INFO:root:Logger initialized at 2025-10-01 12:28:09.066381
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_heart/observations',
                                    'vive_url': 'http://192.168.1.237:3001/pose'},
                  'env_init_func': <class 'custom_classes.probe_triggered_environment.ProbeTriggeredUltrasoundEnvironment'>,
                  'rng': RandomState(MT19937) at 0x7FA6D0F35440,
                  '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_heart',
                    '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': 'xpd6qyrw'},
 'monty_config': {'learning_module_configs': {'learning_module_0': {'learning_module_args': {'evidence_update_threshold': '80%',
                                                                                             'feature_weights': {},
                                                                                             'gsg_args': {'desired_object_distance': 0.06,
                                                                                                          'elapsed_steps_factor': 5,
                                                                                                          'goal_tolerances': {'location': 0.015},
                                                                                                          'min_post_goal_success_steps': 5,
                                                                                                          'x_percent_scale_factor': 0.75},
                                                                                             'gsg_class': <class 'tbp.monty.frameworks.models.goal_state_generation.EvidenceGoalStateGenerator'>,
                                                                                             'hypotheses_updater_args': {'max_nneighbors': 10},
                                                                                             'max_graph_size': 0.3,
                                                                                             'max_match_distance': 0.01,
                                                                                             'num_model_voxels_per_dim': 100,
                                                                                             'tolerances': {'patch': {'pose_vectors': array([0.87266463, 0.87266463, 0.87266463]),
                                                                                                                      'principal_curvatures_log': array([1., 1.])}},
                                                                                             'use_multithreading': False,
                                                                                             'x_percent_threshold': 20},
                                                                    'learning_module_class': <class 'tbp.monty.frameworks.models.evidence_matching.learning_module.EvidenceGraphLM'>}},
                  'lm_to_lm_matrix': None,
                  'lm_to_lm_vote_matrix': None,
                  'monty_args': {'max_total_steps': 51,
                                 'min_eval_steps': 50,
                                 'min_train_steps': 3,
                                 'num_exploratory_steps': 200},
                  'monty_class': <class 'custom_classes.monty_class.MontyForEvidenceGraphMatchingWithGoalStateServer'>,
                  'motor_system_config': {'motor_system_args': {'policy_args': {'action_sampler_args': {'actions': [<class 'tbp.monty.frameworks.actions.actions.LookUp'>,
                                                                                                                    <class 'tbp.monty.frameworks.actions.actions.LookDown'>,
                                                                                                                    <class 'tbp.monty.frameworks.actions.actions.TurnLeft'>,
                                                                                                                    <class 'tbp.monty.frameworks.actions.actions.TurnRight'>,
                                                                                                                    <class 'tbp.monty.frameworks.actions.actions.SetAgentPose'>,
                                                                                                                    <class 'tbp.monty.frameworks.actions.actions.SetSensorRotation'>],
                                                                                                        'rotation_degrees': 1.0},
                                                                                'action_sampler_class': <class 'tbp.monty.frameworks.actions.action_samplers.ConstantSampler'>,
                                                                                'agent_id': 'agent_id_0',
                                                                                'desired_object_distance': 0.03,
                                                                                'file_name': None,
                                                                                'good_view_percentage': 0.5,
                                                                                'min_perc_on_obj': 0.25,
                                                                                'switch_frequency': 1.0,
                                                                                'use_goal_state_driven_actions': True},
                                                                'policy_class': <class 'custom_classes.motor_policy.UltrasoundMotorPolicy'>},
                                          'motor_system_class': <class 'tbp.monty.frameworks.models.motor_system.MotorSystem'>},
                  'sensor_module_configs': {'sensor_module_0': {'sensor_module_args': {'sensor_module_id': 'patch'},
                                                                'sensor_module_class': <class 'custom_classes.sensor_module.UltrasoundSM'>}},
                  'sm_to_agent_dict': {'patch': 'agent_id_0'},
                  'sm_to_lm_matrix': [[0]]},
 'plotting_config': {'display_mlh_focus_plot': False,
                     'enabled': True,
                     'plot_frequency': 1,
                     'plot_patch_features': True,
                     'save_path': '/Users/nleadholm/tbp/data/ultrasound_data_collection/plots',
                     'show_hypothesis_space': True},
 'print_config': False,
 'quiet_habitat_logs': True}
INFO:root:Running single episode
DEBUG:root:Going into matching mode after 0 steps
DEBUG:root:Models in memory: ['numenta_mug', 'montys_brain', 'montys_heart', 'ramen_pack', 'hot_sauce', 'harissa_oil', 'tomato_soup_can', 'mustard_bottle', 'tuna_fish_can', 'potted_meat_can']
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:we have not moved yet.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.9796744 ,  0.09811506,  0.17496145],
       [-0.09965216,  0.99502233,  0.        ],
       [-0.17409055, -0.01743529,  0.98457528]]), 'pose_fully_defined': False}}, None]
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 0.0
DEBUG:root:Determining possible poses using input from patch
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 0.0
INFO:root:current most likely hypothesis: numenta_mug with evidence 0.0
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'harissa_oil', 'potted_meat_can', 'montys_heart', 'montys_brain', 'numenta_mug', 'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 1 ---
INFO:uvicorn.access:192.168.1.217:65480 - "POST /capture HTTP/1.1" 200
INFO:uvicorn.access:192.168.1.217:65481 - "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([[ 0.99295037,  0.04101275,  0.1112093 ],
       [-0.04126874,  0.99914808,  0.        ],
       [-0.11111456, -0.00458947,  0.99379701]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0062157 ,  0.02954184, -0.0025673 ])}]
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: 0.498
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: 0.493
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 0.04 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: 0.498
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: 0.498
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: 0.498
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: 0.498
INFO:root:Testing 16976 out of 16976 hypotheses for mustard_bottle (evidence > 0.0)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.03 seconds. New max evidence: 0.5
INFO:root:Testing 17728 out of 17728 hypotheses for tuna_fish_can (evidence > 0.0)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.04 seconds. New max evidence: 0.499
INFO:root:Testing 19024 out of 19024 hypotheses for potted_meat_can (evidence > 0.0)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.04 seconds. New max evidence: 0.5
INFO:root:current most likely hypothesis: montys_heart with evidence 0.5
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'harissa_oil', 'potted_meat_can', 'montys_heart', 'montys_brain', 'numenta_mug', 'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 2 ---
DEBUG:root:semantic_id_to_label mapping not specified
INFO:root:Sending input from ['patch'] to learning_module_0
DEBUG:root:performing matching step.
DEBUG:root:query: [{'patch': {'pose_vectors': array([[ 0.99320915,  0.03916341,  0.10955277],
       [-0.03940056,  0.9992235 ,  0.        ],
       [-0.10946771, -0.00431644,  0.99398098]]), 'pose_fully_defined': False}}, {'patch': array([-0.00073617,  0.00340951,  0.00134449])}]
INFO:root:Testing 1302 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 0.0 seconds. New max evidence: 0.995
INFO:root:Testing 396 out of 10992 hypotheses for montys_brain (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 0.985
INFO:root:Testing 1359 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 0.0 seconds. New max evidence: 0.994
INFO:root:Testing 5084 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 0.01 seconds. New max evidence: 0.996
INFO:root:Testing 1579 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 0.0 seconds. New max evidence: 0.995
INFO:root:Testing 1014 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 0.0 seconds. New max evidence: 0.998
INFO:root:Testing 4045 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 0.01 seconds. New max evidence: 0.995
INFO:root:Testing 3278 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 0.01 seconds. New max evidence: 0.997
INFO:root:Testing 4854 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 0.01 seconds. New max evidence: 0.997
INFO:root:Testing 6386 out of 19024 hypotheses for potted_meat_can (evidence > 0.09999999999999998)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.02 seconds. New max evidence: 0.999
INFO:root:current most likely hypothesis: potted_meat_can with evidence 1.0
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'harissa_oil', 'potted_meat_can', 'montys_heart', 'montys_brain', 'numenta_mug', 'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 3 ---
INFO:uvicorn.access:192.168.1.217:65480 - "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([[ 0.94407399,  0.01099031,  0.32955048],
       [-0.01164058,  0.99993225,  0.        ],
       [-0.32952816, -0.00383616,  0.94413796]]), 'pose_fully_defined': False}}, {'patch': array([-0.00270758, -0.00100011,  0.01077094])}]
INFO:root:Testing 1015 out of 14424 hypotheses for numenta_mug (evidence > 0.19979332023914986)
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: 1.473
INFO:root:Testing 280 out of 10992 hypotheses for montys_brain (evidence > 0.19979332023914986)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.412
INFO:root:Testing 1111 out of 14880 hypotheses for montys_heart (evidence > 0.19979332023914986)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.49
INFO:root:Testing 4365 out of 23200 hypotheses for ramen_pack (evidence > 0.19979332023914986)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 1.475
INFO:root:Testing 1407 out of 14864 hypotheses for hot_sauce (evidence > 0.19979332023914986)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.484
INFO:root:Testing 838 out of 12560 hypotheses for harissa_oil (evidence > 0.19979332023914986)
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: 1.471
INFO:root:Testing 3425 out of 21832 hypotheses for tomato_soup_can (evidence > 0.19979332023914986)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 1.481
INFO:root:Testing 2845 out of 16976 hypotheses for mustard_bottle (evidence > 0.19979332023914986)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 1.488
INFO:root:Testing 4317 out of 17728 hypotheses for tuna_fish_can (evidence > 0.19979332023914986)
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: 1.468
INFO:root:Testing 5765 out of 19024 hypotheses for potted_meat_can (evidence > 0.19979332023914986)
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: 1.468
INFO:root:current most likely hypothesis: montys_heart with evidence 1.49
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'harissa_oil', 'potted_meat_can', 'montys_heart', 'montys_brain', 'numenta_mug', 'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 4 ---
INFO:uvicorn.access:192.168.1.217:65480 - "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([[ 0.72894476,  0.07943722,  0.67994799],
       [-0.10833426,  0.99411452,  0.        ],
       [-0.67594617, -0.07366166,  0.73326035]]), 'pose_fully_defined': False}}, {'patch': array([-0.01047467, -0.03042224,  0.00659266])}]
INFO:root:Testing 649 out of 14424 hypotheses for numenta_mug (evidence > 0.2979776571247017)
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: 1.952
INFO:root:Testing 210 out of 10992 hypotheses for montys_brain (evidence > 0.2979776571247017)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.781
INFO:root:Testing 799 out of 14880 hypotheses for montys_heart (evidence > 0.2979776571247017)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 1.923
INFO:root:Testing 3456 out of 23200 hypotheses for ramen_pack (evidence > 0.2979776571247017)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 1.926
INFO:root:Testing 866 out of 14864 hypotheses for hot_sauce (evidence > 0.2979776571247017)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 1.957
INFO:root:Testing 588 out of 12560 hypotheses for harissa_oil (evidence > 0.2979776571247017)
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: 1.952
INFO:root:Testing 2461 out of 21832 hypotheses for tomato_soup_can (evidence > 0.2979776571247017)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 1.952
INFO:root:Testing 2229 out of 16976 hypotheses for mustard_bottle (evidence > 0.2979776571247017)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 1.924
INFO:root:Testing 3418 out of 17728 hypotheses for tuna_fish_can (evidence > 0.2979776571247017)
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: 1.925
INFO:root:Testing 4912 out of 19024 hypotheses for potted_meat_can (evidence > 0.2979776571247017)
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: 1.913
INFO:root:current most likely hypothesis: hot_sauce with evidence 1.96
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'harissa_oil', 'potted_meat_can', 'montys_heart', 'montys_brain', 'numenta_mug', 'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 5 ---
INFO:uvicorn.access:192.168.1.217:65480 - "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([[ 0.8322229 ,  0.10870991,  0.54367931],
       [-0.12952557,  0.99157608,  0.        ],
       [-0.5390994 , -0.07042037,  0.83929304]]), 'pose_fully_defined': False}}, {'patch': array([ 0.0072521 ,  0.02925014, -0.00085244])}]
INFO:root:Testing 593 out of 14424 hypotheses for numenta_mug (evidence > 0.3913342337705672)
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: 2.418
INFO:root:Testing 201 out of 10992 hypotheses for montys_brain (evidence > 0.3913342337705672)
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: 2.266
INFO:root:Testing 724 out of 14880 hypotheses for montys_heart (evidence > 0.3913342337705672)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.423
INFO:root:Testing 3376 out of 23200 hypotheses for ramen_pack (evidence > 0.3913342337705672)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 2.389
INFO:root:Testing 849 out of 14864 hypotheses for hot_sauce (evidence > 0.3913342337705672)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.442
INFO:root:Testing 584 out of 12560 hypotheses for harissa_oil (evidence > 0.3913342337705672)
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: 2.443
INFO:root:Testing 2170 out of 21832 hypotheses for tomato_soup_can (evidence > 0.3913342337705672)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 2.424
INFO:root:Testing 2203 out of 16976 hypotheses for mustard_bottle (evidence > 0.3913342337705672)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 2.369
INFO:root:Testing 2988 out of 17728 hypotheses for tuna_fish_can (evidence > 0.3913342337705672)
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: 2.405
INFO:root:Testing 4518 out of 19024 hypotheses for potted_meat_can (evidence > 0.3913342337705672)
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: 2.387
INFO:root:current most likely hypothesis: harissa_oil with evidence 2.44
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'harissa_oil', 'potted_meat_can', 'montys_heart', 'montys_brain', 'numenta_mug', 'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 6 ---
INFO:uvicorn.access:192.168.1.217:65480 - "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([[ 0.82286035,  0.18778922,  0.53631712],
       [-0.22249471,  0.9749339 ,  0.        ],
       [-0.52287374, -0.11932772,  0.84401656]]), 'pose_fully_defined': False}}, {'patch': array([-0.00171864,  0.02288269, -0.0057054 ])}]
INFO:root:Testing 538 out of 14424 hypotheses for numenta_mug (evidence > 0.4886112247972578)
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: 2.883
INFO:root:Testing 181 out of 10992 hypotheses for montys_brain (evidence > 0.4886112247972578)
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: 2.33
INFO:root:Testing 652 out of 14880 hypotheses for montys_heart (evidence > 0.4886112247972578)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 2.81
INFO:root:Testing 3262 out of 23200 hypotheses for ramen_pack (evidence > 0.4886112247972578)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 2.84
INFO:root:Testing 796 out of 14864 hypotheses for hot_sauce (evidence > 0.4886112247972578)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 2.933
INFO:root:Testing 575 out of 12560 hypotheses for harissa_oil (evidence > 0.4886112247972578)
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: 2.89
INFO:root:Testing 2076 out of 21832 hypotheses for tomato_soup_can (evidence > 0.4886112247972578)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.01 seconds. New max evidence: 2.875
INFO:root:Testing 2114 out of 16976 hypotheses for mustard_bottle (evidence > 0.4886112247972578)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 2.811
INFO:root:Testing 2834 out of 17728 hypotheses for tuna_fish_can (evidence > 0.4886112247972578)
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: 2.679
INFO:root:Testing 4359 out of 19024 hypotheses for potted_meat_can (evidence > 0.4886112247972578)
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: 2.835
DEBUG:root:evidences for each object: [2.88341624 2.33020107 2.81016088 2.84047867 2.93283416 2.88986786
 2.87458326 2.81070608 2.67905157 2.83541658]
DEBUG:root:mean evidence: 2.789, std: 0.166 -> th=2.346267325753632
INFO:root:current most likely hypothesis: hot_sauce with evidence 2.93
DEBUG:root:evidences for each object: [2.88341624 2.33020107 2.81016088 2.84047867 2.93283416 2.88986786
 2.87458326 2.81070608 2.67905157 2.83541658]
DEBUG:root:mean evidence: 2.789, std: 0.166 -> th=2.346267325753632
DEBUG:root:evidences for each object: [2.88341624 2.33020107 2.81016088 2.84047867 2.93283416 2.88986786
 2.87458326 2.81070608 2.67905157 2.83541658]
DEBUG:root:mean evidence: 2.789, std: 0.166 -> th=2.492909033613234
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'harissa_oil', 'potted_meat_can', 'montys_heart', 'numenta_mug', 'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 7 ---
INFO:uvicorn.access:192.168.1.217:65480 - "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([[ 0.77858101,  0.29592004,  0.55339221],
       [-0.35527993,  0.93475996,  0.        ],
       [-0.51728887, -0.19660914,  0.8329208 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00798877,  0.01166544, -0.00573857])}]
INFO:root:Testing 465 out of 14424 hypotheses for numenta_mug (evidence > 0.5865668314384078)
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: 3.325
INFO:root:Testing 132 out of 10992 hypotheses for montys_brain (evidence > 0.5865668314384078)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.33
INFO:root:Testing 553 out of 14880 hypotheses for montys_heart (evidence > 0.5865668314384078)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.289
INFO:root:Testing 3072 out of 23200 hypotheses for ramen_pack (evidence > 0.5865668314384078)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 3.287
INFO:root:Testing 752 out of 14864 hypotheses for hot_sauce (evidence > 0.5865668314384078)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.411
INFO:root:Testing 562 out of 12560 hypotheses for harissa_oil (evidence > 0.5865668314384078)
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: 3.316
INFO:root:Testing 1666 out of 21832 hypotheses for tomato_soup_can (evidence > 0.5865668314384078)
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 1915 out of 16976 hypotheses for mustard_bottle (evidence > 0.5865668314384078)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.01 seconds. New max evidence: 3.186
INFO:root:Testing 2339 out of 17728 hypotheses for tuna_fish_can (evidence > 0.5865668314384078)
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: 2.707
INFO:root:Testing 3875 out of 19024 hypotheses for potted_meat_can (evidence > 0.5865668314384078)
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: 3.237
DEBUG:root:evidences for each object: [3.3249814  1.33020107 3.28914714 3.28695081 3.41134463 3.3162287
 3.34213503 3.18612599 2.70709005 3.2367887 ]
DEBUG:root:mean evidence: 3.043, std: 0.6 -> th=2.7290757054431323
INFO:root:current most likely hypothesis: hot_sauce with evidence 3.41
DEBUG:root:evidences for each object: [3.3249814  1.33020107 3.28914714 3.28695081 3.41134463 3.3162287
 3.34213503 3.18612599 2.70709005 3.2367887 ]
DEBUG:root:mean evidence: 3.043, std: 0.6 -> th=2.7290757054431323
DEBUG:root:evidences for each object: [3.3249814  1.33020107 3.28914714 3.28695081 3.41134463 3.3162287
 3.34213503 3.18612599 2.70709005 3.2367887 ]
DEBUG:root:mean evidence: 3.043, std: 0.6 -> th=2.899642937033328
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'harissa_oil', 'potted_meat_can', 'montys_heart', 'numenta_mug', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 8 ---
INFO:uvicorn.access:192.168.1.217:65480 - "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([[ 0.82702875, -0.06441378,  0.55845708],
       [ 0.07765061,  0.99698063, -0.        ],
       [-0.55677089,  0.04336453,  0.82953342]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00149076, -0.06411879,  0.01201508])}]
INFO:root:Testing 285 out of 14424 hypotheses for numenta_mug (evidence > 0.6822689263607828)
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: 3.748
INFO:root:Testing 5 out of 10992 hypotheses for montys_brain (evidence > 0.6822689263607828)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.739
INFO:root:Testing 337 out of 14880 hypotheses for montys_heart (evidence > 0.6822689263607828)
DEBUG:root:Calculating evidence for montys_heart using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_heart took 0.0 seconds. New max evidence: 3.735
INFO:root:Testing 2441 out of 23200 hypotheses for ramen_pack (evidence > 0.6822689263607828)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.01 seconds. New max evidence: 3.773
INFO:root:Testing 648 out of 14864 hypotheses for hot_sauce (evidence > 0.6822689263607828)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.798
INFO:root:Testing 252 out of 12560 hypotheses for harissa_oil (evidence > 0.6822689263607828)
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: 3.756
INFO:root:Testing 997 out of 21832 hypotheses for tomato_soup_can (evidence > 0.6822689263607828)
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: 3.766
INFO:root:Testing 1448 out of 16976 hypotheses for mustard_bottle (evidence > 0.6822689263607828)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 3.625
INFO:root:Testing 1308 out of 17728 hypotheses for tuna_fish_can (evidence > 0.6822689263607828)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.178
INFO:root:Testing 2519 out of 19024 hypotheses for potted_meat_can (evidence > 0.6822689263607828)
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: 3.656
DEBUG:root:evidences for each object: [3.74849461 1.73905797 3.73458665 3.7728737  3.79751362 3.75584344
 3.76627876 3.62460775 3.1782778  3.65629841]
DEBUG:root:mean evidence: 3.477, std: 0.605 -> th=3.03801089648164
INFO:root:current most likely hypothesis: hot_sauce with evidence 3.8
DEBUG:root:evidences for each object: [3.74849461 1.73905797 3.73458665 3.7728737  3.79751362 3.75584344
 3.76627876 3.62460775 3.1782778  3.65629841]
DEBUG:root:mean evidence: 3.477, std: 0.605 -> th=3.03801089648164
DEBUG:root:evidences for each object: [3.74849461 1.73905797 3.73458665 3.7728737  3.79751362 3.75584344
 3.76627876 3.62460775 3.1782778  3.65629841]
DEBUG:root:mean evidence: 3.477, std: 0.605 -> th=3.2278865775117422
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'harissa_oil', 'potted_meat_can', 'montys_heart', 'numenta_mug', 'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 9 ---
INFO:uvicorn.access:192.168.1.217:65483 - "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([[-0.1544437 , -0.39962618,  0.90357405],
       [ 0.93276464, -0.36048595,  0.        ],
       [ 0.32572575,  0.84282192,  0.42843196]]), 'pose_fully_defined': False}}, {'patch': array([-0.01172597, -0.00951588,  0.0001282 ])}]
INFO:root:Testing 280 out of 14424 hypotheses for numenta_mug (evidence > 0.7595027241204098)
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: 3.967
INFO:root:Testing 41 out of 10992 hypotheses for montys_brain (evidence > 0.7595027241204098)
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: 2.239
INFO:root:Testing 335 out of 14880 hypotheses for montys_heart (evidence > 0.7595027241204098)
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: 4.096
INFO:root:Testing 2435 out of 23200 hypotheses for ramen_pack (evidence > 0.7595027241204098)
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: 4.142
INFO:root:Testing 647 out of 14864 hypotheses for hot_sauce (evidence > 0.7595027241204098)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.116
INFO:root:Testing 252 out of 12560 hypotheses for harissa_oil (evidence > 0.7595027241204098)
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: 3.93
INFO:root:Testing 995 out of 21832 hypotheses for tomato_soup_can (evidence > 0.7595027241204098)
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: 4.006
INFO:root:Testing 1435 out of 16976 hypotheses for mustard_bottle (evidence > 0.7595027241204098)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.051
INFO:root:Testing 1273 out of 17728 hypotheses for tuna_fish_can (evidence > 0.7595027241204098)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.596
INFO:root:Testing 2455 out of 19024 hypotheses for potted_meat_can (evidence > 0.7595027241204098)
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: 3.995
DEBUG:root:evidences for each object: [3.96705212 2.23905797 4.09632713 4.14221287 4.11620781 3.92988126
 4.00635961 4.05114186 3.59557772 3.99520695]
DEBUG:root:mean evidence: 3.814, std: 0.545 -> th=3.3137702996550376
INFO:root:current most likely hypothesis: ramen_pack with evidence 4.14
DEBUG:root:evidences for each object: [3.96705212 2.23905797 4.09632713 4.14221287 4.11620781 3.92988126
 4.00635961 4.05114186 3.59557772 3.99520695]
DEBUG:root:mean evidence: 3.814, std: 0.545 -> th=3.3137702996550376
DEBUG:root:evidences for each object: [3.96705212 2.23905797 4.09632713 4.14221287 4.11620781 3.92988126
 4.00635961 4.05114186 3.59557772 3.99520695]
DEBUG:root:mean evidence: 3.814, std: 0.545 -> th=3.520880943383477
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'harissa_oil', 'potted_meat_can', 'montys_heart', 'numenta_mug', 'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 10 ---
INFO:uvicorn.access:192.168.1.217:65483 - "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([[-0.23133823, -0.24609258,  0.9412338 ],
       [ 0.72861112, -0.68492761,  0.        ],
       [ 0.64467702,  0.68579341,  0.33775574]]), 'pose_fully_defined': False}}, {'patch': array([-0.00080709,  0.00999818,  0.00291955])}]
INFO:root:Testing 251 out of 14424 hypotheses for numenta_mug (evidence > 0.8284425749137592)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.279
INFO:root:Testing 34 out of 10992 hypotheses for montys_brain (evidence > 0.8284425749137592)
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: 2.719
INFO:root:Testing 310 out of 14880 hypotheses for montys_heart (evidence > 0.8284425749137592)
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: 4.407
INFO:root:Testing 2229 out of 23200 hypotheses for ramen_pack (evidence > 0.8284425749137592)
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: 4.491
INFO:root:Testing 603 out of 14864 hypotheses for hot_sauce (evidence > 0.8284425749137592)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.56
INFO:root:Testing 241 out of 12560 hypotheses for harissa_oil (evidence > 0.8284425749137592)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.21
INFO:root:Testing 875 out of 21832 hypotheses for tomato_soup_can (evidence > 0.8284425749137592)
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: 4.361
INFO:root:Testing 1299 out of 16976 hypotheses for mustard_bottle (evidence > 0.8284425749137592)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.407
INFO:root:Testing 1135 out of 17728 hypotheses for tuna_fish_can (evidence > 0.8284425749137592)
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: 4.065
INFO:root:Testing 1933 out of 19024 hypotheses for potted_meat_can (evidence > 0.8284425749137592)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.01 seconds. New max evidence: 4.365
DEBUG:root:evidences for each object: [4.27948365 2.71852138 4.40720157 4.49124904 4.56001226 4.2095007
 4.36103571 4.40736625 4.06545881 4.36535829]
DEBUG:root:mean evidence: 4.187, std: 0.507 -> th=3.6480098110081927
INFO:root:current most likely hypothesis: hot_sauce with evidence 4.56
DEBUG:root:evidences for each object: [4.27948365 2.71852138 4.40720157 4.49124904 4.56001226 4.2095007
 4.36103571 4.40736625 4.06545881 4.36535829]
DEBUG:root:mean evidence: 4.187, std: 0.507 -> th=3.6480098110081927
DEBUG:root:evidences for each object: [4.27948365 2.71852138 4.40720157 4.49124904 4.56001226 4.2095007
 4.36103571 4.40736625 4.06545881 4.36535829]
DEBUG:root:mean evidence: 4.187, std: 0.507 -> th=3.8760104241962043
DEBUG:root:Hypothesis jump indicated: sufficient steps elapsed with no jump
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'harissa_oil', 'potted_meat_can', 'montys_heart', 'numenta_mug', 'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 11 ---
INFO:uvicorn.access:192.168.1.217:65483 - "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([[-0.1614498 , -0.12230088,  0.97927343],
       [ 0.60382766, -0.7971149 ,  0.        ],
       [ 0.78059344,  0.59131238,  0.20254269]]), 'pose_fully_defined': False}}, {'patch': array([0.00422877, 0.01593811, 0.00656101])}]
INFO:root:Testing 234 out of 14424 hypotheses for numenta_mug (evidence > 0.912002452752048)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.469
INFO:root:Testing 23 out of 10992 hypotheses for montys_brain (evidence > 0.912002452752048)
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 286 out of 14880 hypotheses for montys_heart (evidence > 0.912002452752048)
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: 4.802
INFO:root:Testing 1013 out of 23200 hypotheses for ramen_pack (evidence > 0.912002452752048)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.933
INFO:root:Testing 569 out of 14864 hypotheses for hot_sauce (evidence > 0.912002452752048)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.95
INFO:root:Testing 201 out of 12560 hypotheses for harissa_oil (evidence > 0.912002452752048)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.519
INFO:root:Testing 715 out of 21832 hypotheses for tomato_soup_can (evidence > 0.912002452752048)
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: 4.651
INFO:root:Testing 1072 out of 16976 hypotheses for mustard_bottle (evidence > 0.912002452752048)
DEBUG:root:Calculating evidence for mustard_bottle using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for mustard_bottle took 0.0 seconds. New max evidence: 4.804
INFO:root:Testing 1015 out of 17728 hypotheses for tuna_fish_can (evidence > 0.912002452752048)
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: 4.545
INFO:root:Testing 1202 out of 19024 hypotheses for potted_meat_can (evidence > 0.912002452752048)
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: 4.823
DEBUG:root:evidences for each object: [4.46930948 3.18101926 4.80194862 4.9334731  4.94986867 4.51868483
 4.65104354 4.80403141 4.54484063 4.82265929]
DEBUG:root:mean evidence: 4.568, std: 0.49 -> th=3.9598949398227865
INFO:root:current most likely hypothesis: hot_sauce with evidence 4.95
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'harissa_oil', 'potted_meat_can', 'montys_heart', 'numenta_mug', 'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 12 ---
INFO:uvicorn.access:192.168.1.217:65483 - "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([[-0.17815115, -0.01249288,  0.98392383],
       [ 0.06995337, -0.99755026,  0.        ],
       [ 0.98151347,  0.06882879,  0.17858864]]), 'pose_fully_defined': False}}, {'patch': array([-0.00594451,  0.021862  ,  0.00025871])}]
INFO:root:Testing 218 out of 14424 hypotheses for numenta_mug (evidence > 0.9899737349556963)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.714
INFO:root:Testing 21 out of 10992 hypotheses for montys_brain (evidence > 0.9899737349556963)
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: 3.446
INFO:root:Testing 268 out of 14880 hypotheses for montys_heart (evidence > 0.9899737349556963)
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: 5.274
INFO:root:Testing 833 out of 23200 hypotheses for ramen_pack (evidence > 0.9899737349556963)
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: 5.382
INFO:root:Testing 508 out of 14864 hypotheses for hot_sauce (evidence > 0.9899737349556963)
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: 5.407
INFO:root:Testing 191 out of 12560 hypotheses for harissa_oil (evidence > 0.9899737349556963)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.912
INFO:root:Testing 681 out of 21832 hypotheses for tomato_soup_can (evidence > 0.9899737349556963)
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: 4.96
INFO:root:Testing 897 out of 16976 hypotheses for mustard_bottle (evidence > 0.9899737349556963)
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: 5.146
INFO:root:Testing 644 out of 17728 hypotheses for tuna_fish_can (evidence > 0.9899737349556963)
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: 4.823
INFO:root:Testing 925 out of 19024 hypotheses for potted_meat_can (evidence > 0.9899737349556963)
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: 5.32
DEBUG:root:evidences for each object: [4.71392004 3.44559787 5.2743268  5.38219217 5.40721624 4.91166696
 4.95964015 5.14576311 4.8231338  5.31967019]
DEBUG:root:mean evidence: 4.938, std: 0.549 -> th=4.325772988887637
INFO:root:current most likely hypothesis: hot_sauce with evidence 5.41
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'harissa_oil', 'potted_meat_can', 'montys_heart', 'numenta_mug', 'tuna_fish_can', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 13 ---
INFO:uvicorn.access:192.168.1.217:65483 - "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([[-0.0623255 ,  0.06864755,  0.99569224],
       [-0.74037672, -0.67219217,  0.        ],
       [ 0.66929653, -0.73718736,  0.09271976]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00201557,  0.01986381, -0.00367116])}]
INFO:root:Testing 197 out of 14424 hypotheses for numenta_mug (evidence > 1.0814432472219089)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.125
INFO:root:Testing 16 out of 10992 hypotheses for montys_brain (evidence > 1.0814432472219089)
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: 2.446
INFO:root:Testing 247 out of 14880 hypotheses for montys_heart (evidence > 1.0814432472219089)
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: 5.708
INFO:root:Testing 713 out of 23200 hypotheses for ramen_pack (evidence > 1.0814432472219089)
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: 5.791
INFO:root:Testing 413 out of 14864 hypotheses for hot_sauce (evidence > 1.0814432472219089)
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: 5.855
INFO:root:Testing 185 out of 12560 hypotheses for harissa_oil (evidence > 1.0814432472219089)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 5.341
INFO:root:Testing 663 out of 21832 hypotheses for tomato_soup_can (evidence > 1.0814432472219089)
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: 5.263
INFO:root:Testing 668 out of 16976 hypotheses for mustard_bottle (evidence > 1.0814432472219089)
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: 5.516
INFO:root:Testing 535 out of 17728 hypotheses for tuna_fish_can (evidence > 1.0814432472219089)
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: 4.628
INFO:root:Testing 743 out of 19024 hypotheses for potted_meat_can (evidence > 1.0814432472219089)
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: 5.779
DEBUG:root:evidences for each object: [5.12489576 2.44559787 5.70785592 5.79053524 5.85489271 5.34060422
 5.26295935 5.51637897 4.62844029 5.77924767]
DEBUG:root:mean evidence: 5.145, std: 0.969 -> th=4.683914165199635
INFO:root:current most likely hypothesis: hot_sauce with evidence 5.85
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'hot_sauce', 'mustard_bottle', 'ramen_pack', 'harissa_oil', 'potted_meat_can', 'montys_heart', 'numenta_mug', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 14 ---
INFO:uvicorn.access:192.168.1.217:65484 - "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([[-0.5397538 , -0.09172372, -0.83681097],
       [ 0.16753438, -0.98586623,  0.        ],
       [-0.82498368, -0.14019461,  0.54749192]]), 'pose_fully_defined': False}}, {'patch': array([-0.0255278 , -0.03532999, -0.05760059])}]
INFO:root:Testing 188 out of 14424 hypotheses for numenta_mug (evidence > 1.1709785412999087)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.523
INFO:root:Testing 7 out of 10992 hypotheses for montys_brain (evidence > 1.1709785412999087)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.903
INFO:root:Testing 222 out of 14880 hypotheses for montys_heart (evidence > 1.1709785412999087)
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: 6.196
INFO:root:Testing 547 out of 23200 hypotheses for ramen_pack (evidence > 1.1709785412999087)
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: 5.775
INFO:root:Testing 364 out of 14864 hypotheses for hot_sauce (evidence > 1.1709785412999087)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.855
INFO:root:Testing 171 out of 12560 hypotheses for harissa_oil (evidence > 1.1709785412999087)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 5.818
INFO:root:Testing 593 out of 21832 hypotheses for tomato_soup_can (evidence > 1.1709785412999087)
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: 5.742
INFO:root:Testing 535 out of 16976 hypotheses for mustard_bottle (evidence > 1.1709785412999087)
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: 5.634
INFO:root:Testing 369 out of 17728 hypotheses for tuna_fish_can (evidence > 1.1709785412999087)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 3.628
INFO:root:Testing 602 out of 19024 hypotheses for potted_meat_can (evidence > 1.1709785412999087)
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: 5.933
DEBUG:root:evidences for each object: [5.52317749 1.90338181 6.19609221 5.77481198 4.85489271 5.81808984
 5.74186307 5.63402631 3.62844029 5.93283948]
DEBUG:root:mean evidence: 5.101, std: 1.272 -> th=4.956873771641889
INFO:root:current most likely hypothesis: montys_heart with evidence 6.2
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'ramen_pack', 'harissa_oil', 'potted_meat_can', 'montys_heart', 'numenta_mug', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 15 ---
INFO:uvicorn.access:192.168.1.217:65484 - "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([[-0.43312205, -0.00852334, -0.90129498],
       [ 0.01967502, -0.99980643,  0.        ],
       [-0.90112051, -0.017733  ,  0.43320591]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00318691,  0.01102843, -0.00218372])}]
INFO:root:Testing 184 out of 14424 hypotheses for numenta_mug (evidence > 1.239218442910472)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.991
INFO:root:Testing 4 out of 10992 hypotheses for montys_brain (evidence > 1.239218442910472)
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: 2.376
INFO:root:Testing 209 out of 14880 hypotheses for montys_heart (evidence > 1.239218442910472)
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: 6.639
INFO:root:Testing 429 out of 23200 hypotheses for ramen_pack (evidence > 1.239218442910472)
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: 5.818
INFO:root:Testing 314 out of 14864 hypotheses for hot_sauce (evidence > 1.239218442910472)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 3.855
INFO:root:Testing 170 out of 12560 hypotheses for harissa_oil (evidence > 1.239218442910472)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 6.313
INFO:root:Testing 571 out of 21832 hypotheses for tomato_soup_can (evidence > 1.239218442910472)
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: 6.215
INFO:root:Testing 493 out of 16976 hypotheses for mustard_bottle (evidence > 1.239218442910472)
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: 5.769
INFO:root:Testing 113 out of 17728 hypotheses for tuna_fish_can (evidence > 1.239218442910472)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 2.628
INFO:root:Testing 570 out of 19024 hypotheses for potted_meat_can (evidence > 1.239218442910472)
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: 6.148
DEBUG:root:evidences for each object: [5.99140941 2.37604241 6.63932977 5.8183152  3.85489271 6.31295744
 6.21526889 5.76928391 2.62844029 6.14823298]
DEBUG:root:mean evidence: 5.175, std: 1.515 -> th=5.311463818597068
INFO:root:current most likely hypothesis: montys_heart with evidence 6.64
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'ramen_pack', 'harissa_oil', 'potted_meat_can', 'montys_heart', 'numenta_mug', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 16 ---
INFO:uvicorn.access:192.168.1.217:65484 - "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([[-0.30191369,  0.0565978 , -0.95165372],
       [-0.18425388, -0.98287868,  0.        ],
       [-0.93536016,  0.17534589,  0.3071729 ]]), 'pose_fully_defined': False}}, {'patch': array([0.00483896, 0.01736654, 0.00038403])}]
INFO:root:Testing 180 out of 14424 hypotheses for numenta_mug (evidence > 1.3278659546492664)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.43
INFO:root:Testing 2 out of 10992 hypotheses for montys_brain (evidence > 1.3278659546492664)
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: 2.707
INFO:root:Testing 193 out of 14880 hypotheses for montys_heart (evidence > 1.3278659546492664)
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: 7.064
INFO:root:Testing 313 out of 23200 hypotheses for ramen_pack (evidence > 1.3278659546492664)
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: 5.756
INFO:root:Testing 247 out of 14864 hypotheses for hot_sauce (evidence > 1.3278659546492664)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.276
INFO:root:Testing 157 out of 12560 hypotheses for harissa_oil (evidence > 1.3278659546492664)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 6.767
INFO:root:Testing 561 out of 21832 hypotheses for tomato_soup_can (evidence > 1.3278659546492664)
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: 6.656
INFO:root:Testing 447 out of 16976 hypotheses for mustard_bottle (evidence > 1.3278659546492664)
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: 6.044
INFO:root:Testing 41 out of 17728 hypotheses for tuna_fish_can (evidence > 1.3278659546492664)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.628
INFO:root:Testing 518 out of 19024 hypotheses for potted_meat_can (evidence > 1.3278659546492664)
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: 6.431
DEBUG:root:evidences for each object: [6.42989136 2.70667148 7.0640542  5.75557138 4.27597271 6.76699129
 6.65555842 6.04401109 1.62844029 6.43130525]
DEBUG:root:mean evidence: 5.376, std: 1.778 -> th=5.651243359229005
INFO:root:current most likely hypothesis: montys_heart with evidence 7.06
DEBUG:root:evidences for each object: [6.42989136 2.70667148 7.0640542  5.75557138 4.27597271 6.76699129
 6.65555842 6.04401109 1.62844029 6.43130525]
DEBUG:root:mean evidence: 5.376, std: 1.778 -> th=5.651243359229005
DEBUG:root:evidences for each object: [6.42989136 2.70667148 7.0640542  5.75557138 4.27597271 6.76699129
 6.65555842 6.04401109 1.62844029 6.43130525]
DEBUG:root:mean evidence: 5.376, std: 1.778 -> th=6.004446069180817
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'ramen_pack', 'harissa_oil', 'potted_meat_can', 'montys_heart', 'numenta_mug', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 17 ---
INFO:uvicorn.access:192.168.1.217:65484 - "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([[ 0.04797503,  0.22522921, -0.97312394],
       [-0.97805824,  0.20833167,  0.        ],
       [ 0.20273253,  0.95177188,  0.230282  ]]), 'pose_fully_defined': False}}, {'patch': array([0.00777149, 0.0145927 , 0.00344434])}]
INFO:root:Testing 170 out of 14424 hypotheses for numenta_mug (evidence > 1.4128108398072508)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.882
INFO:root:Testing 1 out of 10992 hypotheses for montys_brain (evidence > 1.4128108398072508)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.707
INFO:root:Testing 177 out of 14880 hypotheses for montys_heart (evidence > 1.4128108398072508)
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: 7.197
INFO:root:Testing 236 out of 23200 hypotheses for ramen_pack (evidence > 1.4128108398072508)
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: 5.766
INFO:root:Testing 174 out of 14864 hypotheses for hot_sauce (evidence > 1.4128108398072508)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.629
INFO:root:Testing 129 out of 12560 hypotheses for harissa_oil (evidence > 1.4128108398072508)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 7.119
INFO:root:Testing 485 out of 21832 hypotheses for tomato_soup_can (evidence > 1.4128108398072508)
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: 6.979
INFO:root:Testing 385 out of 16976 hypotheses for mustard_bottle (evidence > 1.4128108398072508)
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: 6.418
INFO:root:Testing 6 out of 17728 hypotheses for tuna_fish_can (evidence > 1.4128108398072508)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.601
INFO:root:Testing 463 out of 19024 hypotheses for potted_meat_can (evidence > 1.4128108398072508)
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: 6.873
DEBUG:root:evidences for each object: [6.88154929 1.70667148 7.19659366 5.76608544 4.62855327 7.11890662
 6.97910503 6.41795179 1.60060978 6.87319235]
DEBUG:root:mean evidence: 5.517, std: 2.068 -> th=5.757274930023949
INFO:root:current most likely hypothesis: montys_heart with evidence 7.2
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'ramen_pack', 'harissa_oil', 'potted_meat_can', 'montys_heart', 'numenta_mug', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 18 ---
INFO:uvicorn.access:192.168.1.217:65484 - "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([[-0.16831352,  0.2583275 , -0.95128201],
       [-0.83784935, -0.54590151,  0.        ],
       [-0.51930629,  0.79703102,  0.30832213]]), 'pose_fully_defined': False}}, {'patch': array([0.0014592 , 0.01283868, 0.01106467])}]
INFO:root:Testing 151 out of 14424 hypotheses for numenta_mug (evidence > 1.4393187325059866)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 6.768
INFO:root:Testing 1 out of 10992 hypotheses for montys_brain (evidence > 1.4393187325059866)
DEBUG:root:Calculating evidence for montys_brain using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.152
INFO:root:Testing 148 out of 14880 hypotheses for montys_heart (evidence > 1.4393187325059866)
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: 7.465
INFO:root:Testing 173 out of 23200 hypotheses for ramen_pack (evidence > 1.4393187325059866)
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: 5.98
INFO:root:Testing 94 out of 14864 hypotheses for hot_sauce (evidence > 1.4393187325059866)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.686
INFO:root:Testing 107 out of 12560 hypotheses for harissa_oil (evidence > 1.4393187325059866)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 6.608
INFO:root:Testing 418 out of 21832 hypotheses for tomato_soup_can (evidence > 1.4393187325059866)
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: 6.837
INFO:root:Testing 276 out of 16976 hypotheses for mustard_bottle (evidence > 1.4393187325059866)
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: 6.487
INFO:root:Testing 4 out of 17728 hypotheses for tuna_fish_can (evidence > 1.4393187325059866)
DEBUG:root:Calculating evidence for tuna_fish_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.404
INFO:root:Testing 390 out of 19024 hypotheses for potted_meat_can (evidence > 1.4393187325059866)
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: 6.819
DEBUG:root:evidences for each object: [6.76787374 1.15163173 7.46517665 5.9797046  4.68559474 6.60758185
 6.83738306 6.48741647 1.40401516 6.81909269]
DEBUG:root:mean evidence: 5.421, std: 2.184 -> th=5.972141317377345
INFO:root:current most likely hypothesis: montys_heart with evidence 7.47
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'ramen_pack', 'harissa_oil', 'potted_meat_can', 'montys_heart', 'numenta_mug', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 19 ---
INFO:uvicorn.access:192.168.1.217:65486 - "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([[-0.81339738, -0.18664968, -0.55095064],
       [ 0.22365635, -0.97466807,  0.        ],
       [-0.53699399, -0.12322361,  0.83453783]]), 'pose_fully_defined': False}}, {'patch': array([-0.01222087, -0.0691134 , -0.00671279])}]
INFO:root:Testing 138 out of 14424 hypotheses for numenta_mug (evidence > 1.4930353293443357)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.768
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.152
INFO:root:Testing 125 out of 14880 hypotheses for montys_heart (evidence > 1.4930353293443357)
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: 7.907
INFO:root:Testing 142 out of 23200 hypotheses for ramen_pack (evidence > 1.4930353293443357)
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: 5.835
INFO:root:Testing 81 out of 14864 hypotheses for hot_sauce (evidence > 1.4930353293443357)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 4.965
INFO:root:Testing 99 out of 12560 hypotheses for harissa_oil (evidence > 1.4930353293443357)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 6.962
INFO:root:Testing 330 out of 21832 hypotheses for tomato_soup_can (evidence > 1.4930353293443357)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.093
INFO:root:Testing 190 out of 16976 hypotheses for mustard_bottle (evidence > 1.4930353293443357)
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: 6.497
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.404
INFO:root:Testing 314 out of 19024 hypotheses for potted_meat_can (evidence > 1.4930353293443357)
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: 6.764
DEBUG:root:evidences for each object: [5.76787374 1.15163173 7.90691946 5.83545912 4.9651828  6.96234146
 7.09330953 6.49748065 1.40401516 6.76366575]
DEBUG:root:mean evidence: 5.435, std: 2.218 -> th=6.325535566311229
INFO:root:current most likely hypothesis: montys_heart with evidence 7.91
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'mustard_bottle', 'harissa_oil', 'potted_meat_can', 'montys_heart', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 20 ---
INFO:uvicorn.access:192.168.1.217:65486 - "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([[-0.9161357 ,  0.04913475, -0.39784564],
       [-0.05355564, -0.99856487,  0.        ],
       [-0.39727468,  0.02130688,  0.91745237]]), 'pose_fully_defined': False}}, {'patch': array([-0.00602051,  0.0054761 ,  0.00384539])}]
INFO:root:Testing 122 out of 14424 hypotheses for numenta_mug (evidence > 1.581383891577807)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.147
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.152
INFO:root:Testing 110 out of 14880 hypotheses for montys_heart (evidence > 1.581383891577807)
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: 8.247
INFO:root:Testing 76 out of 23200 hypotheses for ramen_pack (evidence > 1.581383891577807)
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: 5.619
INFO:root:Testing 73 out of 14864 hypotheses for hot_sauce (evidence > 1.581383891577807)
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: 5.339
INFO:root:Testing 105 out of 12560 hypotheses for harissa_oil (evidence > 1.581383891577807)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 7.35
INFO:root:Testing 319 out of 21832 hypotheses for tomato_soup_can (evidence > 1.581383891577807)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.503
INFO:root:Testing 170 out of 16976 hypotheses for mustard_bottle (evidence > 1.581383891577807)
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: 6.438
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.404
INFO:root:Testing 309 out of 19024 hypotheses for potted_meat_can (evidence > 1.581383891577807)
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: 6.382
DEBUG:root:evidences for each object: [5.14738267 1.15163173 8.2467185  5.61935868 5.33859429 7.3500432
 7.50308359 6.43786033 1.40401516 6.38171294]
DEBUG:root:mean evidence: 5.458, std: 2.291 -> th=6.597374797156955
INFO:root:current most likely hypothesis: montys_heart with evidence 8.25
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'harissa_oil', 'montys_heart', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 21 ---
INFO:uvicorn.access:192.168.1.217:65486 - "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([[-0.96866103,  0.04464029, -0.24434209],
       [-0.04603568, -0.9989398 ,  0.        ],
       [-0.24408304,  0.01124845,  0.9696891 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00534125,  0.0231987 ,  0.01057391])}]
INFO:root:Testing 105 out of 14424 hypotheses for numenta_mug (evidence > 1.649343699289238)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.488
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.152
INFO:root:Testing 106 out of 14880 hypotheses for montys_heart (evidence > 1.649343699289238)
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: 8.722
INFO:root:Testing 34 out of 23200 hypotheses for ramen_pack (evidence > 1.649343699289238)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 4.619
INFO:root:Testing 60 out of 14864 hypotheses for hot_sauce (evidence > 1.649343699289238)
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: 5.801
INFO:root:Testing 103 out of 12560 hypotheses for harissa_oil (evidence > 1.649343699289238)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 7.421
INFO:root:Testing 290 out of 21832 hypotheses for tomato_soup_can (evidence > 1.649343699289238)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.989
INFO:root:Testing 159 out of 16976 hypotheses for mustard_bottle (evidence > 1.649343699289238)
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: 6.57
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.404
INFO:root:Testing 302 out of 19024 hypotheses for potted_meat_can (evidence > 1.649343699289238)
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: 6.477
DEBUG:root:evidences for each object: [5.48832461 1.15163173 8.72186537 4.61935868 5.80138457 7.42123944
 7.98877896 6.57002523 1.40401516 6.47684383]
DEBUG:root:mean evidence: 5.564, std: 2.426 -> th=6.977492296506254
INFO:root:current most likely hypothesis: montys_heart with evidence 8.72
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'harissa_oil', 'montys_heart', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 22 ---
INFO:uvicorn.access:192.168.1.217:65486 - "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([[-0.91632232,  0.1300267 , -0.37874326],
       [-0.1404932 , -0.99008164,  0.        ],
       [-0.37498675,  0.05321085,  0.92550178]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00641136,  0.02138091, -0.00349567])}]
INFO:root:Testing 74 out of 14424 hypotheses for numenta_mug (evidence > 1.744373074126563)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.753
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.152
INFO:root:Testing 103 out of 14880 hypotheses for montys_heart (evidence > 1.744373074126563)
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: 9.087
INFO:root:Testing 25 out of 23200 hypotheses for ramen_pack (evidence > 1.744373074126563)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.619
INFO:root:Testing 61 out of 14864 hypotheses for hot_sauce (evidence > 1.744373074126563)
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: 6.204
INFO:root:Testing 102 out of 12560 hypotheses for harissa_oil (evidence > 1.744373074126563)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 7.752
INFO:root:Testing 236 out of 21832 hypotheses for tomato_soup_can (evidence > 1.744373074126563)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.42
INFO:root:Testing 141 out of 16976 hypotheses for mustard_bottle (evidence > 1.744373074126563)
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: 6.748
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.404
INFO:root:Testing 279 out of 19024 hypotheses for potted_meat_can (evidence > 1.744373074126563)
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: 6.873
DEBUG:root:evidences for each object: [5.75298979 1.15163173 9.08711543 3.61935868 6.20381528 7.75201916
 8.42006283 6.74786336 1.40401516 6.87346422]
DEBUG:root:mean evidence: 5.701, std: 2.632 -> th=7.2696923432350875
INFO:root:current most likely hypothesis: montys_heart with evidence 9.09
DEBUG:root:evidences for each object: [5.75298979 1.15163173 9.08711543 3.61935868 6.20381528 7.75201916
 8.42006283 6.74786336 1.40401516 6.87346422]
DEBUG:root:mean evidence: 5.701, std: 2.632 -> th=7.2696923432350875
DEBUG:root:evidences for each object: [5.75298979 1.15163173 9.08711543 3.61935868 6.20381528 7.75201916
 8.42006283 6.74786336 1.40401516 6.87346422]
DEBUG:root:mean evidence: 5.701, std: 2.632 -> th=7.72404811468728
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'harissa_oil', 'montys_heart', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 23 ---
INFO:uvicorn.access:192.168.1.217:65486 - "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([[-0.88447076,  0.31883445, -0.34067004],
       [-0.33911959, -0.94074327,  0.        ],
       [-0.32048304,  0.11552788,  0.94018292]]), 'pose_fully_defined': False}}, {'patch': array([-0.00075389,  0.00831353, -0.00189032])}]
INFO:root:Testing 43 out of 14424 hypotheses for numenta_mug (evidence > 1.8174230858087714)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.753
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.152
INFO:root:Testing 102 out of 14880 hypotheses for montys_heart (evidence > 1.8174230858087714)
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: 9.535
INFO:root:Testing 10 out of 23200 hypotheses for ramen_pack (evidence > 1.8174230858087714)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.39
INFO:root:Testing 60 out of 14864 hypotheses for hot_sauce (evidence > 1.8174230858087714)
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: 6.703
INFO:root:Testing 90 out of 12560 hypotheses for harissa_oil (evidence > 1.8174230858087714)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 7.835
INFO:root:Testing 209 out of 21832 hypotheses for tomato_soup_can (evidence > 1.8174230858087714)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.789
INFO:root:Testing 112 out of 16976 hypotheses for mustard_bottle (evidence > 1.8174230858087714)
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: 7.01
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.404
INFO:root:Testing 261 out of 19024 hypotheses for potted_meat_can (evidence > 1.8174230858087714)
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: 7.275
DEBUG:root:evidences for each object: [4.75298979 1.15163173 9.53479343 3.38983825 6.70339744 7.83450993
 8.78910509 7.01030373 1.40401516 7.27504723]
DEBUG:root:mean evidence: 5.785, std: 2.816 -> th=7.627834742123987
INFO:root:current most likely hypothesis: montys_heart with evidence 9.53
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'harissa_oil', 'montys_heart', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 24 ---
INFO:uvicorn.access:192.168.1.217:65488 - "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([[-0.81538617, -0.3993662 ,  0.41910862],
       [ 0.43986157, -0.89806559,  0.        ],
       [ 0.37638703,  0.18434977,  0.9079361 ]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00789659, -0.06338108,  0.02863702])}]
INFO:root:Testing 19 out of 14424 hypotheses for numenta_mug (evidence > 1.9069586855309968)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.061
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.152
INFO:root:Testing 86 out of 14880 hypotheses for montys_heart (evidence > 1.9069586855309968)
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: 9.937
INFO:root:Testing 5 out of 23200 hypotheses for ramen_pack (evidence > 1.9069586855309968)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.568
INFO:root:Testing 60 out of 14864 hypotheses for hot_sauce (evidence > 1.9069586855309968)
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: 6.997
INFO:root:Testing 82 out of 12560 hypotheses for harissa_oil (evidence > 1.9069586855309968)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 7.222
INFO:root:Testing 184 out of 21832 hypotheses for tomato_soup_can (evidence > 1.9069586855309968)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.789
INFO:root:Testing 105 out of 16976 hypotheses for mustard_bottle (evidence > 1.9069586855309968)
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: 7.401
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.404
INFO:root:Testing 249 out of 19024 hypotheses for potted_meat_can (evidence > 1.9069586855309968)
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: 7.517
DEBUG:root:evidences for each object: [5.06079572 1.15163173 9.93748757 3.56815502 6.99710233 7.22157216
 7.78910509 7.40074532 1.40401516 7.51709929]
DEBUG:root:mean evidence: 5.805, std: 2.766 -> th=7.949990059372342
INFO:root:current most likely hypothesis: montys_heart with evidence 9.94
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 25 ---
INFO:uvicorn.access:192.168.1.217:65488 - "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([[-0.74370716, -0.18766174,  0.64162507],
       [ 0.24466393, -0.96960794,  0.        ],
       [ 0.62212477,  0.15698251,  0.76701843]]), 'pose_fully_defined': False}}, {'patch': array([0.00227377, 0.0090315 , 0.01191757])}]
INFO:root:Testing 6 out of 14424 hypotheses for numenta_mug (evidence > 1.987497514843085)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.061
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.152
INFO:root:Testing 80 out of 14880 hypotheses for montys_heart (evidence > 1.987497514843085)
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: 10.264
INFO:root:Testing 6 out of 23200 hypotheses for ramen_pack (evidence > 1.987497514843085)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 3.899
INFO:root:Testing 64 out of 14864 hypotheses for hot_sauce (evidence > 1.987497514843085)
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: 7.37
INFO:root:Testing 68 out of 12560 hypotheses for harissa_oil (evidence > 1.987497514843085)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 7.493
INFO:root:Testing 141 out of 21832 hypotheses for tomato_soup_can (evidence > 1.987497514843085)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.103
INFO:root:Testing 99 out of 16976 hypotheses for mustard_bottle (evidence > 1.987497514843085)
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: 7.798
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.404
INFO:root:Testing 230 out of 19024 hypotheses for potted_meat_can (evidence > 1.987497514843085)
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: 7.802
DEBUG:root:evidences for each object: [ 4.06079572  1.15163173 10.264435    3.89896981  7.36994212  7.49257055
  8.1028771   7.79842637  1.40401516  7.80210463]
DEBUG:root:mean evidence: 5.935, std: 2.932 -> th=8.211547996063997
INFO:root:current most likely hypothesis: montys_heart with evidence 10.26
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 26 ---
INFO:uvicorn.access:192.168.1.217:65488 - "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([[-0.70205344, -0.09043477,  0.70635864],
       [ 0.12775905, -0.99180524,  0.        ],
       [ 0.7005702 ,  0.09024371,  0.70785413]]), 'pose_fully_defined': False}}, {'patch': array([-0.00221784,  0.02183166,  0.00380411])}]
INFO:root:Testing 5 out of 14424 hypotheses for numenta_mug (evidence > 2.0528869990159997)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.416
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.152
INFO:root:Testing 79 out of 14880 hypotheses for montys_heart (evidence > 2.0528869990159997)
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: 10.624
INFO:root:Testing 4 out of 23200 hypotheses for ramen_pack (evidence > 2.0528869990159997)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.899
INFO:root:Testing 103 out of 14864 hypotheses for hot_sauce (evidence > 2.0528869990159997)
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: 7.725
INFO:root:Testing 67 out of 12560 hypotheses for harissa_oil (evidence > 2.0528869990159997)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 7.772
INFO:root:Testing 127 out of 21832 hypotheses for tomato_soup_can (evidence > 2.0528869990159997)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.466
INFO:root:Testing 94 out of 16976 hypotheses for mustard_bottle (evidence > 2.0528869990159997)
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: 8.003
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.404
INFO:root:Testing 219 out of 19024 hypotheses for potted_meat_can (evidence > 2.0528869990159997)
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: 8.072
DEBUG:root:evidences for each object: [ 4.41560086  1.15163173 10.62409848  2.89896981  7.72513477  7.77228887
  8.46551652  8.00259376  1.40401516  8.072168  ]
DEBUG:root:mean evidence: 6.053, std: 3.14 -> th=8.499278785531876
INFO:root:current most likely hypothesis: montys_heart with evidence 10.62
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 27 ---
INFO:uvicorn.access:192.168.1.217:65488 - "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([[-0.81359621,  0.1399497 ,  0.56433614],
       [-0.16952399, -0.98552606,  0.        ],
       [ 0.55616798, -0.09566851,  0.8255451 ]]), 'pose_fully_defined': False}}, {'patch': array([-0.00284133,  0.0057864 , -0.00318131])}]
INFO:root:Testing 4 out of 14424 hypotheses for numenta_mug (evidence > 2.1248196963829695)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.688
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.152
INFO:root:Testing 78 out of 14880 hypotheses for montys_heart (evidence > 2.1248196963829695)
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: 11.074
INFO:root:Testing 1 out of 23200 hypotheses for ramen_pack (evidence > 2.1248196963829695)
DEBUG:root:Calculating evidence for ramen_pack using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.111
INFO:root:Testing 99 out of 14864 hypotheses for hot_sauce (evidence > 2.1248196963829695)
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: 8.123
INFO:root:Testing 67 out of 12560 hypotheses for harissa_oil (evidence > 2.1248196963829695)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 8.054
INFO:root:Testing 122 out of 21832 hypotheses for tomato_soup_can (evidence > 2.1248196963829695)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.812
INFO:root:Testing 88 out of 16976 hypotheses for mustard_bottle (evidence > 2.1248196963829695)
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: 8.355
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.404
INFO:root:Testing 210 out of 19024 hypotheses for potted_meat_can (evidence > 2.1248196963829695)
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: 8.245
DEBUG:root:evidences for each object: [ 4.68839804  1.15163173 11.07395193  2.11059085  8.12264688  8.05358745
  8.81159312  8.35547749  1.40401516  8.24450483]
DEBUG:root:mean evidence: 6.202, std: 3.377 -> th=8.85916154241198
INFO:root:current most likely hypothesis: montys_heart with evidence 11.07
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 28 ---
INFO:uvicorn.access:192.168.1.217:65488 - "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([[-0.78391341,  0.30240872,  0.54224416],
       [-0.35991571, -0.93298482,  0.        ],
       [ 0.50590558, -0.19516219,  0.84022096]]), 'pose_fully_defined': False}}, {'patch': array([-0.00091775, -0.00408068, -0.00049413])}]
INFO:root:Testing 4 out of 14424 hypotheses for numenta_mug (evidence > 2.2147903856029956)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.831
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.152
INFO:root:Testing 75 out of 14880 hypotheses for montys_heart (evidence > 2.2147903856029956)
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: 11.34
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.111
INFO:root:Testing 99 out of 14864 hypotheses for hot_sauce (evidence > 2.2147903856029956)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 8.451
INFO:root:Testing 65 out of 12560 hypotheses for harissa_oil (evidence > 2.2147903856029956)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 8.348
INFO:root:Testing 107 out of 21832 hypotheses for tomato_soup_can (evidence > 2.2147903856029956)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.136
INFO:root:Testing 83 out of 16976 hypotheses for mustard_bottle (evidence > 2.2147903856029956)
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: 8.749
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.404
INFO:root:Testing 201 out of 19024 hypotheses for potted_meat_can (evidence > 2.2147903856029956)
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: 8.511
DEBUG:root:evidences for each object: [ 4.83128388  1.15163173 11.33975793  2.11059085  8.45076851  8.34843901
  9.13642992  8.74882334  1.40401516  8.51114053]
DEBUG:root:mean evidence: 6.403, std: 3.51 -> th=9.07180634251098
INFO:root:current most likely hypothesis: montys_heart with evidence 11.34
DEBUG:root:evidences for each object: [ 4.83128388  1.15163173 11.33975793  2.11059085  8.45076851  8.34843901
  9.13642992  8.74882334  1.40401516  8.51114053]
DEBUG:root:mean evidence: 6.403, std: 3.51 -> th=9.07180634251098
DEBUG:root:evidences for each object: [ 4.83128388  1.15163173 11.33975793  2.11059085  8.45076851  8.34843901
  9.13642992  8.74882334  1.40401516  8.51114053]
DEBUG:root:mean evidence: 6.403, std: 3.51 -> th=9.638794238917917
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 29 ---
INFO:uvicorn.access:192.168.1.217:65488 - "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([[-0.88580207,  0.32084062,  0.33528494],
       [-0.34055292, -0.94022535,  0.        ],
       [ 0.3152434 , -0.11418227,  0.94211677]]), 'pose_fully_defined': False}}, {'patch': array([-0.00299287,  0.00824661, -0.00680745])}]
INFO:root:Testing 4 out of 14424 hypotheses for numenta_mug (evidence > 2.2679515856277455)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 5.167
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.152
INFO:root:Testing 73 out of 14880 hypotheses for montys_heart (evidence > 2.2679515856277455)
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: 11.69
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.111
INFO:root:Testing 96 out of 14864 hypotheses for hot_sauce (evidence > 2.2679515856277455)
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: 8.717
INFO:root:Testing 64 out of 12560 hypotheses for harissa_oil (evidence > 2.2679515856277455)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 8.668
INFO:root:Testing 103 out of 21832 hypotheses for tomato_soup_can (evidence > 2.2679515856277455)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.461
INFO:root:Testing 79 out of 16976 hypotheses for mustard_bottle (evidence > 2.2679515856277455)
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: 9.088
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.404
INFO:root:Testing 192 out of 19024 hypotheses for potted_meat_can (evidence > 2.2679515856277455)
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: 8.826
DEBUG:root:evidences for each object: [ 5.16703474  1.15163173 11.68957831  2.11059085  8.71711414  8.66822777
  9.46141641  9.08766336  1.40401516  8.82605705]
DEBUG:root:mean evidence: 6.628, std: 3.645 -> th=9.35166264699493
INFO:root:current most likely hypothesis: montys_heart with evidence 11.69
DEBUG:root:evidences for each object: [ 5.16703474  1.15163173 11.68957831  2.11059085  8.71711414  8.66822777
  9.46141641  9.08766336  1.40401516  8.82605705]
DEBUG:root:mean evidence: 6.628, std: 3.645 -> th=9.35166264699493
DEBUG:root:evidences for each object: [ 5.16703474  1.15163173 11.68957831  2.11059085  8.71711414  8.66822777
  9.46141641  9.08766336  1.40401516  8.82605705]
DEBUG:root:mean evidence: 6.628, std: 3.645 -> th=9.936141562432113
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'tomato_soup_can'}
INFO:root:--- Global Matching Step 30 ---
INFO:uvicorn.access:192.168.1.217:65490 - "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([[ 0.95052153,  0.15714057,  0.26798445],
       [-0.16310648,  0.98660847,  0.        ],
       [-0.26439573, -0.04371   ,  0.96342324]]), 'pose_fully_defined': False}}, {'patch': array([ 0.04080387,  0.03561735, -0.01857728])}]
INFO:root:Testing 4 out of 14424 hypotheses for numenta_mug (evidence > 2.337915661748733)
DEBUG:root:Calculating evidence for numenta_mug using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 4.176
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.152
INFO:root:Testing 66 out of 14880 hypotheses for montys_heart (evidence > 2.337915661748733)
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: 11.974
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.111
INFO:root:Testing 96 out of 14864 hypotheses for hot_sauce (evidence > 2.337915661748733)
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: 9.174
INFO:root:Testing 63 out of 12560 hypotheses for harissa_oil (evidence > 2.337915661748733)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 7.668
INFO:root:Testing 88 out of 21832 hypotheses for tomato_soup_can (evidence > 2.337915661748733)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.461
INFO:root:Testing 76 out of 16976 hypotheses for mustard_bottle (evidence > 2.337915661748733)
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: 9.391
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.404
INFO:root:Testing 184 out of 19024 hypotheses for potted_meat_can (evidence > 2.337915661748733)
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: 8.719
DEBUG:root:evidences for each object: [ 4.17574303  1.15163173 11.97369591  2.11059085  9.17351038  7.66822777
  8.46141641  9.3911645   1.40401516  8.7189605 ]
DEBUG:root:mean evidence: 6.423, std: 3.671 -> th=9.578956730477156
INFO:root:current most likely hypothesis: montys_heart with evidence 11.97
DEBUG:root:evidences for each object: [ 4.17574303  1.15163173 11.97369591  2.11059085  9.17351038  7.66822777
  8.46141641  9.3911645   1.40401516  8.7189605 ]
DEBUG:root:mean evidence: 6.423, std: 3.671 -> th=9.578956730477156
DEBUG:root:evidences for each object: [ 4.17574303  1.15163173 11.97369591  2.11059085  9.17351038  7.66822777
  8.46141641  9.3911645   1.40401516  8.7189605 ]
DEBUG:root:mean evidence: 6.423, std: 3.671 -> th=10.177641526131978
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: {'montys_heart'}
INFO:root:--- Global Matching Step 31 ---
INFO:uvicorn.access:192.168.1.217:65490 - "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([[ 0.98752715,  0.1064562 ,  0.1160052 ],
       [-0.10717981,  0.99423965,  0.        ],
       [-0.11533697, -0.01243342,  0.99324861]]), 'pose_fully_defined': False}}, {'patch': array([-4.82339831e-03,  7.84340033e-03,  6.18155881e-06])}]
INFO:root:Testing 4 out of 14424 hypotheses for numenta_mug (evidence > 2.394739182619288)
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: 3.176
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.152
INFO:root:Testing 63 out of 14880 hypotheses for montys_heart (evidence > 2.394739182619288)
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: 12.112
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.111
INFO:root:Testing 87 out of 14864 hypotheses for hot_sauce (evidence > 2.394739182619288)
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: 9.59
INFO:root:Testing 59 out of 12560 hypotheses for harissa_oil (evidence > 2.394739182619288)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 6.668
INFO:root:Testing 78 out of 21832 hypotheses for tomato_soup_can (evidence > 2.394739182619288)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.461
INFO:root:Testing 70 out of 16976 hypotheses for mustard_bottle (evidence > 2.394739182619288)
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: 9.644
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.404
INFO:root:Testing 165 out of 19024 hypotheses for potted_meat_can (evidence > 2.394739182619288)
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: 7.719
DEBUG:root:evidences for each object: [ 3.17574303  1.15163173 12.11236787  2.11059085  9.59042142  6.66822777
  7.46141641  9.64443653  1.40401516  7.7189605 ]
DEBUG:root:mean evidence: 6.104, std: 3.697 -> th=9.689894293891433
INFO:root:current most likely hypothesis: montys_heart with evidence 12.11
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart'}
INFO:root:--- Global Matching Step 32 ---
INFO:uvicorn.access:192.168.1.217:65490 - "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([[ 0.91091622,  0.14791451,  0.38516612],
       [-0.1602806 ,  0.98707149,  0.        ],
       [-0.3801865 , -0.06173466,  0.92284726]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00256595,  0.00535971, -0.00044797])}]
INFO:root:Testing 4 out of 14424 hypotheses for numenta_mug (evidence > 2.422473573472857)
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: 2.2
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.152
INFO:root:Testing 56 out of 14880 hypotheses for montys_heart (evidence > 2.422473573472857)
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: 11.112
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.111
INFO:root:Testing 74 out of 14864 hypotheses for hot_sauce (evidence > 2.422473573472857)
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: 9.948
INFO:root:Testing 46 out of 12560 hypotheses for harissa_oil (evidence > 2.422473573472857)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 5.668
INFO:root:Testing 63 out of 21832 hypotheses for tomato_soup_can (evidence > 2.422473573472857)
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: 6.634
INFO:root:Testing 62 out of 16976 hypotheses for mustard_bottle (evidence > 2.422473573472857)
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: 8.843
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.404
INFO:root:Testing 131 out of 19024 hypotheses for potted_meat_can (evidence > 2.422473573472857)
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: 7.462
DEBUG:root:evidences for each object: [ 2.19956944  1.15163173 11.11236787  2.11059085  9.94781205  5.66822777
  6.63424988  8.84333427  1.40401516  7.46164654]
DEBUG:root:mean evidence: 5.653, std: 3.542 -> th=8.889894293891434
INFO:root:current most likely hypothesis: montys_heart with evidence 11.11
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce'}
INFO:root:--- Global Matching Step 33 ---
INFO:uvicorn.access:192.168.1.217:65491 - "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([[ 0.98958003,  0.07316919, -0.12400661],
       [-0.07373835,  0.99727762,  0.        ],
       [ 0.12366902,  0.00914404,  0.99228139]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00116752, -0.01259559,  0.00594704])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.2
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.152
INFO:root:Testing 51 out of 14880 hypotheses for montys_heart (evidence > 2.2224735734728576)
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: 11.324
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.111
INFO:root:Testing 75 out of 14864 hypotheses for hot_sauce (evidence > 2.2224735734728576)
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: 10.311
INFO:root:Testing 43 out of 12560 hypotheses for harissa_oil (evidence > 2.2224735734728576)
DEBUG:root:Calculating evidence for harissa_oil using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 4.668
INFO:root:Testing 58 out of 21832 hypotheses for tomato_soup_can (evidence > 2.2224735734728576)
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: 6.947
INFO:root:Testing 58 out of 16976 hypotheses for mustard_bottle (evidence > 2.2224735734728576)
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: 9.134
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.404
INFO:root:Testing 107 out of 19024 hypotheses for potted_meat_can (evidence > 2.2224735734728576)
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: 7.642
DEBUG:root:evidences for each object: [ 2.19956944  1.15163173 11.32425528  2.11059085 10.31098599  4.66822777
  6.94743041  9.13402653  1.40401516  7.64180846]
DEBUG:root:mean evidence: 5.689, std: 3.679 -> th=9.05940422118867
INFO:root:current most likely hypothesis: montys_heart with evidence 11.32
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce', 'mustard_bottle'}
INFO:root:--- Global Matching Step 34 ---
INFO:uvicorn.access:192.168.1.217:65491 - "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([[ 9.95205044e-01,  9.77976805e-02,  1.59166071e-03],
       [-9.77978043e-02,  9.95206305e-01,  0.00000000e+00],
       [-1.58403078e-03, -1.55660923e-04,  9.99998733e-01]]), 'pose_fully_defined': False}}, {'patch': array([-0.00085409,  0.00011474,  0.0007726 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.2
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.152
INFO:root:Testing 43 out of 14880 hypotheses for montys_heart (evidence > 2.264851055297168)
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: 11.562
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.111
INFO:root:Testing 68 out of 14864 hypotheses for hot_sauce (evidence > 2.264851055297168)
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: 10.72
INFO:root:Testing 19 out of 12560 hypotheses for harissa_oil (evidence > 2.264851055297168)
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: 3.668
INFO:root:Testing 55 out of 21832 hypotheses for tomato_soup_can (evidence > 2.264851055297168)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.324
INFO:root:Testing 43 out of 16976 hypotheses for mustard_bottle (evidence > 2.264851055297168)
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: 9.601
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.404
INFO:root:Testing 77 out of 19024 hypotheses for potted_meat_can (evidence > 2.264851055297168)
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: 7.883
DEBUG:root:evidences for each object: [ 2.19956944  1.15163173 11.5617613   2.11059085 10.71953632  3.66822777
  7.32361059  9.60131872  1.40401516  7.88320585]
DEBUG:root:mean evidence: 5.762, std: 3.88 -> th=9.249409040268674
INFO:root:current most likely hypothesis: montys_heart with evidence 11.56
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce', 'mustard_bottle'}
INFO:root:--- Global Matching Step 35 ---
INFO:uvicorn.access:192.168.1.217:65491 - "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([[ 0.90008174,  0.10430184, -0.42305317],
       [-0.11511012,  0.99335274,  0.        ],
       [ 0.42024103,  0.0486977 ,  0.90610486]]), 'pose_fully_defined': False}}, {'patch': array([9.23303202e-05, 1.39488178e-03, 2.06873056e-03])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.2
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.152
INFO:root:Testing 39 out of 14880 hypotheses for montys_heart (evidence > 2.3123522600671684)
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: 11.687
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.111
INFO:root:Testing 68 out of 14864 hypotheses for hot_sauce (evidence > 2.3123522600671684)
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: 10.992
INFO:root:Testing 1 out of 12560 hypotheses for harissa_oil (evidence > 2.3123522600671684)
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: 2.668
INFO:root:Testing 48 out of 21832 hypotheses for tomato_soup_can (evidence > 2.3123522600671684)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.449
INFO:root:Testing 38 out of 16976 hypotheses for mustard_bottle (evidence > 2.3123522600671684)
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: 9.986
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.404
INFO:root:Testing 65 out of 19024 hypotheses for potted_meat_can (evidence > 2.3123522600671684)
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: 7.922
DEBUG:root:evidences for each object: [ 2.19956944  1.15163173 11.68666813  2.11059085 10.99156368  2.66822777
  7.44863534  9.98616283  1.40401516  7.92233981]
DEBUG:root:mean evidence: 5.757, std: 4.045 -> th=9.349334507302332
INFO:root:current most likely hypothesis: montys_heart with evidence 11.69
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce', 'mustard_bottle'}
INFO:root:--- Global Matching Step 36 ---
INFO:uvicorn.access:192.168.1.217:65491 - "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([[ 0.53038044,  0.08062282,  0.84391738],
       [-0.15028304,  0.98864301,  0.        ],
       [-0.83433302, -0.12682647,  0.53647316]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00162313, -0.0032544 , -0.00958084])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.2
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.152
INFO:root:Testing 30 out of 14880 hypotheses for montys_heart (evidence > 2.3373336268255827)
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: 11.708
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.111
INFO:root:Testing 65 out of 14864 hypotheses for hot_sauce (evidence > 2.3373336268255827)
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: 11.105
INFO:root:Testing 1 out of 12560 hypotheses for harissa_oil (evidence > 2.3373336268255827)
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: 2.251
INFO:root:Testing 42 out of 21832 hypotheses for tomato_soup_can (evidence > 2.3373336268255827)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.53
INFO:root:Testing 35 out of 16976 hypotheses for mustard_bottle (evidence > 2.3373336268255827)
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: 9.937
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.404
INFO:root:Testing 56 out of 19024 hypotheses for potted_meat_can (evidence > 2.3373336268255827)
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: 8.139
DEBUG:root:evidences for each object: [ 2.19956944  1.15163173 11.7080935   2.11059085 11.10474891  2.25108362
  7.52960766  9.9372465   1.40401516  8.13868103]
DEBUG:root:mean evidence: 5.754, std: 4.107 -> th=9.366474800253936
INFO:root:current most likely hypothesis: montys_heart with evidence 11.71
DEBUG:root:evidences for each object: [ 2.19956944  1.15163173 11.7080935   2.11059085 11.10474891  2.25108362
  7.52960766  9.9372465   1.40401516  8.13868103]
DEBUG:root:mean evidence: 5.754, std: 4.107 -> th=9.366474800253936
DEBUG:root:evidences for each object: [ 2.19956944  1.15163173 11.7080935   2.11059085 11.10474891  2.25108362
  7.52960766  9.9372465   1.40401516  8.13868103]
DEBUG:root:mean evidence: 5.754, std: 4.107 -> th=9.951879475269806
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce', 'mustard_bottle'}
INFO:root:--- Global Matching Step 37 ---
INFO:uvicorn.access:192.168.1.217:65491 - "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([[ 0.75534202,  0.27437573,  0.5951272 ],
       [-0.34141982,  0.9399109 ,  0.        ],
       [-0.55936655, -0.20318823,  0.80363151]]), 'pose_fully_defined': False}}, {'patch': array([-0.00067418,  0.00473569, -0.0077356 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.2
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.152
INFO:root:Testing 27 out of 14880 hypotheses for montys_heart (evidence > 2.341618700063483)
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: 11.85
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.111
INFO:root:Testing 65 out of 14864 hypotheses for hot_sauce (evidence > 2.341618700063483)
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: 11.329
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.251
INFO:root:Testing 41 out of 21832 hypotheses for tomato_soup_can (evidence > 2.341618700063483)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.716
INFO:root:Testing 32 out of 16976 hypotheses for mustard_bottle (evidence > 2.341618700063483)
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: 9.965
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.404
INFO:root:Testing 55 out of 19024 hypotheses for potted_meat_can (evidence > 2.341618700063483)
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: 7.929
DEBUG:root:evidences for each object: [ 2.19956944  1.15163173 11.85046641  2.11059085 11.329357    2.25108362
  7.71565153  9.96534024  1.40401516  7.92902831]
DEBUG:root:mean evidence: 5.791, std: 4.157 -> th=9.480373129686246
INFO:root:current most likely hypothesis: montys_heart with evidence 11.85
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce', 'mustard_bottle'}
INFO:root:--- Global Matching Step 38 ---
INFO:uvicorn.access:192.168.1.217:65491 - "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([[ 0.68379688,  0.32014664,  0.65568892],
       [-0.42401779,  0.90565386,  0.        ],
       [-0.5938272 , -0.27802377,  0.75503115]]), 'pose_fully_defined': False}}, {'patch': array([0.00042517, 0.00816827, 0.00845506])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.2
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.152
INFO:root:Testing 26 out of 14880 hypotheses for montys_heart (evidence > 2.3700932824215606)
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: 11.929
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.111
INFO:root:Testing 63 out of 14864 hypotheses for hot_sauce (evidence > 2.3700932824215606)
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: 11.385
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.251
INFO:root:Testing 37 out of 21832 hypotheses for tomato_soup_can (evidence > 2.3700932824215606)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.912
INFO:root:Testing 28 out of 16976 hypotheses for mustard_bottle (evidence > 2.3700932824215606)
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: 10.275
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.404
INFO:root:Testing 48 out of 19024 hypotheses for potted_meat_can (evidence > 2.3700932824215606)
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: 8.275
DEBUG:root:evidences for each object: [ 2.19956944  1.15163173 11.92875771  2.11059085 11.38521038  2.25108362
  7.91179348 10.27509495  1.40401516  8.27464263]
DEBUG:root:mean evidence: 5.889, std: 4.235 -> th=9.543006164016766
INFO:root:current most likely hypothesis: montys_heart with evidence 11.93
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce', 'mustard_bottle'}
INFO:root:--- Global Matching Step 39 ---
INFO:uvicorn.access:192.168.1.217:65493 - "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([[ 0.92570877,  0.09436866,  0.36627561],
       [-0.10141645,  0.99484406,  0.        ],
       [-0.36438712, -0.03714637,  0.93050641]]), 'pose_fully_defined': False}}, {'patch': array([ 0.01116575, -0.05287821,  0.01166434])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.2
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.152
INFO:root:Testing 26 out of 14880 hypotheses for montys_heart (evidence > 2.3857515410041916)
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: 12.372
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.111
INFO:root:Testing 58 out of 14864 hypotheses for hot_sauce (evidence > 2.3857515410041916)
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: 10.565
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.251
INFO:root:Testing 28 out of 21832 hypotheses for tomato_soup_can (evidence > 2.3857515410041916)
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: 6.912
INFO:root:Testing 27 out of 16976 hypotheses for mustard_bottle (evidence > 2.3857515410041916)
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: 10.763
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.404
INFO:root:Testing 39 out of 19024 hypotheses for potted_meat_can (evidence > 2.3857515410041916)
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: 7.932
DEBUG:root:evidences for each object: [ 2.19956944  1.15163173 12.37177837  2.11059085 10.56474717  2.25108362
  6.91179348 10.76341471  1.40401516  7.93219775]
DEBUG:root:mean evidence: 5.766, std: 4.2 -> th=9.89742269291688
INFO:root:current most likely hypothesis: montys_heart with evidence 12.37
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce', 'mustard_bottle'}
INFO:root:--- Global Matching Step 40 ---
INFO:uvicorn.access:192.168.1.217:65493 - "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([[ 0.89225504,  0.13214321,  0.4317628 ],
       [-0.14650231,  0.98921033,  0.        ],
       [-0.42710422, -0.06325425,  0.90198719]]), 'pose_fully_defined': False}}, {'patch': array([-0.00354341,  0.00716281,  0.00193898])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.2
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.152
INFO:root:Testing 28 out of 14880 hypotheses for montys_heart (evidence > 2.474355673229219)
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: 12.832
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.111
INFO:root:Testing 57 out of 14864 hypotheses for hot_sauce (evidence > 2.474355673229219)
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: 11.008
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.251
INFO:root:Testing 23 out of 21832 hypotheses for tomato_soup_can (evidence > 2.474355673229219)
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: 6.906
INFO:root:Testing 26 out of 16976 hypotheses for mustard_bottle (evidence > 2.474355673229219)
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: 11.25
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.404
INFO:root:Testing 32 out of 19024 hypotheses for potted_meat_can (evidence > 2.474355673229219)
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: 8.391
DEBUG:root:evidences for each object: [ 2.19956944  1.15163173 12.83202111  2.11059085 11.0077443   2.25108362
  6.90562829 11.25031914  1.40401516  8.39069932]
DEBUG:root:mean evidence: 5.95, std: 4.406 -> th=10.26561689130439
INFO:root:current most likely hypothesis: montys_heart with evidence 12.83
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce', 'mustard_bottle'}
INFO:root:--- Global Matching Step 41 ---
INFO:uvicorn.access:192.168.1.217:65493 - "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([[ 0.90408733,  0.21685832,  0.3682371 ],
       [-0.23324823,  0.97241723,  0.        ],
       [-0.3580801 , -0.08589065,  0.92973192]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00088453,  0.00426375, -0.0025964 ])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.2
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.152
INFO:root:Testing 27 out of 14880 hypotheses for montys_heart (evidence > 2.5664042228260975)
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: 13.316
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.111
INFO:root:Testing 56 out of 14864 hypotheses for hot_sauce (evidence > 2.5664042228260975)
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: 11.446
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.251
INFO:root:Testing 21 out of 21832 hypotheses for tomato_soup_can (evidence > 2.5664042228260975)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.311
INFO:root:Testing 26 out of 16976 hypotheses for mustard_bottle (evidence > 2.5664042228260975)
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: 11.704
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.404
INFO:root:Testing 32 out of 19024 hypotheses for potted_meat_can (evidence > 2.5664042228260975)
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: 8.793
DEBUG:root:evidences for each object: [ 2.19956944  1.15163173 13.31561634  2.11059085 11.44612246  2.25108362
  7.31061306 11.7040086   1.40401516  8.79281567]
DEBUG:root:mean evidence: 6.169, std: 4.617 -> th=10.652493070936023
INFO:root:current most likely hypothesis: montys_heart with evidence 13.32
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce', 'mustard_bottle'}
INFO:root:--- Global Matching Step 42 ---
INFO:uvicorn.access:192.168.1.217:65493 - "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([[ 0.88405511,  0.33507368,  0.32584076],
       [-0.35441605,  0.93508784,  0.        ],
       [-0.30468973, -0.1154832 ,  0.94542467]]), 'pose_fully_defined': False}}, {'patch': array([-0.00034678,  0.00276891, -0.00074955])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.2
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.152
INFO:root:Testing 29 out of 14880 hypotheses for montys_heart (evidence > 2.6631232677340044)
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: 13.762
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.111
INFO:root:Testing 52 out of 14864 hypotheses for hot_sauce (evidence > 2.6631232677340044)
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: 11.851
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.251
INFO:root:Testing 19 out of 21832 hypotheses for tomato_soup_can (evidence > 2.6631232677340044)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.663
INFO:root:Testing 26 out of 16976 hypotheses for mustard_bottle (evidence > 2.6631232677340044)
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: 12.095
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.404
INFO:root:Testing 30 out of 19024 hypotheses for potted_meat_can (evidence > 2.6631232677340044)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.196
DEBUG:root:evidences for each object: [ 2.19956944  1.15163173 13.76171636  2.11059085 11.85065227  2.25108362
  7.66314168 12.09461736  1.40401516  9.19617698]
DEBUG:root:mean evidence: 6.368, std: 4.811 -> th=11.009373089878874
INFO:root:current most likely hypothesis: montys_heart with evidence 13.76
DEBUG:root:evidences for each object: [ 2.19956944  1.15163173 13.76171636  2.11059085 11.85065227  2.25108362
  7.66314168 12.09461736  1.40401516  9.19617698]
DEBUG:root:mean evidence: 6.368, std: 4.811 -> th=11.009373089878874
DEBUG:root:evidences for each object: [ 2.19956944  1.15163173 13.76171636  2.11059085 11.85065227  2.25108362
  7.66314168 12.09461736  1.40401516  9.19617698]
DEBUG:root:mean evidence: 6.368, std: 4.811 -> th=11.697458907996303
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce', 'mustard_bottle'}
INFO:root:--- Global Matching Step 43 ---
INFO:uvicorn.access:192.168.1.217:65493 - "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([[ 0.93507936,  0.19529536,  0.29578086],
       [-0.20444299,  0.97887847,  0.        ],
       [-0.28953352, -0.06047032,  0.95525582]]), 'pose_fully_defined': False}}, {'patch': array([0.00153008, 0.00084178, 0.00065611])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.2
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.152
INFO:root:Testing 40 out of 14880 hypotheses for montys_heart (evidence > 2.7523432724697177)
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: 14.254
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.111
INFO:root:Testing 50 out of 14864 hypotheses for hot_sauce (evidence > 2.7523432724697177)
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: 12.33
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.251
INFO:root:Testing 18 out of 21832 hypotheses for tomato_soup_can (evidence > 2.7523432724697177)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 7.982
INFO:root:Testing 26 out of 16976 hypotheses for mustard_bottle (evidence > 2.7523432724697177)
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: 12.529
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.404
INFO:root:Testing 30 out of 19024 hypotheses for potted_meat_can (evidence > 2.7523432724697177)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 9.656
DEBUG:root:evidences for each object: [ 2.19956944  1.15163173 14.25437478  2.11059085 12.33003977  2.25108362
  7.98159056 12.52854466  1.40401516  9.65642811]
DEBUG:root:mean evidence: 6.587, std: 5.029 -> th=11.403499822405355
INFO:root:current most likely hypothesis: montys_heart with evidence 14.25
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce', 'mustard_bottle'}
INFO:root:--- Global Matching Step 44 ---
INFO:uvicorn.access:192.168.1.217:65493 - "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([[ 0.9620403 ,  0.20525813,  0.1798543 ],
       [-0.2086607 ,  0.97798809,  0.        ],
       [-0.17589537, -0.03752853,  0.98369326]]), 'pose_fully_defined': False}}, {'patch': array([-0.0021107 ,  0.0027491 , -0.00208342])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.2
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.152
INFO:root:Testing 30 out of 14880 hypotheses for montys_heart (evidence > 2.8508749556013377)
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: 14.718
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.111
INFO:root:Testing 46 out of 14864 hypotheses for hot_sauce (evidence > 2.8508749556013377)
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: 12.77
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.251
INFO:root:Testing 16 out of 21832 hypotheses for tomato_soup_can (evidence > 2.8508749556013377)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.279
INFO:root:Testing 26 out of 16976 hypotheses for mustard_bottle (evidence > 2.8508749556013377)
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: 12.934
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.404
INFO:root:Testing 30 out of 19024 hypotheses for potted_meat_can (evidence > 2.8508749556013377)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.082
DEBUG:root:evidences for each object: [ 2.19956944  1.15163173 14.7179226   2.11059085 12.7696159   2.25108362
  8.2793661  12.9336839   1.40401516 10.08165919]
DEBUG:root:mean evidence: 6.79, std: 5.232 -> th=11.774338081600103
INFO:root:current most likely hypothesis: montys_heart with evidence 14.72
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce', 'mustard_bottle'}
INFO:root:--- Global Matching Step 45 ---
INFO:uvicorn.access:192.168.1.217:65495 - "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([[ 0.89956755,  0.23069143,  0.3708904 ],
       [-0.24840877,  0.9686553 ,  0.        ],
       [-0.35926495, -0.09213243,  0.92867665]]), 'pose_fully_defined': False}}, {'patch': array([ 0.00065521, -0.00761571,  0.00292519])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.2
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.152
INFO:root:Testing 30 out of 14880 hypotheses for montys_heart (evidence > 2.943584520400025)
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: 15.209
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.111
INFO:root:Testing 46 out of 14864 hypotheses for hot_sauce (evidence > 2.943584520400025)
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: 13.196
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.251
INFO:root:Testing 15 out of 21832 hypotheses for tomato_soup_can (evidence > 2.943584520400025)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.682
INFO:root:Testing 26 out of 16976 hypotheses for mustard_bottle (evidence > 2.943584520400025)
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: 13.382
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.404
INFO:root:Testing 33 out of 19024 hypotheses for potted_meat_can (evidence > 2.943584520400025)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.53
DEBUG:root:evidences for each object: [ 2.19956944  1.15163173 15.20916154  2.11059085 13.19629663  2.25108362
  8.68197248 13.38204473  1.40401516 10.52963419]
DEBUG:root:mean evidence: 7.012, std: 5.448 -> th=12.16732923542961
INFO:root:current most likely hypothesis: montys_heart with evidence 15.21
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce', 'mustard_bottle'}
INFO:root:--- Global Matching Step 46 ---
INFO:uvicorn.access:192.168.1.217:65496 - "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([[-0.85970261,  0.1944099 , -0.47235179],
       [-0.2205669 , -0.97537185,  0.        ],
       [-0.46071864,  0.10418517,  0.88141011]]), 'pose_fully_defined': False}}, {'patch': array([-0.0531809 ,  0.01573995, -0.02375302])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.2
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.152
INFO:root:Testing 32 out of 14880 hypotheses for montys_heart (evidence > 3.0418323088574013)
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: 15.591
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.111
INFO:root:Testing 44 out of 14864 hypotheses for hot_sauce (evidence > 3.0418323088574013)
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: 13.627
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.251
INFO:root:Testing 15 out of 21832 hypotheses for tomato_soup_can (evidence > 3.0418323088574013)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.861
INFO:root:Testing 25 out of 16976 hypotheses for mustard_bottle (evidence > 3.0418323088574013)
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: 13.687
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.404
INFO:root:Testing 53 out of 19024 hypotheses for potted_meat_can (evidence > 3.0418323088574013)
DEBUG:root:Calculating evidence for potted_meat_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for potted_meat_can took 0.0 seconds. New max evidence: 10.856
DEBUG:root:evidences for each object: [ 2.19956944  1.15163173 15.59097857  2.11059085 13.62670825  2.25108362
  8.86054663 13.68664271  1.40401516 10.85630201]
DEBUG:root:mean evidence: 7.174, std: 5.617 -> th=12.472782858886047
INFO:root:current most likely hypothesis: montys_heart with evidence 15.59
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce', 'mustard_bottle'}
INFO:root:--- Global Matching Step 47 ---
INFO:uvicorn.access:192.168.1.217:65496 - "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([[-0.79555941,  0.17883693, -0.57888045],
       [-0.21932083, -0.97565279,  0.        ],
       [-0.56478632,  0.12696054,  0.81541243]]), 'pose_fully_defined': False}}, {'patch': array([-0.00155893,  0.00629846, -0.00268682])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.2
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.152
INFO:root:Testing 31 out of 14880 hypotheses for montys_heart (evidence > 3.1181957147215105)
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: 15.915
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.111
INFO:root:Testing 44 out of 14864 hypotheses for hot_sauce (evidence > 3.1181957147215105)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.041
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.251
INFO:root:Testing 15 out of 21832 hypotheses for tomato_soup_can (evidence > 3.1181957147215105)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.982
INFO:root:Testing 25 out of 16976 hypotheses for mustard_bottle (evidence > 3.1181957147215105)
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: 13.952
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.404
INFO:root:Testing 47 out of 19024 hypotheses for potted_meat_can (evidence > 3.1181957147215105)
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: 11.115
DEBUG:root:evidences for each object: [ 2.19956944  1.15163173 15.91538086  2.11059085 14.0411024   2.25108362
  8.98223449 13.95161112  1.40401516 11.11497561]
DEBUG:root:mean evidence: 7.312, std: 5.765 -> th=12.732304687020136
INFO:root:current most likely hypothesis: montys_heart with evidence 15.92
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce', 'mustard_bottle'}
INFO:root:--- Global Matching Step 48 ---
INFO:uvicorn.access:192.168.1.217:65496 - "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([[-0.24228546,  0.20049858, -0.94926186],
       [-0.63754218, -0.77041545,  0.        ],
       [-0.731326  ,  0.60519448,  0.31448676]]), 'pose_fully_defined': False}}, {'patch': array([ 6.35073864e-05,  3.38786963e-05, -2.63026372e-03])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.2
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.152
INFO:root:Testing 31 out of 14880 hypotheses for montys_heart (evidence > 3.183076171755033)
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: 15.97
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.111
INFO:root:Testing 44 out of 14864 hypotheses for hot_sauce (evidence > 3.183076171755033)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.287
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.251
INFO:root:Testing 15 out of 21832 hypotheses for tomato_soup_can (evidence > 3.183076171755033)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 9.007
INFO:root:Testing 24 out of 16976 hypotheses for mustard_bottle (evidence > 3.183076171755033)
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: 13.929
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.404
INFO:root:Testing 43 out of 19024 hypotheses for potted_meat_can (evidence > 3.183076171755033)
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: 11.21
DEBUG:root:evidences for each object: [ 2.19956944  1.15163173 15.96964982  2.11059085 14.28661553  2.25108362
  9.00651422 13.92945358  1.40401516 11.20965209]
DEBUG:root:mean evidence: 7.352, std: 5.806 -> th=12.775719858767138
INFO:root:current most likely hypothesis: montys_heart with evidence 15.97
DEBUG:root:evidences for each object: [ 2.19956944  1.15163173 15.96964982  2.11059085 14.28661553  2.25108362
  9.00651422 13.92945358  1.40401516 11.20965209]
DEBUG:root:mean evidence: 7.352, std: 5.806 -> th=12.775719858767138
DEBUG:root:evidences for each object: [ 2.19956944  1.15163173 15.96964982  2.11059085 14.28661553  2.25108362
  9.00651422 13.92945358  1.40401516 11.20965209]
DEBUG:root:mean evidence: 7.352, std: 5.806 -> th=13.574202349940084
DEBUG:root:Hypothesis jump indicated: change or shuffle in top-two MLH IDs
DEBUG:root:Proposing an evaluation location based on graph mismatch
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce', 'mustard_bottle'}
INFO:root:--- Global Matching Step 49 ---
INFO:uvicorn.access:192.168.1.217:65496 - "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([[ 0.70250725,  0.02415033, -0.71126671],
       [-0.03435704,  0.99940962,  0.        ],
       [ 0.71084679,  0.02443702,  0.70292224]]), 'pose_fully_defined': False}}, {'patch': array([0.0051838 , 0.00098902, 0.00455473])}]
DEBUG:root:evidence update for numenta_mug took 0.0 seconds. New max evidence: 2.2
DEBUG:root:evidence update for montys_brain took 0.0 seconds. New max evidence: 1.152
INFO:root:Testing 31 out of 14880 hypotheses for montys_heart (evidence > 3.193929964691783)
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: 15.9
DEBUG:root:evidence update for ramen_pack took 0.0 seconds. New max evidence: 2.111
INFO:root:Testing 43 out of 14864 hypotheses for hot_sauce (evidence > 3.193929964691783)
DEBUG:root:Calculating evidence for hot_sauce using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for hot_sauce took 0.0 seconds. New max evidence: 14.177
DEBUG:root:evidence update for harissa_oil took 0.0 seconds. New max evidence: 2.251
INFO:root:Testing 14 out of 21832 hypotheses for tomato_soup_can (evidence > 3.193929964691783)
DEBUG:root:Calculating evidence for tomato_soup_can using input from patch
ERROR:root:No curvatures contained in the features ['pose_vectors', 'pose_fully_defined'].
DEBUG:root:evidence update for tomato_soup_can took 0.0 seconds. New max evidence: 8.913
INFO:root:Testing 23 out of 16976 hypotheses for mustard_bottle (evidence > 3.193929964691783)
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: 13.554
DEBUG:root:evidence update for tuna_fish_can took 0.0 seconds. New max evidence: 1.404
INFO:root:Testing 42 out of 19024 hypotheses for potted_meat_can (evidence > 3.193929964691783)
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: 11.344
DEBUG:root:evidences for each object: [ 2.19956944  1.15163173 15.89950922  2.11059085 14.17706127  2.25108362
  8.9131476  13.55401042  1.40401516 11.3437327 ]
DEBUG:root:mean evidence: 7.3, std: 5.747 -> th=12.719607375230733
INFO:root:current most likely hypothesis: montys_heart with evidence 15.9
DEBUG:root:Stepping learning module 0
INFO:root:Possible matches for LM 0: {'montys_heart', 'hot_sauce', 'mustard_bottle'}
INFO:root:--- Global Matching Step 50 ---
INFO:root:saving model to /Users/nleadholm/tbp/results/monty/projects/evidence_eval_runs/logs/probe_triggered_data_collection_for_inference/montys_heart/0
INFO:uvicorn.access:192.168.1.217:65496 - "POST /capture HTTP/1.1" 200
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_heart/log.txt (NOTSET)>
