 hypotheses for tuna_fish_can (evidence > 0.0)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.04 seconds. New max evidence: 0.5
INFO:root:Testing 19024 out of 19024 hypotheses for potted_meat_can (evidence > 0.0)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.04 seconds. New max evidence: 0.5
INFO:root:current most likely hypothesis: montys_heart with evidence 0.5
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'tuna_fish_can', 'potted_meat_can', 'numenta_mug', 'montys_brain', 'montys_heart', 'harissa_oil', 'mustard_bottle', 'ramen_pack', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 2 ---
INFO:uvicorn.access:192.168.1.217:64666 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.42157778,  0.63301335, -0.64928135],
       [-0.83231183, -0.5543077 ,  0.        ],
       [-0.35990165,  0.54040455,  0.7605483 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.02235669,  0.00348696,  0.00705643])}]
INFO:root:Testing 12714 out of 14424 hypotheses for numenta_mug (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.03 seconds. New max evidence: 0.984
INFO:root:Testing 10873 out of 10992 hypotheses for montys_brain (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.02 seconds. New max evidence: 0.987
INFO:root:Testing 13685 out of 14880 hypotheses for montys_heart (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.03 seconds. New max evidence: 0.989
INFO:root:Testing 20912 out of 23200 hypotheses for ramen_pack (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.04 seconds. New max evidence: 0.993
INFO:root:Testing 14180 out of 14864 hypotheses for hot_sauce (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.03 seconds. New max evidence: 0.99
INFO:root:Testing 11440 out of 12560 hypotheses for harissa_oil (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.02 seconds. New max evidence: 0.988
INFO:root:Testing 18363 out of 21832 hypotheses for tomato_soup_can (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.04 seconds. New max evidence: 0.991
INFO:root:Testing 15954 out of 16976 hypotheses for mustard_bottle (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.03 seconds. New max evidence: 0.995
INFO:root:Testing 14403 out of 17728 hypotheses for tuna_fish_can (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.03 seconds. New max evidence: 0.985
INFO:root:Testing 16318 out of 19024 hypotheses for potted_meat_can (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.03 seconds. New max evidence: 0.989
INFO:root:current most likely hypothesis: mustard_bottle with evidence 0.99
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'tuna_fish_can', 'potted_meat_can', 'numenta_mug', 'montys_brain', 'montys_heart', 'harissa_oil', 'mustard_bottle', 'ramen_pack', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 3 ---
INFO:uvicorn.access:192.168.1.217:64666 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.40464848,  0.43329105, -0.80530645],
       [-0.73085036, -0.68253773,  0.        ],
       [-0.54965204,  0.58855851,  0.59285877]]), 'pose_fully_defined': False}}, {'patch': array([-0.01563924, -0.00612823,  0.00220218])}]
INFO:root:Testing 12703 out of 14424 hypotheses for numenta_mug (evidence > 0.19890926280801846)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.03 seconds. New max evidence: 1.442
INFO:root:Testing 10912 out of 10992 hypotheses for montys_brain (evidence > 0.19890926280801846)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.02 seconds. New max evidence: 1.432
INFO:root:Testing 13653 out of 14880 hypotheses for montys_heart (evidence > 0.19890926280801846)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.03 seconds. New max evidence: 1.472
INFO:root:Testing 20908 out of 23200 hypotheses for ramen_pack (evidence > 0.19890926280801846)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.04 seconds. New max evidence: 1.471
INFO:root:Testing 14375 out of 14864 hypotheses for hot_sauce (evidence > 0.19890926280801846)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.03 seconds. New max evidence: 1.465
INFO:root:Testing 11529 out of 12560 hypotheses for harissa_oil (evidence > 0.19890926280801846)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.02 seconds. New max evidence: 1.467
INFO:root:Testing 18334 out of 21832 hypotheses for tomato_soup_can (evidence > 0.19890926280801846)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.04 seconds. New max evidence: 1.442
INFO:root:Testing 15953 out of 16976 hypotheses for mustard_bottle (evidence > 0.19890926280801846)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.03 seconds. New max evidence: 1.469
INFO:root:Testing 14399 out of 17728 hypotheses for tuna_fish_can (evidence > 0.19890926280801846)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.03 seconds. New max evidence: 1.417
INFO:root:Testing 16308 out of 19024 hypotheses for potted_meat_can (evidence > 0.19890926280801846)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.04 seconds. New max evidence: 1.432
INFO:root:current most likely hypothesis: montys_heart with evidence 1.47
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'tuna_fish_can', 'potted_meat_can', 'numenta_mug', 'montys_brain', 'montys_heart', 'harissa_oil', 'mustard_bottle', 'ramen_pack', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 4 ---
INFO:uvicorn.access:192.168.1.217:64666 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.24720339,  0.79677274, -0.55140157],
       [-0.9550882 , -0.29632168,  0.        ],
       [-0.16339224,  0.52663713,  0.83423996]]), 'pose_fully_defined': False}}, {'patch': array([-0.00717935, -0.00461982,  0.00910386])}]
INFO:root:Testing 8327 out of 14424 hypotheses for numenta_mug (evidence > 0.29434110730074514)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.02 seconds. New max evidence: 1.873
INFO:root:Testing 4564 out of 10992 hypotheses for montys_brain (evidence > 0.29434110730074514)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 1.678
INFO:root:Testing 7821 out of 14880 hypotheses for montys_heart (evidence > 0.29434110730074514)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.02 seconds. New max evidence: 1.903
INFO:root:Testing 13198 out of 23200 hypotheses for ramen_pack (evidence > 0.29434110730074514)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.03 seconds. New max evidence: 1.936
INFO:root:Testing 7597 out of 14864 hypotheses for hot_sauce (evidence > 0.29434110730074514)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.02 seconds. New max evidence: 1.879
INFO:root:Testing 6228 out of 12560 hypotheses for harissa_oil (evidence > 0.29434110730074514)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.01 seconds. New max evidence: 1.9
INFO:root:Testing 11540 out of 21832 hypotheses for tomato_soup_can (evidence > 0.29434110730074514)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.03 seconds. New max evidence: 1.901
INFO:root:Testing 11312 out of 16976 hypotheses for mustard_bottle (evidence > 0.29434110730074514)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 1.889
INFO:root:Testing 9260 out of 17728 hypotheses for tuna_fish_can (evidence > 0.29434110730074514)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 1.871
INFO:root:Testing 10848 out of 19024 hypotheses for potted_meat_can (evidence > 0.29434110730074514)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.02 seconds. New max evidence: 1.871
INFO:root:current most likely hypothesis: ramen_pack with evidence 1.94
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'tuna_fish_can', 'potted_meat_can', 'numenta_mug', 'montys_brain', 'montys_heart', 'harissa_oil', 'mustard_bottle', 'ramen_pack', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 5 ---
INFO:uvicorn.access:192.168.1.217:64667 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.41936209,  0.65902385, -0.62435808],
       [-0.84367119, -0.53686025,  0.        ],
       [-0.33519304,  0.52675292,  0.78113827]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01025169,  0.00652386, -0.00629261])}]
INFO:root:Testing 7109 out of 14424 hypotheses for numenta_mug (evidence > 0.38710006895115634)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.02 seconds. New max evidence: 2.355
INFO:root:Testing 3564 out of 10992 hypotheses for montys_brain (evidence > 0.38710006895115634)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 2.11
INFO:root:Testing 6650 out of 14880 hypotheses for montys_heart (evidence > 0.38710006895115634)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 2.344
INFO:root:Testing 11074 out of 23200 hypotheses for ramen_pack (evidence > 0.38710006895115634)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.02 seconds. New max evidence: 2.403
INFO:root:Testing 6443 out of 14864 hypotheses for hot_sauce (evidence > 0.38710006895115634)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 2.36
INFO:root:Testing 5193 out of 12560 hypotheses for harissa_oil (evidence > 0.38710006895115634)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.01 seconds. New max evidence: 2.376
INFO:root:Testing 8903 out of 21832 hypotheses for tomato_soup_can (evidence > 0.38710006895115634)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.02 seconds. New max evidence: 2.35
INFO:root:Testing 9640 out of 16976 hypotheses for mustard_bottle (evidence > 0.38710006895115634)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 2.336
INFO:root:Testing 6320 out of 17728 hypotheses for tuna_fish_can (evidence > 0.38710006895115634)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.02 seconds. New max evidence: 2.344
INFO:root:Testing 8327 out of 19024 hypotheses for potted_meat_can (evidence > 0.38710006895115634)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.02 seconds. New max evidence: 2.318
INFO:root:current most likely hypothesis: ramen_pack with evidence 2.4
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'tuna_fish_can', 'potted_meat_can', 'numenta_mug', 'montys_brain', 'montys_heart', 'harissa_oil', 'mustard_bottle', 'ramen_pack', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 6 ---
INFO:uvicorn.access:192.168.1.217:64667 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.4021527 ,  0.58778898, -0.70198099],
       [-0.8253195 , -0.56466602,  0.        ],
       [-0.39638481,  0.57935861,  0.71219568]]), 'pose_fully_defined': False}}, {'patch': array([-0.01028516,  0.00228103,  0.00346116])}]
INFO:root:Testing 7078 out of 14424 hypotheses for numenta_mug (evidence > 0.4805861399703768)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.02 seconds. New max evidence: 2.792
INFO:root:Testing 3564 out of 10992 hypotheses for montys_brain (evidence > 0.4805861399703768)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 2.521
INFO:root:Testing 6633 out of 14880 hypotheses for montys_heart (evidence > 0.4805861399703768)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.02 seconds. New max evidence: 2.818
INFO:root:Testing 11050 out of 23200 hypotheses for ramen_pack (evidence > 0.4805861399703768)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.02 seconds. New max evidence: 2.842
INFO:root:Testing 6440 out of 14864 hypotheses for hot_sauce (evidence > 0.4805861399703768)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 2.812
INFO:root:Testing 5343 out of 12560 hypotheses for harissa_oil (evidence > 0.4805861399703768)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.01 seconds. New max evidence: 2.866
INFO:root:Testing 8890 out of 21832 hypotheses for tomato_soup_can (evidence > 0.4805861399703768)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.02 seconds. New max evidence: 2.774
INFO:root:Testing 9629 out of 16976 hypotheses for mustard_bottle (evidence > 0.4805861399703768)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 2.798
INFO:root:Testing 6303 out of 17728 hypotheses for tuna_fish_can (evidence > 0.4805861399703768)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 2.796
INFO:root:Testing 8301 out of 19024 hypotheses for potted_meat_can (evidence > 0.4805861399703768)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.02 seconds. New max evidence: 2.75
INFO:root:current most likely hypothesis: harissa_oil with evidence 2.87
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'tuna_fish_can', 'potted_meat_can', 'numenta_mug', 'montys_brain', 'montys_heart', 'harissa_oil', 'mustard_bottle', 'ramen_pack', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 7 ---
INFO:uvicorn.access:192.168.1.217:64669 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.95408775,  0.05133935, -0.29509464],
       [-0.05373215,  0.99855538,  0.        ],
       [ 0.29466834,  0.01585607,  0.95546803]]), 'pose_fully_defined': False}}, {'patch': array([ 5.31047904e-02,  1.16805573e-03, -8.11224282e-05])}]
INFO:root:Testing 6517 out of 14424 hypotheses for numenta_mug (evidence > 0.5732790426713943)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.02 seconds. New max evidence: 3.094
INFO:root:Testing 2967 out of 10992 hypotheses for montys_brain (evidence > 0.5732790426713943)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 2.83
INFO:root:Testing 6081 out of 14880 hypotheses for montys_heart (evidence > 0.5732790426713943)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 3.174
INFO:root:Testing 10573 out of 23200 hypotheses for ramen_pack (evidence > 0.5732790426713943)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.03 seconds. New max evidence: 3.197
INFO:root:Testing 5893 out of 14864 hypotheses for hot_sauce (evidence > 0.5732790426713943)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 3.216
INFO:root:Testing 4694 out of 12560 hypotheses for harissa_oil (evidence > 0.5732790426713943)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.01 seconds. New max evidence: 3.228
INFO:root:Testing 8041 out of 21832 hypotheses for tomato_soup_can (evidence > 0.5732790426713943)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.02 seconds. New max evidence: 3.255
INFO:root:Testing 9308 out of 16976 hypotheses for mustard_bottle (evidence > 0.5732790426713943)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 3.195
INFO:root:Testing 5915 out of 17728 hypotheses for tuna_fish_can (evidence > 0.5732790426713943)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.02 seconds. New max evidence: 3.27
INFO:root:Testing 8070 out of 19024 hypotheses for potted_meat_can (evidence > 0.5732790426713943)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.02 seconds. New max evidence: 3.198
DEBUG:root:evidences for each object: [3.0941046  2.83000202 3.17378755 3.19657705 3.21578952 3.22828077
 3.25548399 3.19548026 3.27049184 3.19831726]
DEBUG:root:mean evidence: 3.166, std: 0.121 -> th=2.616393469882929
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 3.27
DEBUG:root:evidences for each object: [3.0941046  2.83000202 3.17378755 3.19657705 3.21578952 3.22828077
 3.25548399 3.19548026 3.27049184 3.19831726]
DEBUG:root:mean evidence: 3.166, std: 0.121 -> th=2.616393469882929
DEBUG:root:evidences for each object: [3.0941046  2.83000202 3.17378755 3.19657705 3.21578952 3.22828077
 3.25548399 3.19548026 3.27049184 3.19831726]
DEBUG:root:mean evidence: 3.166, std: 0.121 -> th=2.779918061750612
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'tuna_fish_can', 'potted_meat_can', 'numenta_mug', 'montys_brain', 'montys_heart', 'harissa_oil', 'mustard_bottle', 'ramen_pack', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 8 ---
INFO:uvicorn.access:192.168.1.217:64669 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.96444431,  0.07194326, -0.25430559],
       [-0.07438887,  0.99722931,  0.        ],
       [ 0.25360098,  0.01891751,  0.96712392]]), 'pose_fully_defined': False}}, {'patch': array([-0.00119406, -0.01248187, -0.00515267])}]
INFO:root:Testing 5674 out of 14424 hypotheses for numenta_mug (evidence > 0.6540983674707319)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.02 seconds. New max evidence: 3.512
INFO:root:Testing 2857 out of 10992 hypotheses for montys_brain (evidence > 0.6540983674707319)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 3.239
INFO:root:Testing 5348 out of 14880 hypotheses for montys_heart (evidence > 0.6540983674707319)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 3.578
INFO:root:Testing 9778 out of 23200 hypotheses for ramen_pack (evidence > 0.6540983674707319)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.03 seconds. New max evidence: 3.585
INFO:root:Testing 5214 out of 14864 hypotheses for hot_sauce (evidence > 0.6540983674707319)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 3.625
INFO:root:Testing 4170 out of 12560 hypotheses for harissa_oil (evidence > 0.6540983674707319)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.01 seconds. New max evidence: 3.679
INFO:root:Testing 6980 out of 21832 hypotheses for tomato_soup_can (evidence > 0.6540983674707319)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.02 seconds. New max evidence: 3.7
INFO:root:Testing 8553 out of 16976 hypotheses for mustard_bottle (evidence > 0.6540983674707319)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.02 seconds. New max evidence: 3.63
INFO:root:Testing 4725 out of 17728 hypotheses for tuna_fish_can (evidence > 0.6540983674707319)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 3.659
INFO:root:Testing 7502 out of 19024 hypotheses for potted_meat_can (evidence > 0.6540983674707319)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.02 seconds. New max evidence: 3.68
DEBUG:root:evidences for each object: [3.51186692 3.23884473 3.57758812 3.58501969 3.62507555 3.67862006
 3.69979074 3.63036541 3.65949729 3.67989611]
DEBUG:root:mean evidence: 3.589, std: 0.129 -> th=2.959832590355755
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 3.7
DEBUG:root:evidences for each object: [3.51186692 3.23884473 3.57758812 3.58501969 3.62507555 3.67862006
 3.69979074 3.63036541 3.65949729 3.67989611]
DEBUG:root:mean evidence: 3.589, std: 0.129 -> th=2.959832590355755
DEBUG:root:evidences for each object: [3.51186692 3.23884473 3.57758812 3.58501969 3.62507555 3.67862006
 3.69979074 3.63036541 3.65949729 3.67989611]
DEBUG:root:mean evidence: 3.589, std: 0.129 -> th=3.14482212725299
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'tuna_fish_can', 'potted_meat_can', 'numenta_mug', 'montys_brain', 'montys_heart', 'harissa_oil', 'mustard_bottle', 'ramen_pack', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 9 ---
INFO:uvicorn.access:192.168.1.217:64670 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.95711946,  0.05514683, -0.28439614],
       [-0.05752209,  0.99834423,  0.        ],
       [ 0.28392524,  0.01635906,  0.95870686]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0079655 , -0.00253611,  0.01213715])}]
INFO:root:Testing 3607 out of 14424 hypotheses for numenta_mug (evidence > 0.7399581475889385)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.01 seconds. New max evidence: 3.981
INFO:root:Testing 2536 out of 10992 hypotheses for montys_brain (evidence > 0.7399581475889385)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 3.657
INFO:root:Testing 4265 out of 14880 hypotheses for montys_heart (evidence > 0.7399581475889385)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 3.947
INFO:root:Testing 6021 out of 23200 hypotheses for ramen_pack (evidence > 0.7399581475889385)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 3.999
INFO:root:Testing 4069 out of 14864 hypotheses for hot_sauce (evidence > 0.7399581475889385)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 4.056
INFO:root:Testing 3296 out of 12560 hypotheses for harissa_oil (evidence > 0.7399581475889385)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.01 seconds. New max evidence: 4.122
INFO:root:Testing 4936 out of 21832 hypotheses for tomato_soup_can (evidence > 0.7399581475889385)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 4.184
INFO:root:Testing 4561 out of 16976 hypotheses for mustard_bottle (evidence > 0.7399581475889385)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 4.03
INFO:root:Testing 2929 out of 17728 hypotheses for tuna_fish_can (evidence > 0.7399581475889385)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 4.078
INFO:root:Testing 5177 out of 19024 hypotheses for potted_meat_can (evidence > 0.7399581475889385)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 4.156
DEBUG:root:evidences for each object: [3.98127004 3.65698556 3.94740221 3.99874116 4.05637761 4.12163546
 4.1841685  4.02971771 4.0783763  4.15646889]
DEBUG:root:mean evidence: 4.021, std: 0.141 -> th=3.3473347968011056
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 4.18
DEBUG:root:evidences for each object: [3.98127004 3.65698556 3.94740221 3.99874116 4.05637761 4.12163546
 4.1841685  4.02971771 4.0783763  4.15646889]
DEBUG:root:mean evidence: 4.021, std: 0.141 -> th=3.3473347968011056
DEBUG:root:evidences for each object: [3.98127004 3.65698556 3.94740221 3.99874116 4.05637761 4.12163546
 4.1841685  4.02971771 4.0783763  4.15646889]
DEBUG:root:mean evidence: 4.021, std: 0.141 -> th=3.5565432216011748
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'tuna_fish_can', 'potted_meat_can', 'numenta_mug', 'montys_brain', 'montys_heart', 'harissa_oil', 'mustard_bottle', 'ramen_pack', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 10 ---
INFO:uvicorn.access:192.168.1.217:64670 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.94140975,  0.03523973, -0.3354189 ],
       [-0.03740674,  0.99930012,  0.        ],
       [ 0.33518415,  0.01254693,  0.94206908]]), 'pose_fully_defined': False}}, {'patch': array([-0.00190397,  0.01069713,  0.00018221])}]
INFO:root:Testing 1485 out of 14424 hypotheses for numenta_mug (evidence > 0.8368336992002763)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.453
INFO:root:Testing 2166 out of 10992 hypotheses for montys_brain (evidence > 0.8368336992002763)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 4.101
INFO:root:Testing 2670 out of 14880 hypotheses for montys_heart (evidence > 0.8368336992002763)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 4.322
INFO:root:Testing 4733 out of 23200 hypotheses for ramen_pack (evidence > 0.8368336992002763)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 4.452
INFO:root:Testing 2220 out of 14864 hypotheses for hot_sauce (evidence > 0.8368336992002763)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.01 seconds. New max evidence: 4.493
INFO:root:Testing 2026 out of 12560 hypotheses for harissa_oil (evidence > 0.8368336992002763)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.01 seconds. New max evidence: 4.569
INFO:root:Testing 2814 out of 21832 hypotheses for tomato_soup_can (evidence > 0.8368336992002763)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 4.665
INFO:root:Testing 3365 out of 16976 hypotheses for mustard_bottle (evidence > 0.8368336992002763)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 4.489
INFO:root:Testing 2116 out of 17728 hypotheses for tuna_fish_can (evidence > 0.8368336992002763)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 4.553
INFO:root:Testing 3760 out of 19024 hypotheses for potted_meat_can (evidence > 0.8368336992002763)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 4.641
DEBUG:root:evidences for each object: [4.45319491 4.10119668 4.32220055 4.45202118 4.49250999 4.56917041
 4.66546038 4.48884954 4.55311421 4.64114485]
DEBUG:root:mean evidence: 4.474, std: 0.156 -> th=3.732368302121246
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 4.67
DEBUG:root:evidences for each object: [4.45319491 4.10119668 4.32220055 4.45202118 4.49250999 4.56917041
 4.66546038 4.48884954 4.55311421 4.64114485]
DEBUG:root:mean evidence: 4.474, std: 0.156 -> th=3.732368302121246
DEBUG:root:evidences for each object: [4.45319491 4.10119668 4.32220055 4.45202118 4.49250999 4.56917041
 4.66546038 4.48884954 4.55311421 4.64114485]
DEBUG:root:mean evidence: 4.474, std: 0.156 -> th=3.9656413210038237
DEBUG:root:Hypothesis jump indicated: sufficient steps elapsed with no jump
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'tuna_fish_can', 'potted_meat_can', 'numenta_mug', 'montys_brain', 'montys_heart', 'harissa_oil', 'mustard_bottle', 'ramen_pack', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 11 ---
INFO:uvicorn.access:192.168.1.217:64670 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.94422669,  0.07354729, -0.3209778 ],
       [-0.07765634,  0.99698019,  0.        ],
       [ 0.32000851,  0.02492596,  0.94708672]]), 'pose_fully_defined': False}}, {'patch': array([-0.00263835, -0.00060792,  0.00059687])}]
INFO:root:Testing 1297 out of 14424 hypotheses for numenta_mug (evidence > 0.9330920755303111)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.934
INFO:root:Testing 2065 out of 10992 hypotheses for montys_brain (evidence > 0.9330920755303111)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.01 seconds. New max evidence: 4.567
INFO:root:Testing 2176 out of 14880 hypotheses for montys_heart (evidence > 0.9330920755303111)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 4.661
INFO:root:Testing 3781 out of 23200 hypotheses for ramen_pack (evidence > 0.9330920755303111)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 4.865
INFO:root:Testing 1819 out of 14864 hypotheses for hot_sauce (evidence > 0.9330920755303111)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.977
INFO:root:Testing 1711 out of 12560 hypotheses for harissa_oil (evidence > 0.9330920755303111)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 5.043
INFO:root:Testing 2527 out of 21832 hypotheses for tomato_soup_can (evidence > 0.9330920755303111)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 5.151
INFO:root:Testing 2940 out of 16976 hypotheses for mustard_bottle (evidence > 0.9330920755303111)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 4.971
INFO:root:Testing 1788 out of 17728 hypotheses for tuna_fish_can (evidence > 0.9330920755303111)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 5.023
INFO:root:Testing 3242 out of 19024 hypotheses for potted_meat_can (evidence > 0.9330920755303111)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 5.138
DEBUG:root:evidences for each object: [4.93374679 4.56689218 4.66128464 4.86548518 4.9770556  5.04259758
 5.15131252 4.97060864 5.02311224 5.13801145]
DEBUG:root:mean evidence: 4.933, std: 0.18 -> th=4.12105001530906
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 5.15
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'tuna_fish_can', 'potted_meat_can', 'numenta_mug', 'montys_brain', 'montys_heart', 'harissa_oil', 'mustard_bottle', 'ramen_pack', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 12 ---
INFO:uvicorn.access:192.168.1.217:64670 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98981543,  0.07710106, -0.11966973],
       [-0.07765914,  0.99697997,  0.        ],
       [ 0.11930832,  0.00929345,  0.99281376]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00342879,  0.0099562 , -0.00031701])}]
INFO:root:Testing 1187 out of 14424 hypotheses for numenta_mug (evidence > 1.0302625038272648)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.35
INFO:root:Testing 1927 out of 10992 hypotheses for montys_brain (evidence > 1.0302625038272648)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 4.95
INFO:root:Testing 1980 out of 14880 hypotheses for montys_heart (evidence > 1.0302625038272648)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 5.052
INFO:root:Testing 3314 out of 23200 hypotheses for ramen_pack (evidence > 1.0302625038272648)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 5.286
INFO:root:Testing 1656 out of 14864 hypotheses for hot_sauce (evidence > 1.0302625038272648)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.398
INFO:root:Testing 1595 out of 12560 hypotheses for harissa_oil (evidence > 1.0302625038272648)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 5.506
INFO:root:Testing 2346 out of 21832 hypotheses for tomato_soup_can (evidence > 1.0302625038272648)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 5.571
INFO:root:Testing 2663 out of 16976 hypotheses for mustard_bottle (evidence > 1.0302625038272648)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 5.361
INFO:root:Testing 1585 out of 17728 hypotheses for tuna_fish_can (evidence > 1.0302625038272648)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 5.419
INFO:root:Testing 3064 out of 19024 hypotheses for potted_meat_can (evidence > 1.0302625038272648)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 5.546
DEBUG:root:evidences for each object: [5.34970293 4.94971641 5.05242673 5.28609024 5.39788821 5.50615383
 5.57109318 5.36064851 5.4187526  5.54585086]
DEBUG:root:mean evidence: 5.344, std: 0.193 -> th=4.456874547056199
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 5.57
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'tuna_fish_can', 'potted_meat_can', 'numenta_mug', 'montys_brain', 'montys_heart', 'harissa_oil', 'mustard_bottle', 'ramen_pack', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 13 ---
INFO:uvicorn.access:192.168.1.217:64672 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.29353619,  0.2343588 ,  0.9267753 ],
       [-0.62393154,  0.78147901,  0.        ],
       [-0.72425544, -0.57824434,  0.37561621]]), 'pose_fully_defined': False}}, {'patch': array([-0.00546185, -0.02605027,  0.03047922])}]
INFO:root:Testing 1077 out of 14424 hypotheses for numenta_mug (evidence > 1.1142186367640496)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.725
INFO:root:Testing 1842 out of 10992 hypotheses for montys_brain (evidence > 1.1142186367640496)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.104
INFO:root:Testing 1895 out of 14880 hypotheses for montys_heart (evidence > 1.1142186367640496)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 5.219
INFO:root:Testing 2610 out of 23200 hypotheses for ramen_pack (evidence > 1.1142186367640496)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 5.371
INFO:root:Testing 1357 out of 14864 hypotheses for hot_sauce (evidence > 1.1142186367640496)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.651
INFO:root:Testing 1404 out of 12560 hypotheses for harissa_oil (evidence > 1.1142186367640496)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 5.949
INFO:root:Testing 2161 out of 21832 hypotheses for tomato_soup_can (evidence > 1.1142186367640496)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 6.024
INFO:root:Testing 2393 out of 16976 hypotheses for mustard_bottle (evidence > 1.1142186367640496)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 5.735
INFO:root:Testing 1408 out of 17728 hypotheses for tuna_fish_can (evidence > 1.1142186367640496)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 4.419
INFO:root:Testing 2747 out of 19024 hypotheses for potted_meat_can (evidence > 1.1142186367640496)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 5.908
DEBUG:root:evidences for each object: [5.72512962 5.10413107 5.21856345 5.37113325 5.65088797 5.94883391
 6.02409119 5.73451642 4.4187526  5.90763646]
DEBUG:root:mean evidence: 5.51, std: 0.468 -> th=4.819272949187892
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 6.02
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'numenta_mug', 'montys_brain', 'montys_heart', 'harissa_oil', 'mustard_bottle', 'ramen_pack', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 14 ---
INFO:uvicorn.access:192.168.1.217:64673 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.14919157,  0.44179796,  0.8846222 ],
       [-0.94743719,  0.31994181,  0.        ],
       [-0.28302763, -0.83812397,  0.46630844]]), 'pose_fully_defined': False}}, {'patch': array([-0.00611514,  0.01219353, -0.0035712 ])}]
INFO:root:Testing 963 out of 14424 hypotheses for numenta_mug (evidence > 1.2048182372969727)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.137
INFO:root:Testing 1748 out of 10992 hypotheses for montys_brain (evidence > 1.2048182372969727)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.365
INFO:root:Testing 1759 out of 14880 hypotheses for montys_heart (evidence > 1.2048182372969727)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 5.57
INFO:root:Testing 1807 out of 23200 hypotheses for ramen_pack (evidence > 1.2048182372969727)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 5.741
INFO:root:Testing 777 out of 14864 hypotheses for hot_sauce (evidence > 1.2048182372969727)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.123
INFO:root:Testing 1370 out of 12560 hypotheses for harissa_oil (evidence > 1.2048182372969727)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 6.442
INFO:root:Testing 2037 out of 21832 hypotheses for tomato_soup_can (evidence > 1.2048182372969727)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 6.473
INFO:root:Testing 2032 out of 16976 hypotheses for mustard_bottle (evidence > 1.2048182372969727)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 6.043
INFO:root:Testing 906 out of 17728 hypotheses for tuna_fish_can (evidence > 1.2048182372969727)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.419
INFO:root:Testing 2605 out of 19024 hypotheses for potted_meat_can (evidence > 1.2048182372969727)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 6.335
DEBUG:root:evidences for each object: [6.13734102 5.36495571 5.56969888 5.74132724 6.12268981 6.44220511
 6.47300708 6.04291176 3.4187526  6.33518077]
DEBUG:root:mean evidence: 5.765, std: 0.856 -> th=5.1784056610187195
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 6.47
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'numenta_mug', 'montys_brain', 'montys_heart', 'harissa_oil', 'mustard_bottle', 'ramen_pack', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 15 ---
INFO:uvicorn.access:192.168.1.217:64673 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64673 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.1859897 ,  0.46343378,  0.86639308],
       [-0.92805058,  0.37245419,  0.        ],
       [-0.32269173, -0.8040566 ,  0.49936263]]), 'pose_fully_defined': False}}, {'patch': array([-0.02883666, -0.00392858,  0.00942543])}]
INFO:root:Testing 791 out of 14424 hypotheses for numenta_mug (evidence > 1.2946014152546796)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.559
INFO:root:Testing 1707 out of 10992 hypotheses for montys_brain (evidence > 1.2946014152546796)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.692
INFO:root:Testing 1536 out of 14880 hypotheses for montys_heart (evidence > 1.2946014152546796)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.01 seconds. New max evidence: 5.954
INFO:root:Testing 1282 out of 23200 hypotheses for ramen_pack (evidence > 1.2946014152546796)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.102
INFO:root:Testing 698 out of 14864 hypotheses for hot_sauce (evidence > 1.2946014152546796)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.601
INFO:root:Testing 1255 out of 12560 hypotheses for harissa_oil (evidence > 1.2946014152546796)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 6.918
INFO:root:Testing 1762 out of 21832 hypotheses for tomato_soup_can (evidence > 1.2946014152546796)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 6.94
INFO:root:Testing 1719 out of 16976 hypotheses for mustard_bottle (evidence > 1.2946014152546796)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 6.313
INFO:root:Testing 601 out of 17728 hypotheses for tuna_fish_can (evidence > 1.2946014152546796)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.612
INFO:root:Testing 2363 out of 19024 hypotheses for potted_meat_can (evidence > 1.2946014152546796)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 6.795
DEBUG:root:evidences for each object: [6.55865184 5.69166205 5.95401781 6.10211576 6.6005954  6.9175558
 6.93982174 6.31253627 2.61221318 6.79497793]
DEBUG:root:mean evidence: 6.048, std: 1.212 -> th=5.55185739192527
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 6.94
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'numenta_mug', 'montys_brain', 'montys_heart', 'harissa_oil', 'mustard_bottle', 'ramen_pack', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 16 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.21253898,  0.37004008,  0.90437687],
       [-0.86714323,  0.49805886,  0.        ],
       [-0.45043291, -0.78422427,  0.42673468]]), 'pose_fully_defined': False}}, {'patch': array([-0.00333809, -0.00302417,  0.00300809])}]
INFO:root:Testing 579 out of 14424 hypotheses for numenta_mug (evidence > 1.3879643479813168)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.957
INFO:root:Testing 1654 out of 10992 hypotheses for montys_brain (evidence > 1.3879643479813168)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 6.085
INFO:root:Testing 1338 out of 14880 hypotheses for montys_heart (evidence > 1.3879643479813168)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.374
INFO:root:Testing 776 out of 23200 hypotheses for ramen_pack (evidence > 1.3879643479813168)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.192
INFO:root:Testing 598 out of 14864 hypotheses for hot_sauce (evidence > 1.3879643479813168)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.064
INFO:root:Testing 1079 out of 12560 hypotheses for harissa_oil (evidence > 1.3879643479813168)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 7.395
INFO:root:Testing 1450 out of 21832 hypotheses for tomato_soup_can (evidence > 1.3879643479813168)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 7.404
INFO:root:Testing 1422 out of 16976 hypotheses for mustard_bottle (evidence > 1.3879643479813168)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.713
INFO:root:Testing 277 out of 17728 hypotheses for tuna_fish_can (evidence > 1.3879643479813168)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.531
INFO:root:Testing 2067 out of 19024 hypotheses for potted_meat_can (evidence > 1.3879643479813168)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 7.172
DEBUG:root:evidences for each object: [6.95659869 6.08455736 6.37402552 6.19187836 7.06383046 7.3953477
 7.40379011 6.71272137 2.53059196 7.17167146]
DEBUG:root:mean evidence: 6.389, std: 1.362 -> th=5.92303208722551
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 7.4
DEBUG:root:evidences for each object: [6.95659869 6.08455736 6.37402552 6.19187836 7.06383046 7.3953477
 7.40379011 6.71272137 2.53059196 7.17167146]
DEBUG:root:mean evidence: 6.389, std: 1.362 -> th=5.92303208722551
DEBUG:root:evidences for each object: [6.95659869 6.08455736 6.37402552 6.19187836 7.06383046 7.3953477
 7.40379011 6.71272137 2.53059196 7.17167146]
DEBUG:root:mean evidence: 6.389, std: 1.362 -> th=6.293221592677103
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'numenta_mug', 'montys_brain', 'montys_heart', 'harissa_oil', 'mustard_bottle', 'ramen_pack', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 17 ---
INFO:uvicorn.access:192.168.1.217:64673 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.11011345,  0.38154702,  0.91776735],
       [-0.96078884,  0.27728108,  0.        ],
       [-0.25447952, -0.88178063,  0.39711849]]), 'pose_fully_defined': False}}, {'patch': array([-0.0001815 , -0.00113524,  0.00237327])}]
INFO:root:Testing 354 out of 14424 hypotheses for numenta_mug (evidence > 1.480758021806377)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.364
INFO:root:Testing 1519 out of 10992 hypotheses for montys_brain (evidence > 1.480758021806377)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 6.444
INFO:root:Testing 1099 out of 14880 hypotheses for montys_heart (evidence > 1.480758021806377)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.814
INFO:root:Testing 397 out of 23200 hypotheses for ramen_pack (evidence > 1.480758021806377)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.589
INFO:root:Testing 495 out of 14864 hypotheses for hot_sauce (evidence > 1.480758021806377)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.407
INFO:root:Testing 906 out of 12560 hypotheses for harissa_oil (evidence > 1.480758021806377)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 7.868
INFO:root:Testing 1153 out of 21832 hypotheses for tomato_soup_can (evidence > 1.480758021806377)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.817
INFO:root:Testing 1184 out of 16976 hypotheses for mustard_bottle (evidence > 1.480758021806377)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.121
INFO:root:Testing 30 out of 17728 hypotheses for tuna_fish_can (evidence > 1.480758021806377)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.468
INFO:root:Testing 1797 out of 19024 hypotheses for potted_meat_can (evidence > 1.480758021806377)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 7.518
DEBUG:root:evidences for each object: [7.36358553 6.4436677  6.81394469 6.58860857 7.40681047 7.86756942
 7.81663399 7.12055752 2.46786034 7.5182405 ]
DEBUG:root:mean evidence: 6.741, std: 1.496 -> th=6.294055537390355
INFO:root:current most likely hypothesis: harissa_oil with evidence 7.87
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'numenta_mug', 'montys_brain', 'montys_heart', 'harissa_oil', 'mustard_bottle', 'ramen_pack', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 18 ---
INFO:uvicorn.access:192.168.1.217:64673 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.13873375,  0.24815163,  0.95873548],
       [-0.87285243,  0.48798425,  0.        ],
       [-0.46784781, -0.8368346 ,  0.28429964]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01096256,  0.0014503 , -0.00416713])}]
INFO:root:Testing 311 out of 14424 hypotheses for numenta_mug (evidence > 1.5735138843475882)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.77
INFO:root:Testing 1335 out of 10992 hypotheses for montys_brain (evidence > 1.5735138843475882)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 6.886
INFO:root:Testing 906 out of 14880 hypotheses for montys_heart (evidence > 1.5735138843475882)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.301
INFO:root:Testing 201 out of 23200 hypotheses for ramen_pack (evidence > 1.5735138843475882)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.808
INFO:root:Testing 410 out of 14864 hypotheses for hot_sauce (evidence > 1.5735138843475882)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.892
INFO:root:Testing 759 out of 12560 hypotheses for harissa_oil (evidence > 1.5735138843475882)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 8.336
INFO:root:Testing 936 out of 21832 hypotheses for tomato_soup_can (evidence > 1.5735138843475882)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.239
INFO:root:Testing 1027 out of 16976 hypotheses for mustard_bottle (evidence > 1.5735138843475882)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.512
INFO:root:Testing 20 out of 17728 hypotheses for tuna_fish_can (evidence > 1.5735138843475882)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.248
INFO:root:Testing 1590 out of 19024 hypotheses for potted_meat_can (evidence > 1.5735138843475882)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.955
DEBUG:root:evidences for each object: [7.76951804 6.88646846 7.3013649  5.80767846 7.89246797 8.33580635
 8.23876881 7.51238205 2.24801058 7.9552303 ]
DEBUG:root:mean evidence: 6.995, std: 1.732 -> th=6.668645081938928
INFO:root:current most likely hypothesis: harissa_oil with evidence 8.34
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'numenta_mug', 'harissa_oil', 'montys_brain', 'montys_heart', 'mustard_bottle', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 19 ---
INFO:uvicorn.access:192.168.1.217:64675 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.99426738, -0.07959523,  0.07139305],
       [ 0.07979885, -0.99681099,  0.        ],
       [ 0.07116538,  0.00569708,  0.99744826]]), 'pose_fully_defined': False}}, {'patch': array([-0.02779913,  0.0048473 , -0.02121914])}]
INFO:root:Testing 269 out of 14424 hypotheses for numenta_mug (evidence > 1.6671612704847316)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.451
INFO:root:Testing 1312 out of 10992 hypotheses for montys_brain (evidence > 1.6671612704847316)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.163
INFO:root:Testing 805 out of 14880 hypotheses for montys_heart (evidence > 1.6671612704847316)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.696
INFO:root:Testing 142 out of 23200 hypotheses for ramen_pack (evidence > 1.6671612704847316)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.644
INFO:root:Testing 394 out of 14864 hypotheses for hot_sauce (evidence > 1.6671612704847316)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.672
INFO:root:Testing 674 out of 12560 hypotheses for harissa_oil (evidence > 1.6671612704847316)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 8.466
INFO:root:Testing 779 out of 21832 hypotheses for tomato_soup_can (evidence > 1.6671612704847316)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.7
INFO:root:Testing 953 out of 16976 hypotheses for mustard_bottle (evidence > 1.6671612704847316)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.412
INFO:root:Testing 7 out of 17728 hypotheses for tuna_fish_can (evidence > 1.6671612704847316)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.382
INFO:root:Testing 1474 out of 19024 hypotheses for potted_meat_can (evidence > 1.6671612704847316)
DEBUG:root:Calculating evidence for potted_meat_can using input from 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: 7.751
DEBUG:root:evidences for each object: [7.45098094 7.16321396 7.69641035 5.64437636 7.67164889 8.46573856
 7.70007885 7.41183057 2.38169112 7.75062437]
DEBUG:root:mean evidence: 6.934, std: 1.663 -> th=6.7725908478099965
INFO:root:current most likely hypothesis: harissa_oil with evidence 8.47
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'numenta_mug', 'harissa_oil', 'montys_brain', 'montys_heart', 'mustard_bottle', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 20 ---
INFO:uvicorn.access:192.168.1.217:64675 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.69230002, -0.04591708,  0.72014742],
       [ 0.06618   , -0.9978077 ,  0.        ],
       [ 0.71856864,  0.04765936,  0.69382108]]), 'pose_fully_defined': False}}, {'patch': array([-0.0004733 ,  0.01538246, -0.00061973])}]
INFO:root:Testing 258 out of 14424 hypotheses for numenta_mug (evidence > 1.6931477119524985)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.363
INFO:root:Testing 1269 out of 10992 hypotheses for montys_brain (evidence > 1.6931477119524985)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.321
INFO:root:Testing 766 out of 14880 hypotheses for montys_heart (evidence > 1.6931477119524985)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.792
INFO:root:Testing 111 out of 23200 hypotheses for ramen_pack (evidence > 1.6931477119524985)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.366
INFO:root:Testing 365 out of 14864 hypotheses for hot_sauce (evidence > 1.6931477119524985)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 7.538
INFO:root:Testing 648 out of 12560 hypotheses for harissa_oil (evidence > 1.6931477119524985)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 8.378
INFO:root:Testing 734 out of 21832 hypotheses for tomato_soup_can (evidence > 1.6931477119524985)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.585
INFO:root:Testing 740 out of 16976 hypotheses for mustard_bottle (evidence > 1.6931477119524985)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.584
INFO:root:Testing 8 out of 17728 hypotheses for tuna_fish_can (evidence > 1.6931477119524985)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.186
INFO:root:Testing 1227 out of 19024 hypotheses for potted_meat_can (evidence > 1.6931477119524985)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.67
DEBUG:root:evidences for each object: [7.3632602  7.32093877 7.79177151 5.3655061  7.53761977 8.37816908
 7.58518452 6.58429132 2.18554062 7.66996991]
DEBUG:root:mean evidence: 6.778, std: 1.714 -> th=6.702535263109459
INFO:root:current most likely hypothesis: harissa_oil with evidence 8.38
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'numenta_mug', 'harissa_oil', 'montys_brain', 'montys_heart', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 21 ---
INFO:uvicorn.access:192.168.1.217:64675 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.65493338, -0.09968562, -0.7490828 ],
       [ 0.15047423, -0.98861393,  0.        ],
       [-0.7405537 , -0.11271766,  0.66247638]]), 'pose_fully_defined': False}}, {'patch': array([-0.00265794,  0.00421579, -0.00079386])}]
INFO:root:Testing 248 out of 14424 hypotheses for numenta_mug (evidence > 1.6756338157773643)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.462
INFO:root:Testing 1184 out of 10992 hypotheses for montys_brain (evidence > 1.6756338157773643)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.06
INFO:root:Testing 722 out of 14880 hypotheses for montys_heart (evidence > 1.6756338157773643)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.174
INFO:root:Testing 79 out of 23200 hypotheses for ramen_pack (evidence > 1.6756338157773643)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.216
INFO:root:Testing 325 out of 14864 hypotheses for hot_sauce (evidence > 1.6756338157773643)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.611
INFO:root:Testing 617 out of 12560 hypotheses for harissa_oil (evidence > 1.6756338157773643)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 8.229
INFO:root:Testing 685 out of 21832 hypotheses for tomato_soup_can (evidence > 1.6756338157773643)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.149
INFO:root:Testing 627 out of 16976 hypotheses for mustard_bottle (evidence > 1.6756338157773643)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.286
INFO:root:Testing 4 out of 17728 hypotheses for tuna_fish_can (evidence > 1.6756338157773643)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.34
INFO:root:Testing 974 out of 19024 hypotheses for potted_meat_can (evidence > 1.6756338157773643)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.367
DEBUG:root:evidences for each object: [6.46207722 7.0595392  7.17355284 5.21616331 6.61102647 8.22868932
 7.1488503  6.2863216  2.34031486 7.3674124 ]
DEBUG:root:mean evidence: 6.389, std: 1.543 -> th=6.582951458170557
INFO:root:current most likely hypothesis: harissa_oil with evidence 8.23
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'harissa_oil', 'montys_brain', 'montys_heart', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 22 ---
INFO:uvicorn.access:192.168.1.217:64675 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.99643567, -0.06090988,  0.05836044],
       [ 0.06101388, -0.99813692,  0.        ],
       [ 0.05825171,  0.0035608 ,  0.99829558]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00110559, -0.01090309, -0.00396862])}]
INFO:root:Testing 194 out of 14424 hypotheses for numenta_mug (evidence > 1.6457378645426388)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.698
INFO:root:Testing 1019 out of 10992 hypotheses for montys_brain (evidence > 1.6457378645426388)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.522
INFO:root:Testing 654 out of 14880 hypotheses for montys_heart (evidence > 1.6457378645426388)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.255
INFO:root:Testing 67 out of 23200 hypotheses for ramen_pack (evidence > 1.6457378645426388)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 5.171
INFO:root:Testing 317 out of 14864 hypotheses for hot_sauce (evidence > 1.6457378645426388)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.486
INFO:root:Testing 537 out of 12560 hypotheses for harissa_oil (evidence > 1.6457378645426388)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 8.627
INFO:root:Testing 603 out of 21832 hypotheses for tomato_soup_can (evidence > 1.6457378645426388)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.516
INFO:root:Testing 576 out of 16976 hypotheses for mustard_bottle (evidence > 1.6457378645426388)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.471
INFO:root:Testing 4 out of 17728 hypotheses for tuna_fish_can (evidence > 1.6457378645426388)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.396
INFO:root:Testing 896 out of 19024 hypotheses for potted_meat_can (evidence > 1.6457378645426388)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.199
DEBUG:root:evidences for each object: [6.69751256 7.52195242 7.25546887 5.17088393 6.48569249 8.62733277
 7.51595571 6.47146208 2.39550008 7.19898414]
DEBUG:root:mean evidence: 6.534, std: 1.622 -> th=6.901866218527746
INFO:root:current most likely hypothesis: harissa_oil with evidence 8.63
DEBUG:root:evidences for each object: [6.69751256 7.52195242 7.25546887 5.17088393 6.48569249 8.62733277
 7.51595571 6.47146208 2.39550008 7.19898414]
DEBUG:root:mean evidence: 6.534, std: 1.622 -> th=6.901866218527746
DEBUG:root:evidences for each object: [6.69751256 7.52195242 7.25546887 5.17088393 6.48569249 8.62733277
 7.51595571 6.47146208 2.39550008 7.19898414]
DEBUG:root:mean evidence: 6.534, std: 1.622 -> th=7.33323285718573
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'harissa_oil', 'montys_brain', 'montys_heart', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 23 ---
INFO:uvicorn.access:192.168.1.217:64676 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.89343746,  0.00221141,  0.44918215],
       [-0.00247516, -0.99999694,  0.        ],
       [ 0.44918078, -0.0011118 ,  0.8934402 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00213152, -0.00214004, -0.00072824])}]
INFO:root:Testing 184 out of 14424 hypotheses for numenta_mug (evidence > 1.7254665546319359)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.003
INFO:root:Testing 855 out of 10992 hypotheses for montys_brain (evidence > 1.7254665546319359)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.825
INFO:root:Testing 592 out of 14880 hypotheses for montys_heart (evidence > 1.7254665546319359)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.488
INFO:root:Testing 52 out of 23200 hypotheses for ramen_pack (evidence > 1.7254665546319359)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.975
INFO:root:Testing 293 out of 14864 hypotheses for hot_sauce (evidence > 1.7254665546319359)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.368
INFO:root:Testing 507 out of 12560 hypotheses for harissa_oil (evidence > 1.7254665546319359)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 7.627
INFO:root:Testing 570 out of 21832 hypotheses for tomato_soup_can (evidence > 1.7254665546319359)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.763
INFO:root:Testing 491 out of 16976 hypotheses for mustard_bottle (evidence > 1.7254665546319359)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.523
INFO:root:Testing 4 out of 17728 hypotheses for tuna_fish_can (evidence > 1.7254665546319359)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.327
INFO:root:Testing 684 out of 19024 hypotheses for potted_meat_can (evidence > 1.7254665546319359)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.094
DEBUG:root:evidences for each object: [7.00252234 7.82492719 7.48836794 4.97450224 6.36787982 7.62733277
 7.76257338 6.5231829  2.32664651 7.09423981]
DEBUG:root:mean evidence: 6.499, std: 1.611 -> th=6.259941754481571
INFO:root:current most likely hypothesis: montys_brain with evidence 7.82
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'numenta_mug', 'harissa_oil', 'montys_brain', 'montys_heart', 'mustard_bottle', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 24 ---
INFO:uvicorn.access:192.168.1.217:64676 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.93768634, -0.00645246,  0.34742294],
       [ 0.0068811 , -0.99997632,  0.        ],
       [ 0.34741472,  0.00239065,  0.93770854]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00950029,  0.01377814, -0.00188914])}]
INFO:root:Testing 203 out of 14424 hypotheses for numenta_mug (evidence > 1.5649854386203925)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.075
INFO:root:Testing 899 out of 10992 hypotheses for montys_brain (evidence > 1.5649854386203925)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.86
INFO:root:Testing 607 out of 14880 hypotheses for montys_heart (evidence > 1.5649854386203925)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.644
INFO:root:Testing 75 out of 23200 hypotheses for ramen_pack (evidence > 1.5649854386203925)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.747
INFO:root:Testing 304 out of 14864 hypotheses for hot_sauce (evidence > 1.5649854386203925)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.247
INFO:root:Testing 503 out of 12560 hypotheses for harissa_oil (evidence > 1.5649854386203925)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 7.503
INFO:root:Testing 587 out of 21832 hypotheses for tomato_soup_can (evidence > 1.5649854386203925)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.864
INFO:root:Testing 548 out of 16976 hypotheses for mustard_bottle (evidence > 1.5649854386203925)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.484
INFO:root:Testing 14 out of 17728 hypotheses for tuna_fish_can (evidence > 1.5649854386203925)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.199
INFO:root:Testing 635 out of 19024 hypotheses for potted_meat_can (evidence > 1.5649854386203925)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.958
DEBUG:root:evidences for each object: [7.07500822 7.86010859 7.64361213 4.74650164 6.24666498 7.50277919
 7.86361099 6.4840306  2.19934456 6.95831227]
DEBUG:root:mean evidence: 6.458, std: 1.679 -> th=6.29088879585482
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 7.86
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'numenta_mug', 'harissa_oil', 'montys_brain', 'montys_heart', 'mustard_bottle', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 25 ---
INFO:uvicorn.access:192.168.1.217:64676 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.80182501,  0.02858407,  0.59687486],
       [-0.03562613, -0.99936519,  0.        ],
       [ 0.59649596, -0.02126434,  0.80233434]]), 'pose_fully_defined': False}}, {'patch': array([-0.00019442,  0.00240986, -0.00209357])}]
INFO:root:Testing 178 out of 14424 hypotheses for numenta_mug (evidence > 1.5727221989637048)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 7.168
INFO:root:Testing 834 out of 10992 hypotheses for montys_brain (evidence > 1.5727221989637048)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.931
INFO:root:Testing 539 out of 14880 hypotheses for montys_heart (evidence > 1.5727221989637048)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.648
INFO:root:Testing 41 out of 23200 hypotheses for ramen_pack (evidence > 1.5727221989637048)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.517
INFO:root:Testing 287 out of 14864 hypotheses for hot_sauce (evidence > 1.5727221989637048)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.095
INFO:root:Testing 458 out of 12560 hypotheses for harissa_oil (evidence > 1.5727221989637048)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 7.444
INFO:root:Testing 516 out of 21832 hypotheses for tomato_soup_can (evidence > 1.5727221989637048)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.887
INFO:root:Testing 450 out of 16976 hypotheses for mustard_bottle (evidence > 1.5727221989637048)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.448
INFO:root:Testing 4 out of 17728 hypotheses for tuna_fish_can (evidence > 1.5727221989637048)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.81
INFO:root:Testing 507 out of 19024 hypotheses for potted_meat_can (evidence > 1.5727221989637048)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.844
DEBUG:root:evidences for each object: [7.1682433  7.93091173 7.64773006 4.51677149 6.09528841 7.44356328
 7.88668238 6.44795415 1.80998248 6.84420467]
DEBUG:root:mean evidence: 6.379, std: 1.808 -> th=6.344729384915302
INFO:root:current most likely hypothesis: montys_brain with evidence 7.93
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'numenta_mug', 'harissa_oil', 'montys_brain', 'montys_heart', 'mustard_bottle', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 26 ---
INFO:uvicorn.access:192.168.1.217:64676 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.67222773,  0.13479606,  0.72796971],
       [-0.19660769, -0.98048224,  0.        ],
       [ 0.71376137, -0.14312445,  0.68560929]]), 'pose_fully_defined': False}}, {'patch': array([-0.03829867,  0.0028568 , -0.0127068 ])}]
INFO:root:Testing 152 out of 14424 hypotheses for numenta_mug (evidence > 1.5861823462288251)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.168
INFO:root:Testing 782 out of 10992 hypotheses for montys_brain (evidence > 1.5861823462288251)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 6.931
INFO:root:Testing 493 out of 14880 hypotheses for montys_heart (evidence > 1.5861823462288251)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.648
INFO:root:Testing 30 out of 23200 hypotheses for ramen_pack (evidence > 1.5861823462288251)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.517
INFO:root:Testing 269 out of 14864 hypotheses for hot_sauce (evidence > 1.5861823462288251)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.095
INFO:root:Testing 421 out of 12560 hypotheses for harissa_oil (evidence > 1.5861823462288251)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 6.444
INFO:root:Testing 464 out of 21832 hypotheses for tomato_soup_can (evidence > 1.5861823462288251)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.887
INFO:root:Testing 394 out of 16976 hypotheses for mustard_bottle (evidence > 1.5861823462288251)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.448
INFO:root:Testing 1 out of 17728 hypotheses for tuna_fish_can (evidence > 1.5861823462288251)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.56
INFO:root:Testing 472 out of 19024 hypotheses for potted_meat_can (evidence > 1.5861823462288251)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.844
DEBUG:root:evidences for each object: [6.1682433  6.93091173 6.64773006 3.51677149 5.09528841 6.44356328
 6.88668238 5.44795415 1.55981738 5.84420467]
DEBUG:root:mean evidence: 5.454, std: 1.623 -> th=5.544729384915302
INFO:root:current most likely hypothesis: montys_brain with evidence 6.93
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'numenta_mug', 'harissa_oil', 'montys_brain', 'montys_heart', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 27 ---
INFO:uvicorn.access:192.168.1.217:64678 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-9.98566848e-01,  1.09546046e-02,  5.23855619e-02],
       [-1.09696667e-02, -9.99939831e-01,  0.00000000e+00],
       [ 5.23824100e-02, -5.74652155e-04,  9.98626934e-01]]), 'pose_fully_defined': False}}, {'patch': array([ 0.05146229, -0.02519022,  0.03855134])}]
INFO:root:Testing 176 out of 14424 hypotheses for numenta_mug (evidence > 1.386182346228825)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.168
INFO:root:Testing 885 out of 10992 hypotheses for montys_brain (evidence > 1.386182346228825)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 6.913
INFO:root:Testing 577 out of 14880 hypotheses for montys_heart (evidence > 1.386182346228825)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.58
INFO:root:Testing 125 out of 23200 hypotheses for ramen_pack (evidence > 1.386182346228825)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No 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
INFO:root:Testing 280 out of 14864 hypotheses for hot_sauce (evidence > 1.386182346228825)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.914
INFO:root:Testing 488 out of 12560 hypotheses for harissa_oil (evidence > 1.386182346228825)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 6.48
INFO:root:Testing 568 out of 21832 hypotheses for tomato_soup_can (evidence > 1.386182346228825)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.739
INFO:root:Testing 571 out of 16976 hypotheses for mustard_bottle (evidence > 1.386182346228825)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.289
INFO:root:Testing 63 out of 17728 hypotheses for tuna_fish_can (evidence > 1.386182346228825)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.577
INFO:root:Testing 739 out of 19024 hypotheses for potted_meat_can (evidence > 1.386182346228825)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.894
DEBUG:root:evidences for each object: [6.16839285 6.91297797 6.57963615 3.17994869 4.91379756 6.48026467
 6.73934732 5.28924872 1.57703212 5.89367527]
DEBUG:root:mean evidence: 5.373, std: 1.651 -> th=5.530382372800953
INFO:root:current most likely hypothesis: montys_brain with evidence 6.91
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'numenta_mug', 'harissa_oil', 'montys_brain', 'montys_heart', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 28 ---
INFO:uvicorn.access:192.168.1.217:64678 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.98636869,  0.02481645,  0.16266825],
       [-0.02515145, -0.99968365,  0.        ],
       [ 0.16261679, -0.00409134,  0.98668082]]), 'pose_fully_defined': False}}, {'patch': array([-0.00176568,  0.00675699, -0.00086223])}]
INFO:root:Testing 144 out of 14424 hypotheses for numenta_mug (evidence > 1.3825955932002376)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.161
INFO:root:Testing 831 out of 10992 hypotheses for montys_brain (evidence > 1.3825955932002376)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 7.069
INFO:root:Testing 440 out of 14880 hypotheses for montys_heart (evidence > 1.3825955932002376)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.6
INFO:root:Testing 21 out of 23200 hypotheses for ramen_pack (evidence > 1.3825955932002376)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.872
INFO:root:Testing 191 out of 14864 hypotheses for hot_sauce (evidence > 1.3825955932002376)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.082
INFO:root:Testing 412 out of 12560 hypotheses for harissa_oil (evidence > 1.3825955932002376)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 6.553
INFO:root:Testing 444 out of 21832 hypotheses for tomato_soup_can (evidence > 1.3825955932002376)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.657
INFO:root:Testing 225 out of 16976 hypotheses for mustard_bottle (evidence > 1.3825955932002376)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.122
INFO:root:Testing 4 out of 17728 hypotheses for tuna_fish_can (evidence > 1.3825955932002376)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.764
INFO:root:Testing 353 out of 19024 hypotheses for potted_meat_can (evidence > 1.3825955932002376)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.067
DEBUG:root:evidences for each object: [6.16126526 7.06893067 6.60034519 2.87234038 5.08219248 6.55271104
 6.65734993 5.12172602 1.7638774  6.06747857]
DEBUG:root:mean evidence: 5.395, std: 1.672 -> th=5.655144533397312
INFO:root:current most likely hypothesis: montys_brain with evidence 7.07
DEBUG:root:evidences for each object: [6.16126526 7.06893067 6.60034519 2.87234038 5.08219248 6.55271104
 6.65734993 5.12172602 1.7638774  6.06747857]
DEBUG:root:mean evidence: 5.395, std: 1.672 -> th=5.655144533397312
DEBUG:root:evidences for each object: [6.16126526 7.06893067 6.60034519 2.87234038 5.08219248 6.55271104
 6.65734993 5.12172602 1.7638774  6.06747857]
DEBUG:root:mean evidence: 5.395, std: 1.672 -> th=6.008591066734644
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'numenta_mug', 'harissa_oil', 'montys_brain', 'montys_heart', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 29 ---
INFO:uvicorn.access:192.168.1.217:64680 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98814933,  0.13252681, -0.07744387],
       [-0.13292602,  0.99112596,  0.        ],
       [ 0.07675663,  0.01029431,  0.99699671]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0513423 , -0.01185441, -0.01027625])}]
INFO:root:Testing 133 out of 14424 hypotheses for numenta_mug (evidence > 1.413786133349328)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.443
INFO:root:Testing 780 out of 10992 hypotheses for montys_brain (evidence > 1.413786133349328)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 6.215
INFO:root:Testing 394 out of 14880 hypotheses for montys_heart (evidence > 1.413786133349328)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.89
INFO:root:Testing 9 out of 23200 hypotheses for ramen_pack (evidence > 1.413786133349328)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.402
INFO:root:Testing 138 out of 14864 hypotheses for hot_sauce (evidence > 1.413786133349328)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.034
INFO:root:Testing 390 out of 12560 hypotheses for harissa_oil (evidence > 1.413786133349328)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 6.348
INFO:root:Testing 393 out of 21832 hypotheses for tomato_soup_can (evidence > 1.413786133349328)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.028
INFO:root:Testing 167 out of 16976 hypotheses for mustard_bottle (evidence > 1.413786133349328)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.391
INFO:root:Testing 1 out of 17728 hypotheses for tuna_fish_can (evidence > 1.413786133349328)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.382
INFO:root:Testing 308 out of 19024 hypotheses for potted_meat_can (evidence > 1.413786133349328)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.878
DEBUG:root:evidences for each object: [6.44313409 6.21494716 6.88974619 2.40223783 5.03414638 6.34777933
 7.02819344 5.39065449 1.38208755 5.87847848]
DEBUG:root:mean evidence: 5.301, std: 1.814 -> th=5.622554748552309
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 7.03
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'potted_meat_can', 'numenta_mug', 'harissa_oil', 'montys_brain', 'montys_heart', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 30 ---
INFO:uvicorn.access:192.168.1.217:64680 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.00888174, -0.07539546, -0.99711416],
       [ 0.99313273,  0.11699306, -0.        ],
       [ 0.11665543, -0.99026671,  0.07591681]]), 'pose_fully_defined': False}}, {'patch': array([-0.00885788, -0.00254305,  0.00352277])}]
INFO:root:Testing 101 out of 14424 hypotheses for numenta_mug (evidence > 1.4056386871380768)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.164
INFO:root:Testing 607 out of 10992 hypotheses for montys_brain (evidence > 1.4056386871380768)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.934
INFO:root:Testing 337 out of 14880 hypotheses for montys_heart (evidence > 1.4056386871380768)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.617
INFO:root:Testing 6 out of 23200 hypotheses for ramen_pack (evidence > 1.4056386871380768)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.954
INFO:root:Testing 94 out of 14864 hypotheses for hot_sauce (evidence > 1.4056386871380768)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.743
INFO:root:Testing 357 out of 12560 hypotheses for harissa_oil (evidence > 1.4056386871380768)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 6.158
INFO:root:Testing 322 out of 21832 hypotheses for tomato_soup_can (evidence > 1.4056386871380768)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.796
INFO:root:Testing 125 out of 16976 hypotheses for mustard_bottle (evidence > 1.4056386871380768)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.104
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.382
INFO:root:Testing 250 out of 19024 hypotheses for potted_meat_can (evidence > 1.4056386871380768)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.421
DEBUG:root:evidences for each object: [6.16376843 5.93354176 6.61716625 1.95448505 4.74259601 6.15756213
 6.79591165 5.10434727 1.38208755 5.42064662]
DEBUG:root:mean evidence: 5.027, std: 1.789 -> th=5.436729323203084
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 6.8
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'numenta_mug', 'harissa_oil', 'montys_brain', 'montys_heart', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 31 ---
INFO:uvicorn.access:192.168.1.217:64680 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.97023309,  0.15196184,  0.18856126],
       [-0.15473761,  0.9879556 ,  0.        ],
       [-0.18629015, -0.02917752,  0.98206143]]), 'pose_fully_defined': False}}, {'patch': array([-0.02314412,  0.00604669, -0.00172934])}]
INFO:root:Testing 117 out of 14424 hypotheses for numenta_mug (evidence > 1.3591823308007704)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.219
INFO:root:Testing 586 out of 10992 hypotheses for montys_brain (evidence > 1.3591823308007704)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.161
INFO:root:Testing 348 out of 14880 hypotheses for montys_heart (evidence > 1.3591823308007704)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.617
INFO:root:Testing 36 out of 23200 hypotheses for ramen_pack (evidence > 1.3591823308007704)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.843
INFO:root:Testing 119 out of 14864 hypotheses for hot_sauce (evidence > 1.3591823308007704)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.734
INFO:root:Testing 371 out of 12560 hypotheses for harissa_oil (evidence > 1.3591823308007704)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 5.158
INFO:root:Testing 355 out of 21832 hypotheses for tomato_soup_can (evidence > 1.3591823308007704)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.725
INFO:root:Testing 154 out of 16976 hypotheses for mustard_bottle (evidence > 1.3591823308007704)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.986
INFO:root:Testing 17 out of 17728 hypotheses for tuna_fish_can (evidence > 1.3591823308007704)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.359
INFO:root:Testing 323 out of 19024 hypotheses for potted_meat_can (evidence > 1.3591823308007704)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.371
DEBUG:root:evidences for each object: [6.21925543 5.16149789 5.61716625 1.84345181 4.73447907 5.15756213
 6.72540074 4.98629313 1.35910938 5.37090078]
DEBUG:root:mean evidence: 4.718, std: 1.659 -> th=5.380320591268623
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 6.73
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'tomato_soup_can', 'numenta_mug'}
INFO:root:--- Global Matching Step 32 ---
INFO:uvicorn.access:192.168.1.217:64680 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.89450173,  0.07358191, -0.44096752],
       [-0.0819833 ,  0.9966337 ,  0.        ],
       [ 0.43948309,  0.03615197,  0.89752306]]), 'pose_fully_defined': False}}, {'patch': array([ 0.02794696,  0.01430998, -0.00374284])}]
INFO:root:Testing 84 out of 14424 hypotheses for numenta_mug (evidence > 1.3450801478171552)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.219
INFO:root:Testing 436 out of 10992 hypotheses for montys_brain (evidence > 1.3450801478171552)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.227
INFO:root:Testing 237 out of 14880 hypotheses for montys_heart (evidence > 1.3450801478171552)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.872
INFO:root:Testing 23 out of 23200 hypotheses for ramen_pack (evidence > 1.3450801478171552)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.811
INFO:root:Testing 108 out of 14864 hypotheses for hot_sauce (evidence > 1.3450801478171552)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.906
INFO:root:Testing 266 out of 12560 hypotheses for harissa_oil (evidence > 1.3450801478171552)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 5.24
INFO:root:Testing 251 out of 21832 hypotheses for tomato_soup_can (evidence > 1.3450801478171552)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.951
INFO:root:Testing 133 out of 16976 hypotheses for mustard_bottle (evidence > 1.3450801478171552)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.08
INFO:root:Testing 14 out of 17728 hypotheses for tuna_fish_can (evidence > 1.3450801478171552)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.648
INFO:root:Testing 224 out of 19024 hypotheses for potted_meat_can (evidence > 1.3450801478171552)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.837
DEBUG:root:evidences for each object: [5.21925543 5.22718602 5.87199256 1.8107469  4.9056237  5.23995539
 6.95128103 5.07993095 1.64821371 5.83726696]
DEBUG:root:mean evidence: 4.779, std: 1.624 -> th=5.561024821618852
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 6.95
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'potted_meat_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 33 ---
INFO:uvicorn.access:192.168.1.217:64680 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.97906558,  0.07298531, -0.19000981],
       [-0.07433961,  0.99723298,  0.        ],
       [ 0.18948405,  0.01412526,  0.98178219]]), 'pose_fully_defined': False}}, {'patch': array([-0.00083312, -0.0284015 ,  0.00106311])}]
INFO:root:Testing 48 out of 14424 hypotheses for numenta_mug (evidence > 1.3902562054047127)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.532
INFO:root:Testing 289 out of 10992 hypotheses for montys_brain (evidence > 1.3902562054047127)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.406
INFO:root:Testing 176 out of 14880 hypotheses for montys_heart (evidence > 1.3902562054047127)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.137
INFO:root:Testing 4 out of 23200 hypotheses for ramen_pack (evidence > 1.3902562054047127)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.663
INFO:root:Testing 63 out of 14864 hypotheses for hot_sauce (evidence > 1.3902562054047127)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.349
INFO:root:Testing 219 out of 12560 hypotheses for harissa_oil (evidence > 1.3902562054047127)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 5.714
INFO:root:Testing 178 out of 21832 hypotheses for tomato_soup_can (evidence > 1.3902562054047127)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.238
INFO:root:Testing 65 out of 16976 hypotheses for mustard_bottle (evidence > 1.3902562054047127)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No 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 3 out of 17728 hypotheses for tuna_fish_can (evidence > 1.3902562054047127)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.344
INFO:root:Testing 123 out of 19024 hypotheses for potted_meat_can (evidence > 1.3902562054047127)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.273
DEBUG:root:evidences for each object: [5.53244905 5.40621629 6.13733221 1.66281552 5.34911292 5.71381376
 7.23842182 5.17239197 1.34416717 6.27304232]
DEBUG:root:mean evidence: 4.983, std: 1.831 -> th=5.790737452612759
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 7.24
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'potted_meat_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 34 ---
INFO:uvicorn.access:192.168.1.217:64680 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.97239409,  0.09519922,  0.21304187],
       [-0.09743605,  0.99524179,  0.        ],
       [-0.21202817, -0.02075796,  0.97704307]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00151166, -0.00206155, -0.00015648])}]
INFO:root:Testing 116 out of 14424 hypotheses for numenta_mug (evidence > 1.447684363153189)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.833
INFO:root:Testing 199 out of 10992 hypotheses for montys_brain (evidence > 1.447684363153189)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.718
INFO:root:Testing 163 out of 14880 hypotheses for montys_heart (evidence > 1.447684363153189)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.581
INFO:root:Testing 1 out of 23200 hypotheses for ramen_pack (evidence > 1.447684363153189)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.427
INFO:root:Testing 62 out of 14864 hypotheses for hot_sauce (evidence > 1.447684363153189)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.674
INFO:root:Testing 219 out of 12560 hypotheses for harissa_oil (evidence > 1.447684363153189)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 6.157
INFO:root:Testing 177 out of 21832 hypotheses for tomato_soup_can (evidence > 1.447684363153189)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.561
INFO:root:Testing 44 out of 16976 hypotheses for mustard_bottle (evidence > 1.447684363153189)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.558
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.344
INFO:root:Testing 121 out of 19024 hypotheses for potted_meat_can (evidence > 1.447684363153189)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.523
DEBUG:root:evidences for each object: [5.83341006 5.71794278 6.58051259 1.42711509 5.67401591 6.15664997
 7.56066069 4.55804745 1.34416717 6.52323696]
DEBUG:root:mean evidence: 5.138, std: 2.013 -> th=6.048528553246345
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 7.56
DEBUG:root:evidences for each object: [5.83341006 5.71794278 6.58051259 1.42711509 5.67401591 6.15664997
 7.56066069 4.55804745 1.34416717 6.52323696]
DEBUG:root:mean evidence: 5.138, std: 2.013 -> th=6.048528553246345
DEBUG:root:evidences for each object: [5.83341006 5.71794278 6.58051259 1.42711509 5.67401591 6.15664997
 7.56066069 4.55804745 1.34416717 6.52323696]
DEBUG:root:mean evidence: 5.138, std: 2.013 -> th=6.426561587824242
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: {'harissa_oil', 'montys_heart', 'potted_meat_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 35 ---
INFO:uvicorn.access:192.168.1.217:64683 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64683 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.2671012 ,  0.12743929, -0.95520478],
       [-0.43061722, -0.90253466,  0.        ],
       [-0.86210542,  0.41132762,  0.29594564]]), 'pose_fully_defined': False}}, {'patch': array([-0.04665961,  0.0126556 , -0.0426136 ])}]
INFO:root:Testing 115 out of 14424 hypotheses for numenta_mug (evidence > 1.5121321383115855)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.086
INFO:root:Testing 127 out of 10992 hypotheses for montys_brain (evidence > 1.5121321383115855)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 6.218
INFO:root:Testing 154 out of 14880 hypotheses for montys_heart (evidence > 1.5121321383115855)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.045
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.427
INFO:root:Testing 58 out of 14864 hypotheses for hot_sauce (evidence > 1.5121321383115855)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.164
INFO:root:Testing 219 out of 12560 hypotheses for harissa_oil (evidence > 1.5121321383115855)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 6.611
INFO:root:Testing 175 out of 21832 hypotheses for tomato_soup_can (evidence > 1.5121321383115855)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.819
INFO:root:Testing 38 out of 16976 hypotheses for mustard_bottle (evidence > 1.5121321383115855)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.83
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.344
INFO:root:Testing 116 out of 19024 hypotheses for potted_meat_can (evidence > 1.5121321383115855)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.768
DEBUG:root:evidences for each object: [6.08591891 6.21794278 7.04490168 1.42711509 6.16392857 6.61100093
 7.81862445 4.82974799 1.34416717 6.7680977 ]
DEBUG:root:mean evidence: 5.431, std: 2.149 -> th=6.254899557265723
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 7.82
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'harissa_oil', 'montys_heart', 'potted_meat_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 36 ---
INFO:uvicorn.access:192.168.1.217:64683 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.32249128,  0.17423749, -0.93039812],
       [-0.47534364, -0.87980022,  0.        ],
       [-0.81856447,  0.44225883,  0.36655058]]), 'pose_fully_defined': False}}, {'patch': array([-0.0004619 ,  0.01755431,  0.00318099])}]
INFO:root:Testing 160 out of 14424 hypotheses for numenta_mug (evidence > 1.5637248893164308)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.361
INFO:root:Testing 126 out of 10992 hypotheses for montys_brain (evidence > 1.5637248893164308)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 6.565
INFO:root:Testing 224 out of 14880 hypotheses for montys_heart (evidence > 1.5637248893164308)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.433
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.427
INFO:root:Testing 58 out of 14864 hypotheses for hot_sauce (evidence > 1.5637248893164308)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.525
INFO:root:Testing 218 out of 12560 hypotheses for harissa_oil (evidence > 1.5637248893164308)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 6.866
INFO:root:Testing 175 out of 21832 hypotheses for tomato_soup_can (evidence > 1.5637248893164308)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.103
INFO:root:Testing 37 out of 16976 hypotheses for mustard_bottle (evidence > 1.5637248893164308)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.102
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.344
INFO:root:Testing 112 out of 19024 hypotheses for potted_meat_can (evidence > 1.5637248893164308)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.043
DEBUG:root:evidences for each object: [6.36115428 6.56530949 7.43298552 1.42711509 6.5250171  6.86628794
 8.10303187 5.10164763 1.34416717 7.04283942]
DEBUG:root:mean evidence: 5.677, std: 2.267 -> th=6.482425498517276
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 8.1
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'harissa_oil', 'montys_brain', 'montys_heart', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 37 ---
INFO:uvicorn.access:192.168.1.217:64683 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64683 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.34935361,  0.20137002, -0.91509681],
       [-0.49938724, -0.86637889,  0.        ],
       [-0.79282056,  0.45698767,  0.40323421]]), 'pose_fully_defined': False}}, {'patch': array([0.00604216, 0.01392956, 0.00766143])}]
INFO:root:Testing 158 out of 14424 hypotheses for numenta_mug (evidence > 1.6206063746293182)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.269
INFO:root:Testing 122 out of 10992 hypotheses for montys_brain (evidence > 1.6206063746293182)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 6.277
INFO:root:Testing 220 out of 14880 hypotheses for montys_heart (evidence > 1.6206063746293182)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.819
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.427
INFO:root:Testing 57 out of 14864 hypotheses for hot_sauce (evidence > 1.6206063746293182)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.525
INFO:root:Testing 218 out of 12560 hypotheses for harissa_oil (evidence > 1.6206063746293182)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 5.866
INFO:root:Testing 173 out of 21832 hypotheses for tomato_soup_can (evidence > 1.6206063746293182)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.369
INFO:root:Testing 37 out of 16976 hypotheses for mustard_bottle (evidence > 1.6206063746293182)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.464
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.344
INFO:root:Testing 112 out of 19024 hypotheses for potted_meat_can (evidence > 1.6206063746293182)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.043
DEBUG:root:evidences for each object: [6.26912395 6.27710945 7.81915893 1.42711509 5.5250171  5.86628794
 8.36871122 5.46402185 1.34416717 6.04283942]
DEBUG:root:mean evidence: 5.44, std: 2.215 -> th=6.694968979334112
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 8.37
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 38 ---
INFO:uvicorn.access:192.168.1.217:64683 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.28329985,  0.02637857, -0.95866854],
       [-0.0927108 , -0.99569308,  0.        ],
       [-0.95453963,  0.08887892,  0.28452527]]), 'pose_fully_defined': False}}, {'patch': array([-0.01620147, -0.04253696, -0.01020183])}]
INFO:root:Testing 89 out of 14424 hypotheses for numenta_mug (evidence > 1.6737422448335275)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.509
INFO:root:Testing 116 out of 10992 hypotheses for montys_brain (evidence > 1.6737422448335275)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 6.045
INFO:root:Testing 172 out of 14880 hypotheses for montys_heart (evidence > 1.6737422448335275)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.819
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.427
INFO:root:Testing 51 out of 14864 hypotheses for hot_sauce (evidence > 1.6737422448335275)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.996
INFO:root:Testing 216 out of 12560 hypotheses for harissa_oil (evidence > 1.6737422448335275)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 6.346
INFO:root:Testing 169 out of 21832 hypotheses for tomato_soup_can (evidence > 1.6737422448335275)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.514
INFO:root:Testing 33 out of 16976 hypotheses for mustard_bottle (evidence > 1.6737422448335275)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.657
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.344
INFO:root:Testing 103 out of 19024 hypotheses for potted_meat_can (evidence > 1.6737422448335275)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.237
DEBUG:root:evidences for each object: [6.50904784 6.04518608 6.81915893 1.42711509 5.99609581 6.34607259
 8.5137748  5.65680213 1.34416717 6.23727154]
DEBUG:root:mean evidence: 5.489, std: 2.18 -> th=6.811019841797832
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 8.51
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 39 ---
INFO:uvicorn.access:192.168.1.217:64683 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64683 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.54647862,  0.09064424, -0.83255315],
       [-0.16363395, -0.98652113,  0.        ],
       [-0.82133127,  0.13623396,  0.55394518]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00816267,  0.0207712 , -0.00017236])}]
INFO:root:Testing 82 out of 14424 hypotheses for numenta_mug (evidence > 1.7027549604494574)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.76
INFO:root:Testing 95 out of 10992 hypotheses for montys_brain (evidence > 1.7027549604494574)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 6.492
INFO:root:Testing 167 out of 14880 hypotheses for montys_heart (evidence > 1.7027549604494574)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.268
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.427
INFO:root:Testing 36 out of 14864 hypotheses for hot_sauce (evidence > 1.7027549604494574)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 6.354
INFO:root:Testing 211 out of 12560 hypotheses for harissa_oil (evidence > 1.7027549604494574)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 6.633
INFO:root:Testing 165 out of 21832 hypotheses for tomato_soup_can (evidence > 1.7027549604494574)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.713
INFO:root:Testing 33 out of 16976 hypotheses for mustard_bottle (evidence > 1.7027549604494574)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.873
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.344
INFO:root:Testing 101 out of 19024 hypotheses for potted_meat_can (evidence > 1.7027549604494574)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.453
DEBUG:root:evidences for each object: [6.76012189 6.49182891 7.26751795 1.42711509 6.3543841  6.63268367
 8.71342267 5.87348404 1.34416717 6.45293636]
DEBUG:root:mean evidence: 5.732, std: 2.289 -> th=6.970738139334502
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 8.71
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 40 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.45774353,  0.11091505, -0.88213871],
       [-0.23549359, -0.9718759 ,  0.        ],
       [-0.85732936,  0.20773801,  0.47098969]]), 'pose_fully_defined': False}}, {'patch': array([0.00208096, 0.01180061, 0.00029006])}]
INFO:root:Testing 88 out of 14424 hypotheses for numenta_mug (evidence > 1.742684534833625)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.76
INFO:root:Testing 94 out of 10992 hypotheses for montys_brain (evidence > 1.742684534833625)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.946
INFO:root:Testing 167 out of 14880 hypotheses for montys_heart (evidence > 1.742684534833625)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.851
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.427
INFO:root:Testing 42 out of 14864 hypotheses for hot_sauce (evidence > 1.742684534833625)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.354
INFO:root:Testing 213 out of 12560 hypotheses for harissa_oil (evidence > 1.742684534833625)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 5.633
INFO:root:Testing 165 out of 21832 hypotheses for tomato_soup_can (evidence > 1.742684534833625)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.713
INFO:root:Testing 33 out of 16976 hypotheses for mustard_bottle (evidence > 1.742684534833625)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.873
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.344
INFO:root:Testing 106 out of 19024 hypotheses for potted_meat_can (evidence > 1.742684534833625)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.453
DEBUG:root:evidences for each object: [5.76012189 5.9461535  6.85099484 1.42711509 5.3543841  5.63268367
 7.71342267 4.87348404 1.34416717 5.45293636]
DEBUG:root:mean evidence: 5.036, std: 1.978 -> th=6.170738139334501
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 7.71
DEBUG:root:evidences for each object: [5.76012189 5.9461535  6.85099484 1.42711509 5.3543841  5.63268367
 7.71342267 4.87348404 1.34416717 5.45293636]
DEBUG:root:mean evidence: 5.036, std: 1.978 -> th=6.170738139334501
DEBUG:root:evidences for each object: [5.76012189 5.9461535  6.85099484 1.42711509 5.3543841  5.63268367
 7.71342267 4.87348404 1.34416717 5.45293636]
DEBUG:root:mean evidence: 5.036, std: 1.978 -> th=6.556409273042908
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 41 ---
INFO:uvicorn.access:192.168.1.217:64683 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:64683 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.32912863,  0.15373219, -0.93168705],
       [-0.42319926, -0.90603664,  0.        ],
       [-0.8441426 ,  0.39428927,  0.36326195]]), 'pose_fully_defined': False}}, {'patch': array([0.0035165 , 0.01063426, 0.00652477])}]
INFO:root:Testing 310 out of 14424 hypotheses for numenta_mug (evidence > 1.5426845348336249)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.07
INFO:root:Testing 89 out of 10992 hypotheses for montys_brain (evidence > 1.5426845348336249)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.939
INFO:root:Testing 201 out of 14880 hypotheses for montys_heart (evidence > 1.5426845348336249)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.201
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.427
INFO:root:Testing 114 out of 14864 hypotheses for hot_sauce (evidence > 1.5426845348336249)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.354
INFO:root:Testing 210 out of 12560 hypotheses for harissa_oil (evidence > 1.5426845348336249)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.633
INFO:root:Testing 162 out of 21832 hypotheses for tomato_soup_can (evidence > 1.5426845348336249)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.713
INFO:root:Testing 40 out of 16976 hypotheses for mustard_bottle (evidence > 1.5426845348336249)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.939
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.344
INFO:root:Testing 100 out of 19024 hypotheses for potted_meat_can (evidence > 1.5426845348336249)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.453
DEBUG:root:evidences for each object: [5.07014374 5.93854638 7.20114316 1.42711509 4.3543841  4.63268367
 6.71342267 4.93940462 1.34416717 4.45293636]
DEBUG:root:mean evidence: 4.607, std: 1.847 -> th=5.7609145315623485
INFO:root:current most likely hypothesis: montys_heart with evidence 7.2
DEBUG:root:evidences for each object: [5.07014374 5.93854638 7.20114316 1.42711509 4.3543841  4.63268367
 6.71342267 4.93940462 1.34416717 4.45293636]
DEBUG:root:mean evidence: 4.607, std: 1.847 -> th=5.7609145315623485
DEBUG:root:evidences for each object: [5.07014374 5.93854638 7.20114316 1.42711509 4.3543841  4.63268367
 6.71342267 4.93940462 1.34416717 4.45293636]
DEBUG:root:mean evidence: 4.607, std: 1.847 -> th=6.120971689784995
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'montys_heart', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 42 ---
INFO:uvicorn.access:192.168.1.217:64683 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.38271015,  0.10546581, -0.91782891],
       [-0.26567288, -0.96406323,  0.        ],
       [-0.8848451 ,  0.24384225,  0.39697619]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00345736, -0.00795122, -0.00182432])}]
INFO:root:Testing 191 out of 14424 hypotheses for numenta_mug (evidence > 1.4402286328905864)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.3
INFO:root:Testing 60 out of 10992 hypotheses for montys_brain (evidence > 1.4402286328905864)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 6.341
INFO:root:Testing 306 out of 14880 hypotheses for montys_heart (evidence > 1.4402286328905864)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 7.499
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.427
INFO:root:Testing 126 out of 14864 hypotheses for hot_sauce (evidence > 1.4402286328905864)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.571
INFO:root:Testing 311 out of 12560 hypotheses for harissa_oil (evidence > 1.4402286328905864)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.795
INFO:root:Testing 231 out of 21832 hypotheses for tomato_soup_can (evidence > 1.4402286328905864)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.962
INFO:root:Testing 131 out of 16976 hypotheses for mustard_bottle (evidence > 1.4402286328905864)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.227
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.344
INFO:root:Testing 374 out of 19024 hypotheses for potted_meat_can (evidence > 1.4402286328905864)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.692
DEBUG:root:evidences for each object: [5.29954926 6.34076318 7.49868413 1.42711509 4.57114449 4.79543918
 6.96216782 5.22735165 1.34416717 4.69205228]
DEBUG:root:mean evidence: 4.816, std: 1.953 -> th=5.998947301249226
INFO:root:current most likely hypothesis: montys_heart with evidence 7.5
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_brain', 'montys_heart', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 43 ---
INFO:uvicorn.access:192.168.1.217:64685 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.86304339,  0.04975078, -0.50267382],
       [-0.0575502 ,  0.99834261,  0.        ],
       [ 0.5018407 ,  0.02892898,  0.86447616]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0190939 , -0.03148869, -0.0143568 ])}]
INFO:root:Testing 181 out of 14424 hypotheses for numenta_mug (evidence > 1.499736825312306)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.747
INFO:root:Testing 59 out of 10992 hypotheses for montys_brain (evidence > 1.499736825312306)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.341
INFO:root:Testing 293 out of 14880 hypotheses for montys_heart (evidence > 1.499736825312306)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.868
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.427
INFO:root:Testing 114 out of 14864 hypotheses for hot_sauce (evidence > 1.499736825312306)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.542
INFO:root:Testing 298 out of 12560 hypotheses for harissa_oil (evidence > 1.499736825312306)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.9
INFO:root:Testing 225 out of 21832 hypotheses for tomato_soup_can (evidence > 1.499736825312306)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.269
INFO:root:Testing 122 out of 16976 hypotheses for mustard_bottle (evidence > 1.499736825312306)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.649
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.344
INFO:root:Testing 361 out of 19024 hypotheses for potted_meat_can (evidence > 1.499736825312306)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.588
DEBUG:root:evidences for each object: [5.74717726 5.34076318 6.86820815 1.42711509 4.54246456 4.90041862
 7.26909212 4.64869966 1.34416717 4.58786575]
DEBUG:root:mean evidence: 4.668, std: 1.867 -> th=5.815273692740183
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 7.27
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 44 ---
INFO:uvicorn.access:192.168.1.217:64685 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.85581184,  0.06033726, -0.51375628],
       [-0.07032838,  0.99752389,  0.        ],
       [ 0.51248416,  0.03613165,  0.85793618]]), 'pose_fully_defined': False}}, {'patch': array([-0.01785551,  0.01087838,  0.01573594])}]
INFO:root:Testing 130 out of 14424 hypotheses for numenta_mug (evidence > 1.4538184231850453)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.582
INFO:root:Testing 40 out of 10992 hypotheses for montys_brain (evidence > 1.4538184231850453)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 5.287
INFO:root:Testing 219 out of 14880 hypotheses for montys_heart (evidence > 1.4538184231850453)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.989
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.427
INFO:root:Testing 67 out of 14864 hypotheses for hot_sauce (evidence > 1.4538184231850453)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.476
INFO:root:Testing 247 out of 12560 hypotheses for harissa_oil (evidence > 1.4538184231850453)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.812
INFO:root:Testing 201 out of 21832 hypotheses for tomato_soup_can (evidence > 1.4538184231850453)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.169
INFO:root:Testing 93 out of 16976 hypotheses for mustard_bottle (evidence > 1.4538184231850453)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.582
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.344
INFO:root:Testing 247 out of 19024 hypotheses for potted_meat_can (evidence > 1.4538184231850453)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.464
DEBUG:root:evidences for each object: [5.58207715 5.28671367 6.98884003 1.42711509 4.47577041 4.81167331
 7.16929235 4.58237892 1.34416717 4.46400958]
DEBUG:root:mean evidence: 4.613, std: 1.857 -> th=5.735433876753602
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 7.17
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 45 ---
INFO:uvicorn.access:192.168.1.217:64685 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.8955852 ,  0.0902099 , -0.43564816],
       [-0.10022019,  0.99496528,  0.        ],
       [ 0.43345479,  0.04366074,  0.90011704]]), 'pose_fully_defined': False}}, {'patch': array([-0.00233513,  0.00796131,  0.01153065])}]
INFO:root:Testing 135 out of 14424 hypotheses for numenta_mug (evidence > 1.4338584691884)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.926
INFO:root:Testing 40 out of 10992 hypotheses for montys_brain (evidence > 1.4338584691884)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 4.287
INFO:root:Testing 229 out of 14880 hypotheses for montys_heart (evidence > 1.4338584691884)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.989
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.427
INFO:root:Testing 67 out of 14864 hypotheses for hot_sauce (evidence > 1.4338584691884)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.295
INFO:root:Testing 257 out of 12560 hypotheses for harissa_oil (evidence > 1.4338584691884)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.646
INFO:root:Testing 220 out of 21832 hypotheses for tomato_soup_can (evidence > 1.4338584691884)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.484
INFO:root:Testing 100 out of 16976 hypotheses for mustard_bottle (evidence > 1.4338584691884)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.892
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.344
INFO:root:Testing 263 out of 19024 hypotheses for potted_meat_can (evidence > 1.4338584691884)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.292
DEBUG:root:evidences for each object: [4.92568478 4.28671367 5.98884003 1.42711509 4.29462623 4.64644873
 6.48426817 3.89215255 1.34416717 4.2915344 ]
DEBUG:root:mean evidence: 4.158, std: 1.584 -> th=5.187414533098223
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 6.48
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 46 ---
INFO:uvicorn.access:192.168.1.217:64685 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.93896438,  0.00446443, -0.34398541],
       [-0.00475458,  0.9999887 ,  0.        ],
       [ 0.34398152,  0.00163551,  0.93897499]]), 'pose_fully_defined': False}}, {'patch': array([ 0.02504567, -0.00727138, -0.01414127])}]
INFO:root:Testing 338 out of 14424 hypotheses for numenta_mug (evidence > 1.296853633274555)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.176
INFO:root:Testing 162 out of 10992 hypotheses for montys_brain (evidence > 1.296853633274555)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 4.563
INFO:root:Testing 452 out of 14880 hypotheses for montys_heart (evidence > 1.296853633274555)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.045
INFO:root:Testing 77 out of 23200 hypotheses for ramen_pack (evidence > 1.296853633274555)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 1.809
INFO:root:Testing 268 out of 14864 hypotheses for hot_sauce (evidence > 1.296853633274555)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.696
INFO:root:Testing 437 out of 12560 hypotheses for harissa_oil (evidence > 1.296853633274555)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 5.112
INFO:root:Testing 491 out of 21832 hypotheses for tomato_soup_can (evidence > 1.296853633274555)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.74
INFO:root:Testing 384 out of 16976 hypotheses for mustard_bottle (evidence > 1.296853633274555)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.143
INFO:root:Testing 74 out of 17728 hypotheses for tuna_fish_can (evidence > 1.296853633274555)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.803
INFO:root:Testing 649 out of 19024 hypotheses for potted_meat_can (evidence > 1.296853633274555)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.752
DEBUG:root:evidences for each object: [5.17555008 4.56322844 6.04546053 1.80884775 4.69576856 5.11159467
 6.74005054 4.14258704 1.80329199 4.75211162]
DEBUG:root:mean evidence: 4.484, std: 1.516 -> th=5.392040429554188
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 6.74
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 47 ---
INFO:uvicorn.access:192.168.1.217:64685 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99370496,  0.03653088, -0.10590535],
       [-0.03673749,  0.99932495,  0.        ],
       [ 0.10583386,  0.0038907 ,  0.99437622]]), 'pose_fully_defined': False}}, {'patch': array([-0.00028602,  0.00791013, -0.00403229])}]
INFO:root:Testing 309 out of 14424 hypotheses for numenta_mug (evidence > 1.3480101073885464)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.315
INFO:root:Testing 160 out of 10992 hypotheses for montys_brain (evidence > 1.3480101073885464)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 4.602
INFO:root:Testing 447 out of 14880 hypotheses for montys_heart (evidence > 1.3480101073885464)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 5.979
INFO:root:Testing 62 out of 23200 hypotheses for ramen_pack (evidence > 1.3480101073885464)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.18
INFO:root:Testing 217 out of 14864 hypotheses for hot_sauce (evidence > 1.3480101073885464)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.964
INFO:root:Testing 378 out of 12560 hypotheses for harissa_oil (evidence > 1.3480101073885464)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 5.499
INFO:root:Testing 435 out of 21832 hypotheses for tomato_soup_can (evidence > 1.3480101073885464)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.865
INFO:root:Testing 348 out of 16976 hypotheses for mustard_bottle (evidence > 1.3480101073885464)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.507
INFO:root:Testing 63 out of 17728 hypotheses for tuna_fish_can (evidence > 1.3480101073885464)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.267
INFO:root:Testing 553 out of 19024 hypotheses for potted_meat_can (evidence > 1.3480101073885464)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.066
DEBUG:root:evidences for each object: [5.3147594  4.60156078 5.97874478 2.17974636 4.96421687 5.49933502
 6.86487033 4.5065814  2.2670231  5.06634767]
DEBUG:root:mean evidence: 4.724, std: 1.409 -> th=5.491896261912061
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 6.86
DEBUG:root:evidences for each object: [5.3147594  4.60156078 5.97874478 2.17974636 4.96421687 5.49933502
 6.86487033 4.5065814  2.2670231  5.06634767]
DEBUG:root:mean evidence: 4.724, std: 1.409 -> th=5.491896261912061
DEBUG:root:evidences for each object: [5.3147594  4.60156078 5.97874478 2.17974636 4.96421687 5.49933502
 6.86487033 4.5065814  2.2670231  5.06634767]
DEBUG:root:mean evidence: 4.724, std: 1.409 -> th=5.835139778281564
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: {'harissa_oil', 'montys_heart', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 48 ---
INFO:uvicorn.access:192.168.1.217:64685 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.89915749,  0.07908393, -0.43042019],
       [-0.08761513,  0.9961544 ,  0.        ],
       [ 0.42876497,  0.03771132,  0.90262864]]), 'pose_fully_defined': False}}, {'patch': array([0.00224206, 0.00750089, 0.00450813])}]
INFO:root:Testing 273 out of 14424 hypotheses for numenta_mug (evidence > 1.3729740654780151)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.374
INFO:root:Testing 147 out of 10992 hypotheses for montys_brain (evidence > 1.3729740654780151)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 4.227
INFO:root:Testing 417 out of 14880 hypotheses for montys_heart (evidence > 1.3729740654780151)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.051
INFO:root:Testing 55 out of 23200 hypotheses for ramen_pack (evidence > 1.3729740654780151)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.648
INFO:root:Testing 195 out of 14864 hypotheses for hot_sauce (evidence > 1.3729740654780151)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.324
INFO:root:Testing 362 out of 12560 hypotheses for harissa_oil (evidence > 1.3729740654780151)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 5.902
INFO:root:Testing 420 out of 21832 hypotheses for tomato_soup_can (evidence > 1.3729740654780151)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 6.843
INFO:root:Testing 307 out of 16976 hypotheses for mustard_bottle (evidence > 1.3729740654780151)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.907
INFO:root:Testing 63 out of 17728 hypotheses for tuna_fish_can (evidence > 1.3729740654780151)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.633
INFO:root:Testing 544 out of 19024 hypotheses for potted_meat_can (evidence > 1.3729740654780151)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.446
DEBUG:root:evidences for each object: [5.37424599 4.2271387  6.05136508 2.64801239 5.32389267 5.90203314
 6.84303154 4.90730069 2.63265865 5.44613658]
DEBUG:root:mean evidence: 4.936, std: 1.321 -> th=5.474425231118378
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 6.84
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'harissa_oil', 'montys_heart', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 49 ---
INFO:uvicorn.access:192.168.1.217:64687 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.4207545 ,  0.4680098 , -0.77713093],
       [-0.743653  , -0.66856579,  0.        ],
       [-0.51956315,  0.57791575,  0.62933896]]), 'pose_fully_defined': False}}, {'patch': array([-0.00662372, -0.0090232 , -0.00691835])}]
INFO:root:Testing 223 out of 14424 hypotheses for numenta_mug (evidence > 1.3686063077795945)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.547
INFO:root:Testing 118 out of 10992 hypotheses for montys_brain (evidence > 1.3686063077795945)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 4.413
INFO:root:Testing 363 out of 14880 hypotheses for montys_heart (evidence > 1.3686063077795945)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 6.345
INFO:root:Testing 51 out of 23200 hypotheses for ramen_pack (evidence > 1.3686063077795945)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.893
INFO:root:Testing 170 out of 14864 hypotheses for hot_sauce (evidence > 1.3686063077795945)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 5.688
INFO:root:Testing 353 out of 12560 hypotheses for harissa_oil (evidence > 1.3686063077795945)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 6.305
INFO:root:Testing 412 out of 21832 hypotheses for tomato_soup_can (evidence > 1.3686063077795945)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.077
INFO:root:Testing 268 out of 16976 hypotheses for mustard_bottle (evidence > 1.3686063077795945)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.355
INFO:root:Testing 60 out of 17728 hypotheses for tuna_fish_can (evidence > 1.3686063077795945)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.047
INFO:root:Testing 501 out of 19024 hypotheses for potted_meat_can (evidence > 1.3686063077795945)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.876
DEBUG:root:evidences for each object: [5.54663576 4.41270212 6.34507175 2.89311888 5.68768766 6.30484623
 7.0765663  5.35541061 3.04664566 5.87555335]
DEBUG:root:mean evidence: 5.254, std: 1.321 -> th=5.661253038857398
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 7.08
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'potted_meat_can', 'harissa_oil', 'montys_heart', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 50 ---
INFO:uvicorn.access:192.168.1.217:64687 - "POST /capture HTTP/1.1" 200
INFO:root:saving model to /Users/nleadholm/tbp/results/monty/projects/evidence_eval_runs/logs/probe_triggered_data_collection_for_inference/harissa_oil/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/harissa_oil/log.txt (NOTSET)>
