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tue-robotics / tue_robocup

RoboCup challenge implementations
https://github.com/orgs/tue-robotics/projects/2
41 stars 12 forks source link

Robocup 2022: Receptionist #1176

Open PetervDooren opened 2 years ago

PetervDooren commented 2 years ago

Current state: Tested challenge on real robot:

Todo:

Testing:

Issues by testing on real robot:

MatthijsBurgh commented 2 years ago 
[INFO][/state_machine][1652206791.938021]: Using robot 'hero'.
[INFO][/state_machine][1652206791.947014]: State machine starting in initial state 'RESET' with userdata: 
    []
efficient copy
[INFO][/state_machine][1652206791.992118]: State machine transitioning 'RESET':'done'-->'SET_INITIAL_POSE'
efficient copy
efficient copy
[INFO][/state_machine][1652206792.006455]: Set initial pose to 1.5, 0.5, 0.0
[INFO][/state_machine][1652206793.009048]: State machine transitioning 'SET_INITIAL_POSE':'done'-->'HANDLE_GUEST_1'
[INFO][/state_machine][1652206793.010495]: State machine starting in initial state 'LEARN_GUEST' with userdata: 
    []
[INFO][/state_machine][1652206793.011564]: State machine starting in initial state 'GOTO_DOOR' with userdata: 
    []
[INFO][/state_machine][1652206793.012713]: State machine starting in initial state 'START_ANALYSIS' with userdata: 
    []
[INFO][/state_machine][1652206793.013922]: State machine transitioning 'START_ANALYSIS':'done'-->'NAVIGATE'
[INFO][/state_machine][1652206793.014992]: State machine starting in initial state 'GET_PLAN' with userdata: 
    []
efficient copy
efficient copy
efficient copy
[INFO][/state_machine][1652206793.146587]: 'I'm on my way!'
[INFO][/state_machine][1652206793.156103]: State machine transitioning 'GET_PLAN':'goal_ok'-->'EXECUTE_PLAN'
[INFO][/state_machine][1652206818.116112]: State machine terminating 'EXECUTE_PLAN':'succeeded':'arrived'
[INFO][/state_machine][1652206818.118016]: State machine transitioning 'NAVIGATE':'arrived'-->'STOP_ANALYSIS_SUCCEED'
[INFO][/state_machine][1652206818.120005]: State machine terminating 'STOP_ANALYSIS_SUCCEED':'done':'arrived'
[INFO][/state_machine][1652206818.121184]: State machine transitioning 'GOTO_DOOR':'arrived'-->'SAY_OPEN_DOOR'
efficient copy
[INFO][/state_machine][1652206818.122901]: 'Someone please open the door, I'm expecting guests'
[INFO][/state_machine][1652206821.935150]: State machine transitioning 'SAY_OPEN_DOOR':'spoken'-->'SAY_PLEASE_COME_IN'
efficient copy
[INFO][/state_machine][1652206821.937339]: 'Please come in, I'm waiting for someone to step in front of me'
[INFO][/state_machine][1652206825.947486]: State machine transitioning 'SAY_PLEASE_COME_IN':'spoken'-->'WAIT_FOR_GUEST'
efficient copy
[INFO][/state_machine][1652206826.004138]: Received rgb, depth, cam_info
[INFO][/state_machine][1652206827.780566]: There are 1 people in front of me (1 is enough): ['d6cce35c487a58feab29032c2621f38d']
[INFO][/state_machine][1652206827.782425]: State machine transitioning 'WAIT_FOR_GUEST':'success'-->'SAY_HELLO'
efficient copy
[INFO][/state_machine][1652206827.784638]: 'Hi there, I'll learn your face now'
[INFO][/state_machine][1652206830.306535]: State machine transitioning 'SAY_HELLO':'spoken'-->'ASK_GUEST_NAME'
[INFO][/state_machine][1652206830.309630]: AskPersonName
[INFO][/state_machine][1652206830.313024]: 'What is your name?'
efficient copy
[INFO][/state_machine][1652206831.628530]: Question: Which option?, grammar: T['name': N] -> NAME[N]

NAME['anna'] -> anna
NAME['beth'] -> beth
NAME['ca..
[INFO][/state_machine][1652206831.631063]: Example: 'mary'
[INFO][/state_machine][1652206841.759588]: Preempt finished within specified preempt_timeout [1.00]
[INFO][/state_machine][1652206841.762929]: Robot did not hear you (timeout)
[INFO][/state_machine][1652206841.782680]: AskPersonName
[INFO][/state_machine][1652206841.785261]: 'What is your name?'
efficient copy
[INFO][/state_machine][1652206843.007674]: Question: Which option?, grammar: T['name': N] -> NAME[N]

NAME['anna'] -> anna
NAME['beth'] -> beth
NAME['ca..
[INFO][/state_machine][1652206843.011901]: Example: 'robert'
[INFO][/state_machine][1652206853.037417]: Preempt finished within specified preempt_timeout [1.00]
[INFO][/state_machine][1652206853.040658]: Robot did not hear you (timeout)
[WARN][/state_machine][1652206853.062002]: Speech recognition outcome was not successful. Using default name 'Operator'
[INFO][/state_machine][1652206853.065252]: State machine transitioning 'ASK_GUEST_NAME':'failed'-->'SAY_HELLO'
efficient copy
[INFO][/state_machine][1652206853.068241]: 'Hi there, I'll learn your face now'
[INFO][/state_machine][1652206855.587143]: State machine transitioning 'SAY_HELLO':'spoken'-->'ASK_GUEST_NAME'
[INFO][/state_machine][1652206855.590289]: AskPersonName
[INFO][/state_machine][1652206855.594520]: 'What is your name?'
efficient copy
[INFO][/state_machine][1652206856.914063]: Question: Which option?, grammar: T['name': N] -> NAME[N]

NAME['anna'] -> anna
NAME['beth'] -> beth
NAME['ca..
[INFO][/state_machine][1652206856.917378]: Example: 'mary'
[INFO][/state_machine][1652206861.009175]: Robot heard 'carmen' {'name': 'carmen'}
[INFO][/state_machine][1652206861.033155]: This person's name is: 'carmen'
[INFO][/state_machine][1652206861.037492]: Result received from speech recognition is 'carmen'
[INFO][/state_machine][1652206861.040327]: State machine transitioning 'ASK_GUEST_NAME':'succeeded'-->'LEARN_PERSON'
[INFO][/state_machine][1652206861.043359]: 'Please look at me while I admire your beauty'
efficient copy
[INFO][/state_machine][1652206861.474032]: [LearnPerson] Resolved name carmen
[INFO][/state_machine][1652206861.477649]: Creating subscriber
[INFO][/state_machine][1652206861.481099]: lazy subscribe to /hero/head_rgbd_sensor/rgb/image_raw
[INFO][/state_machine][1652206861.484342]: getting one image...
[INFO][/state_machine][1652206861.487710]: self._camera_last_image: None
[INFO][/state_machine][1652206861.492064]: len(self._camera_last_image): 921600
[INFO][/state_machine][1652206861.493515]: got 921600 bytes of image data
[INFO][/state_machine][1652206861.685381]: Found 1 face(s) in the image
[INFO][/state_machine][1652206861.688529]: Found 1 valid face(s)
[INFO][/state_machine][1652206861.690708]: annotating that face as carmen
efficient copy
[INFO][/state_machine][1652206861.962144]: State machine transitioning 'LEARN_PERSON':'succeeded'-->'SAY_GUEST_LEARNED'
[INFO][/state_machine][1652206861.966946]: 'Okidoki, now I know what you look like'
[INFO][/state_machine][1652206866.795181]: State machine transitioning 'SAY_GUEST_LEARNED':'spoken'-->'SAY_DRINK_QUESTION'
[INFO][/state_machine][1652206866.799360]: 'What's your favorite drink?'
[INFO][/state_machine][1652206868.619840]: State machine transitioning 'SAY_DRINK_QUESTION':'spoken'-->'HEAR_DRINK_ANSWER'
efficient copy
[INFO][/state_machine][1652206868.624130]: Question: Which option?, grammar: T['drink': O] -> OPTIONS[O]

OPTIONS['beer'] -> beer
OPTIONS['bifrutas'] ->..
[INFO][/state_machine][1652206868.626903]: Example: 'water'
[INFO][/state_machine][1652206874.980242]: Robot heard 'beer' {'drink': 'beer'}
[INFO][/state_machine][1652206875.002597]: State machine transitioning 'HEAR_DRINK_ANSWER':'heard'-->'RESET_1'
[INFO][/state_machine][1652206875.015519]: State machine terminating 'RESET_1':'done':'succeeded'
[INFO][/state_machine][1652206875.020223]: State machine transitioning 'LEARN_GUEST':'succeeded'-->'SAY_GOTO_OPERATOR'
[INFO][/state_machine][1652206875.023053]: Going to traverse path: ['drink'] into semantics: {'drink': 'beer'}
efficient copy
[INFO][/state_machine][1652206875.027076]: 'Okidoki, you are carmen and you like beer, lets go inside. Please follow me'
[INFO][/state_machine][1652206881.647777]: State machine transitioning 'SAY_GOTO_OPERATOR':'spoken'-->'GOTO_LIVINGROOM'
[INFO][/state_machine][1652206881.651945]: State machine starting in initial state 'START_ANALYSIS' with userdata: 
    []
[INFO][/state_machine][1652206881.655530]: State machine transitioning 'START_ANALYSIS':'done'-->'NAVIGATE'
[INFO][/state_machine][1652206881.658886]: State machine starting in initial state 'GET_PLAN' with userdata: 
    []
efficient copy
efficient copy
efficient copy
[INFO][/state_machine][1652206881.799462]: 'Affirmative!'
[INFO][/state_machine][1652206881.811435]: State machine transitioning 'GET_PLAN':'goal_ok'-->'EXECUTE_PLAN'
[INFO][/state_machine][1652206896.065622]: State machine transitioning 'EXECUTE_PLAN':'blocked'-->'PLAN_BLOCKED'
[INFO][/state_machine][1652206896.070070]: Plan blocked
efficient copy
[ERROR][/hero/global_planner][1652206899.087241857]: There is no goal which meets the given constraints. Planning will always fail to this goal constraint.
[ERROR][/hero/global_planner][1652206899.087291496]: Received position constraint: frame: map
constraint: (x-10.600000)^2+(y-1.250000)^2 < 0.500000^2

[ERROR][/state_machine][1652206899.087731]: Global planner couldn't plan a path to the specified constraints. Are the constraints you specified valid?: [frame: "map"
constraint: "(x-10.600000)^2+(y-1.250000)^2 < 0.500000^2"]
[INFO][/state_machine][1652206899.091128]: State machine transitioning 'PLAN_BLOCKED':'blocked'-->'GET_PLAN'
efficient copy
efficient copy
efficient copy
[ERROR][/hero/global_planner][1652206899.215869842]: There is no goal which meets the given constraints. Planning will always fail to this goal constraint.
[ERROR][/hero/global_planner][1652206899.215903075]: Received position constraint: frame: map
constraint: (x-10.600000)^2+(y-1.250000)^2 < 0.500000^2

[ERROR][/state_machine][1652206899.216294]: Global planner couldn't plan a path to the specified constraints. Are the constraints you specified valid?: [frame: "map"
constraint: "(x-10.600000)^2+(y-1.250000)^2 < 0.500000^2"]
[INFO][/state_machine][1652206899.219383]: State machine terminating 'GET_PLAN':'unreachable':'unreachable'
[INFO][/state_machine][1652206899.223166]: State machine transitioning 'NAVIGATE':'unreachable'-->'STOP_ANALYSIS_UNREACHABLE'
[INFO][/state_machine][1652206899.226587]: State machine terminating 'STOP_ANALYSIS_UNREACHABLE':'done':'unreachable'
[INFO][/state_machine][1652206899.228845]: State machine transitioning 'GOTO_LIVINGROOM':'unreachable'-->'INTRODUCE_GUEST'
[INFO][/state_machine][1652206899.230246]: State machine starting in initial state 'SAY_INTRO' with userdata: 
    []
[INFO][/state_machine][1652206899.231350]: 'Hi john, let me introduce you our new guest carmen. I'll show you in a bit'
[INFO][/state_machine][1652206899.248167]: State machine transitioning 'SAY_INTRO':'spoken'-->'FIND_OLD_GUESTS'
[INFO][/state_machine][1652206899.250902]: State machine starting in initial state 'DECIDE_NAVIGATE_STATE' with userdata: 
    []
efficient copy
efficient copy
efficient copy
[INFO][/state_machine][1652206899.281625]: State machine transitioning 'DECIDE_NAVIGATE_STATE':'room'-->'NAVIGATE_TO_ROOM'
[INFO][/state_machine][1652206899.285132]: State machine starting in initial state 'START_ANALYSIS' with userdata: 
    []
[INFO][/state_machine][1652206899.288319]: State machine transitioning 'START_ANALYSIS':'done'-->'NAVIGATE'
[INFO][/state_machine][1652206899.290556]: State machine starting in initial state 'GET_PLAN' with userdata: 
    []
efficient copy
efficient copy
efficient copy
efficient copy
efficient copy
efficient copy
[INFO][/state_machine][1652206899.508421]: 'Affirmative!'
[INFO][/state_machine][1652206899.532595]: State machine transitioning 'GET_PLAN':'goal_ok'-->'EXECUTE_PLAN'
[INFO][/state_machine][1652206899.634177]: State machine terminating 'EXECUTE_PLAN':'succeeded':'arrived'
[INFO][/state_machine][1652206899.637400]: State machine transitioning 'NAVIGATE':'arrived'-->'STOP_ANALYSIS_SUCCEED'
[INFO][/state_machine][1652206899.640965]: State machine terminating 'STOP_ANALYSIS_SUCCEED':'done':'arrived'
[INFO][/state_machine][1652206899.644122]: State machine transitioning 'NAVIGATE_TO_ROOM':'arrived'-->'FIND_PEOPLE'
[INFO][/state_machine][1652206899.647107]: 'please look at me while I am looking for you'
efficient copy
[INFO][/state_machine][1652206902.684939]: Received rgb, depth, cam_info
[INFO][/state_machine][1652206903.306965]: Received rgb, depth, cam_info
[INFO][/state_machine][1652206903.757948]: Found 0 people: []
[INFO][/state_machine][1652206903.759653]: 0 people remaining after None-check
[INFO][/state_machine][1652206903.761470]: 0 people remaining after distance < 10.0-check
efficient copy
efficient copy
[INFO][/state_machine][1652206903.777739]: 0 result_people remaining after 'in'-'living_room' check
[INFO][/state_machine][1652206903.781178]: 0 result_people remaining after 'in'-'living_room' check
[WARN][/state_machine][1652206903.783938]: Could not find people meeting the requirements
efficient copy
[INFO][/state_machine][1652206905.812706]: Received rgb, depth, cam_info
[INFO][/state_machine][1652206906.244468]: Received rgb, depth, cam_info
[INFO][/state_machine][1652206906.708973]: Found 0 people: []
[INFO][/state_machine][1652206906.712055]: 0 people remaining after None-check
[INFO][/state_machine][1652206906.716039]: 0 people remaining after distance < 10.0-check
efficient copy
efficient copy
[INFO][/state_machine][1652206906.740495]: 0 result_people remaining after 'in'-'living_room' check
[INFO][/state_machine][1652206906.741990]: 0 result_people remaining after 'in'-'living_room' check
[WARN][/state_machine][1652206906.743342]: Could not find people meeting the requirements
efficient copy
[INFO][/state_machine][1652206908.780076]: Received rgb, depth, cam_info
[INFO][/state_machine][1652206909.193262]: Received rgb, depth, cam_info
[INFO][/state_machine][1652206909.636033]: Found 0 people: []
[INFO][/state_machine][1652206909.638681]: 0 people remaining after None-check
[INFO][/state_machine][1652206909.641424]: 0 people remaining after distance < 10.0-check
efficient copy
efficient copy
[INFO][/state_machine][1652206909.660581]: 0 result_people remaining after 'in'-'living_room' check
[INFO][/state_machine][1652206909.661781]: 0 result_people remaining after 'in'-'living_room' check
[WARN][/state_machine][1652206909.665334]: Could not find people meeting the requirements
efficient copy
[INFO][/state_machine][1652206911.699642]: Received rgb, depth, cam_info
[INFO][/state_machine][1652206912.243899]: Received rgb, depth, cam_info
[INFO][/state_machine][1652206912.667710]: Found 0 people: []
[INFO][/state_machine][1652206912.671730]: 0 people remaining after None-check
[INFO][/state_machine][1652206912.675520]: 0 people remaining after distance < 10.0-check
efficient copy
efficient copy
[INFO][/state_machine][1652206912.699641]: 0 result_people remaining after 'in'-'living_room' check
[INFO][/state_machine][1652206912.703091]: 0 result_people remaining after 'in'-'living_room' check
[WARN][/state_machine][1652206912.706096]: Could not find people meeting the requirements
efficient copy
[INFO][/state_machine][1652206914.717738]: Received rgb, depth, cam_info
[INFO][/state_machine][1652206915.393692]: Received rgb, depth, cam_info
efficient copy
efficient copy
/home/amigo/ros/noetic/system/src/ed_python/src/ed/entity.py:311: YAMLLoadWarning: calling yaml.load() without Loader=... is deprecated, as the default Loader is unsafe. Please read https://msg.pyyaml.org/load for full details.
  pp_dict = yaml.load(e.data)
efficient copy
efficient copy
[INFO][/state_machine][1652206916.122466]: Found 2 people: [Entity(uuid='486c8a807eeb4ba5b27ed53e5af9ad7e', etype='person', frame=FrameStamped(pos:(x=9.873345529068187, y=2.4742479005715072, z=1.5333434019628105), rot:(r=0.0, p=-0.0, y=0.0) @ map), person_properties=PersonProperties(age='21', gender='0', gender_confidence=0.287319, shirt_colors=['white'])), Entity(uuid='94a87f4c8c6e45ce1f813ae510713fed', etype='person', frame=FrameStamped(pos:(x=9.875447330690537, y=2.4728116244988927, z=1.5333438364878114), rot:(r=0.0, p=-0.0, y=0.0) @ map), person_properties=PersonProperties(age='21', gender='0', gender_confidence=0.121421, shirt_colors=['white']))]
[INFO][/state_machine][1652206916.129695]: 2 people remaining after None-check
[INFO][/state_machine][1652206916.135286]:  Position of found_people  is FrameStamped(pos:(x=9.873345529068187, y=2.4742479005715072, z=1.5333434019628105), rot:(r=0.0, p=-0.0, y=0.0) @ map)
[INFO][/state_machine][1652206916.139303]:  Position of found_people  is FrameStamped(pos:(x=9.875447330690537, y=2.4728116244988927, z=1.5333438364878114), rot:(r=0.0, p=-0.0, y=0.0) @ map)
[INFO][/state_machine][1652206916.142292]: 2 people remaining after distance < 10.0-check
efficient copy
efficient copy
[INFO][/state_machine][1652206916.161582]: 2 result_people remaining after 'in'-'living_room' check
[INFO][/state_machine][1652206916.165260]: State machine terminating 'FIND_PEOPLE':'found':'found'
[INFO][/state_machine][1652206916.170314]: State machine transitioning 'FIND_OLD_GUESTS':'found'-->'ITERATE_OLD_GUESTS'
[INFO][/state_machine][1652206916.173781]: Current elements: [Entity(uuid='486c8a807eeb4ba5b27ed53e5af9ad7e', etype='person', frame=FrameStamped(pos:(x=9.873345529068187, y=2.4742479005715072, z=1.5333434019628105), rot:(r=0.0, p=-0.0, y=0.0) @ map), person_properties=PersonProperties(age='21', gender='0', gender_confidence=0.287319, shirt_colors=['white'])), Entity(uuid='94a87f4c8c6e45ce1f813ae510713fed', etype='person', frame=FrameStamped(pos:(x=9.875447330690537, y=2.4728116244988927, z=1.5333438364878114), rot:(r=0.0, p=-0.0, y=0.0) @ map), person_properties=PersonProperties(age='21', gender='0', gender_confidence=0.121421, shirt_colors=['white']))]
[INFO][/state_machine][1652206916.177428]: State machine transitioning 'ITERATE_OLD_GUESTS':'next'-->'GOTO_OPERATOR'
[INFO][/state_machine][1652206916.180743]: State machine starting in initial state 'START_ANALYSIS' with userdata: 
    []
[INFO][/state_machine][1652206916.183744]: State machine transitioning 'START_ANALYSIS':'done'-->'NAVIGATE'
[INFO][/state_machine][1652206916.187386]: State machine starting in initial state 'GET_PLAN' with userdata: 
    []
efficient copy
efficient copy
[INFO][/state_machine][1652206916.311037]: 'I'm coming!'
[INFO][/state_machine][1652206916.331164]: State machine transitioning 'GET_PLAN':'goal_ok'-->'EXECUTE_PLAN'
[INFO][/state_machine][1652206920.141237]: State machine terminating 'EXECUTE_PLAN':'succeeded':'arrived'
[INFO][/state_machine][1652206920.144258]: State machine transitioning 'NAVIGATE':'arrived'-->'STOP_ANALYSIS_SUCCEED'
[INFO][/state_machine][1652206920.147517]: State machine terminating 'STOP_ANALYSIS_SUCCEED':'done':'arrived'
[INFO][/state_machine][1652206920.149970]: State machine transitioning 'GOTO_OPERATOR':'arrived'-->'SAY_LOOK_AT_GUEST'
[INFO][/state_machine][1652206920.152661]: 'Hi john, let me show you our guest'
[INFO][/state_machine][1652206922.972044]: State machine transitioning 'SAY_LOOK_AT_GUEST':'spoken'-->'TURN_TO_GUEST'
[INFO][/state_machine][1652206925.974998]: State machine transitioning 'TURN_TO_GUEST':'done'-->'FIND_GUEST'
[INFO][/state_machine][1652206925.978354]: Trying to find carmen
efficient copy
[INFO][/state_machine][1652206925.980182]: 'carmen, please look at me while I am looking for you'
efficient copy
[INFO][/state_machine][1652206929.833128]: Received rgb, depth, cam_info
[INFO][/state_machine][1652206930.313642]: Found 0 people: []
[INFO][/state_machine][1652206930.316549]: 0 people remaining after None-check
[WARN][/state_machine][1652206930.319349]: Could not find carmen
efficient copy
[INFO][/state_machine][1652206932.348268]: Received rgb, depth, cam_info
[INFO][/state_machine][1652206932.775829]: Found 0 people: []
[INFO][/state_machine][1652206932.778723]: 0 people remaining after None-check
[WARN][/state_machine][1652206932.781476]: Could not find carmen
efficient copy
[INFO][/state_machine][1652206934.909424]: Received rgb, depth, cam_info
[INFO][/state_machine][1652206935.346957]: Found 0 people: []
[INFO][/state_machine][1652206935.349560]: 0 people remaining after None-check
[WARN][/state_machine][1652206935.353031]: Could not find carmen
efficient copy
[INFO][/state_machine][1652206937.376858]: Received rgb, depth, cam_info
[INFO][/state_machine][1652206937.820982]: Found 0 people: []
[INFO][/state_machine][1652206937.824602]: 0 people remaining after None-check
[WARN][/state_machine][1652206937.827960]: Could not find carmen
efficient copy
[INFO][/state_machine][1652206939.856585]: Received rgb, depth, cam_info
[INFO][/state_machine][1652206940.280096]: Found 0 people: []
[INFO][/state_machine][1652206940.286991]: 0 people remaining after None-check
[WARN][/state_machine][1652206940.289760]: Could not find carmen
efficient copy
[INFO][/state_machine][1652206942.336609]: Received rgb, depth, cam_info
[INFO][/state_machine][1652206942.748462]: Found 0 people: []
[INFO][/state_machine][1652206942.751526]: 0 people remaining after None-check
[WARN][/state_machine][1652206942.756312]: Could not find carmen
efficient copy
[INFO][/state_machine][1652206944.782875]: Received rgb, depth, cam_info
[INFO][/state_machine][1652206945.209278]: Found 0 people: []
[INFO][/state_machine][1652206945.212227]: 0 people remaining after None-check
[WARN][/state_machine][1652206945.213490]: Could not find carmen
efficient copy
[INFO][/state_machine][1652206947.254678]: Received rgb, depth, cam_info
[INFO][/state_machine][1652206947.677682]: Found 0 people: []
[INFO][/state_machine][1652206947.680720]: 0 people remaining after None-check
[WARN][/state_machine][1652206947.683227]: Could not find carmen
efficient copy
[INFO][/state_machine][1652206952.427181]: Received rgb, depth, cam_info
[INFO][/state_machine][1652206952.847191]: Found 0 people: []
[INFO][/state_machine][1652206952.851286]: 0 people remaining after None-check
[WARN][/state_machine][1652206952.854167]: Could not find carmen
efficient copy
[INFO][/state_machine][1652206955.002320]: Received rgb, depth, cam_info
[INFO][/state_machine][1652206955.419647]: Found 0 people: []
[INFO][/state_machine][1652206955.422268]: 0 people remaining after None-check
[WARN][/state_machine][1652206955.424581]: Could not find carmen
efficient copy
[INFO][/state_machine][1652206957.448006]: Received rgb, depth, cam_info
efficient copy
efficient copy
[INFO][/state_machine][1652206958.238127]: Found 1 people: [Entity(uuid='6dae73fe2ea694c47334862e127cfea6', etype='person', frame=FrameStamped(pos:(x=7.964356564076726, y=0.6744195586908716, z=1.380921326747448), rot:(r=0.0, p=-0.0, y=0.0) @ map), person_properties=PersonProperties(age='21', gender='0', gender_confidence=0.588355, shirt_colors=['black']))]
[INFO][/state_machine][1652206958.241692]: 1 people remaining after None-check
[WARN][/state_machine][1652206958.246300]: Could not find carmen
[INFO][/state_machine][1652206960.251593]: State machine transitioning 'FIND_GUEST':'failed'-->'INTRODUCE_GUEST_WITHOUT_POINTING'
[INFO][/state_machine][1652206960.256108]: Going to traverse path: ['drink'] into semantics: {'drink': 'beer'}
efficient copy
[INFO][/state_machine][1652206960.259643]: 'Our new guest is carmen who likes beer'
[INFO][/state_machine][1652206962.678447]: State machine transitioning 'INTRODUCE_GUEST_WITHOUT_POINTING':'spoken'-->'RESET_ARM'
[INFO][/state_machine][1652206962.694618]: State machine terminating 'RESET_ARM':'done':'succeeded'
[INFO][/state_machine][1652206962.697179]: State machine transitioning 'INTRODUCE_GUEST':'succeeded'-->'FIND_SEAT_FOR_GUEST'
[INFO][/state_machine][1652206962.699998]: State machine starting in initial state 'SAY_LETS_FIND_SEAT' with userdata: 
    []
[INFO][/state_machine][1652206962.703267]: 'Let me find a place for carmen to sit. Please be patient while I check out where there's place to sit'
[INFO][/state_machine][1652206962.725278]: State machine transitioning 'SAY_LETS_FIND_SEAT':'spoken'-->'ITERATE_NEXT_SEAT'
efficient copy
efficient copy
efficient copy
efficient copy
efficient copy
efficient copy
[INFO][/state_machine][1652206962.784000]: Current elements: [Entity(uuid='couch_long', etype='', frame=FrameStamped(pos:(x=10.8, y=2.36, z=0.0), rot:(r=0.0, p=-0.0, y=0.0) @ map), person_properties=None), Entity(uuid='couch_short', etype='', frame=FrameStamped(pos:(x=10.8, y=0.0, z=0.0), rot:(r=0.0, p=-0.0, y=0.0) @ map), person_properties=None)]
[INFO][/state_machine][1652206962.787677]: State machine transitioning 'ITERATE_NEXT_SEAT':'next'-->'CHECK_SEAT_EMPTY'
[INFO][/state_machine][1652206962.790561]: State machine starting in initial state 'INSPECT' with userdata: 
    []
[INFO][/state_machine][1652206962.793755]: State machine starting in initial state 'NAVIGATE_TO_INSPECT' with userdata: 
    []
[INFO][/state_machine][1652206962.796621]: State machine starting in initial state 'START_ANALYSIS' with userdata: 
    []
[INFO][/state_machine][1652206962.799583]: State machine transitioning 'START_ANALYSIS':'done'-->'NAVIGATE'
[INFO][/state_machine][1652206962.801047]: State machine starting in initial state 'GET_PLAN' with userdata: 
    []
efficient copy
efficient copy
[INFO][/state_machine][1652206962.927716]: 'Affirmative!'
[INFO][/state_machine][1652206962.950246]: State machine transitioning 'GET_PLAN':'goal_ok'-->'EXECUTE_PLAN'
[INFO][/state_machine][1652206970.368879]: State machine terminating 'EXECUTE_PLAN':'succeeded':'arrived'
[INFO][/state_machine][1652206970.372430]: State machine transitioning 'NAVIGATE':'arrived'-->'STOP_ANALYSIS_SUCCEED'
[INFO][/state_machine][1652206970.375167]: State machine terminating 'STOP_ANALYSIS_SUCCEED':'done':'arrived'
[INFO][/state_machine][1652206970.379374]: State machine transitioning 'NAVIGATE_TO_INSPECT':'arrived'-->'RISE'
[INFO][/state_machine][1652206970.383117]: State machine transitioning 'RISE':'succeeded'-->'SEGMENT'
efficient copy
Succesfully stored '/home/amigo/ed/kinect/2022-05-10/on_top_of_couch_long/2022-05-10-20-22-52_rgb.png'
Succesfully stored '/home/amigo/ed/kinect/2022-05-10/on_top_of_couch_long/2022-05-10-20-22-52_depth.png'
[INFO][/state_machine][1652206973.607201]: >> Segmented 3 objects!
2022-05-10 20:22:54.659457: I tensorflow/stream_executor/cuda/cuda_dnn.cc:368] Loaded cuDNN version 8400
2022-05-10 20:22:55.335920: I tensorflow/core/platform/default/subprocess.cc:304] Start cannot spawn child process: No such file or directory
2022-05-10 20:22:55.443777: I tensorflow/stream_executor/cuda/cuda_driver.cc:739] failed to allocate 2.00G (2147483648 bytes) from device: CUDA_ERROR_OUT_OF_MEMORY: out of memory
2022-05-10 20:22:55.444258: I tensorflow/stream_executor/cuda/cuda_driver.cc:739] failed to allocate 1.80G (1932735232 bytes) from device: CUDA_ERROR_OUT_OF_MEMORY: out of memory
2022-05-10 20:22:55.515499: I tensorflow/stream_executor/cuda/cuda_driver.cc:739] failed to allocate 2.00G (2147483648 bytes) from device: CUDA_ERROR_OUT_OF_MEMORY: out of memory
2022-05-10 20:22:55.515528: W tensorflow/core/common_runtime/bfc_allocator.cc:343] Garbage collection: deallocate free memory regions (i.e., allocations) so that we can re-allocate a larger region to avoid OOM due to memory fragmentation. If you see this message frequently, you are running near the threshold of the available device memory and re-allocation may incur great performance overhead. You may try smaller batch sizes to observe the performance impact. Set TF_ENABLE_GPU_GARBAGE_COLLECTION=false if you'd like to disable this feature.
2022-05-10 20:22:56.024302: I tensorflow/stream_executor/cuda/cuda_driver.cc:739] failed to allocate 4.00G (4294967296 bytes) from device: CUDA_ERROR_OUT_OF_MEMORY: out of memory
2022-05-10 20:22:56.024338: W tensorflow/core/common_runtime/bfc_allocator.cc:275] Allocator (GPU_0_bfc) ran out of memory trying to allocate 886.00MiB with freed_by_count=0. The caller indicates that this is not a failure, but may mean that there could be performance gains if more memory were available.
[INFO][/state_machine][1652206976.172793]:    - Object 0 is a 'towel' (ID: b543932b2c2b1f0823cbafac1281137d)
[INFO][/state_machine][1652206976.183882]:    - Object 1 is a 'bifrutas' (ID: 9c02f3e2f0d10e9226ed5897a18c4f9e)
[INFO][/state_machine][1652206976.188105]:    - Object 2 is a 'hairspray' (ID: ba0bdeddfbefa72de1a3a3b5531a3a8f)
[INFO][/state_machine][1652206976.191293]: State machine terminating 'SEGMENT':'done':'done'
[INFO][/state_machine][1652206976.194141]: State machine transitioning 'INSPECT':'done'-->'CHECK'
efficient copy
efficient copy
efficient copy
efficient copy
efficient copy
efficient copy
[INFO][/state_machine][1652206976.240238]: Occupied space is 0.0691314095063049, remaining space is 0.26206859049369513
[INFO][/state_machine][1652206976.243034]: State machine terminating 'CHECK':'partially_occupied':'partially_occupied'
[INFO][/state_machine][1652206976.244725]: State machine transitioning 'CHECK_SEAT_EMPTY':'partially_occupied'-->'POINT_AT_PARTIALLY_OCCUPIED_SEAT'
[INFO][/state_machine][1652206976.246010]: Rotate base by -4.308deg. At -18.000deg/s this takes 0.23931830150949226s
efficient copy
[INFO][/state_machine][1652206980.577459]: State machine transitioning 'POINT_AT_PARTIALLY_OCCUPIED_SEAT':'succeeded'-->'SAY_SEAT_PARTIALLY_OCCUPIED'
[INFO][/state_machine][1652206980.579101]: 'I think there's some space left here where you can sit carmen'
[INFO][/state_machine][1652206984.199765]: State machine transitioning 'SAY_SEAT_PARTIALLY_OCCUPIED':'spoken'-->'RESET_SUCCESS'
[INFO][/state_machine][1652206984.214403]: State machine terminating 'RESET_SUCCESS':'done':'succeeded'
[INFO][/state_machine][1652206984.217971]: State machine terminating 'FIND_SEAT_FOR_GUEST':'succeeded':'succeeded'
[INFO][/state_machine][1652206984.221585]: State machine transitioning 'HANDLE_GUEST_1':'succeeded'-->'HANDLE_GUEST_2'
[INFO][/state_machine][1652206984.224913]: State machine starting in initial state 'LEARN_GUEST' with userdata: 
    []
[INFO][/state_machine][1652206984.227046]: State machine starting in initial state 'GOTO_DOOR' with userdata: 
    []
[INFO][/state_machine][1652206984.232449]: State machine starting in initial state 'START_ANALYSIS' with userdata: 
    []
[INFO][/state_machine][1652206984.235721]: State machine transitioning 'START_ANALYSIS':'done'-->'NAVIGATE'
[INFO][/state_machine][1652206984.238771]: State machine starting in initial state 'GET_PLAN' with userdata: 
    []
efficient copy
efficient copy
efficient copy
[INFO][/state_machine][1652206984.387410]: 'I'm coming!'
[INFO][/state_machine][1652206984.405908]: State machine transitioning 'GET_PLAN':'goal_ok'-->'EXECUTE_PLAN'
[INFO][/state_machine][1652207004.915681]: State machine terminating 'EXECUTE_PLAN':'succeeded':'arrived'
[INFO][/state_machine][1652207004.920243]: State machine transitioning 'NAVIGATE':'arrived'-->'STOP_ANALYSIS_SUCCEED'
[INFO][/state_machine][1652207004.923825]: State machine terminating 'STOP_ANALYSIS_SUCCEED':'done':'arrived'
[INFO][/state_machine][1652207004.927007]: State machine transitioning 'GOTO_DOOR':'arrived'-->'SAY_OPEN_DOOR'
efficient copy
[INFO][/state_machine][1652207004.938330]: 'Someone please open the door, I'm expecting guests'
[INFO][/state_machine][1652207008.655185]: State machine transitioning 'SAY_OPEN_DOOR':'spoken'-->'SAY_PLEASE_COME_IN'
efficient copy
[INFO][/state_machine][1652207008.658701]: 'Please come in, I'm waiting for someone to step in front of me'
[INFO][/state_machine][1652207012.778395]: State machine transitioning 'SAY_PLEASE_COME_IN':'spoken'-->'WAIT_FOR_GUEST'
efficient copy
[INFO][/state_machine][1652207012.817728]: Received rgb, depth, cam_info
[INFO][/state_machine][1652207013.860264]: There are 1 people in front of me (1 is enough): ['48b179f75d6059d3a774b2906baa529a']
[INFO][/state_machine][1652207013.865093]: State machine transitioning 'WAIT_FOR_GUEST':'success'-->'SAY_HELLO'
efficient copy
[INFO][/state_machine][1652207013.871234]: 'Hi there, I'll learn your face now'
[INFO][/state_machine][1652207016.387772]: State machine transitioning 'SAY_HELLO':'spoken'-->'ASK_GUEST_NAME'
[INFO][/state_machine][1652207016.389830]: AskPersonName
[INFO][/state_machine][1652207016.393217]: 'What is your name?'
efficient copy
[INFO][/state_machine][1652207017.708724]: Question: Which option?, grammar: T['name': N] -> NAME[N]

NAME['anna'] -> anna
NAME['beth'] -> beth
NAME['ca..
[INFO][/state_machine][1652207017.712083]: Example: 'mary'
^C[state_machine-14] killing on exit