INFO:root:Logger initialized at 2025-10-01 11:37:40.962791
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/montys_brain/observations',
                                    'vive_url': 'http://192.168.1.237:3001/pose'},
                  'env_init_func': <class 'custom_classes.probe_triggered_environment.ProbeTriggeredUltrasoundEnvironment'>,
                  'rng': RandomState(MT19937) at 0x7FCC58F3D440,
                  '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/montys_brain',
                    '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': '8vge51b8'},
 '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']
INFO:uvicorn.access:192.168.1.217:65353 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:65353 - "POST /capture HTTP/1.1" 200
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([[ 0.93811943, -0.08085151, -0.33674169],
       [ 0.08586636,  0.99630666, -0.        ],
       [ 0.33549799, -0.02891478,  0.94159707]]), '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: {'tuna_fish_can', 'montys_brain', 'harissa_oil', 'montys_heart', 'mustard_bottle', 'numenta_mug', 'tomato_soup_can', 'hot_sauce', 'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 1 ---
INFO:uvicorn.access:192.168.1.217:65354 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.98657049, -0.05459118,  0.1539431 ],
       [ 0.05524978,  0.99847256, -0.        ],
       [-0.15370796,  0.00850532,  0.98807971]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00015213, -0.00350619,  0.01128943])}]
INFO:root:Testing 14424 out of 14424 hypotheses for numenta_mug (evidence > 0.0)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 10992 out of 10992 hypotheses for montys_brain (evidence > 0.0)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.02 seconds. New max evidence: 0.5
INFO:root:Testing 14880 out of 14880 hypotheses for montys_heart (evidence > 0.0)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 23200 out of 23200 hypotheses for ramen_pack (evidence > 0.0)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.05 seconds. New max evidence: 0.5
INFO:root:Testing 14864 out of 14864 hypotheses for hot_sauce (evidence > 0.0)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 12560 out of 12560 hypotheses for harissa_oil (evidence > 0.0)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 21832 out of 21832 hypotheses for tomato_soup_can (evidence > 0.0)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.05 seconds. New max evidence: 0.5
INFO:root:Testing 16976 out of 16976 hypotheses for mustard_bottle (evidence > 0.0)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.04 seconds. New max evidence: 0.5
INFO:root:Testing 17728 out of 17728 hypotheses for tuna_fish_can (evidence > 0.0)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.04 seconds. New max evidence: 0.5
INFO:root:Testing 19024 out of 19024 hypotheses for potted_meat_can (evidence > 0.0)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.04 seconds. New max evidence: 0.5
INFO:root:current most likely hypothesis: numenta_mug with evidence 0.5
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'montys_brain', 'harissa_oil', 'montys_heart', 'mustard_bottle', 'numenta_mug', 'tomato_soup_can', 'hot_sauce', 'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 2 ---
INFO:uvicorn.access:192.168.1.217:65356 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.89583977, -0.02547477, -0.44364642],
       [ 0.02842526,  0.99959592, -0.        ],
       [ 0.44346715, -0.01261076,  0.89620191]]), 'pose_fully_defined': False}}, {'patch': array([-0.01574292, -0.00801989, -0.02228719])}]
INFO:root:Testing 13863 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: 0.97
INFO:root:Testing 10947 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: 0.983
INFO:root:Testing 14240 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: 0.98
INFO:root:Testing 22654 out of 23200 hypotheses for ramen_pack (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.05 seconds. New max evidence: 0.97
INFO:root:Testing 14824 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: 0.962
INFO:root:Testing 12486 out of 12560 hypotheses for harissa_oil (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.03 seconds. New max evidence: 0.977
INFO:root:Testing 19464 out of 21832 hypotheses for tomato_soup_can (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.05 seconds. New max evidence: 0.974
INFO:root:Testing 16805 out of 16976 hypotheses for mustard_bottle (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.04 seconds. New max evidence: 0.974
INFO:root:Testing 15215 out of 17728 hypotheses for tuna_fish_can (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.04 seconds. New max evidence: 0.983
INFO:root:Testing 16891 out of 19024 hypotheses for potted_meat_can (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.04 seconds. New max evidence: 0.982
INFO:root:current most likely hypothesis: tuna_fish_can with evidence 0.98
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'montys_brain', 'harissa_oil', 'montys_heart', 'mustard_bottle', 'numenta_mug', 'tomato_soup_can', 'hot_sauce', 'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 3 ---
INFO:uvicorn.access:192.168.1.217:65357 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.97092591, -0.03464418, -0.23686001],
       [ 0.0356589 ,  0.99936402, -0.        ],
       [ 0.23670938, -0.00844617,  0.97154379]]), 'pose_fully_defined': False}}, {'patch': array([0.01575912, 0.02328068, 0.01197126])}]
INFO:root:Testing 9159 out of 14424 hypotheses for numenta_mug (evidence > 0.19660681061126717)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 1.44
INFO:root:Testing 10366 out of 10992 hypotheses for montys_brain (evidence > 0.19660681061126717)
DEBUG:root:Calculating evidence for montys_brain using input 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: 1.452
INFO:root:Testing 12122 out of 14880 hypotheses for montys_heart (evidence > 0.19660681061126717)
DEBUG:root:Calculating evidence for montys_heart using input 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: 1.467
INFO:root:Testing 12718 out of 23200 hypotheses for ramen_pack (evidence > 0.19660681061126717)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 1.445
INFO:root:Testing 11449 out of 14864 hypotheses for hot_sauce (evidence > 0.19660681061126717)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 1.449
INFO:root:Testing 8283 out of 12560 hypotheses for harissa_oil (evidence > 0.19660681061126717)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 1.418
INFO:root:Testing 10822 out of 21832 hypotheses for tomato_soup_can (evidence > 0.19660681061126717)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 1.464
INFO:root:Testing 10616 out of 16976 hypotheses for mustard_bottle (evidence > 0.19660681061126717)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 1.436
INFO:root:Testing 6148 out of 17728 hypotheses for tuna_fish_can (evidence > 0.19660681061126717)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.01 seconds. New max evidence: 1.445
INFO:root:Testing 5616 out of 19024 hypotheses for potted_meat_can (evidence > 0.19660681061126717)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 1.44
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: {'tuna_fish_can', 'montys_brain', 'harissa_oil', 'montys_heart', 'mustard_bottle', 'numenta_mug', 'tomato_soup_can', 'hot_sauce', 'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 4 ---
INFO:uvicorn.access:192.168.1.217:65357 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.8722561 , -0.04157781,  0.48727875],
       [ 0.04761292,  0.99886586, -0.        ],
       [-0.48672611,  0.02320076,  0.87324648]]), 'pose_fully_defined': False}}, {'patch': array([-0.00172537, -0.0044972 ,  0.01452422])}]
INFO:root:Testing 9071 out of 14424 hypotheses for numenta_mug (evidence > 0.29336271317368157)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 1.895
INFO:root:Testing 10366 out of 10992 hypotheses for montys_brain (evidence > 0.29336271317368157)
DEBUG:root:Calculating evidence for montys_brain using input 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: 1.864
INFO:root:Testing 12088 out of 14880 hypotheses for montys_heart (evidence > 0.29336271317368157)
DEBUG:root:Calculating evidence for montys_heart using input 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: 1.876
INFO:root:Testing 12677 out of 23200 hypotheses for ramen_pack (evidence > 0.29336271317368157)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 1.874
INFO:root:Testing 11441 out of 14864 hypotheses for hot_sauce (evidence > 0.29336271317368157)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 1.94
INFO:root:Testing 8271 out of 12560 hypotheses for harissa_oil (evidence > 0.29336271317368157)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 1.889
INFO:root:Testing 10576 out of 21832 hypotheses for tomato_soup_can (evidence > 0.29336271317368157)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 1.957
INFO:root:Testing 10590 out of 16976 hypotheses for mustard_bottle (evidence > 0.29336271317368157)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 1.928
INFO:root:Testing 6005 out of 17728 hypotheses for tuna_fish_can (evidence > 0.29336271317368157)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 1.696
INFO:root:Testing 5430 out of 19024 hypotheses for potted_meat_can (evidence > 0.29336271317368157)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 1.925
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 1.96
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'montys_brain', 'harissa_oil', 'montys_heart', 'mustard_bottle', 'numenta_mug', 'tomato_soup_can', 'hot_sauce', 'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 5 ---
INFO:uvicorn.access:192.168.1.217:65357 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.87024146, -0.07402799, -0.48703148],
       [ 0.08475991,  0.9964014 , -0.        ],
       [ 0.48527885, -0.04128075,  0.87338441]]), 'pose_fully_defined': False}}, {'patch': array([-0.01015392, -0.0048389 , -0.03565417])}]
INFO:root:Testing 8877 out of 14424 hypotheses for numenta_mug (evidence > 0.39149602790741134)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 2.375
INFO:root:Testing 10218 out of 10992 hypotheses for montys_brain (evidence > 0.39149602790741134)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.02 seconds. New max evidence: 2.304
INFO:root:Testing 11714 out of 14880 hypotheses for montys_heart (evidence > 0.39149602790741134)
DEBUG:root:Calculating evidence for montys_heart using input 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: 2.347
INFO:root:Testing 12006 out of 23200 hypotheses for ramen_pack (evidence > 0.39149602790741134)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.03 seconds. New max evidence: 2.343
INFO:root:Testing 11272 out of 14864 hypotheses for hot_sauce (evidence > 0.39149602790741134)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.02 seconds. New max evidence: 2.377
INFO:root:Testing 7868 out of 12560 hypotheses for harissa_oil (evidence > 0.39149602790741134)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.02 seconds. New max evidence: 2.252
INFO:root:Testing 10029 out of 21832 hypotheses for tomato_soup_can (evidence > 0.39149602790741134)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 2.429
INFO:root:Testing 10312 out of 16976 hypotheses for mustard_bottle (evidence > 0.39149602790741134)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 2.42
INFO:root:Testing 5343 out of 17728 hypotheses for tuna_fish_can (evidence > 0.39149602790741134)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 2.134
INFO:root:Testing 5050 out of 19024 hypotheses for potted_meat_can (evidence > 0.39149602790741134)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 2.412
INFO:root:current most likely hypothesis: tomato_soup_can with evidence 2.43
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'montys_brain', 'harissa_oil', 'montys_heart', 'mustard_bottle', 'numenta_mug', 'tomato_soup_can', 'hot_sauce', 'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 6 ---
INFO:uvicorn.access:192.168.1.217:65358 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.95245857, -0.07043438, -0.29641471],
       [ 0.07374869,  0.99727686, -0.        ],
       [ 0.29560753, -0.0218602 ,  0.95505933]]), 'pose_fully_defined': False}}, {'patch': array([-0.00797696, -0.02366768,  0.00982994])}]
INFO:root:Testing 7861 out of 14424 hypotheses for numenta_mug (evidence > 0.48572890706863525)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 2.632
INFO:root:Testing 9520 out of 10992 hypotheses for montys_brain (evidence > 0.48572890706863525)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.02 seconds. New max evidence: 2.678
INFO:root:Testing 11020 out of 14880 hypotheses for montys_heart (evidence > 0.48572890706863525)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.03 seconds. New max evidence: 2.708
INFO:root:Testing 9313 out of 23200 hypotheses for ramen_pack (evidence > 0.48572890706863525)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 2.682
INFO:root:Testing 9820 out of 14864 hypotheses for hot_sauce (evidence > 0.48572890706863525)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.02 seconds. New max evidence: 2.532
INFO:root:Testing 6881 out of 12560 hypotheses for harissa_oil (evidence > 0.48572890706863525)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.02 seconds. New max evidence: 2.543
INFO:root:Testing 9038 out of 21832 hypotheses for tomato_soup_can (evidence > 0.48572890706863525)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 2.646
INFO:root:Testing 8863 out of 16976 hypotheses for mustard_bottle (evidence > 0.48572890706863525)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 2.624
INFO:root:Testing 4423 out of 17728 hypotheses for tuna_fish_can (evidence > 0.48572890706863525)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 2.425
INFO:root:Testing 4205 out of 19024 hypotheses for potted_meat_can (evidence > 0.48572890706863525)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 2.647
INFO:root:current most likely hypothesis: montys_heart with evidence 2.71
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'montys_brain', 'harissa_oil', 'montys_heart', 'mustard_bottle', 'numenta_mug', 'tomato_soup_can', 'hot_sauce', 'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 7 ---
INFO:uvicorn.access:192.168.1.217:65358 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.93483581, -0.06695714, -0.34871013],
       [ 0.07144148,  0.99744479, -0.        ],
       [ 0.3478191 , -0.02491237,  0.93723063]]), 'pose_fully_defined': False}}, {'patch': array([0.01734195, 0.00828778, 0.00825365])}]
INFO:root:Testing 7353 out of 14424 hypotheses for numenta_mug (evidence > 0.5416118529356675)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 3.12
INFO:root:Testing 9095 out of 10992 hypotheses for montys_brain (evidence > 0.5416118529356675)
DEBUG:root:Calculating evidence for montys_brain using input 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: 3.015
INFO:root:Testing 10536 out of 14880 hypotheses for montys_heart (evidence > 0.5416118529356675)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.02 seconds. New max evidence: 3.13
INFO:root:Testing 7331 out of 23200 hypotheses for ramen_pack (evidence > 0.5416118529356675)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.02 seconds. New max evidence: 3.168
INFO:root:Testing 8369 out of 14864 hypotheses for hot_sauce (evidence > 0.5416118529356675)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.02 seconds. New max evidence: 2.994
INFO:root:Testing 6389 out of 12560 hypotheses for harissa_oil (evidence > 0.5416118529356675)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 3.013
INFO:root:Testing 8453 out of 21832 hypotheses for tomato_soup_can (evidence > 0.5416118529356675)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 3.13
INFO:root:Testing 7680 out of 16976 hypotheses for mustard_bottle (evidence > 0.5416118529356675)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 3.086
INFO:root:Testing 3527 out of 17728 hypotheses for tuna_fish_can (evidence > 0.5416118529356675)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 2.884
INFO:root:Testing 3562 out of 19024 hypotheses for potted_meat_can (evidence > 0.5416118529356675)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 3.129
INFO:root:current most likely hypothesis: ramen_pack with evidence 3.17
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'montys_brain', 'harissa_oil', 'montys_heart', 'mustard_bottle', 'numenta_mug', 'tomato_soup_can', 'hot_sauce', 'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 8 ---
INFO:uvicorn.access:192.168.1.217:65358 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.95062943, -0.03510797,  0.30833603],
       [ 0.03690613,  0.99931874, -0.        ],
       [-0.30812597,  0.01137949,  0.9512775 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00060478,  0.00184696,  0.013129  ])}]
INFO:root:Testing 7323 out of 14424 hypotheses for numenta_mug (evidence > 0.6335277649298581)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 3.614
INFO:root:Testing 9094 out of 10992 hypotheses for montys_brain (evidence > 0.6335277649298581)
DEBUG:root:Calculating evidence for montys_brain using input 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: 3.403
INFO:root:Testing 10530 out of 14880 hypotheses for montys_heart (evidence > 0.6335277649298581)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.02 seconds. New max evidence: 3.548
INFO:root:Testing 7304 out of 23200 hypotheses for ramen_pack (evidence > 0.6335277649298581)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.02 seconds. New max evidence: 3.589
INFO:root:Testing 8358 out of 14864 hypotheses for hot_sauce (evidence > 0.6335277649298581)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 3.435
INFO:root:Testing 6361 out of 12560 hypotheses for harissa_oil (evidence > 0.6335277649298581)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 3.459
INFO:root:Testing 8414 out of 21832 hypotheses for tomato_soup_can (evidence > 0.6335277649298581)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 3.59
INFO:root:Testing 7663 out of 16976 hypotheses for mustard_bottle (evidence > 0.6335277649298581)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 3.55
INFO:root:Testing 3501 out of 17728 hypotheses for tuna_fish_can (evidence > 0.6335277649298581)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 3.081
INFO:root:Testing 3539 out of 19024 hypotheses for potted_meat_can (evidence > 0.6335277649298581)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 3.604
DEBUG:root:evidences for each object: [3.61382855 3.40252707 3.54778308 3.58888738 3.43460555 3.45927496
 3.59017669 3.54970401 3.08128624 3.60375557]
DEBUG:root:mean evidence: 3.487, std: 0.153 -> th=2.8910628391213367
INFO:root:current most likely hypothesis: numenta_mug with evidence 3.61
DEBUG:root:evidences for each object: [3.61382855 3.40252707 3.54778308 3.58888738 3.43460555 3.45927496
 3.59017669 3.54970401 3.08128624 3.60375557]
DEBUG:root:mean evidence: 3.487, std: 0.153 -> th=2.8910628391213367
DEBUG:root:evidences for each object: [3.61382855 3.40252707 3.54778308 3.58888738 3.43460555 3.45927496
 3.59017669 3.54970401 3.08128624 3.60375557]
DEBUG:root:mean evidence: 3.487, std: 0.153 -> th=3.0717542665664204
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'montys_brain', 'harissa_oil', 'montys_heart', 'mustard_bottle', 'numenta_mug', 'tomato_soup_can', 'hot_sauce', 'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 9 ---
INFO:uvicorn.access:192.168.1.217:65360 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.50171919, -0.1639765 ,  0.84934655],
       [ 0.31065827, -0.95052167,  0.        ],
       [ 0.8073223 ,  0.26385653,  0.52783562]]), 'pose_fully_defined': False}}, {'patch': array([-0.01504903,  0.00937733,  0.01159631])}]
INFO:root:Testing 7271 out of 14424 hypotheses for numenta_mug (evidence > 0.7227657097803339)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 3.255
INFO:root:Testing 9080 out of 10992 hypotheses for montys_brain (evidence > 0.7227657097803339)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.03 seconds. New max evidence: 3.571
INFO:root:Testing 10478 out of 14880 hypotheses for montys_heart (evidence > 0.7227657097803339)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.04 seconds. New max evidence: 3.671
INFO:root:Testing 7209 out of 23200 hypotheses for ramen_pack (evidence > 0.7227657097803339)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.02 seconds. New max evidence: 3.781
INFO:root:Testing 8346 out of 14864 hypotheses for hot_sauce (evidence > 0.7227657097803339)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 3.605
INFO:root:Testing 6347 out of 12560 hypotheses for harissa_oil (evidence > 0.7227657097803339)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.02 seconds. New max evidence: 3.064
INFO:root:Testing 8355 out of 21832 hypotheses for tomato_soup_can (evidence > 0.7227657097803339)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.03 seconds. New max evidence: 3.543
INFO:root:Testing 7590 out of 16976 hypotheses for mustard_bottle (evidence > 0.7227657097803339)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 3.752
INFO:root:Testing 3471 out of 17728 hypotheses for tuna_fish_can (evidence > 0.7227657097803339)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 3.281
INFO:root:Testing 3465 out of 19024 hypotheses for potted_meat_can (evidence > 0.7227657097803339)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 3.578
DEBUG:root:evidences for each object: [3.25470357 3.57133058 3.6710004  3.78082352 3.60511573 3.06392836
 3.54254726 3.7517912  3.28077905 3.57767629]
DEBUG:root:mean evidence: 3.51, std: 0.222 -> th=3.0246588155319407
INFO:root:current most likely hypothesis: ramen_pack with evidence 3.78
DEBUG:root:evidences for each object: [3.25470357 3.57133058 3.6710004  3.78082352 3.60511573 3.06392836
 3.54254726 3.7517912  3.28077905 3.57767629]
DEBUG:root:mean evidence: 3.51, std: 0.222 -> th=3.0246588155319407
DEBUG:root:evidences for each object: [3.25470357 3.57133058 3.6710004  3.78082352 3.60511573 3.06392836
 3.54254726 3.7517912  3.28077905 3.57767629]
DEBUG:root:mean evidence: 3.51, std: 0.222 -> th=3.213699991502687
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'montys_brain', 'harissa_oil', 'montys_heart', 'mustard_bottle', 'numenta_mug', 'tomato_soup_can', 'hot_sauce', 'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 10 ---
INFO:uvicorn.access:192.168.1.217:65360 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.72632702, -0.04911246,  0.68559246],
       [ 0.06746351, -0.99772174,  0.        ],
       [ 0.6840305 ,  0.04625248,  0.72798556]]), 'pose_fully_defined': False}}, {'patch': array([-0.00799719, -0.00275306, -0.0079108 ])}]
INFO:root:Testing 6514 out of 14424 hypotheses for numenta_mug (evidence > 0.7561647038829848)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 3.398
INFO:root:Testing 8716 out of 10992 hypotheses for montys_brain (evidence > 0.7561647038829848)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.04 seconds. New max evidence: 3.659
INFO:root:Testing 10028 out of 14880 hypotheses for montys_heart (evidence > 0.7561647038829848)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.04 seconds. New max evidence: 3.875
INFO:root:Testing 6401 out of 23200 hypotheses for ramen_pack (evidence > 0.7561647038829848)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.02 seconds. New max evidence: 4.193
INFO:root:Testing 7758 out of 14864 hypotheses for hot_sauce (evidence > 0.7561647038829848)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 3.639
INFO:root:Testing 5772 out of 12560 hypotheses for harissa_oil (evidence > 0.7561647038829848)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.02 seconds. New max evidence: 3.019
INFO:root:Testing 7508 out of 21832 hypotheses for tomato_soup_can (evidence > 0.7561647038829848)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.03 seconds. New max evidence: 3.581
INFO:root:Testing 6111 out of 16976 hypotheses for mustard_bottle (evidence > 0.7561647038829848)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 3.729
INFO:root:Testing 3263 out of 17728 hypotheses for tuna_fish_can (evidence > 0.7561647038829848)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 3.749
INFO:root:Testing 2869 out of 19024 hypotheses for potted_meat_can (evidence > 0.7561647038829848)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 3.418
DEBUG:root:evidences for each object: [3.39846443 3.65897319 3.87503893 4.19339321 3.63888588 3.01917106
 3.58090264 3.72879013 3.74901348 3.4176291 ]
DEBUG:root:mean evidence: 3.626, std: 0.296 -> th=3.354714566427087
INFO:root:current most likely hypothesis: ramen_pack with evidence 4.19
DEBUG:root:evidences for each object: [3.39846443 3.65897319 3.87503893 4.19339321 3.63888588 3.01917106
 3.58090264 3.72879013 3.74901348 3.4176291 ]
DEBUG:root:mean evidence: 3.626, std: 0.296 -> th=3.354714566427087
DEBUG:root:evidences for each object: [3.39846443 3.65897319 3.87503893 4.19339321 3.63888588 3.01917106
 3.58090264 3.72879013 3.74901348 3.4176291 ]
DEBUG:root:mean evidence: 3.626, std: 0.296 -> th=3.56438422682878
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: {'tuna_fish_can', 'montys_brain', 'montys_heart', 'mustard_bottle', 'numenta_mug', 'tomato_soup_can', 'hot_sauce', 'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 11 ---
INFO:uvicorn.access:192.168.1.217:65360 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.23192688, -0.12779557,  0.96430193],
       [ 0.48260222, -0.87583965,  0.        ],
       [ 0.84457387,  0.46537425,  0.26480518]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01311817, -0.00261066,  0.00601696])}]
INFO:root:Testing 1944 out of 14424 hypotheses for numenta_mug (evidence > 0.8386786416067715)
DEBUG:root:Calculating evidence for numenta_mug using input 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: 3.791
INFO:root:Testing 3155 out of 10992 hypotheses for montys_brain (evidence > 0.8386786416067715)
DEBUG:root:Calculating evidence for montys_brain using input 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: 3.951
INFO:root:Testing 3489 out of 14880 hypotheses for montys_heart (evidence > 0.8386786416067715)
DEBUG:root:Calculating evidence for montys_heart using input 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: 4.307
INFO:root:Testing 5139 out of 23200 hypotheses for ramen_pack (evidence > 0.8386786416067715)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 4.411
INFO:root:Testing 3458 out of 14864 hypotheses for hot_sauce (evidence > 0.8386786416067715)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 3.957
INFO:root:Testing 2516 out of 12560 hypotheses for harissa_oil (evidence > 0.8386786416067715)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 3.233
INFO:root:Testing 3219 out of 21832 hypotheses for tomato_soup_can (evidence > 0.8386786416067715)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 3.624
INFO:root:Testing 2613 out of 16976 hypotheses for mustard_bottle (evidence > 0.8386786416067715)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 4.185
INFO:root:Testing 2739 out of 17728 hypotheses for tuna_fish_can (evidence > 0.8386786416067715)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 3.892
INFO:root:Testing 1347 out of 19024 hypotheses for potted_meat_can (evidence > 0.8386786416067715)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.673
DEBUG:root:evidences for each object: [3.79099562 3.9508277  4.30676901 4.41129063 3.95660189 3.23320199
 3.62350617 4.18469623 3.89170468 3.6734827 ]
DEBUG:root:mean evidence: 3.902, std: 0.331 -> th=3.5290325061890035
INFO:root:current most likely hypothesis: ramen_pack with evidence 4.41
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'montys_brain', 'montys_heart', 'mustard_bottle', 'numenta_mug', 'tomato_soup_can', 'hot_sauce', 'ramen_pack', 'potted_meat_can'}
INFO:root:--- Global Matching Step 12 ---
INFO:uvicorn.access:192.168.1.217:65362 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.99714692, -0.07102446, -0.02556439],
       [ 0.07104768, -0.99747292,  0.        ],
       [-0.02549979, -0.00181629,  0.99967318]]), 'pose_fully_defined': False}}, {'patch': array([-0.01497277, -0.00811567, -0.02389402])}]
INFO:root:Testing 1041 out of 14424 hypotheses for numenta_mug (evidence > 0.8822581265472507)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 3.574
INFO:root:Testing 2839 out of 10992 hypotheses for montys_brain (evidence > 0.8822581265472507)
DEBUG:root:Calculating evidence for montys_brain using input 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: 3.564
INFO:root:Testing 2175 out of 14880 hypotheses for montys_heart (evidence > 0.8822581265472507)
DEBUG:root:Calculating evidence for montys_heart using input 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: 4.523
INFO:root:Testing 4515 out of 23200 hypotheses for ramen_pack (evidence > 0.8822581265472507)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 4.619
INFO:root:Testing 3198 out of 14864 hypotheses for hot_sauce (evidence > 0.8822581265472507)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 4.334
INFO:root:Testing 1577 out of 12560 hypotheses for harissa_oil (evidence > 0.8822581265472507)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.858
INFO:root:Testing 1960 out of 21832 hypotheses for tomato_soup_can (evidence > 0.8822581265472507)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 3.209
INFO:root:Testing 2295 out of 16976 hypotheses for mustard_bottle (evidence > 0.8822581265472507)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 4.383
INFO:root:Testing 2218 out of 17728 hypotheses for tuna_fish_can (evidence > 0.8822581265472507)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 4.105
INFO:root:Testing 1142 out of 19024 hypotheses for potted_meat_can (evidence > 0.8822581265472507)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.538
DEBUG:root:evidences for each object: [3.57355492 3.56417158 4.52341711 4.6185378  4.3343963  2.85793099
 3.20860735 4.38344958 4.1054874  3.53755013]
DEBUG:root:mean evidence: 3.871, std: 0.572 -> th=3.6948302421896786
INFO:root:current most likely hypothesis: ramen_pack with evidence 4.62
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'mustard_bottle', 'montys_heart', 'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 13 ---
INFO:uvicorn.access:192.168.1.217:65362 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.98537102,  0.09050745,  0.14440347],
       [-0.09146611, -0.99580819,  0.        ],
       [ 0.14379816, -0.01320802,  0.98951889]]), 'pose_fully_defined': False}}, {'patch': array([-0.003016  ,  0.01462317,  0.00824038])}]
INFO:root:Testing 659 out of 14424 hypotheses for numenta_mug (evidence > 0.9237075605474194)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.592
INFO:root:Testing 2157 out of 10992 hypotheses for montys_brain (evidence > 0.9237075605474194)
DEBUG:root:Calculating evidence for montys_brain using input 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: 3.031
INFO:root:Testing 1291 out of 14880 hypotheses for montys_heart (evidence > 0.9237075605474194)
DEBUG:root:Calculating evidence for montys_heart using input 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: 4.436
INFO:root:Testing 3903 out of 23200 hypotheses for ramen_pack (evidence > 0.9237075605474194)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 4.952
INFO:root:Testing 2588 out of 14864 hypotheses for hot_sauce (evidence > 0.9237075605474194)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 4.69
INFO:root:Testing 1052 out of 12560 hypotheses for harissa_oil (evidence > 0.9237075605474194)
DEBUG:root:Calculating evidence for harissa_oil using input 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: 2.163
INFO:root:Testing 1124 out of 21832 hypotheses for tomato_soup_can (evidence > 0.9237075605474194)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 3.128
INFO:root:Testing 1559 out of 16976 hypotheses for mustard_bottle (evidence > 0.9237075605474194)
DEBUG:root:Calculating evidence for mustard_bottle using input 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: 4.848
INFO:root:Testing 1955 out of 17728 hypotheses for tuna_fish_can (evidence > 0.9237075605474194)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 4.441
INFO:root:Testing 767 out of 19024 hypotheses for potted_meat_can (evidence > 0.9237075605474194)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.281
DEBUG:root:evidences for each object: [2.59177563 3.03075859 4.43641291 4.95182363 4.69035614 2.16298223
 3.12812115 4.84813442 4.44110069 3.28059339]
DEBUG:root:mean evidence: 3.756, std: 0.973 -> th=3.961458900549824
INFO:root:current most likely hypothesis: ramen_pack with evidence 4.95
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'mustard_bottle', 'montys_heart', 'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 14 ---
INFO:uvicorn.access:192.168.1.217:65362 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.9908403 ,  0.11356182,  0.07306989],
       [-0.11386621, -0.99349609,  0.        ],
       [ 0.07259465, -0.00832019,  0.99732682]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00092394, -0.01178336,  0.00033165])}]
INFO:root:Testing 196 out of 14424 hypotheses for numenta_mug (evidence > 0.9903647251374559)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.665
INFO:root:Testing 561 out of 10992 hypotheses for montys_brain (evidence > 0.9903647251374559)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.003
INFO:root:Testing 453 out of 14880 hypotheses for montys_heart (evidence > 0.9903647251374559)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 4.85
INFO:root:Testing 2790 out of 23200 hypotheses for ramen_pack (evidence > 0.9903647251374559)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 5.244
INFO:root:Testing 1338 out of 14864 hypotheses for hot_sauce (evidence > 0.9903647251374559)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 5.084
INFO:root:Testing 400 out of 12560 hypotheses for harissa_oil (evidence > 0.9903647251374559)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.927
INFO:root:Testing 564 out of 21832 hypotheses for tomato_soup_can (evidence > 0.9903647251374559)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.983
INFO:root:Testing 762 out of 16976 hypotheses for mustard_bottle (evidence > 0.9903647251374559)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.292
INFO:root:Testing 1547 out of 17728 hypotheses for tuna_fish_can (evidence > 0.9903647251374559)
DEBUG:root:Calculating evidence for tuna_fish_can using input from 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: 4.894
INFO:root:Testing 296 out of 19024 hypotheses for potted_meat_can (evidence > 0.9903647251374559)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.05
DEBUG:root:evidences for each object: [2.66482174 3.00339781 4.8499676  5.24405109 5.08363969 1.9273444
 2.98286362 5.29213395 4.89408867 3.05020065]
DEBUG:root:mean evidence: 3.899, std: 1.217 -> th=4.233707157607194
INFO:root:current most likely hypothesis: mustard_bottle with evidence 5.29
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'mustard_bottle', 'montys_heart', 'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 15 ---
INFO:uvicorn.access:192.168.1.217:65364 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.1971766 ,  0.07012414,  0.97785684],
       [-0.33508136,  0.94218919,  0.        ],
       [-0.92132615, -0.3276616 ,  0.20927495]]), 'pose_fully_defined': False}}, {'patch': array([0.02823769, 0.01681694, 0.0155618 ])}]
INFO:root:Testing 60 out of 14424 hypotheses for numenta_mug (evidence > 1.058426789401798)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.732
INFO:root:Testing 388 out of 10992 hypotheses for montys_brain (evidence > 1.058426789401798)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.181
INFO:root:Testing 342 out of 14880 hypotheses for montys_heart (evidence > 1.058426789401798)
DEBUG:root:Calculating evidence for montys_heart using input 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: 5.095
INFO:root:Testing 2065 out of 23200 hypotheses for ramen_pack (evidence > 1.058426789401798)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 5.44
INFO:root:Testing 1162 out of 14864 hypotheses for hot_sauce (evidence > 1.058426789401798)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 5.526
INFO:root:Testing 147 out of 12560 hypotheses for harissa_oil (evidence > 1.058426789401798)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.099
INFO:root:Testing 305 out of 21832 hypotheses for tomato_soup_can (evidence > 1.058426789401798)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.021
INFO:root:Testing 505 out of 16976 hypotheses for mustard_bottle (evidence > 1.058426789401798)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.473
INFO:root:Testing 1184 out of 17728 hypotheses for tuna_fish_can (evidence > 1.058426789401798)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.205
INFO:root:Testing 166 out of 19024 hypotheses for potted_meat_can (evidence > 1.058426789401798)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.277
DEBUG:root:evidences for each object: [2.73198146 3.18118367 5.09527843 5.44024833 5.52606673 2.09865684
 3.0206592  5.47344046 5.20458029 3.27699837]
DEBUG:root:mean evidence: 4.105, std: 1.284 -> th=4.420853383902293
INFO:root:current most likely hypothesis: hot_sauce with evidence 5.53
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'mustard_bottle', 'montys_heart', 'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 16 ---
INFO:uvicorn.access:192.168.1.217:65364 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.08305487,  0.18085707,  0.97999623],
       [-0.90875617,  0.41732748,  0.        ],
       [-0.40897936, -0.89057762,  0.19901606]]), 'pose_fully_defined': False}}, {'patch': array([-0.00367524,  0.00759328, -0.00110325])}]
INFO:root:Testing 49 out of 14424 hypotheses for numenta_mug (evidence > 1.1052133459755735)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.687
INFO:root:Testing 383 out of 10992 hypotheses for montys_brain (evidence > 1.1052133459755735)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.619
INFO:root:Testing 332 out of 14880 hypotheses for montys_heart (evidence > 1.1052133459755735)
DEBUG:root:Calculating evidence for montys_heart using input 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: 5.509
INFO:root:Testing 1916 out of 23200 hypotheses for ramen_pack (evidence > 1.1052133459755735)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 5.751
INFO:root:Testing 1090 out of 14864 hypotheses for hot_sauce (evidence > 1.1052133459755735)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 5.862
INFO:root:Testing 144 out of 12560 hypotheses for harissa_oil (evidence > 1.1052133459755735)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.235
INFO:root:Testing 301 out of 21832 hypotheses for tomato_soup_can (evidence > 1.1052133459755735)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.197
INFO:root:Testing 478 out of 16976 hypotheses for mustard_bottle (evidence > 1.1052133459755735)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.762
INFO:root:Testing 1134 out of 17728 hypotheses for tuna_fish_can (evidence > 1.1052133459755735)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.467
INFO:root:Testing 153 out of 19024 hypotheses for potted_meat_can (evidence > 1.1052133459755735)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.596
DEBUG:root:evidences for each object: [2.68722944 3.61908097 5.50882494 5.75082053 5.86220828 2.23516148
 3.19726265 5.76174037 5.46659153 3.59590872]
DEBUG:root:mean evidence: 4.368, std: 1.36 -> th=4.689766625176776
INFO:root:current most likely hypothesis: hot_sauce with evidence 5.86
DEBUG:root:evidences for each object: [2.68722944 3.61908097 5.50882494 5.75082053 5.86220828 2.23516148
 3.19726265 5.76174037 5.46659153 3.59590872]
DEBUG:root:mean evidence: 4.368, std: 1.36 -> th=4.689766625176776
DEBUG:root:evidences for each object: [2.68722944 3.61908097 5.50882494 5.75082053 5.86220828 2.23516148
 3.19726265 5.76174037 5.46659153 3.59590872]
DEBUG:root:mean evidence: 4.368, std: 1.36 -> th=4.982877039250324
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: {'tuna_fish_can', 'mustard_bottle', 'montys_heart', 'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 17 ---
INFO:uvicorn.access:192.168.1.217:65365 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.02834033, -0.12199819,  0.99212563],
       [ 0.97406321,  0.22627609, -0.        ],
       [-0.22449431,  0.96639307,  0.12524669]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00155794, -0.03729375, -0.01151646])}]
INFO:root:Testing 46 out of 14424 hypotheses for numenta_mug (evidence > 1.1724416562941942)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.334
INFO:root:Testing 369 out of 10992 hypotheses for montys_brain (evidence > 1.1724416562941942)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.266
INFO:root:Testing 314 out of 14880 hypotheses for montys_heart (evidence > 1.1724416562941942)
DEBUG:root:Calculating evidence for montys_heart using input 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: 5.616
INFO:root:Testing 1591 out of 23200 hypotheses for ramen_pack (evidence > 1.1724416562941942)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 5.702
INFO:root:Testing 1024 out of 14864 hypotheses for hot_sauce (evidence > 1.1724416562941942)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 5.969
INFO:root:Testing 143 out of 12560 hypotheses for harissa_oil (evidence > 1.1724416562941942)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.26
INFO:root:Testing 281 out of 21832 hypotheses for tomato_soup_can (evidence > 1.1724416562941942)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.342
INFO:root:Testing 425 out of 16976 hypotheses for mustard_bottle (evidence > 1.1724416562941942)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.435
INFO:root:Testing 1006 out of 17728 hypotheses for tuna_fish_can (evidence > 1.1724416562941942)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.641
INFO:root:Testing 139 out of 19024 hypotheses for potted_meat_can (evidence > 1.1724416562941942)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.335
DEBUG:root:evidences for each object: [2.33382107 3.26647647 5.61585087 5.70162073 5.96928832 2.25965473
 3.34223438 5.43458958 5.64131751 3.33468713]
DEBUG:root:mean evidence: 4.29, std: 1.432 -> th=4.775430652202587
INFO:root:current most likely hypothesis: hot_sauce with evidence 5.97
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'mustard_bottle', 'montys_heart', 'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 18 ---
INFO:uvicorn.access:192.168.1.217:65365 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.09728689, -0.17261761,  0.98017265],
       [ 0.8711666 ,  0.49098753, -0.        ],
       [-0.48125255,  0.85389368,  0.19814535]]), 'pose_fully_defined': False}}, {'patch': array([0.00070102, 0.0099093 , 0.00614075])}]
INFO:root:Testing 17 out of 14424 hypotheses for numenta_mug (evidence > 1.1938576630506468)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.447
INFO:root:Testing 177 out of 10992 hypotheses for montys_brain (evidence > 1.1938576630506468)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.544
INFO:root:Testing 250 out of 14880 hypotheses for montys_heart (evidence > 1.1938576630506468)
DEBUG:root:Calculating evidence for montys_heart using input 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: 5.799
INFO:root:Testing 1299 out of 23200 hypotheses for ramen_pack (evidence > 1.1938576630506468)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 5.841
INFO:root:Testing 831 out of 14864 hypotheses for hot_sauce (evidence > 1.1938576630506468)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 6.28
INFO:root:Testing 26 out of 12560 hypotheses for harissa_oil (evidence > 1.1938576630506468)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.621
INFO:root:Testing 163 out of 21832 hypotheses for tomato_soup_can (evidence > 1.1938576630506468)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.606
INFO:root:Testing 293 out of 16976 hypotheses for mustard_bottle (evidence > 1.1938576630506468)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.667
INFO:root:Testing 812 out of 17728 hypotheses for tuna_fish_can (evidence > 1.1938576630506468)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.971
INFO:root:Testing 79 out of 19024 hypotheses for potted_meat_can (evidence > 1.1938576630506468)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.524
DEBUG:root:evidences for each object: [2.44654982 3.54446725 5.79936523 5.84078379 6.27970244 2.62116774
 3.60625868 5.66655223 5.97100672 3.52396495]
DEBUG:root:mean evidence: 4.53, std: 1.435 -> th=5.023761951402457
INFO:root:current most likely hypothesis: hot_sauce with evidence 6.28
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'mustard_bottle', 'montys_heart', 'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 19 ---
INFO:uvicorn.access:192.168.1.217:65365 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.14554291, -0.13661608,  0.97987413],
       [ 0.68439321,  0.72911312, -0.        ],
       [-0.71443908,  0.6706192 ,  0.19961636]]), 'pose_fully_defined': False}}, {'patch': array([0.00098378, 0.00955025, 0.00152241])}]
INFO:root:Testing 15 out of 14424 hypotheses for numenta_mug (evidence > 1.255940487850614)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.764
INFO:root:Testing 151 out of 10992 hypotheses for montys_brain (evidence > 1.255940487850614)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.886
INFO:root:Testing 238 out of 14880 hypotheses for montys_heart (evidence > 1.255940487850614)
DEBUG:root:Calculating evidence for montys_heart using input 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: 6.0
INFO:root:Testing 1146 out of 23200 hypotheses for ramen_pack (evidence > 1.255940487850614)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 6.206
INFO:root:Testing 754 out of 14864 hypotheses for hot_sauce (evidence > 1.255940487850614)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 6.646
INFO:root:Testing 25 out of 12560 hypotheses for harissa_oil (evidence > 1.255940487850614)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 3.033
INFO:root:Testing 131 out of 21832 hypotheses for tomato_soup_can (evidence > 1.255940487850614)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.982
INFO:root:Testing 276 out of 16976 hypotheses for mustard_bottle (evidence > 1.255940487850614)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 5.961
INFO:root:Testing 767 out of 17728 hypotheses for tuna_fish_can (evidence > 1.255940487850614)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.268
INFO:root:Testing 70 out of 19024 hypotheses for potted_meat_can (evidence > 1.255940487850614)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.882
DEBUG:root:evidences for each object: [2.76413553 3.88641883 6.00014281 6.20611273 6.64577742 3.0326901
 3.98236811 5.96133694 6.26756306 3.88186597]
DEBUG:root:mean evidence: 4.863, std: 1.411 -> th=5.3166219339747425
INFO:root:current most likely hypothesis: hot_sauce with evidence 6.65
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'mustard_bottle', 'montys_heart', 'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 20 ---
INFO:uvicorn.access:192.168.1.217:65367 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.3845335 , -0.00302277, -0.92310609],
       [ 0.00786063, -0.9999691 ,  0.        ],
       [-0.92307757, -0.00725619,  0.38454538]]), 'pose_fully_defined': False}}, {'patch': array([-0.0242    ,  0.00190649, -0.03146062])}]
INFO:root:Testing 14 out of 14424 hypotheses for numenta_mug (evidence > 1.3291554834936852)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.322
INFO:root:Testing 151 out of 10992 hypotheses for montys_brain (evidence > 1.3291554834936852)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.239
INFO:root:Testing 238 out of 14880 hypotheses for montys_heart (evidence > 1.3291554834936852)
DEBUG:root:Calculating evidence for montys_heart using input 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: 6.224
INFO:root:Testing 1106 out of 23200 hypotheses for ramen_pack (evidence > 1.3291554834936852)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 5.873
INFO:root:Testing 704 out of 14864 hypotheses for hot_sauce (evidence > 1.3291554834936852)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 7.016
INFO:root:Testing 23 out of 12560 hypotheses for harissa_oil (evidence > 1.3291554834936852)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.53
INFO:root:Testing 118 out of 21832 hypotheses for tomato_soup_can (evidence > 1.3291554834936852)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.982
INFO:root:Testing 275 out of 16976 hypotheses for mustard_bottle (evidence > 1.3291554834936852)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.425
INFO:root:Testing 718 out of 17728 hypotheses for tuna_fish_can (evidence > 1.3291554834936852)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.597
INFO:root:Testing 69 out of 19024 hypotheses for potted_meat_can (evidence > 1.3291554834936852)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.813
DEBUG:root:evidences for each object: [2.32240717 3.23868416 6.22419993 5.87260697 7.01600013 2.53045848
 2.98236811 6.42497445 5.59725629 3.81253319]
DEBUG:root:mean evidence: 4.602, std: 1.702 -> th=5.6128001076085985
INFO:root:current most likely hypothesis: hot_sauce with evidence 7.02
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 21 ---
INFO:uvicorn.access:192.168.1.217:65367 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.53292203, -0.12640159, -0.83667003],
       [ 0.23078311, -0.97300522,  0.        ],
       [-0.81408431, -0.19308931,  0.54770727]]), 'pose_fully_defined': False}}, {'patch': array([-0.00491775, -0.00315497,  0.00537022])}]
INFO:root:Testing 9 out of 14424 hypotheses for numenta_mug (evidence > 1.403200026902149)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.36
INFO:root:Testing 107 out of 10992 hypotheses for montys_brain (evidence > 1.403200026902149)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.611
INFO:root:Testing 211 out of 14880 hypotheses for montys_heart (evidence > 1.403200026902149)
DEBUG:root:Calculating evidence for montys_heart using input 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: 6.408
INFO:root:Testing 903 out of 23200 hypotheses for ramen_pack (evidence > 1.403200026902149)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 5.883
INFO:root:Testing 645 out of 14864 hypotheses for hot_sauce (evidence > 1.403200026902149)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 7.267
INFO:root:Testing 20 out of 12560 hypotheses for harissa_oil (evidence > 1.403200026902149)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.264
INFO:root:Testing 89 out of 21832 hypotheses for tomato_soup_can (evidence > 1.403200026902149)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.07
INFO:root:Testing 241 out of 16976 hypotheses for mustard_bottle (evidence > 1.403200026902149)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.803
INFO:root:Testing 683 out of 17728 hypotheses for tuna_fish_can (evidence > 1.403200026902149)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.476
INFO:root:Testing 55 out of 19024 hypotheses for potted_meat_can (evidence > 1.403200026902149)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.679
DEBUG:root:evidences for each object: [2.36046101 3.61104747 6.4077121  5.8831813  7.26732125 2.2641924
 3.07038416 6.80335745 5.47597264 3.67935275]
DEBUG:root:mean evidence: 4.682, std: 1.795 -> th=5.8138569983090225
INFO:root:current most likely hypothesis: hot_sauce with evidence 7.27
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 22 ---
INFO:uvicorn.access:192.168.1.217:65367 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.32296088,  0.16570776, -0.93179247],
       [-0.45650597, -0.88972035,  0.        ],
       [-0.82903472,  0.42536883,  0.36299145]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00793242,  0.01935775, -0.00789563])}]
INFO:root:Testing 8 out of 14424 hypotheses for numenta_mug (evidence > 1.4534642495772552)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.386
INFO:root:Testing 67 out of 10992 hypotheses for montys_brain (evidence > 1.4534642495772552)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.82
INFO:root:Testing 179 out of 14880 hypotheses for montys_heart (evidence > 1.4534642495772552)
DEBUG:root:Calculating evidence for montys_heart using input 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: 6.283
INFO:root:Testing 766 out of 23200 hypotheses for ramen_pack (evidence > 1.4534642495772552)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 5.729
INFO:root:Testing 603 out of 14864 hypotheses for hot_sauce (evidence > 1.4534642495772552)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 7.485
INFO:root:Testing 11 out of 12560 hypotheses for harissa_oil (evidence > 1.4534642495772552)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.32
INFO:root:Testing 39 out of 21832 hypotheses for tomato_soup_can (evidence > 1.4534642495772552)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.958
INFO:root:Testing 221 out of 16976 hypotheses for mustard_bottle (evidence > 1.4534642495772552)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.986
INFO:root:Testing 634 out of 17728 hypotheses for tuna_fish_can (evidence > 1.4534642495772552)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.27
INFO:root:Testing 41 out of 19024 hypotheses for potted_meat_can (evidence > 1.4534642495772552)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.019
DEBUG:root:evidences for each object: [1.38569247 3.81999169 6.28341444 5.72908718 7.48471204 2.31953759
 2.95836508 6.98555412 5.26963403 4.01906258]
DEBUG:root:mean evidence: 4.626, std: 1.943 -> th=5.9877696297113525
INFO:root:current most likely hypothesis: hot_sauce with evidence 7.48
DEBUG:root:evidences for each object: [1.38569247 3.81999169 6.28341444 5.72908718 7.48471204 2.31953759
 2.95836508 6.98555412 5.26963403 4.01906258]
DEBUG:root:mean evidence: 4.626, std: 1.943 -> th=5.9877696297113525
DEBUG:root:evidences for each object: [1.38569247 3.81999169 6.28341444 5.72908718 7.48471204 2.31953759
 2.95836508 6.98555412 5.26963403 4.01906258]
DEBUG:root:mean evidence: 4.626, std: 1.943 -> th=6.362005231568312
DEBUG:root:Hypothesis jump indicated: change in most-likely rotation of MLH
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart'}
INFO:root:--- Global Matching Step 23 ---
INFO:uvicorn.access:192.168.1.217:65368 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.54317445,  0.23011483, -0.80747055],
       [-0.39008603, -0.92077842,  0.        ],
       [-0.74350145,  0.31498298,  0.58990789]]), 'pose_fully_defined': False}}, {'patch': array([-0.00252542, -0.02493932,  0.00296306])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.386
INFO:root:Testing 40 out of 10992 hypotheses for montys_brain (evidence > 1.496942407427838)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.983
INFO:root:Testing 151 out of 14880 hypotheses for montys_heart (evidence > 1.496942407427838)
DEBUG:root:Calculating evidence for montys_heart using input 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: 6.531
INFO:root:Testing 632 out of 23200 hypotheses for ramen_pack (evidence > 1.496942407427838)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 5.896
INFO:root:Testing 523 out of 14864 hypotheses for hot_sauce (evidence > 1.496942407427838)
DEBUG:root:Calculating evidence for hot_sauce using input 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: 7.876
INFO:root:Testing 1 out of 12560 hypotheses for harissa_oil (evidence > 1.496942407427838)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.428
INFO:root:Testing 24 out of 21832 hypotheses for tomato_soup_can (evidence > 1.496942407427838)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.722
INFO:root:Testing 195 out of 16976 hypotheses for mustard_bottle (evidence > 1.496942407427838)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 6.815
INFO:root:Testing 510 out of 17728 hypotheses for tuna_fish_can (evidence > 1.496942407427838)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.681
INFO:root:Testing 27 out of 19024 hypotheses for potted_meat_can (evidence > 1.496942407427838)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.946
DEBUG:root:evidences for each object: [1.38569247 3.98345886 6.53104302 5.89588884 7.87610878 2.42803929
 2.7216098  6.81468427 5.68125616 3.9462385 ]
DEBUG:root:mean evidence: 4.726, std: 2.036 -> th=6.300887022287192
INFO:root:current most likely hypothesis: hot_sauce with evidence 7.88
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart'}
INFO:root:--- Global Matching Step 24 ---
INFO:uvicorn.access:192.168.1.217:65370 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.77324539, -0.01426243, -0.63394649],
       [ 0.01844176, -0.99982994,  0.        ],
       [-0.63383867, -0.01169109,  0.77337692]]), 'pose_fully_defined': False}}, {'patch': array([-0.00092908, -0.00442533,  0.00383166])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.386
INFO:root:Testing 39 out of 10992 hypotheses for montys_brain (evidence > 1.575221755571798)
DEBUG:root:Calculating evidence for montys_brain using input 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: 4.174
INFO:root:Testing 150 out of 14880 hypotheses for montys_heart (evidence > 1.575221755571798)
DEBUG:root:Calculating evidence for montys_heart using input 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: 6.803
INFO:root:Testing 561 out of 23200 hypotheses for ramen_pack (evidence > 1.575221755571798)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 6.074
INFO:root:Testing 479 out of 14864 hypotheses for hot_sauce (evidence > 1.575221755571798)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.339
INFO:root:Testing 1 out of 12560 hypotheses for harissa_oil (evidence > 1.575221755571798)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.557
INFO:root:Testing 21 out of 21832 hypotheses for tomato_soup_can (evidence > 1.575221755571798)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.765
INFO:root:Testing 192 out of 16976 hypotheses for mustard_bottle (evidence > 1.575221755571798)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.221
INFO:root:Testing 393 out of 17728 hypotheses for tuna_fish_can (evidence > 1.575221755571798)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 5.996
INFO:root:Testing 24 out of 19024 hypotheses for potted_meat_can (evidence > 1.575221755571798)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.956
DEBUG:root:evidences for each object: [1.38569247 4.17376722 6.80303982 6.07432135 8.3386701  2.55682075
 2.76534831 7.22068602 5.99550206 3.95560035]
DEBUG:root:mean evidence: 4.927, std: 2.173 -> th=6.670936079876
INFO:root:current most likely hypothesis: hot_sauce with evidence 8.34
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart'}
INFO:root:--- Global Matching Step 25 ---
INFO:uvicorn.access:192.168.1.217:65371 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.82476259, -0.03661505, -0.56429249],
       [ 0.04435097, -0.99901601,  0.        ],
       [-0.56373723, -0.02502692,  0.82557495]]), 'pose_fully_defined': False}}, {'patch': array([0.00146457, 0.00162587, 0.00032578])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.386
INFO:root:Testing 39 out of 10992 hypotheses for montys_brain (evidence > 1.667734019969)
DEBUG:root:Calculating evidence for montys_brain using input 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: 4.341
INFO:root:Testing 138 out of 14880 hypotheses for montys_heart (evidence > 1.667734019969)
DEBUG:root:Calculating evidence for montys_heart using input 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: 7.183
INFO:root:Testing 503 out of 23200 hypotheses for ramen_pack (evidence > 1.667734019969)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 6.229
INFO:root:Testing 454 out of 14864 hypotheses for hot_sauce (evidence > 1.667734019969)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.807
INFO:root:Testing 1 out of 12560 hypotheses for harissa_oil (evidence > 1.667734019969)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.613
INFO:root:Testing 17 out of 21832 hypotheses for tomato_soup_can (evidence > 1.667734019969)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.982
INFO:root:Testing 187 out of 16976 hypotheses for mustard_bottle (evidence > 1.667734019969)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 7.587
INFO:root:Testing 333 out of 17728 hypotheses for tuna_fish_can (evidence > 1.667734019969)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.266
INFO:root:Testing 21 out of 19024 hypotheses for potted_meat_can (evidence > 1.667734019969)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.963
DEBUG:root:evidences for each object: [1.38569247 4.34104197 7.18252805 6.22922191 8.80699305 2.61283149
 2.98162377 7.58709336 6.2661123  3.96341481]
DEBUG:root:mean evidence: 5.136, std: 2.307 -> th=7.045594436933629
INFO:root:current most likely hypothesis: hot_sauce with evidence 8.81
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart'}
INFO:root:--- Global Matching Step 26 ---
INFO:uvicorn.access:192.168.1.217:65373 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.90766487, -0.10840234, -0.40545459],
       [ 0.11858718, -0.99294364,  0.        ],
       [-0.40259356, -0.04808172,  0.91411519]]), 'pose_fully_defined': False}}, {'patch': array([-0.00029948, -0.00047097,  0.00428402])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.386
INFO:root:Testing 37 out of 10992 hypotheses for montys_brain (evidence > 1.7613986092334066)
DEBUG:root:Calculating evidence for montys_brain using input 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: 4.329
INFO:root:Testing 135 out of 14880 hypotheses for montys_heart (evidence > 1.7613986092334066)
DEBUG:root:Calculating evidence for montys_heart using input 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: 7.343
INFO:root:Testing 461 out of 23200 hypotheses for ramen_pack (evidence > 1.7613986092334066)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 6.333
INFO:root:Testing 430 out of 14864 hypotheses for hot_sauce (evidence > 1.7613986092334066)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.254
INFO:root:Testing 1 out of 12560 hypotheses for harissa_oil (evidence > 1.7613986092334066)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.675
INFO:root:Testing 13 out of 21832 hypotheses for tomato_soup_can (evidence > 1.7613986092334066)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.861
INFO:root:Testing 183 out of 16976 hypotheses for mustard_bottle (evidence > 1.7613986092334066)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.048
INFO:root:Testing 276 out of 17728 hypotheses for tuna_fish_can (evidence > 1.7613986092334066)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.444
INFO:root:Testing 19 out of 19024 hypotheses for potted_meat_can (evidence > 1.7613986092334066)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.972
DEBUG:root:evidences for each object: [1.38569247 4.3287243  7.34294084 6.33283945 9.25365586 2.67505389
 2.86105857 8.04842014 6.44399411 3.97212562]
DEBUG:root:mean evidence: 5.264, std: 2.461 -> th=7.402924687552224
INFO:root:current most likely hypothesis: hot_sauce with evidence 9.25
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle'}
INFO:root:--- Global Matching Step 27 ---
INFO:uvicorn.access:192.168.1.217:65373 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.92559659,  0.16285041, -0.341688  ],
       [-0.17327951, -0.98487269,  0.        ],
       [-0.33651918,  0.05920753,  0.93981344]]), 'pose_fully_defined': False}}, {'patch': array([-0.0073415 ,  0.0067799 ,  0.00341691])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.386
INFO:root:Testing 36 out of 10992 hypotheses for montys_brain (evidence > 1.8507311718880555)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.436
INFO:root:Testing 134 out of 14880 hypotheses for montys_heart (evidence > 1.8507311718880555)
DEBUG:root:Calculating evidence for montys_heart using input 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: 7.459
INFO:root:Testing 430 out of 23200 hypotheses for ramen_pack (evidence > 1.8507311718880555)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 6.344
INFO:root:Testing 425 out of 14864 hypotheses for hot_sauce (evidence > 1.8507311718880555)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.683
INFO:root:Testing 1 out of 12560 hypotheses for harissa_oil (evidence > 1.8507311718880555)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.686
INFO:root:Testing 11 out of 21832 hypotheses for tomato_soup_can (evidence > 1.8507311718880555)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.063
INFO:root:Testing 181 out of 16976 hypotheses for mustard_bottle (evidence > 1.8507311718880555)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.409
INFO:root:Testing 222 out of 17728 hypotheses for tuna_fish_can (evidence > 1.8507311718880555)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.617
INFO:root:Testing 16 out of 19024 hypotheses for potted_meat_can (evidence > 1.8507311718880555)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.769
DEBUG:root:evidences for each object: [1.38569247 3.43583775 7.45946555 6.34415339 9.68306307 1.68577951
 3.06291083 8.40870396 6.61722705 3.76928744]
DEBUG:root:mean evidence: 5.185, std: 2.747 -> th=7.746450459796277
INFO:root:current most likely hypothesis: hot_sauce with evidence 9.68
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle'}
INFO:root:--- Global Matching Step 28 ---
INFO:uvicorn.access:192.168.1.217:65373 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.81066947,  0.23189834, -0.5376227 ],
       [-0.27502648, -0.96143665,  0.        ],
       [-0.51689017,  0.14786048,  0.84318552]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00042188,  0.019518  , -0.00763962])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.386
INFO:root:Testing 25 out of 10992 hypotheses for montys_brain (evidence > 1.9366126149490688)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.102
INFO:root:Testing 130 out of 14880 hypotheses for montys_heart (evidence > 1.9366126149490688)
DEBUG:root:Calculating evidence for montys_heart using input 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: 7.355
INFO:root:Testing 408 out of 23200 hypotheses for ramen_pack (evidence > 1.9366126149490688)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 6.368
INFO:root:Testing 420 out of 14864 hypotheses for hot_sauce (evidence > 1.9366126149490688)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 9.995
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.686
INFO:root:Testing 4 out of 21832 hypotheses for tomato_soup_can (evidence > 1.9366126149490688)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.063
INFO:root:Testing 180 out of 16976 hypotheses for mustard_bottle (evidence > 1.9366126149490688)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.786
INFO:root:Testing 217 out of 17728 hypotheses for tuna_fish_can (evidence > 1.9366126149490688)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 6.85
INFO:root:Testing 11 out of 19024 hypotheses for potted_meat_can (evidence > 1.9366126149490688)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 3.609
DEBUG:root:evidences for each object: [1.38569247 3.10167293 7.35498641 6.36821887 9.9949576  1.68577951
 2.06291083 8.78579712 6.85013669 3.6094692 ]
DEBUG:root:mean evidence: 5.12, std: 2.97 -> th=7.9959660765696325
INFO:root:current most likely hypothesis: hot_sauce with evidence 9.99
DEBUG:root:evidences for each object: [1.38569247 3.10167293 7.35498641 6.36821887 9.9949576  1.68577951
 2.06291083 8.78579712 6.85013669 3.6094692 ]
DEBUG:root:mean evidence: 5.12, std: 2.97 -> th=7.9959660765696325
DEBUG:root:evidences for each object: [1.38569247 3.10167293 7.35498641 6.36821887 9.9949576  1.68577951
 2.06291083 8.78579712 6.85013669 3.6094692 ]
DEBUG:root:mean evidence: 5.12, std: 2.97 -> th=8.495713956355235
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle'}
INFO:root:--- Global Matching Step 29 ---
INFO:uvicorn.access:192.168.1.217:65374 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.35684011,  0.15593537, -0.92105879],
       [-0.40042615, -0.91632903,  0.        ],
       [-0.84399291,  0.36881603,  0.38942355]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00684635,  0.00773331, -0.00816634])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.386
INFO:root:Testing 13 out of 10992 hypotheses for montys_brain (evidence > 1.9989915191424075)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.47
INFO:root:Testing 106 out of 14880 hypotheses for montys_heart (evidence > 1.9989915191424075)
DEBUG:root:Calculating evidence for montys_heart using input 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: 7.706
INFO:root:Testing 368 out of 23200 hypotheses for ramen_pack (evidence > 1.9989915191424075)
DEBUG:root:Calculating evidence for ramen_pack using input 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: 6.83
INFO:root:Testing 367 out of 14864 hypotheses for hot_sauce (evidence > 1.9989915191424075)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.334
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.686
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 1.9989915191424075)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.329
INFO:root:Testing 155 out of 16976 hypotheses for mustard_bottle (evidence > 1.9989915191424075)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.256
INFO:root:Testing 188 out of 17728 hypotheses for tuna_fish_can (evidence > 1.9989915191424075)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.25
INFO:root:Testing 6 out of 19024 hypotheses for potted_meat_can (evidence > 1.9989915191424075)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.082
DEBUG:root:evidences for each object: [ 1.38569247  3.46981498  7.70586826  6.83018063 10.33406766  1.68577951
  2.32871647  9.25637896  7.2498099   4.08219863]
DEBUG:root:mean evidence: 5.433, std: 3.079 -> th=8.267254125849892
INFO:root:current most likely hypothesis: hot_sauce with evidence 10.33
DEBUG:root:evidences for each object: [ 1.38569247  3.46981498  7.70586826  6.83018063 10.33406766  1.68577951
  2.32871647  9.25637896  7.2498099   4.08219863]
DEBUG:root:mean evidence: 5.433, std: 3.079 -> th=8.267254125849892
DEBUG:root:evidences for each object: [ 1.38569247  3.46981498  7.70586826  6.83018063 10.33406766  1.68577951
  2.32871647  9.25637896  7.2498099   4.08219863]
DEBUG:root:mean evidence: 5.433, std: 3.079 -> th=8.78395750871551
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle'}
INFO:root:--- Global Matching Step 30 ---
INFO:uvicorn.access:192.168.1.217:65375 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.04912283, -0.04739113,  0.99766779],
       [ 0.69430774,  0.71967824, -0.        ],
       [-0.7179998 ,  0.69268847,  0.06825666]]), 'pose_fully_defined': False}}, {'patch': array([ 0.02319911, -0.03291613,  0.03751105])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.386
INFO:root:Testing 13 out of 10992 hypotheses for montys_brain (evidence > 2.066813531462472)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.604
INFO:root:Testing 90 out of 14880 hypotheses for montys_heart (evidence > 2.066813531462472)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.134
INFO:root:Testing 314 out of 23200 hypotheses for ramen_pack (evidence > 2.066813531462472)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.14
INFO:root:Testing 319 out of 14864 hypotheses for hot_sauce (evidence > 2.066813531462472)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.594
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.686
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 2.066813531462472)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.212
INFO:root:Testing 127 out of 16976 hypotheses for mustard_bottle (evidence > 2.066813531462472)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.73
INFO:root:Testing 163 out of 17728 hypotheses for tuna_fish_can (evidence > 2.066813531462472)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.623
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 2.066813531462472)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.238
DEBUG:root:evidences for each object: [ 1.38569247  3.60384995  8.1343592   7.14039221 10.59422182  1.68577951
  2.21233479  8.72972557  7.62326787  4.23804547]
DEBUG:root:mean evidence: 5.535, std: 3.13 -> th=8.475377456420057
INFO:root:current most likely hypothesis: hot_sauce with evidence 10.59
DEBUG:root:evidences for each object: [ 1.38569247  3.60384995  8.1343592   7.14039221 10.59422182  1.68577951
  2.21233479  8.72972557  7.62326787  4.23804547]
DEBUG:root:mean evidence: 5.535, std: 3.13 -> th=8.475377456420057
DEBUG:root:evidences for each object: [ 1.38569247  3.60384995  8.1343592   7.14039221 10.59422182  1.68577951
  2.21233479  8.72972557  7.62326787  4.23804547]
DEBUG:root:mean evidence: 5.535, std: 3.13 -> th=9.00508854744631
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle'}
INFO:root:--- Global Matching Step 31 ---
INFO:uvicorn.access:192.168.1.217:65375 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.02476579, -0.02117755,  0.99946894],
       [ 0.64990164, -0.76001832,  0.        ],
       [ 0.75961471,  0.64955651,  0.03258577]]), 'pose_fully_defined': False}}, {'patch': array([-0.00259288,  0.02787702,  0.00173476])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.386
INFO:root:Testing 13 out of 10992 hypotheses for montys_brain (evidence > 2.118844364105014)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.576
INFO:root:Testing 89 out of 14880 hypotheses for montys_heart (evidence > 2.118844364105014)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.281
INFO:root:Testing 301 out of 23200 hypotheses for ramen_pack (evidence > 2.118844364105014)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.504
INFO:root:Testing 316 out of 14864 hypotheses for hot_sauce (evidence > 2.118844364105014)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.944
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.686
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 2.118844364105014)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.205
INFO:root:Testing 126 out of 16976 hypotheses for mustard_bottle (evidence > 2.118844364105014)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.894
INFO:root:Testing 162 out of 17728 hypotheses for tuna_fish_can (evidence > 2.118844364105014)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.064
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 2.118844364105014)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.367
DEBUG:root:evidences for each object: [ 1.38569247  3.57607417  8.28066825  7.50399925 10.94358908  1.68577951
  2.20492653  8.89378075  8.06354104  4.3671235 ]
DEBUG:root:mean evidence: 5.691, std: 3.262 -> th=8.754871261055202
INFO:root:current most likely hypothesis: hot_sauce with evidence 10.94
DEBUG:root:evidences for each object: [ 1.38569247  3.57607417  8.28066825  7.50399925 10.94358908  1.68577951
  2.20492653  8.89378075  8.06354104  4.3671235 ]
DEBUG:root:mean evidence: 5.691, std: 3.262 -> th=8.754871261055202
DEBUG:root:evidences for each object: [ 1.38569247  3.57607417  8.28066825  7.50399925 10.94358908  1.68577951
  2.20492653  8.89378075  8.06354104  4.3671235 ]
DEBUG:root:mean evidence: 5.691, std: 3.262 -> th=9.302050714871152
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle'}
INFO:root:--- Global Matching Step 32 ---
INFO:uvicorn.access:192.168.1.217:65375 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.02230234,  0.10113032,  0.99462318],
       [-0.97653559, -0.21535609,  0.        ],
       [ 0.21419815, -0.97128493,  0.1035603 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00049768,  0.01308364, -0.00551119])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.386
INFO:root:Testing 13 out of 10992 hypotheses for montys_brain (evidence > 2.1887178152638)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.452
INFO:root:Testing 88 out of 14880 hypotheses for montys_heart (evidence > 2.1887178152638)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.121
INFO:root:Testing 291 out of 23200 hypotheses for ramen_pack (evidence > 2.1887178152638)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.82
INFO:root:Testing 311 out of 14864 hypotheses for hot_sauce (evidence > 2.1887178152638)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.017
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.686
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 2.1887178152638)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.147
INFO:root:Testing 125 out of 16976 hypotheses for mustard_bottle (evidence > 2.1887178152638)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.996
INFO:root:Testing 157 out of 17728 hypotheses for tuna_fish_can (evidence > 2.1887178152638)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.43
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 2.1887178152638)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.479
DEBUG:root:evidences for each object: [ 1.38569247  3.45206904  8.12080751  7.81952646 11.01655127  1.68577951
  2.14688972  8.99585552  8.43038658  4.47942923]
DEBUG:root:mean evidence: 5.753, std: 3.329 -> th=8.81324101869577
INFO:root:current most likely hypothesis: hot_sauce with evidence 11.02
DEBUG:root:evidences for each object: [ 1.38569247  3.45206904  8.12080751  7.81952646 11.01655127  1.68577951
  2.14688972  8.99585552  8.43038658  4.47942923]
DEBUG:root:mean evidence: 5.753, std: 3.329 -> th=8.81324101869577
DEBUG:root:evidences for each object: [ 1.38569247  3.45206904  8.12080751  7.81952646 11.01655127  1.68577951
  2.14688972  8.99585552  8.43038658  4.47942923]
DEBUG:root:mean evidence: 5.753, std: 3.329 -> th=9.364068582364256
DEBUG:root:Hypothesis jump indicated: One object more likely, focusing on pose
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle'}
INFO:root:--- Global Matching Step 33 ---
INFO:uvicorn.access:192.168.1.217:65375 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.1409548 , -0.25467824,  0.95669783],
       [ 0.87493367,  0.48424278, -0.        ],
       [-0.46327402,  0.83704715,  0.29108291]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00709845, -0.05297876, -0.00911723])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.386
INFO:root:Testing 13 out of 10992 hypotheses for montys_brain (evidence > 2.2033102546739425)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.452
INFO:root:Testing 88 out of 14880 hypotheses for montys_heart (evidence > 2.2033102546739425)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.209
INFO:root:Testing 267 out of 23200 hypotheses for ramen_pack (evidence > 2.2033102546739425)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.175
INFO:root:Testing 298 out of 14864 hypotheses for hot_sauce (evidence > 2.2033102546739425)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.139
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.686
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.147
INFO:root:Testing 118 out of 16976 hypotheses for mustard_bottle (evidence > 2.2033102546739425)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 8.873
INFO:root:Testing 139 out of 17728 hypotheses for tuna_fish_can (evidence > 2.2033102546739425)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.731
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 2.2033102546739425)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.313
DEBUG:root:evidences for each object: [ 1.38569247  2.45206904  8.20908883  7.17530359 11.13887607  1.68577951
  2.14688972  8.87348886  7.7307289   4.3125937 ]
DEBUG:root:mean evidence: 5.511, std: 3.342 -> th=8.911100858129508
INFO:root:current most likely hypothesis: hot_sauce with evidence 11.14
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce'}
INFO:root:--- Global Matching Step 34 ---
INFO:uvicorn.access:192.168.1.217:65377 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.45776468, -0.73807849,  0.49567292],
       [ 0.84982223, -0.52706942,  0.        ],
       [ 0.26125404,  0.42123387,  0.86850927]]), 'pose_fully_defined': False}}, {'patch': array([-0.01071509,  0.00024948, -0.00468117])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.386
INFO:root:Testing 1 out of 10992 hypotheses for montys_brain (evidence > 2.227775214532377)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.471
INFO:root:Testing 79 out of 14880 hypotheses for montys_heart (evidence > 2.227775214532377)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.516
INFO:root:Testing 218 out of 23200 hypotheses for ramen_pack (evidence > 2.227775214532377)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.581
INFO:root:Testing 290 out of 14864 hypotheses for hot_sauce (evidence > 2.227775214532377)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.93
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.686
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.147
INFO:root:Testing 106 out of 16976 hypotheses for mustard_bottle (evidence > 2.227775214532377)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.265
INFO:root:Testing 134 out of 17728 hypotheses for tuna_fish_can (evidence > 2.227775214532377)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.581
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 2.227775214532377)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.599
DEBUG:root:evidences for each object: [ 1.38569247  2.47136229  8.51560123  7.58129461 10.92980804  1.68577951
  2.14688972  9.26524077  7.58129834  4.59912729]
DEBUG:root:mean evidence: 5.616, std: 3.376 -> th=8.743846433121686
INFO:root:current most likely hypothesis: hot_sauce with evidence 10.93
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle'}
INFO:root:--- Global Matching Step 35 ---
INFO:uvicorn.access:192.168.1.217:65377 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.57011781, -0.61310446,  0.54687165],
       [ 0.73231296, -0.68096823,  0.        ],
       [ 0.37240222,  0.40048119,  0.83721646]]), 'pose_fully_defined': False}}, {'patch': array([-0.00137541, -0.00288849, -0.00308352])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.386
INFO:root:Testing 1 out of 10992 hypotheses for montys_brain (evidence > 2.1859616082804205)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.183
INFO:root:Testing 74 out of 14880 hypotheses for montys_heart (evidence > 2.1859616082804205)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 8.839
INFO:root:Testing 212 out of 23200 hypotheses for ramen_pack (evidence > 2.1859616082804205)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 7.909
INFO:root:Testing 290 out of 14864 hypotheses for hot_sauce (evidence > 2.1859616082804205)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.575
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.686
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.147
INFO:root:Testing 98 out of 16976 hypotheses for mustard_bottle (evidence > 2.1859616082804205)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.687
INFO:root:Testing 126 out of 17728 hypotheses for tuna_fish_can (evidence > 2.1859616082804205)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.368
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 2.1859616082804205)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.742
DEBUG:root:evidences for each object: [ 1.38569247  2.18335658  8.83931257  7.90851843 10.5746146   1.68577951
  2.14688972  9.68678323  7.36837868  4.7418453 ]
DEBUG:root:mean evidence: 5.652, std: 3.432 -> th=8.459691679234599
INFO:root:current most likely hypothesis: hot_sauce with evidence 10.57
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart'}
INFO:root:--- Global Matching Step 36 ---
INFO:uvicorn.access:192.168.1.217:65379 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.75996921, -0.52595368, -0.38186323],
       [ 0.56907916,  0.82228274, -0.        ],
       [ 0.31399954, -0.2173104 ,  0.92421885]]), 'pose_fully_defined': False}}, {'patch': array([-0.00606213,  0.00759434, -0.00339966])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.386
INFO:root:Testing 1 out of 10992 hypotheses for montys_brain (evidence > 2.1149229198086488)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.364
INFO:root:Testing 72 out of 14880 hypotheses for montys_heart (evidence > 2.1149229198086488)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.246
INFO:root:Testing 200 out of 23200 hypotheses for ramen_pack (evidence > 2.1149229198086488)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.12
INFO:root:Testing 279 out of 14864 hypotheses for hot_sauce (evidence > 2.1149229198086488)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.564
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.686
INFO:root:Testing 1 out of 21832 hypotheses for tomato_soup_can (evidence > 2.1149229198086488)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.278
INFO:root:Testing 89 out of 16976 hypotheses for mustard_bottle (evidence > 2.1149229198086488)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.581
INFO:root:Testing 118 out of 17728 hypotheses for tuna_fish_can (evidence > 2.1149229198086488)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 7.833
INFO:root:Testing 3 out of 19024 hypotheses for potted_meat_can (evidence > 2.1149229198086488)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 4.969
DEBUG:root:evidences for each object: [ 1.38569247  2.36373511  9.24624056  8.12014341 10.5644221   1.68577951
  2.27758003  9.58131716  7.83316216  4.96891928]
DEBUG:root:mean evidence: 5.803, std: 3.46 -> th=8.45153767998599
INFO:root:current most likely hypothesis: hot_sauce with evidence 10.56
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart'}
INFO:root:--- Global Matching Step 37 ---
INFO:uvicorn.access:192.168.1.217:65379 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.43839227, -0.50532943, -0.74327275],
       [ 0.7553634 ,  0.65530614, -0.        ],
       [ 0.4870712 , -0.56144103,  0.6689885 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00564025,  0.00987797, -0.00205211])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.386
INFO:root:Testing 6 out of 10992 hypotheses for montys_brain (evidence > 2.1128844199964973)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 2.82
INFO:root:Testing 72 out of 14880 hypotheses for montys_heart (evidence > 2.1128844199964973)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.654
INFO:root:Testing 198 out of 23200 hypotheses for ramen_pack (evidence > 2.1128844199964973)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.542
INFO:root:Testing 272 out of 14864 hypotheses for hot_sauce (evidence > 2.1128844199964973)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 10.803
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.686
INFO:root:Testing 4 out of 21832 hypotheses for tomato_soup_can (evidence > 2.1128844199964973)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.562
INFO:root:Testing 81 out of 16976 hypotheses for mustard_bottle (evidence > 2.1128844199964973)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.971
INFO:root:Testing 110 out of 17728 hypotheses for tuna_fish_can (evidence > 2.1128844199964973)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.05
INFO:root:Testing 4 out of 19024 hypotheses for potted_meat_can (evidence > 2.1128844199964973)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.167
DEBUG:root:evidences for each object: [ 1.38569247  2.81998343  9.65404428  8.54211836 10.80253601  1.68577951
  2.56209842  9.97065404  8.05008293  5.16737163]
DEBUG:root:mean evidence: 6.064, std: 3.54 -> th=8.642028810621628
INFO:root:current most likely hypothesis: hot_sauce with evidence 10.8
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart'}
INFO:root:--- Global Matching Step 38 ---
INFO:uvicorn.access:192.168.1.217:65379 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.90916345, -0.29766973, -0.2912294 ],
       [ 0.31115739,  0.9503584 , -0.        ],
       [ 0.2767723 , -0.09061818,  0.95665325]]), 'pose_fully_defined': False}}, {'patch': array([0.0072142 , 0.00065239, 0.00807224])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.386
INFO:root:Testing 17 out of 10992 hypotheses for montys_brain (evidence > 2.160507202655406)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.255
INFO:root:Testing 74 out of 14880 hypotheses for montys_heart (evidence > 2.160507202655406)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.007
INFO:root:Testing 210 out of 23200 hypotheses for ramen_pack (evidence > 2.160507202655406)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 8.896
INFO:root:Testing 272 out of 14864 hypotheses for hot_sauce (evidence > 2.160507202655406)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.131
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.686
INFO:root:Testing 17 out of 21832 hypotheses for tomato_soup_can (evidence > 2.160507202655406)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 2.972
INFO:root:Testing 89 out of 16976 hypotheses for mustard_bottle (evidence > 2.160507202655406)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.176
INFO:root:Testing 124 out of 17728 hypotheses for tuna_fish_can (evidence > 2.160507202655406)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.511
INFO:root:Testing 7 out of 19024 hypotheses for potted_meat_can (evidence > 2.160507202655406)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.568
DEBUG:root:evidences for each object: [ 1.38569247  3.25479653 10.00731803  8.89562923 11.13109532  1.68577951
  2.97214477 10.17597885  8.51079306  5.56835012]
DEBUG:root:mean evidence: 6.359, std: 3.606 -> th=8.904876254651397
INFO:root:current most likely hypothesis: hot_sauce with evidence 11.13
DEBUG:root:evidences for each object: [ 1.38569247  3.25479653 10.00731803  8.89562923 11.13109532  1.68577951
  2.97214477 10.17597885  8.51079306  5.56835012]
DEBUG:root:mean evidence: 6.359, std: 3.606 -> th=8.904876254651397
DEBUG:root:evidences for each object: [ 1.38569247  3.25479653 10.00731803  8.89562923 11.13109532  1.68577951
  2.97214477 10.17597885  8.51079306  5.56835012]
DEBUG:root:mean evidence: 6.359, std: 3.606 -> th=9.46143102056711
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart'}
INFO:root:--- Global Matching Step 39 ---
INFO:uvicorn.access:192.168.1.217:65379 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.73775196, -0.32310963, -0.59272439],
       [ 0.40117641,  0.91600081, -0.        ],
       [ 0.54293603, -0.23778704,  0.80540536]]), 'pose_fully_defined': False}}, {'patch': array([-0.01331889, -0.00431228, -0.00745631])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.386
INFO:root:Testing 38 out of 10992 hypotheses for montys_brain (evidence > 2.2262190636628496)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.627
INFO:root:Testing 74 out of 14880 hypotheses for montys_heart (evidence > 2.2262190636628496)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.966
INFO:root:Testing 218 out of 23200 hypotheses for ramen_pack (evidence > 2.2262190636628496)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.02
INFO:root:Testing 280 out of 14864 hypotheses for hot_sauce (evidence > 2.2262190636628496)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.189
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.686
INFO:root:Testing 53 out of 21832 hypotheses for tomato_soup_can (evidence > 2.2262190636628496)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.327
INFO:root:Testing 89 out of 16976 hypotheses for mustard_bottle (evidence > 2.2262190636628496)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.173
INFO:root:Testing 165 out of 17728 hypotheses for tuna_fish_can (evidence > 2.2262190636628496)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.489
INFO:root:Testing 21 out of 19024 hypotheses for potted_meat_can (evidence > 2.2262190636628496)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.782
DEBUG:root:evidences for each object: [ 1.38569247  3.62681438  9.96585959  9.0204817  11.18881242  1.68577951
  3.32668351 10.17283588  8.48885469  5.78192197]
DEBUG:root:mean evidence: 6.464, std: 3.549 -> th=8.95104993824053
INFO:root:current most likely hypothesis: hot_sauce with evidence 11.19
DEBUG:root:evidences for each object: [ 1.38569247  3.62681438  9.96585959  9.0204817  11.18881242  1.68577951
  3.32668351 10.17283588  8.48885469  5.78192197]
DEBUG:root:mean evidence: 6.464, std: 3.549 -> th=8.95104993824053
DEBUG:root:evidences for each object: [ 1.38569247  3.62681438  9.96585959  9.0204817  11.18881242  1.68577951
  3.32668351 10.17283588  8.48885469  5.78192197]
DEBUG:root:mean evidence: 6.464, std: 3.549 -> th=9.510490559380564
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 40 ---
INFO:uvicorn.access:192.168.1.217:65379 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 9.34787445e-01,  1.56493161e-03,  3.55204145e-01],
       [-1.67410188e-03,  9.99998599e-01,  0.00000000e+00],
       [-3.55203647e-01, -5.94647928e-04,  9.34788755e-01]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00764652, -0.00217035,  0.02258993])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.386
INFO:root:Testing 38 out of 10992 hypotheses for montys_brain (evidence > 2.2377624845601325)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.673
INFO:root:Testing 74 out of 14880 hypotheses for montys_heart (evidence > 2.2377624845601325)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 9.988
INFO:root:Testing 217 out of 23200 hypotheses for ramen_pack (evidence > 2.2377624845601325)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.065
INFO:root:Testing 274 out of 14864 hypotheses for hot_sauce (evidence > 2.2377624845601325)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.478
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.686
INFO:root:Testing 47 out of 21832 hypotheses for tomato_soup_can (evidence > 2.2377624845601325)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.142
INFO:root:Testing 89 out of 16976 hypotheses for mustard_bottle (evidence > 2.2377624845601325)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.2
INFO:root:Testing 136 out of 17728 hypotheses for tuna_fish_can (evidence > 2.2377624845601325)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 8.739
INFO:root:Testing 19 out of 19024 hypotheses for potted_meat_can (evidence > 2.2377624845601325)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 5.788
DEBUG:root:evidences for each object: [ 1.38569247  3.67347531  9.98808753  9.06545868 11.47832624  1.68577951
  3.14178284 10.20033303  8.73916628  5.78829556]
DEBUG:root:mean evidence: 6.515, std: 3.624 -> th=9.18266098854098
INFO:root:current most likely hypothesis: hot_sauce with evidence 11.48
DEBUG:root:evidences for each object: [ 1.38569247  3.67347531  9.98808753  9.06545868 11.47832624  1.68577951
  3.14178284 10.20033303  8.73916628  5.78829556]
DEBUG:root:mean evidence: 6.515, std: 3.624 -> th=9.18266098854098
DEBUG:root:evidences for each object: [ 1.38569247  3.67347531  9.98808753  9.06545868 11.47832624  1.68577951
  3.14178284 10.20033303  8.73916628  5.78829556]
DEBUG:root:mean evidence: 6.515, std: 3.624 -> th=9.75657730032479
DEBUG:root:Hypothesis jump indicated: change in most-likely rotation of MLH
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart'}
INFO:root:--- Global Matching Step 41 ---
INFO:uvicorn.access:192.168.1.217:65379 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.96975701,  0.07505134,  0.23224695],
       [-0.07716117,  0.99701863,  0.        ],
       [-0.23155453, -0.01792045,  0.97265685]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00581748,  0.0047135 , -0.00454454])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.386
INFO:root:Testing 37 out of 10992 hypotheses for montys_brain (evidence > 2.2956652471352452)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 3.829
INFO:root:Testing 74 out of 14880 hypotheses for montys_heart (evidence > 2.2956652471352452)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.323
INFO:root:Testing 215 out of 23200 hypotheses for ramen_pack (evidence > 2.2956652471352452)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.514
INFO:root:Testing 272 out of 14864 hypotheses for hot_sauce (evidence > 2.2956652471352452)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 11.935
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.686
INFO:root:Testing 29 out of 21832 hypotheses for tomato_soup_can (evidence > 2.2956652471352452)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.366
INFO:root:Testing 89 out of 16976 hypotheses for mustard_bottle (evidence > 2.2956652471352452)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.475
INFO:root:Testing 136 out of 17728 hypotheses for tuna_fish_can (evidence > 2.2956652471352452)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 9.065
INFO:root:Testing 17 out of 19024 hypotheses for potted_meat_can (evidence > 2.2956652471352452)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.013
DEBUG:root:evidences for each object: [ 1.38569247  3.82946875 10.32340813  9.51362253 11.93486514  1.68577951
  3.36615424 10.47453095  9.06534985  6.01303827]
DEBUG:root:mean evidence: 6.759, std: 3.761 -> th=9.547892112432274
INFO:root:current most likely hypothesis: hot_sauce with evidence 11.93
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'hot_sauce', 'montys_heart'}
INFO:root:--- Global Matching Step 42 ---
INFO:uvicorn.access:192.168.1.217:65379 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 9.98366161e-01,  5.50814853e-02, -1.51999474e-02],
       [-5.50878493e-02,  9.98481512e-01,  0.00000000e+00],
       [ 1.51768664e-02,  8.37332411e-04,  9.99884474e-01]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00437553,  0.01689434, -0.00520643])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.386
INFO:root:Testing 37 out of 10992 hypotheses for montys_brain (evidence > 2.386973028108068)
DEBUG:root:Calculating evidence for montys_brain using input 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: 4.165
INFO:root:Testing 74 out of 14880 hypotheses for montys_heart (evidence > 2.386973028108068)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 10.746
INFO:root:Testing 215 out of 23200 hypotheses for ramen_pack (evidence > 2.386973028108068)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 9.935
INFO:root:Testing 272 out of 14864 hypotheses for hot_sauce (evidence > 2.386973028108068)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.291
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.686
INFO:root:Testing 28 out of 21832 hypotheses for tomato_soup_can (evidence > 2.386973028108068)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 3.848
INFO:root:Testing 89 out of 16976 hypotheses for mustard_bottle (evidence > 2.386973028108068)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.948
INFO:root:Testing 135 out of 17728 hypotheses for tuna_fish_can (evidence > 2.386973028108068)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 9.565
INFO:root:Testing 16 out of 19024 hypotheses for potted_meat_can (evidence > 2.386973028108068)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.456
DEBUG:root:evidences for each object: [ 1.38569247  4.1653974  10.74567435  9.93487617 12.29121731  1.68577951
  3.84830072 10.94815467  9.56534985  6.45628178]
DEBUG:root:mean evidence: 7.103, std: 3.882 -> th=9.832973849353381
INFO:root:current most likely hypothesis: hot_sauce with evidence 12.29
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 43 ---
INFO:uvicorn.access:192.168.1.217:65381 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.41421654, -0.29250039, -0.86189801],
       [ 0.57683093,  0.81686356, -0.        ],
       [ 0.70405308, -0.49716943,  0.50708167]]), 'pose_fully_defined': False}}, {'patch': array([-0.02247585, -0.02137726, -0.02103403])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.386
INFO:root:Testing 81 out of 10992 hypotheses for montys_brain (evidence > 2.458243462338345)
DEBUG:root:Calculating evidence for montys_brain using input 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: 4.642
INFO:root:Testing 74 out of 14880 hypotheses for montys_heart (evidence > 2.458243462338345)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 11.048
INFO:root:Testing 215 out of 23200 hypotheses for ramen_pack (evidence > 2.458243462338345)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.114
INFO:root:Testing 324 out of 14864 hypotheses for hot_sauce (evidence > 2.458243462338345)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.636
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.686
INFO:root:Testing 44 out of 21832 hypotheses for tomato_soup_can (evidence > 2.458243462338345)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.298
INFO:root:Testing 107 out of 16976 hypotheses for mustard_bottle (evidence > 2.458243462338345)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 9.948
INFO:root:Testing 136 out of 17728 hypotheses for tuna_fish_can (evidence > 2.458243462338345)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 9.66
INFO:root:Testing 16 out of 19024 hypotheses for potted_meat_can (evidence > 2.458243462338345)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 6.744
DEBUG:root:evidences for each object: [ 1.38569247  4.641899   11.04764196 10.11376284 12.63585834  1.68577951
  4.29833332  9.94815467  9.65989753  6.74446522]
DEBUG:root:mean evidence: 7.216, std: 3.819 -> th=10.108686675290844
INFO:root:current most likely hypothesis: hot_sauce with evidence 12.64
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 44 ---
INFO:uvicorn.access:192.168.1.217:65381 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.73734468, -0.16100695, -0.65604847],
       [ 0.2133337 ,  0.97697939, -0.        ],
       [ 0.64094583, -0.13995725,  0.75471876]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00352542,  0.00665413, -0.0002423 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.386
INFO:root:Testing 81 out of 10992 hypotheses for montys_brain (evidence > 2.52717166882271)
DEBUG:root:Calculating evidence for montys_brain using input 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: 4.945
INFO:root:Testing 74 out of 14880 hypotheses for montys_heart (evidence > 2.52717166882271)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 11.479
INFO:root:Testing 213 out of 23200 hypotheses for ramen_pack (evidence > 2.52717166882271)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.502
INFO:root:Testing 307 out of 14864 hypotheses for hot_sauce (evidence > 2.52717166882271)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.792
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.686
INFO:root:Testing 44 out of 21832 hypotheses for tomato_soup_can (evidence > 2.52717166882271)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.622
INFO:root:Testing 101 out of 16976 hypotheses for mustard_bottle (evidence > 2.52717166882271)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.023
INFO:root:Testing 129 out of 17728 hypotheses for tuna_fish_can (evidence > 2.52717166882271)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 9.667
INFO:root:Testing 16 out of 19024 hypotheses for potted_meat_can (evidence > 2.52717166882271)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures 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: [ 1.38569247  4.94508629 11.47943627 10.50210046 12.79244089  1.68577951
  4.62237398 10.02282884  9.66686685  7.04328142]
DEBUG:root:mean evidence: 7.415, std: 3.874 -> th=10.23395270951659
INFO:root:current most likely hypothesis: hot_sauce with evidence 12.79
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 45 ---
INFO:uvicorn.access:192.168.1.217:65381 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.65602716, -0.04576952, -0.7533482 ],
       [ 0.06959854,  0.99757508, -0.        ],
       [ 0.7515214 , -0.05243193,  0.65762184]]), 'pose_fully_defined': False}}, {'patch': array([-0.00061108,  0.00636661, -0.00518891])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.386
INFO:root:Testing 92 out of 10992 hypotheses for montys_brain (evidence > 2.5584881773791466)
DEBUG:root:Calculating evidence for montys_brain using input 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: 5.247
INFO:root:Testing 74 out of 14880 hypotheses for montys_heart (evidence > 2.5584881773791466)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 11.809
INFO:root:Testing 213 out of 23200 hypotheses for ramen_pack (evidence > 2.5584881773791466)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 10.932
INFO:root:Testing 306 out of 14864 hypotheses for hot_sauce (evidence > 2.5584881773791466)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.997
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.686
INFO:root:Testing 44 out of 21832 hypotheses for tomato_soup_can (evidence > 2.5584881773791466)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 4.959
INFO:root:Testing 100 out of 16976 hypotheses for mustard_bottle (evidence > 2.5584881773791466)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.255
INFO:root:Testing 128 out of 17728 hypotheses for tuna_fish_can (evidence > 2.5584881773791466)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 9.66
INFO:root:Testing 16 out of 19024 hypotheses for potted_meat_can (evidence > 2.5584881773791466)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.352
DEBUG:root:evidences for each object: [ 1.38569247  5.24688954 11.80939328 10.93204623 12.99741742  1.68577951
  4.95880536 10.25544754  9.65980316  7.35236367]
DEBUG:root:mean evidence: 7.628, std: 3.942 -> th=10.397933936230416
INFO:root:current most likely hypothesis: hot_sauce with evidence 13.0
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 46 ---
INFO:uvicorn.access:192.168.1.217:65381 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.64179997, -0.05790166, -0.76468307],
       [ 0.08985269,  0.99595507, -0.        ],
       [ 0.76158997, -0.06870883,  0.64440655]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00187313,  0.01481512, -0.00328983])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.386
INFO:root:Testing 89 out of 10992 hypotheses for montys_brain (evidence > 2.599483484057604)
DEBUG:root:Calculating evidence for montys_brain using input 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: 5.667
INFO:root:Testing 74 out of 14880 hypotheses for montys_heart (evidence > 2.599483484057604)
DEBUG:root:Calculating evidence for montys_heart using input 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: 12.243
INFO:root:Testing 213 out of 23200 hypotheses for ramen_pack (evidence > 2.599483484057604)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.384
INFO:root:Testing 302 out of 14864 hypotheses for hot_sauce (evidence > 2.599483484057604)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.213
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.686
INFO:root:Testing 44 out of 21832 hypotheses for tomato_soup_can (evidence > 2.599483484057604)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.317
INFO:root:Testing 99 out of 16976 hypotheses for mustard_bottle (evidence > 2.599483484057604)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.347
INFO:root:Testing 123 out of 17728 hypotheses for tuna_fish_can (evidence > 2.599483484057604)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 10.017
INFO:root:Testing 16 out of 19024 hypotheses for potted_meat_can (evidence > 2.599483484057604)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.81
DEBUG:root:evidences for each object: [ 1.38569247  5.66729105 12.24290003 11.38428865 13.21323237  1.68577951
  5.31686245 10.34719655 10.01672059  7.8100734 ]
DEBUG:root:mean evidence: 7.907, std: 4.03 -> th=10.570585899573828
INFO:root:current most likely hypothesis: hot_sauce with evidence 13.21
DEBUG:root:evidences for each object: [ 1.38569247  5.66729105 12.24290003 11.38428865 13.21323237  1.68577951
  5.31686245 10.34719655 10.01672059  7.8100734 ]
DEBUG:root:mean evidence: 7.907, std: 4.03 -> th=10.570585899573828
DEBUG:root:evidences for each object: [ 1.38569247  5.66729105 12.24290003 11.38428865 13.21323237  1.68577951
  5.31686245 10.34719655 10.01672059  7.8100734 ]
DEBUG:root:mean evidence: 7.907, std: 4.03 -> th=11.231247518297192
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 47 ---
INFO:uvicorn.access:192.168.1.217:65382 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.71764019, -0.25630583, -0.64753368],
       [ 0.3363431 ,  0.94173952, -0.        ],
       [ 0.60980806, -0.21779349,  0.76203683]]), 'pose_fully_defined': False}}, {'patch': array([-0.00778141, -0.03855192,  0.02086066])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.386
INFO:root:Testing 88 out of 10992 hypotheses for montys_brain (evidence > 2.642646474893457)
DEBUG:root:Calculating evidence for montys_brain using input 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: 5.523
INFO:root:Testing 74 out of 14880 hypotheses for montys_heart (evidence > 2.642646474893457)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 11.795
INFO:root:Testing 210 out of 23200 hypotheses for ramen_pack (evidence > 2.642646474893457)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.124
INFO:root:Testing 282 out of 14864 hypotheses for hot_sauce (evidence > 2.642646474893457)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.139
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.686
INFO:root:Testing 43 out of 21832 hypotheses for tomato_soup_can (evidence > 2.642646474893457)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.539
INFO:root:Testing 92 out of 16976 hypotheses for mustard_bottle (evidence > 2.642646474893457)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.401
INFO:root:Testing 117 out of 17728 hypotheses for tuna_fish_can (evidence > 2.642646474893457)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 10.009
INFO:root:Testing 19 out of 19024 hypotheses for potted_meat_can (evidence > 2.642646474893457)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.761
DEBUG:root:evidences for each object: [ 1.38569247  5.52330261 11.79545576 11.12384129 13.138524    1.68577951
  5.53861243 10.40133192 10.00949367  7.76125166]
DEBUG:root:mean evidence: 7.836, std: 3.949 -> th=10.510819199095213
INFO:root:current most likely hypothesis: hot_sauce with evidence 13.14
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 48 ---
INFO:uvicorn.access:192.168.1.217:65382 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.59890156, -0.24596637, -0.76211381],
       [ 0.37990425,  0.92502582, -0.        ],
       [ 0.70497495, -0.28953027,  0.64744308]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00087505,  0.00916191, -0.01156464])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.386
INFO:root:Testing 76 out of 10992 hypotheses for montys_brain (evidence > 2.6277047997738023)
DEBUG:root:Calculating evidence for montys_brain using input 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: 5.761
INFO:root:Testing 74 out of 14880 hypotheses for montys_heart (evidence > 2.6277047997738023)
DEBUG:root:Calculating evidence for montys_heart using input 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: 12.225
INFO:root:Testing 208 out of 23200 hypotheses for ramen_pack (evidence > 2.6277047997738023)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.495
INFO:root:Testing 263 out of 14864 hypotheses for hot_sauce (evidence > 2.6277047997738023)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 13.328
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.686
INFO:root:Testing 41 out of 21832 hypotheses for tomato_soup_can (evidence > 2.6277047997738023)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 5.899
INFO:root:Testing 81 out of 16976 hypotheses for mustard_bottle (evidence > 2.6277047997738023)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.498
INFO:root:Testing 117 out of 17728 hypotheses for tuna_fish_can (evidence > 2.6277047997738023)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 10.007
INFO:root:Testing 16 out of 19024 hypotheses for potted_meat_can (evidence > 2.6277047997738023)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 7.742
DEBUG:root:evidences for each object: [ 1.38569247  5.76071475 12.22453492 11.4952157  13.32836779  1.68577951
  5.89856079 10.49795536 10.00714199  7.74160677]
DEBUG:root:mean evidence: 8.003, std: 4.023 -> th=10.66269423172121
INFO:root:current most likely hypothesis: hot_sauce with evidence 13.33
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'ramen_pack', 'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 49 ---
INFO:uvicorn.access:192.168.1.217:65384 - "POST /capture HTTP/1.1" 200
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[-0.54900483,  0.15046217, -0.82216472],
       [-0.26431666, -0.96443595,  0.        ],
       [-0.79292522,  0.21731184,  0.56924965]]), 'pose_fully_defined': False}}, {'patch': array([-0.01548091,  0.00838747,  0.00663764])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 1.386
INFO:root:Testing 75 out of 10992 hypotheses for montys_brain (evidence > 2.665673557930301)
DEBUG:root:Calculating evidence for montys_brain using input 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: 5.936
INFO:root:Testing 72 out of 14880 hypotheses for montys_heart (evidence > 2.665673557930301)
DEBUG:root:Calculating evidence for montys_heart using input 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: 12.389
INFO:root:Testing 206 out of 23200 hypotheses for ramen_pack (evidence > 2.665673557930301)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 11.181
INFO:root:Testing 257 out of 14864 hypotheses for hot_sauce (evidence > 2.665673557930301)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 12.737
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 1.686
INFO:root:Testing 41 out of 21832 hypotheses for tomato_soup_can (evidence > 2.665673557930301)
DEBUG:root:Calculating evidence for tomato_soup_can using input from 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: 6.118
INFO:root:Testing 79 out of 16976 hypotheses for mustard_bottle (evidence > 2.665673557930301)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 10.892
INFO:root:Testing 101 out of 17728 hypotheses for tuna_fish_can (evidence > 2.665673557930301)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 10.352
INFO:root:Testing 16 out of 19024 hypotheses for potted_meat_can (evidence > 2.665673557930301)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 8.121
DEBUG:root:evidences for each object: [ 1.38569247  5.9359119  12.38915065 11.18071096 12.7374311   1.68577951
  6.11847206 10.89207058 10.35182579  8.12056736]
DEBUG:root:mean evidence: 8.08, std: 3.963 -> th=10.189944877906052
INFO:root:current most likely hypothesis: hot_sauce with evidence 12.74
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'tuna_fish_can', 'mustard_bottle', 'montys_heart', 'hot_sauce', 'ramen_pack'}
INFO:root:--- Global Matching Step 50 ---
INFO:uvicorn.access:192.168.1.217:65384 - "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/montys_brain/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/montys_brain/log.txt (NOTSET)>
