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tue-robotics / tue_robocup

RoboCup challenge implementations
https://github.com/orgs/tue-robotics/projects/2
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Serving Drinks Test Logs #839

Closed MatthijsBurgh closed 5 years ago

MatthijsBurgh commented 5 years ago

Incorrect designator resolving results in: I understood that you would like False, is that correct?

[INFO][/state_machine][1558526036.053433]: 'What is your name?'
[INFO][/state_machine][1558526037.284658]: Question: Which option?, grammar: T['name': N] -> NAME[N]

NAME['anna'] -> anna
NAME['beth'] -> beth
NAME['ca..
[INFO][/state_machine][1558526037.290448]: Example: 'kimberly'
[INFO][/state_machine][1558526040.215121]: Robot heard 'beth' {u'name': u'beth'}
[INFO][/state_machine][1558526040.217996]: This person's name is: 'beth'
[INFO][/state_machine][1558526040.222059]: Result received from speech recognition is 'beth'
[INFO][/state_machine][1558526040.224234]: State machine transitioning 'LEARN_NAME':'succeeded'-->'LEARN_OPERATOR'
[INFO][/state_machine][1558526040.229692]: 'Please look at me while I admire your beauty'
[INFO][/state_machine][1558526045.338866]: [LearnPerson] Resolved name beth
[INFO][/state_machine][1558526045.339980]: Creating subscriber
[INFO][/state_machine][1558526045.405948]: lazy subscribe to /hero/head_rgbd_sensor/rgb/image_raw
[INFO][/state_machine][1558526045.407696]: getting one image...
[INFO][/state_machine][1558526045.409367]: self._camera_last_image: None
[INFO][/state_machine][1558526046.414675]: self._camera_last_image: None
[INFO][/state_machine][1558526046.985757]: len(self._camera_last_image): 921600
[INFO][/state_machine][1558526046.987601]: got 921600 bytes of image data
[INFO][/state_machine][1558526048.240085]: found 1 face(s) in the image
[INFO][/state_machine][1558526048.241114]: found 1 valid face(s)
[INFO][/state_machine][1558526048.242367]: annotating that face as beth
[INFO][/state_machine][1558526049.090918]: State machine transitioning 'LEARN_OPERATOR':'succeeded'-->'ASK_DRINK'
[INFO][/state_machine][1558526049.100551]: AskDrink: attempt 1 of 3
[INFO][/state_machine][1558526049.102109]: Unavailable drink: tea
[INFO][/state_machine][1558526049.104888]: Available drinks: [ClassificationResult(id='ba0bdeddfbefa72de1a3a3b5531a3a8f', type='knife', probability=0.122442327439785, distribution={'cookies': 0.03656867519021034, 'apple': 0.012421766296029091, 'tea': 0.010030335746705532, 'deodorant': 0.024398120120167732, 'sponge': 0.007442384026944637, 'brush': 0.0814504623413086, 'hairspray': 0.045411139726638794, 'cup': 0.03902279585599899, 'toothpaste': 0.08887296169996262, 'bowl': 0.015181029215455055, 'beer': 0.026669146493077278, 'fanta': 0.02448531799018383, 'orange': 0.021391568705439568, 'banana': 0.008434765972197056, 'knife': 0.122442327439785, 'fork': 0.090609610080719, 'plate': 0.0036778650246560574, 'pepper': 0.01992441900074482, 'bifrutas': 0.025042088702321053, 'hair_gel': 0.05536112189292908, 'coke': 0.013588733971118927, 'peas': 0.006914831697940826, 'water': 0.012245452962815762, 'cloth': 0.006020988337695599, 'spoon': 0.02290264517068863, 'ice_tea': 0.026030931621789932, 'cereal': 0.004637804348021746, 'towel': 0.041849199682474136, 'pringles': 0.004276635125279427, 'corn': 0.02378055267035961, 'mango': 0.016372568905353546, 'mentos': 0.006923277862370014, 'chopsticks': 0.024474870413541794, 'basket': 0.0053617702797055244, 'crackers': 0.02019434981048107, 'salt': 0.005587566643953323}), ClassificationResult(id='48b179f75d6059d3a774b2906baa529a', type='hairspray', probability=0.3125365376472473, distribution={'cookies': 0.013312175869941711, 'apple': 0.009659551084041595, 'tea': 0.005213163793087006, 'deodorant': 0.032956961542367935, 'sponge': 0.007626701612025499, 'brush': 0.049441080540418625, 'hairspray': 0.3125365376472473, 'cup': 0.0241717342287302, 'toothpaste': 0.04622707515954971, 'bowl': 0.009724508039653301, 'beer': 0.057474035769701004, 'fanta': 0.010440077632665634, 'orange': 0.01762501150369644, 'banana': 0.007585066836327314, 'knife': 0.029891010373830795, 'fork': 0.0394117571413517, 'plate': 0.003976746462285519, 'pepper': 0.039079006761312485, 'bifrutas': 0.0053415969014167786, 'hair_gel': 0.029053492471575737, 'coke': 0.017785370349884033, 'peas': 0.0027948026545345783, 'water': 0.00381265371106565, 'cloth': 0.003046102821826935, 'spoon': 0.06413529813289642, 'ice_tea': 0.006104149390012026, 'cereal': 0.014681885950267315, 'towel': 0.011793803423643112, 'pringles': 0.010175671428442001, 'corn': 0.08161037415266037, 'mango': 0.007297341711819172, 'mentos': 0.0007270784699358046, 'chopsticks': 0.012876112945377827, 'basket': 0.00391248008236289, 'crackers': 0.004437123890966177, 'salt': 0.004062481224536896}), ClassificationResult(id='b5b3eaa4814ea11599a4c453f0d536fe', type='knife', probability=0.18047446012496948, distribution={'cookies': 0.016729440540075302, 'apple': 0.005380331072956324, 'tea': 0.04694747552275658, 'deodorant': 0.02327074483036995, 'sponge': 0.02810073085129261, 'brush': 0.1005905345082283, 'hairspray': 0.02461056038737297, 'cup': 0.03411741554737091, 'toothpaste': 0.027410315349698067, 'bowl': 0.010620691813528538, 'beer': 0.01861579716205597, 'fanta': 0.011601013131439686, 'orange': 0.013098410330712795, 'banana': 0.006555621046572924, 'knife': 0.18047446012496948, 'fork': 0.022537432610988617, 'plate': 0.00325070321559906, 'pepper': 0.03543436899781227, 'bifrutas': 0.01223972998559475, 'hair_gel': 0.04244910925626755, 'coke': 0.022739585489034653, 'peas': 0.002103558974340558, 'water': 0.008242829702794552, 'cloth': 0.031231069937348366, 'spoon': 0.03441549837589264, 'ice_tea': 0.004521505441516638, 'cereal': 0.09561402350664139, 'towel': 0.030853645876049995, 'pringles': 0.02084897644817829, 'corn': 0.009711191058158875, 'mango': 0.004600629210472107, 'mentos': 0.002522439230233431, 'chopsticks': 0.018379012122750282, 'basket': 0.013319598510861397, 'crackers': 0.02582380920648575, 'salt': 0.011037740856409073}), ClassificationResult(id='cb1a6cfed3c84eed7924d77d742ab297', type='cereal', probability=0.2496047019958496, distribution={'cookies': 0.027871644124388695, 'apple': 0.006717673037201166, 'tea': 0.06882621347904205, 'deodorant': 0.023524126037955284, 'sponge': 0.02974661998450756, 'brush': 0.11920927464962006, 'hairspray': 0.020232172682881355, 'cup': 0.015745114535093307, 'toothpaste': 0.025779319927096367, 'bowl': 0.016161920502781868, 'beer': 0.009570732712745667, 'fanta': 0.020211050286889076, 'orange': 0.01248385850340128, 'banana': 0.00693886773660779, 'knife': 0.030468547716736794, 'fork': 0.009729349054396152, 'plate': 0.0054918453097343445, 'pepper': 0.0283287912607193, 'bifrutas': 0.016426200047135353, 'hair_gel': 0.021665990352630615, 'coke': 0.017928650602698326, 'peas': 0.0013841131003573537, 'water': 0.008638783358037472, 'cloth': 0.003633093321695924, 'spoon': 0.015970556065440178, 'ice_tea': 0.010693620890378952, 'cereal': 0.2496047019958496, 'towel': 0.011807924136519432, 'pringles': 0.0248237457126379, 'corn': 0.004476307425647974, 'mango': 0.005332132335752249, 'mentos': 0.005784455221146345, 'chopsticks': 0.024532930925488472, 'basket': 0.05864204838871956, 'crackers': 0.03737764433026314, 'salt': 0.0042398893274366856})]
[INFO][/state_machine][1558526049.107361]: 'What would you like to drink?'
[INFO][/state_machine][1558526050.680235]: Question: Can I please take your order, grammar: O[P] -> BEVERAGE[P] | can i have a BEVERAGE[P] | i would like BEVERAGE[P] |..
[INFO][/state_machine][1558526050.684299]: Example: 'bring me bifrutas'
[INFO][/state_machine][1558526053.000395]: Robot heard 'tea' tea
[INFO][/state_machine][1558526053.002501]: 'I understood that you would like tea, is that correct?'
[INFO][/state_machine][1558526056.298335]: Question: Is this correct?, grammar: T[True] -> yes;T[False] -> no
[INFO][/state_machine][1558526056.300367]: Example: 'no'
[INFO][/state_machine][1558526058.409955]: Robot heard 'yes' True
[INFO][/state_machine][1558526058.412441]: 'Unfortunately we don't have tea, what else can I bring for you'
[INFO][/state_machine][1558526062.503096]: Question: Can I please take your order, grammar: O[P] -> BEVERAGE[P] | can i have a BEVERAGE[P] | i would like BEVERAGE[P] |..
[INFO][/state_machine][1558526062.506584]: Example: 'may i get bifrutas'
[INFO][/state_machine][1558526065.471556]: Robot heard 'a beer' beer
[INFO][/state_machine][1558526065.477616]: 'I understood that you would like beer, is that correct?'
[INFO][/state_machine][1558526068.991762]: Question: Is this correct?, grammar: T[True] -> yes;T[False] -> no
[INFO][/state_machine][1558526068.996578]: Example: 'no'
[INFO][/state_machine][1558526070.909145]: Robot heard 'no' False
[INFO][/state_machine][1558526070.910568]: AskDrink: attempt 2 of 3
[INFO][/state_machine][1558526070.911562]: Unavailable drink: tea
[INFO][/state_machine][1558526070.917832]: Available drinks: [ClassificationResult(id='ba0bdeddfbefa72de1a3a3b5531a3a8f', type='knife', probability=0.122442327439785, distribution={'cookies': 0.03656867519021034, 'apple': 0.012421766296029091, 'tea': 0.010030335746705532, 'deodorant': 0.024398120120167732, 'sponge': 0.007442384026944637, 'brush': 0.0814504623413086, 'hairspray': 0.045411139726638794, 'cup': 0.03902279585599899, 'toothpaste': 0.08887296169996262, 'bowl': 0.015181029215455055, 'beer': 0.026669146493077278, 'fanta': 0.02448531799018383, 'orange': 0.021391568705439568, 'banana': 0.008434765972197056, 'knife': 0.122442327439785, 'fork': 0.090609610080719, 'plate': 0.0036778650246560574, 'pepper': 0.01992441900074482, 'bifrutas': 0.025042088702321053, 'hair_gel': 0.05536112189292908, 'coke': 0.013588733971118927, 'peas': 0.006914831697940826, 'water': 0.012245452962815762, 'cloth': 0.006020988337695599, 'spoon': 0.02290264517068863, 'ice_tea': 0.026030931621789932, 'cereal': 0.004637804348021746, 'towel': 0.041849199682474136, 'pringles': 0.004276635125279427, 'corn': 0.02378055267035961, 'mango': 0.016372568905353546, 'mentos': 0.006923277862370014, 'chopsticks': 0.024474870413541794, 'basket': 0.0053617702797055244, 'crackers': 0.02019434981048107, 'salt': 0.005587566643953323}), ClassificationResult(id='48b179f75d6059d3a774b2906baa529a', type='hairspray', probability=0.3125365376472473, distribution={'cookies': 0.013312175869941711, 'apple': 0.009659551084041595, 'tea': 0.005213163793087006, 'deodorant': 0.032956961542367935, 'sponge': 0.007626701612025499, 'brush': 0.049441080540418625, 'hairspray': 0.3125365376472473, 'cup': 0.0241717342287302, 'toothpaste': 0.04622707515954971, 'bowl': 0.009724508039653301, 'beer': 0.057474035769701004, 'fanta': 0.010440077632665634, 'orange': 0.01762501150369644, 'banana': 0.007585066836327314, 'knife': 0.029891010373830795, 'fork': 0.0394117571413517, 'plate': 0.003976746462285519, 'pepper': 0.039079006761312485, 'bifrutas': 0.0053415969014167786, 'hair_gel': 0.029053492471575737, 'coke': 0.017785370349884033, 'peas': 0.0027948026545345783, 'water': 0.00381265371106565, 'cloth': 0.003046102821826935, 'spoon': 0.06413529813289642, 'ice_tea': 0.006104149390012026, 'cereal': 0.014681885950267315, 'towel': 0.011793803423643112, 'pringles': 0.010175671428442001, 'corn': 0.08161037415266037, 'mango': 0.007297341711819172, 'mentos': 0.0007270784699358046, 'chopsticks': 0.012876112945377827, 'basket': 0.00391248008236289, 'crackers': 0.004437123890966177, 'salt': 0.004062481224536896}), ClassificationResult(id='b5b3eaa4814ea11599a4c453f0d536fe', type='knife', probability=0.18047446012496948, distribution={'cookies': 0.016729440540075302, 'apple': 0.005380331072956324, 'tea': 0.04694747552275658, 'deodorant': 0.02327074483036995, 'sponge': 0.02810073085129261, 'brush': 0.1005905345082283, 'hairspray': 0.02461056038737297, 'cup': 0.03411741554737091, 'toothpaste': 0.027410315349698067, 'bowl': 0.010620691813528538, 'beer': 0.01861579716205597, 'fanta': 0.011601013131439686, 'orange': 0.013098410330712795, 'banana': 0.006555621046572924, 'knife': 0.18047446012496948, 'fork': 0.022537432610988617, 'plate': 0.00325070321559906, 'pepper': 0.03543436899781227, 'bifrutas': 0.01223972998559475, 'hair_gel': 0.04244910925626755, 'coke': 0.022739585489034653, 'peas': 0.002103558974340558, 'water': 0.008242829702794552, 'cloth': 0.031231069937348366, 'spoon': 0.03441549837589264, 'ice_tea': 0.004521505441516638, 'cereal': 0.09561402350664139, 'towel': 0.030853645876049995, 'pringles': 0.02084897644817829, 'corn': 0.009711191058158875, 'mango': 0.004600629210472107, 'mentos': 0.002522439230233431, 'chopsticks': 0.018379012122750282, 'basket': 0.013319598510861397, 'crackers': 0.02582380920648575, 'salt': 0.011037740856409073}), ClassificationResult(id='cb1a6cfed3c84eed7924d77d742ab297', type='cereal', probability=0.2496047019958496, distribution={'cookies': 0.027871644124388695, 'apple': 0.006717673037201166, 'tea': 0.06882621347904205, 'deodorant': 0.023524126037955284, 'sponge': 0.02974661998450756, 'brush': 0.11920927464962006, 'hairspray': 0.020232172682881355, 'cup': 0.015745114535093307, 'toothpaste': 0.025779319927096367, 'bowl': 0.016161920502781868, 'beer': 0.009570732712745667, 'fanta': 0.020211050286889076, 'orange': 0.01248385850340128, 'banana': 0.00693886773660779, 'knife': 0.030468547716736794, 'fork': 0.009729349054396152, 'plate': 0.0054918453097343445, 'pepper': 0.0283287912607193, 'bifrutas': 0.016426200047135353, 'hair_gel': 0.021665990352630615, 'coke': 0.017928650602698326, 'peas': 0.0013841131003573537, 'water': 0.008638783358037472, 'cloth': 0.003633093321695924, 'spoon': 0.015970556065440178, 'ice_tea': 0.010693620890378952, 'cereal': 0.2496047019958496, 'towel': 0.011807924136519432, 'pringles': 0.0248237457126379, 'corn': 0.004476307425647974, 'mango': 0.005332132335752249, 'mentos': 0.005784455221146345, 'chopsticks': 0.024532930925488472, 'basket': 0.05864204838871956, 'crackers': 0.03737764433026314, 'salt': 0.0042398893274366856})]
[INFO][/state_machine][1558526070.932651]: 'Which drink would you like?'
[INFO][/state_machine][1558526072.491639]: Question: Can I please take your order, grammar: O[P] -> BEVERAGE[P] | can i have a BEVERAGE[P] | i would like BEVERAGE[P] |..
[INFO][/state_machine][1558526072.499681]: Example: 'can i have a an tea'
[INFO][/state_machine][1558526073.770610]: Robot heard 'no' False
[INFO][/state_machine][1558526073.773745]: 'I understood that you would like False, is that correct?'
[INFO][/state_machine][1558526077.186388]: Question: Is this correct?, grammar: T[True] -> yes;T[False] -> no
[INFO][/state_machine][1558526077.188041]: Example: 'yes'
[INFO][/state_machine][1558526078.712291]: Robot heard 'no' False
[INFO][/state_machine][1558526078.713638]: AskDrink: attempt 3 of 3
[INFO][/state_machine][1558526078.716061]: Unavailable drink: tea
[INFO][/state_machine][1558526078.720675]: Available drinks: [ClassificationResult(id='ba0bdeddfbefa72de1a3a3b5531a3a8f', type='knife', probability=0.122442327439785, distribution={'cookies': 0.03656867519021034, 'apple': 0.012421766296029091, 'tea': 0.010030335746705532, 'deodorant': 0.024398120120167732, 'sponge': 0.007442384026944637, 'brush': 0.0814504623413086, 'hairspray': 0.045411139726638794, 'cup': 0.03902279585599899, 'toothpaste': 0.08887296169996262, 'bowl': 0.015181029215455055, 'beer': 0.026669146493077278, 'fanta': 0.02448531799018383, 'orange': 0.021391568705439568, 'banana': 0.008434765972197056, 'knife': 0.122442327439785, 'fork': 0.090609610080719, 'plate': 0.0036778650246560574, 'pepper': 0.01992441900074482, 'bifrutas': 0.025042088702321053, 'hair_gel': 0.05536112189292908, 'coke': 0.013588733971118927, 'peas': 0.006914831697940826, 'water': 0.012245452962815762, 'cloth': 0.006020988337695599, 'spoon': 0.02290264517068863, 'ice_tea': 0.026030931621789932, 'cereal': 0.004637804348021746, 'towel': 0.041849199682474136, 'pringles': 0.004276635125279427, 'corn': 0.02378055267035961, 'mango': 0.016372568905353546, 'mentos': 0.006923277862370014, 'chopsticks': 0.024474870413541794, 'basket': 0.0053617702797055244, 'crackers': 0.02019434981048107, 'salt': 0.005587566643953323}), ClassificationResult(id='48b179f75d6059d3a774b2906baa529a', type='hairspray', probability=0.3125365376472473, distribution={'cookies': 0.013312175869941711, 'apple': 0.009659551084041595, 'tea': 0.005213163793087006, 'deodorant': 0.032956961542367935, 'sponge': 0.007626701612025499, 'brush': 0.049441080540418625, 'hairspray': 0.3125365376472473, 'cup': 0.0241717342287302, 'toothpaste': 0.04622707515954971, 'bowl': 0.009724508039653301, 'beer': 0.057474035769701004, 'fanta': 0.010440077632665634, 'orange': 0.01762501150369644, 'banana': 0.007585066836327314, 'knife': 0.029891010373830795, 'fork': 0.0394117571413517, 'plate': 0.003976746462285519, 'pepper': 0.039079006761312485, 'bifrutas': 0.0053415969014167786, 'hair_gel': 0.029053492471575737, 'coke': 0.017785370349884033, 'peas': 0.0027948026545345783, 'water': 0.00381265371106565, 'cloth': 0.003046102821826935, 'spoon': 0.06413529813289642, 'ice_tea': 0.006104149390012026, 'cereal': 0.014681885950267315, 'towel': 0.011793803423643112, 'pringles': 0.010175671428442001, 'corn': 0.08161037415266037, 'mango': 0.007297341711819172, 'mentos': 0.0007270784699358046, 'chopsticks': 0.012876112945377827, 'basket': 0.00391248008236289, 'crackers': 0.004437123890966177, 'salt': 0.004062481224536896}), ClassificationResult(id='b5b3eaa4814ea11599a4c453f0d536fe', type='knife', probability=0.18047446012496948, distribution={'cookies': 0.016729440540075302, 'apple': 0.005380331072956324, 'tea': 0.04694747552275658, 'deodorant': 0.02327074483036995, 'sponge': 0.02810073085129261, 'brush': 0.1005905345082283, 'hairspray': 0.02461056038737297, 'cup': 0.03411741554737091, 'toothpaste': 0.027410315349698067, 'bowl': 0.010620691813528538, 'beer': 0.01861579716205597, 'fanta': 0.011601013131439686, 'orange': 0.013098410330712795, 'banana': 0.006555621046572924, 'knife': 0.18047446012496948, 'fork': 0.022537432610988617, 'plate': 0.00325070321559906, 'pepper': 0.03543436899781227, 'bifrutas': 0.01223972998559475, 'hair_gel': 0.04244910925626755, 'coke': 0.022739585489034653, 'peas': 0.002103558974340558, 'water': 0.008242829702794552, 'cloth': 0.031231069937348366, 'spoon': 0.03441549837589264, 'ice_tea': 0.004521505441516638, 'cereal': 0.09561402350664139, 'towel': 0.030853645876049995, 'pringles': 0.02084897644817829, 'corn': 0.009711191058158875, 'mango': 0.004600629210472107, 'mentos': 0.002522439230233431, 'chopsticks': 0.018379012122750282, 'basket': 0.013319598510861397, 'crackers': 0.02582380920648575, 'salt': 0.011037740856409073}), ClassificationResult(id='cb1a6cfed3c84eed7924d77d742ab297', type='cereal', probability=0.2496047019958496, distribution={'cookies': 0.027871644124388695, 'apple': 0.006717673037201166, 'tea': 0.06882621347904205, 'deodorant': 0.023524126037955284, 'sponge': 0.02974661998450756, 'brush': 0.11920927464962006, 'hairspray': 0.020232172682881355, 'cup': 0.015745114535093307, 'toothpaste': 0.025779319927096367, 'bowl': 0.016161920502781868, 'beer': 0.009570732712745667, 'fanta': 0.020211050286889076, 'orange': 0.01248385850340128, 'banana': 0.00693886773660779, 'knife': 0.030468547716736794, 'fork': 0.009729349054396152, 'plate': 0.0054918453097343445, 'pepper': 0.0283287912607193, 'bifrutas': 0.016426200047135353, 'hair_gel': 0.021665990352630615, 'coke': 0.017928650602698326, 'peas': 0.0013841131003573537, 'water': 0.008638783358037472, 'cloth': 0.003633093321695924, 'spoon': 0.015970556065440178, 'ice_tea': 0.010693620890378952, 'cereal': 0.2496047019958496, 'towel': 0.011807924136519432, 'pringles': 0.0248237457126379, 'corn': 0.004476307425647974, 'mango': 0.005332132335752249, 'mentos': 0.005784455221146345, 'chopsticks': 0.024532930925488472, 'basket': 0.05864204838871956, 'crackers': 0.03737764433026314, 'salt': 0.0042398893274366856})]
[INFO][/state_machine][1558526078.722121]: 'Which drink would you like?'
[INFO][/state_machine][1558526080.303656]: Question: Can I please take your order, grammar: O[P] -> BEVERAGE[P] | can i have a BEVERAGE[P] | i would like BEVERAGE[P] |..
[INFO][/state_machine][1558526080.310693]: Example: 'could i have an water'
[INFO][/state_machine][1558526081.191787]: Robot heard 'no' False
[INFO][/state_machine][1558526081.194685]: 'I understood that you would like False, is that correct?'
[INFO][/state_machine][1558526084.590209]: Question: Is this correct?, grammar: T[True] -> yes;T[False] -> no
[INFO][/state_machine][1558526084.594595]: Example: 'no'
[INFO][/state_machine][1558526086.705681]: Robot heard 'no' False
[INFO][/state_machine][1558526086.708428]: 'I am sorry but I cannot understand you. I will quit now'
[INFO][/state_machine][1558526086.793187]: State machine terminating 'ASK_DRINK':'failed':'failed'
[INFO][/state_machine][1558526086.794966]: State machine terminating 'GET_ORDER':'failed':'failed'
[INFO][/state_machine][1558526086.796221]: State machine transitioning 'SERVE_DRINK_1':'failed'-->'SERVE_DRINK_2'
[INFO][/state_machine][1558526086.797935]: State machine starting in initial state 'GET_ORDER' with userdata: 
    []
[INFO][/state_machine][1558526086.803842]: State machine starting in initial state 'ASK_FOR_WAVING' with userdata: 
    []
[INFO][/state_machine][1558526086.807783]: 'Looks like everyone has a drink'
[INFO][/state_machine][1558526090.460660]: State machine transitioning 'ASK_FOR_WAVING':'spoken'-->'ASK_STEP_IN_FRONT'
[INFO][/state_machine][1558526090.468314]: 'Please step in front of me to give your order'
[INFO][/state_machine][1558526095.437985]: State machine transitioning 'ASK_STEP_IN_FRONT':'spoken'-->'LEARN_NAME'
[INFO][/state_machine][1558526095.439134]: AskPersonName
[INFO][/state_machine][1558526095.440349]: 'What is your name?'
[INFO][/state_machine][1558526096.697234]: Question: Which option?, grammar: T['name': N] -> NAME[N]

NAME['anna'] -> anna
NAME['beth'] -> beth
NAME['ca..
[INFO][/state_machine][1558526096.701038]: Example: 'paul'
[INFO][/state_machine][1558526099.015169]: Robot heard 'jennifer' {u'name': u'jennifer'}
[INFO][/state_machine][1558526099.020427]: This person's name is: 'jennifer'
[INFO][/state_machine][1558526099.026113]: Result received from speech recognition is 'jennifer'
[INFO][/state_machine][1558526099.032926]: State machine transitioning 'LEARN_NAME':'succeeded'-->'LEARN_OPERATOR'
[INFO][/state_machine][1558526099.039992]: 'Please look at me while I admire your beauty'
[INFO][/state_machine][1558526104.147746]: [LearnPerson] Resolved name jennifer
[INFO][/state_machine][1558526104.148761]: getting one image...
[INFO][/state_machine][1558526104.156633]: self._camera_last_image: None
[INFO][/state_machine][1558526104.373938]: len(self._camera_last_image): 921600
[INFO][/state_machine][1558526104.379626]: got 921600 bytes of image data
[INFO][/state_machine][1558526106.760272]: found 1 face(s) in the image
[INFO][/state_machine][1558526106.767257]: found 1 valid face(s)
[INFO][/state_machine][1558526106.769373]: annotating that face as jennifer
[INFO][/state_machine][1558526107.606104]: State machine transitioning 'LEARN_OPERATOR':'succeeded'-->'ASK_DRINK'
[INFO][/state_machine][1558526107.611672]: AskDrink: attempt 1 of 3
[INFO][/state_machine][1558526107.612897]: Unavailable drink: tea
[INFO][/state_machine][1558526107.618565]: Available drinks: [ClassificationResult(id='ba0bdeddfbefa72de1a3a3b5531a3a8f', type='knife', probability=0.122442327439785, distribution={'cookies': 0.03656867519021034, 'apple': 0.012421766296029091, 'tea': 0.010030335746705532, 'deodorant': 0.024398120120167732, 'sponge': 0.007442384026944637, 'brush': 0.0814504623413086, 'hairspray': 0.045411139726638794, 'cup': 0.03902279585599899, 'toothpaste': 0.08887296169996262, 'bowl': 0.015181029215455055, 'beer': 0.026669146493077278, 'fanta': 0.02448531799018383, 'orange': 0.021391568705439568, 'banana': 0.008434765972197056, 'knife': 0.122442327439785, 'fork': 0.090609610080719, 'plate': 0.0036778650246560574, 'pepper': 0.01992441900074482, 'bifrutas': 0.025042088702321053, 'hair_gel': 0.05536112189292908, 'coke': 0.013588733971118927, 'peas': 0.006914831697940826, 'water': 0.012245452962815762, 'cloth': 0.006020988337695599, 'spoon': 0.02290264517068863, 'ice_tea': 0.026030931621789932, 'cereal': 0.004637804348021746, 'towel': 0.041849199682474136, 'pringles': 0.004276635125279427, 'corn': 0.02378055267035961, 'mango': 0.016372568905353546, 'mentos': 0.006923277862370014, 'chopsticks': 0.024474870413541794, 'basket': 0.0053617702797055244, 'crackers': 0.02019434981048107, 'salt': 0.005587566643953323}), ClassificationResult(id='48b179f75d6059d3a774b2906baa529a', type='hairspray', probability=0.3125365376472473, distribution={'cookies': 0.013312175869941711, 'apple': 0.009659551084041595, 'tea': 0.005213163793087006, 'deodorant': 0.032956961542367935, 'sponge': 0.007626701612025499, 'brush': 0.049441080540418625, 'hairspray': 0.3125365376472473, 'cup': 0.0241717342287302, 'toothpaste': 0.04622707515954971, 'bowl': 0.009724508039653301, 'beer': 0.057474035769701004, 'fanta': 0.010440077632665634, 'orange': 0.01762501150369644, 'banana': 0.007585066836327314, 'knife': 0.029891010373830795, 'fork': 0.0394117571413517, 'plate': 0.003976746462285519, 'pepper': 0.039079006761312485, 'bifrutas': 0.0053415969014167786, 'hair_gel': 0.029053492471575737, 'coke': 0.017785370349884033, 'peas': 0.0027948026545345783, 'water': 0.00381265371106565, 'cloth': 0.003046102821826935, 'spoon': 0.06413529813289642, 'ice_tea': 0.006104149390012026, 'cereal': 0.014681885950267315, 'towel': 0.011793803423643112, 'pringles': 0.010175671428442001, 'corn': 0.08161037415266037, 'mango': 0.007297341711819172, 'mentos': 0.0007270784699358046, 'chopsticks': 0.012876112945377827, 'basket': 0.00391248008236289, 'crackers': 0.004437123890966177, 'salt': 0.004062481224536896}), ClassificationResult(id='b5b3eaa4814ea11599a4c453f0d536fe', type='knife', probability=0.18047446012496948, distribution={'cookies': 0.016729440540075302, 'apple': 0.005380331072956324, 'tea': 0.04694747552275658, 'deodorant': 0.02327074483036995, 'sponge': 0.02810073085129261, 'brush': 0.1005905345082283, 'hairspray': 0.02461056038737297, 'cup': 0.03411741554737091, 'toothpaste': 0.027410315349698067, 'bowl': 0.010620691813528538, 'beer': 0.01861579716205597, 'fanta': 0.011601013131439686, 'orange': 0.013098410330712795, 'banana': 0.006555621046572924, 'knife': 0.18047446012496948, 'fork': 0.022537432610988617, 'plate': 0.00325070321559906, 'pepper': 0.03543436899781227, 'bifrutas': 0.01223972998559475, 'hair_gel': 0.04244910925626755, 'coke': 0.022739585489034653, 'peas': 0.002103558974340558, 'water': 0.008242829702794552, 'cloth': 0.031231069937348366, 'spoon': 0.03441549837589264, 'ice_tea': 0.004521505441516638, 'cereal': 0.09561402350664139, 'towel': 0.030853645876049995, 'pringles': 0.02084897644817829, 'corn': 0.009711191058158875, 'mango': 0.004600629210472107, 'mentos': 0.002522439230233431, 'chopsticks': 0.018379012122750282, 'basket': 0.013319598510861397, 'crackers': 0.02582380920648575, 'salt': 0.011037740856409073}), ClassificationResult(id='cb1a6cfed3c84eed7924d77d742ab297', type='cereal', probability=0.2496047019958496, distribution={'cookies': 0.027871644124388695, 'apple': 0.006717673037201166, 'tea': 0.06882621347904205, 'deodorant': 0.023524126037955284, 'sponge': 0.02974661998450756, 'brush': 0.11920927464962006, 'hairspray': 0.020232172682881355, 'cup': 0.015745114535093307, 'toothpaste': 0.025779319927096367, 'bowl': 0.016161920502781868, 'beer': 0.009570732712745667, 'fanta': 0.020211050286889076, 'orange': 0.01248385850340128, 'banana': 0.00693886773660779, 'knife': 0.030468547716736794, 'fork': 0.009729349054396152, 'plate': 0.0054918453097343445, 'pepper': 0.0283287912607193, 'bifrutas': 0.016426200047135353, 'hair_gel': 0.021665990352630615, 'coke': 0.017928650602698326, 'peas': 0.0013841131003573537, 'water': 0.008638783358037472, 'cloth': 0.003633093321695924, 'spoon': 0.015970556065440178, 'ice_tea': 0.010693620890378952, 'cereal': 0.2496047019958496, 'towel': 0.011807924136519432, 'pringles': 0.0248237457126379, 'corn': 0.004476307425647974, 'mango': 0.005332132335752249, 'mentos': 0.005784455221146345, 'chopsticks': 0.024532930925488472, 'basket': 0.05864204838871956, 'crackers': 0.03737764433026314, 'salt': 0.0042398893274366856})]
[INFO][/state_machine][1558526107.621232]: 'Which drink would you like?'
[INFO][/state_machine][1558526109.180352]: Question: Can I please take your order, grammar: O[P] -> BEVERAGE[P] | can i have a BEVERAGE[P] | i would like BEVERAGE[P] |..
[INFO][/state_machine][1558526109.189047]: Example: 'i would like water'
[INFO][/state_machine][1558526112.117335]: Robot heard 'fanta' fanta
[INFO][/state_machine][1558526112.119309]: 'I understood that you would like fanta, is that correct?'
[INFO][/state_machine][1558526115.686887]: Question: Is this correct?, grammar: T[True] -> yes;T[False] -> no
[INFO][/state_machine][1558526115.689580]: Example: 'no'
[INFO][/state_machine][1558526116.560242]: Robot heard 'can i get an tea' False
[INFO][/state_machine][1558526116.561623]: AskDrink: attempt 2 of 3
[INFO][/state_machine][1558526116.563502]: Unavailable drink: tea
[INFO][/state_machine][1558526116.565216]: Available drinks: [ClassificationResult(id='ba0bdeddfbefa72de1a3a3b5531a3a8f', type='knife', probability=0.122442327439785, distribution={'cookies': 0.03656867519021034, 'apple': 0.012421766296029091, 'tea': 0.010030335746705532, 'deodorant': 0.024398120120167732, 'sponge': 0.007442384026944637, 'brush': 0.0814504623413086, 'hairspray': 0.045411139726638794, 'cup': 0.03902279585599899, 'toothpaste': 0.08887296169996262, 'bowl': 0.015181029215455055, 'beer': 0.026669146493077278, 'fanta': 0.02448531799018383, 'orange': 0.021391568705439568, 'banana': 0.008434765972197056, 'knife': 0.122442327439785, 'fork': 0.090609610080719, 'plate': 0.0036778650246560574, 'pepper': 0.01992441900074482, 'bifrutas': 0.025042088702321053, 'hair_gel': 0.05536112189292908, 'coke': 0.013588733971118927, 'peas': 0.006914831697940826, 'water': 0.012245452962815762, 'cloth': 0.006020988337695599, 'spoon': 0.02290264517068863, 'ice_tea': 0.026030931621789932, 'cereal': 0.004637804348021746, 'towel': 0.041849199682474136, 'pringles': 0.004276635125279427, 'corn': 0.02378055267035961, 'mango': 0.016372568905353546, 'mentos': 0.006923277862370014, 'chopsticks': 0.024474870413541794, 'basket': 0.0053617702797055244, 'crackers': 0.02019434981048107, 'salt': 0.005587566643953323}), ClassificationResult(id='48b179f75d6059d3a774b2906baa529a', type='hairspray', probability=0.3125365376472473, distribution={'cookies': 0.013312175869941711, 'apple': 0.009659551084041595, 'tea': 0.005213163793087006, 'deodorant': 0.032956961542367935, 'sponge': 0.007626701612025499, 'brush': 0.049441080540418625, 'hairspray': 0.3125365376472473, 'cup': 0.0241717342287302, 'toothpaste': 0.04622707515954971, 'bowl': 0.009724508039653301, 'beer': 0.057474035769701004, 'fanta': 0.010440077632665634, 'orange': 0.01762501150369644, 'banana': 0.007585066836327314, 'knife': 0.029891010373830795, 'fork': 0.0394117571413517, 'plate': 0.003976746462285519, 'pepper': 0.039079006761312485, 'bifrutas': 0.0053415969014167786, 'hair_gel': 0.029053492471575737, 'coke': 0.017785370349884033, 'peas': 0.0027948026545345783, 'water': 0.00381265371106565, 'cloth': 0.003046102821826935, 'spoon': 0.06413529813289642, 'ice_tea': 0.006104149390012026, 'cereal': 0.014681885950267315, 'towel': 0.011793803423643112, 'pringles': 0.010175671428442001, 'corn': 0.08161037415266037, 'mango': 0.007297341711819172, 'mentos': 0.0007270784699358046, 'chopsticks': 0.012876112945377827, 'basket': 0.00391248008236289, 'crackers': 0.004437123890966177, 'salt': 0.004062481224536896}), ClassificationResult(id='b5b3eaa4814ea11599a4c453f0d536fe', type='knife', probability=0.18047446012496948, distribution={'cookies': 0.016729440540075302, 'apple': 0.005380331072956324, 'tea': 0.04694747552275658, 'deodorant': 0.02327074483036995, 'sponge': 0.02810073085129261, 'brush': 0.1005905345082283, 'hairspray': 0.02461056038737297, 'cup': 0.03411741554737091, 'toothpaste': 0.027410315349698067, 'bowl': 0.010620691813528538, 'beer': 0.01861579716205597, 'fanta': 0.011601013131439686, 'orange': 0.013098410330712795, 'banana': 0.006555621046572924, 'knife': 0.18047446012496948, 'fork': 0.022537432610988617, 'plate': 0.00325070321559906, 'pepper': 0.03543436899781227, 'bifrutas': 0.01223972998559475, 'hair_gel': 0.04244910925626755, 'coke': 0.022739585489034653, 'peas': 0.002103558974340558, 'water': 0.008242829702794552, 'cloth': 0.031231069937348366, 'spoon': 0.03441549837589264, 'ice_tea': 0.004521505441516638, 'cereal': 0.09561402350664139, 'towel': 0.030853645876049995, 'pringles': 0.02084897644817829, 'corn': 0.009711191058158875, 'mango': 0.004600629210472107, 'mentos': 0.002522439230233431, 'chopsticks': 0.018379012122750282, 'basket': 0.013319598510861397, 'crackers': 0.02582380920648575, 'salt': 0.011037740856409073}), ClassificationResult(id='cb1a6cfed3c84eed7924d77d742ab297', type='cereal', probability=0.2496047019958496, distribution={'cookies': 0.027871644124388695, 'apple': 0.006717673037201166, 'tea': 0.06882621347904205, 'deodorant': 0.023524126037955284, 'sponge': 0.02974661998450756, 'brush': 0.11920927464962006, 'hairspray': 0.020232172682881355, 'cup': 0.015745114535093307, 'toothpaste': 0.025779319927096367, 'bowl': 0.016161920502781868, 'beer': 0.009570732712745667, 'fanta': 0.020211050286889076, 'orange': 0.01248385850340128, 'banana': 0.00693886773660779, 'knife': 0.030468547716736794, 'fork': 0.009729349054396152, 'plate': 0.0054918453097343445, 'pepper': 0.0283287912607193, 'bifrutas': 0.016426200047135353, 'hair_gel': 0.021665990352630615, 'coke': 0.017928650602698326, 'peas': 0.0013841131003573537, 'water': 0.008638783358037472, 'cloth': 0.003633093321695924, 'spoon': 0.015970556065440178, 'ice_tea': 0.010693620890378952, 'cereal': 0.2496047019958496, 'towel': 0.011807924136519432, 'pringles': 0.0248237457126379, 'corn': 0.004476307425647974, 'mango': 0.005332132335752249, 'mentos': 0.005784455221146345, 'chopsticks': 0.024532930925488472, 'basket': 0.05864204838871956, 'crackers': 0.03737764433026314, 'salt': 0.0042398893274366856})]
[INFO][/state_machine][1558526116.570291]: 'What would you like to quench your thirst?'
[INFO][/state_machine][1558526118.681522]: Question: Can I please take your order, grammar: O[P] -> BEVERAGE[P] | can i have a BEVERAGE[P] | i would like BEVERAGE[P] |..
[INFO][/state_machine][1558526118.689062]: Example: 'can i get water'
[INFO][/state_machine][1558526119.562097]: Robot heard 'yes' False
[INFO][/state_machine][1558526119.564319]: 'I understood that you would like False, is that correct?'
[INFO][/state_machine][1558526122.983679]: Question: Is this correct?, grammar: T[True] -> yes;T[False] -> no
[INFO][/state_machine][1558526122.986226]: Example: 'no'
[INFO][/state_machine][1558526124.766355]: Robot heard 'no' False
[INFO][/state_machine][1558526124.768983]: AskDrink: attempt 3 of 3
[INFO][/state_machine][1558526124.770411]: Unavailable drink: tea
[INFO][/state_machine][1558526124.772828]: Available drinks: [ClassificationResult(id='ba0bdeddfbefa72de1a3a3b5531a3a8f', type='knife', probability=0.122442327439785, distribution={'cookies': 0.03656867519021034, 'apple': 0.012421766296029091, 'tea': 0.010030335746705532, 'deodorant': 0.024398120120167732, 'sponge': 0.007442384026944637, 'brush': 0.0814504623413086, 'hairspray': 0.045411139726638794, 'cup': 0.03902279585599899, 'toothpaste': 0.08887296169996262, 'bowl': 0.015181029215455055, 'beer': 0.026669146493077278, 'fanta': 0.02448531799018383, 'orange': 0.021391568705439568, 'banana': 0.008434765972197056, 'knife': 0.122442327439785, 'fork': 0.090609610080719, 'plate': 0.0036778650246560574, 'pepper': 0.01992441900074482, 'bifrutas': 0.025042088702321053, 'hair_gel': 0.05536112189292908, 'coke': 0.013588733971118927, 'peas': 0.006914831697940826, 'water': 0.012245452962815762, 'cloth': 0.006020988337695599, 'spoon': 0.02290264517068863, 'ice_tea': 0.026030931621789932, 'cereal': 0.004637804348021746, 'towel': 0.041849199682474136, 'pringles': 0.004276635125279427, 'corn': 0.02378055267035961, 'mango': 0.016372568905353546, 'mentos': 0.006923277862370014, 'chopsticks': 0.024474870413541794, 'basket': 0.0053617702797055244, 'crackers': 0.02019434981048107, 'salt': 0.005587566643953323}), ClassificationResult(id='48b179f75d6059d3a774b2906baa529a', type='hairspray', probability=0.3125365376472473, distribution={'cookies': 0.013312175869941711, 'apple': 0.009659551084041595, 'tea': 0.005213163793087006, 'deodorant': 0.032956961542367935, 'sponge': 0.007626701612025499, 'brush': 0.049441080540418625, 'hairspray': 0.3125365376472473, 'cup': 0.0241717342287302, 'toothpaste': 0.04622707515954971, 'bowl': 0.009724508039653301, 'beer': 0.057474035769701004, 'fanta': 0.010440077632665634, 'orange': 0.01762501150369644, 'banana': 0.007585066836327314, 'knife': 0.029891010373830795, 'fork': 0.0394117571413517, 'plate': 0.003976746462285519, 'pepper': 0.039079006761312485, 'bifrutas': 0.0053415969014167786, 'hair_gel': 0.029053492471575737, 'coke': 0.017785370349884033, 'peas': 0.0027948026545345783, 'water': 0.00381265371106565, 'cloth': 0.003046102821826935, 'spoon': 0.06413529813289642, 'ice_tea': 0.006104149390012026, 'cereal': 0.014681885950267315, 'towel': 0.011793803423643112, 'pringles': 0.010175671428442001, 'corn': 0.08161037415266037, 'mango': 0.007297341711819172, 'mentos': 0.0007270784699358046, 'chopsticks': 0.012876112945377827, 'basket': 0.00391248008236289, 'crackers': 0.004437123890966177, 'salt': 0.004062481224536896}), ClassificationResult(id='b5b3eaa4814ea11599a4c453f0d536fe', type='knife', probability=0.18047446012496948, distribution={'cookies': 0.016729440540075302, 'apple': 0.005380331072956324, 'tea': 0.04694747552275658, 'deodorant': 0.02327074483036995, 'sponge': 0.02810073085129261, 'brush': 0.1005905345082283, 'hairspray': 0.02461056038737297, 'cup': 0.03411741554737091, 'toothpaste': 0.027410315349698067, 'bowl': 0.010620691813528538, 'beer': 0.01861579716205597, 'fanta': 0.011601013131439686, 'orange': 0.013098410330712795, 'banana': 0.006555621046572924, 'knife': 0.18047446012496948, 'fork': 0.022537432610988617, 'plate': 0.00325070321559906, 'pepper': 0.03543436899781227, 'bifrutas': 0.01223972998559475, 'hair_gel': 0.04244910925626755, 'coke': 0.022739585489034653, 'peas': 0.002103558974340558, 'water': 0.008242829702794552, 'cloth': 0.031231069937348366, 'spoon': 0.03441549837589264, 'ice_tea': 0.004521505441516638, 'cereal': 0.09561402350664139, 'towel': 0.030853645876049995, 'pringles': 0.02084897644817829, 'corn': 0.009711191058158875, 'mango': 0.004600629210472107, 'mentos': 0.002522439230233431, 'chopsticks': 0.018379012122750282, 'basket': 0.013319598510861397, 'crackers': 0.02582380920648575, 'salt': 0.011037740856409073}), ClassificationResult(id='cb1a6cfed3c84eed7924d77d742ab297', type='cereal', probability=0.2496047019958496, distribution={'cookies': 0.027871644124388695, 'apple': 0.006717673037201166, 'tea': 0.06882621347904205, 'deodorant': 0.023524126037955284, 'sponge': 0.02974661998450756, 'brush': 0.11920927464962006, 'hairspray': 0.020232172682881355, 'cup': 0.015745114535093307, 'toothpaste': 0.025779319927096367, 'bowl': 0.016161920502781868, 'beer': 0.009570732712745667, 'fanta': 0.020211050286889076, 'orange': 0.01248385850340128, 'banana': 0.00693886773660779, 'knife': 0.030468547716736794, 'fork': 0.009729349054396152, 'plate': 0.0054918453097343445, 'pepper': 0.0283287912607193, 'bifrutas': 0.016426200047135353, 'hair_gel': 0.021665990352630615, 'coke': 0.017928650602698326, 'peas': 0.0013841131003573537, 'water': 0.008638783358037472, 'cloth': 0.003633093321695924, 'spoon': 0.015970556065440178, 'ice_tea': 0.010693620890378952, 'cereal': 0.2496047019958496, 'towel': 0.011807924136519432, 'pringles': 0.0248237457126379, 'corn': 0.004476307425647974, 'mango': 0.005332132335752249, 'mentos': 0.005784455221146345, 'chopsticks': 0.024532930925488472, 'basket': 0.05864204838871956, 'crackers': 0.03737764433026314, 'salt': 0.0042398893274366856})]
[INFO][/state_machine][1558526124.774466]: 'What would you like to drink?'
[INFO][/state_machine][1558526126.284816]: Question: Can I please take your order, grammar: O[P] -> BEVERAGE[P] | can i have a BEVERAGE[P] | i would like BEVERAGE[P] |..
[INFO][/state_machine][1558526126.289655]: Example: 'bring me bifrutas'
[INFO][/state_machine][1558526127.632059]: Robot heard 'yes' False
[INFO][/state_machine][1558526127.636165]: 'I understood that you would like False, is that correct?'
[INFO][/state_machine][1558526131.009912]: Question: Is this correct?, grammar: T[True] -> yes;T[False] -> no
[INFO][/state_machine][1558526131.011340]: Example: 'yes'
[INFO][/state_machine][1558526134.005086]: Robot heard 'no' False
[INFO][/state_machine][1558526134.015539]: 'I am sorry but I cannot understand you. I will quit now'
[INFO][/state_machine][1558526134.094563]: State machine terminating 'ASK_DRINK':'failed':'failed'
[INFO][/state_machine][1558526134.095607]: State machine terminating 'GET_ORDER':'failed':'failed'
[INFO][/state_machine][1558526134.096459]: State machine transitioning 'SERVE_DRINK_2':'failed'-->'SERVE_DRINK_3'
[INFO][/state_machine][1558526134.098289]: State machine starting in initial state 'GET_ORDER' with userdata: 
    []
[INFO][/state_machine][1558526134.099675]: State machine starting in initial state 'ASK_FOR_WAVING' with userdata: 
    []
[INFO][/state_machine][1558526134.102998]: 'Looks like everyone has a drink'
[INFO][/state_machine][1558526137.760195]: State machine transitioning 'ASK_FOR_WAVING':'spoken'-->'ASK_STEP_IN_FRONT'
[INFO][/state_machine][1558526137.765756]: 'Please step in front of me to give your order'