· 8 years ago · Apr 10, 2018, 12:02 PM
1cd /home/semeyerz/NetBeansProjects/robocupathome.robocup-dist/robocup-bin; JAVA_HOME=/opt/Oracle_Java/jdk1.8.0_131 /home/semeyerz/.netbeans/8.1/maven/bin/mvn "-Dexec.args=-classpath %classpath de.unibi.citec.clf.bonsai.LaunchLocal" -Dexec.executable=/opt/Oracle_Java/jdk1.8.0_131/bin/java org.codehaus.mojo:exec-maven-plugin:1.2.1:exec
2Running NetBeans Compile On Save execution. Phase execution is skipped and output directories of dependency projects (with Compile on Save turned on) will be used instead of their jar artifacts.
3Scanning for projects...
4
5------------------------------------------------------------------------
6Building Robocup@home [BIN] 0.4-SNAPSHOT
7------------------------------------------------------------------------
8Downloading: file:///vol/meka/nightly/share/repository/de/unibi/citec/clf/bonsai2-scxml-rsb/0.4-SNAPSHOT/maven-metadata.xml
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10Downloaded: file:///vol/meka/nightly/share/repository/de/unibi/citec/clf/bonsai2-scxml-rsb/0.4-SNAPSHOT/maven-metadata.xml (782 B at 54.5 KB/sec)
11Downloading: file:///vol/meka/nightly/share/repository/rsb/rst/maven-metadata.xml
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14Downloading: file:///vol/meka/nightly/share/repository/com/google/protobuf/protobuf-java/maven-metadata.xml
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99Downloading: file:///vol/meka/nightly/share/repository/de/unibi/citec/clf/bonsai2-robocup/0.4-SNAPSHOT/maven-metadata.xml
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102
103--- exec-maven-plugin:1.2.1:exec (default-cli) @ robocup-bin ---
10414:00:52 DEBUG FXGUIStarter: Found logging properties file. - /home/semeyerz/NetBeansProjects/robocupathome.robocup-dist/robocup-bin/target/classes/localLogging.properties
10514:00:52 DEBUG FXGUIStarter: using the following includeMappings:
106ROBOCUP = /home/semeyerz/NetBeansProjects/robocupathome.robocup-dist/robocup-scxml/src/main/config/state_machines
107SCXML = /home/semeyerz/NetBeansProjects/bonsai2/bonsai2.scxml/scxml-common/src/main/config/state_machines
108PEPPER = /pepper.bonsai/pepper-scxml/src/main/config/state_machines
109EXERCISE = /robocupathome.robocup-exercise/src/main/config/state_machines
110
11114:00:54 DEBUG SCXMLOverviewController: SCXMLOverviewController initialized
11214:00:54 DEBUG CurrentStateViewController: CurrentStateViewController initialized
11314:01:02 DEBUG SCXMLDecoder: transforming file: /home/semeyerz/NetBeansProjects/robocupathome.robocup-dist/robocup-scxml/src/main/config/state_machines/demo/graspByGuiding.xml
114[Fatal Error] :342:1: Content is not allowed in trailing section.
11514:01:02 ERROR SCXMLDecoder: TODO validator failed
11614:01:02 FATAL SCXMLDecoder: <?xml version="1.0" encoding="UTF-8"?>
117<scxml version="1.0" initial="welcome" xmlns="http://www.w3.org/2005/07/scxml">
118 <datamodel>
119 <data id="#_STATE_PREFIX" expr="'de.unibi.citec.clf.bonsai.skills.'"/>
120 <data id="#_SLOTS">
121 <slots>
122 <slot key="StringSlot" state="dialog.WaitForNonterminals#drink"
123 xpath="/DrinkSlot"/>
124 <slot key="StringSlot" state="dialog.SaySlot#drink" xpath="/DrinkSlot"/>
125 <slot key="StringSlot" state="dialog.WaitForNonterminals#arm"
126 xpath="/GroupSlot"/>
127 <slot key="GroupSlot" state="arm.HandOver" xpath="/GroupSlot"/>
128 </slots>
129 </data>
130 <data id="#_SLOTS">
131 <slots>
132 <slot key="PersonDataSlot" state="personPerception.SearchForPerson#shakehand"
133 xpath="/curPerson"/>
134 <slot key="NavigationGoalDataSlot" state="personPerception.SearchForPerson#shakehand"
135 xpath="/curPersonGoal"/>
136 </slots>
137 </data>
138 <data id="#_SLOTS">
139 <slots>
140 <slot key="GraspPatternSlot" state="objectPerception.SelectObjectsForGrasping#grasp"
141 xpath="/GraspPatternSlot"/>
142 <slot key="PositionDataSlot" state="nav.StoreCurrentPosition#grasp"
143 xpath="/GOO/Position"/>
144 <slot key="ImageNameSlot" state="objectPerception.RecognizeObjects#grasp"
145 xpath="/GOO/ImageNameSlot"/>
146 <slot key="ObjectShapeListSlot" state="objectPerception.RecognizeObjects#grasp"
147 xpath="/GOO/ObjectShapeListSlot"/>
148 <slot key="ObjectShapeListSlot" state="objectPerception.SelectObjectsForGrasping#grasp"
149 xpath="/GOO/ObjectShapeListSlot"/>
150 <slot key="ObjectShapeListSlot" state="arm.grasping.GraspObjects#grasp"
151 xpath="/GOO/ObjectShapeListSlot"/>
152 <slot key="TargetObjectsSlot" state="objectPerception.SelectObjectsForGrasping#grasp"
153 xpath="/GOO/TargetObjectsSlot"/>
154 <slot key="TargetObjectsSlot" state="arm.grasping.GraspObjects#grasp"
155 xpath="/GOO/TargetObjectsSlot"/>
156 <slot key="GraspObjectSlot" state="arm.grasping.GraspObjects#grasp"
157 xpath="/GraspObjectSlot"/>
158 <slot key="GroupSlot" state="arm.grasping.GraspObjects#grasp"
159 xpath="/GroupSlot"/>
160 <slot key="GroupSlot" state="arm.PlanToPose#preGrasp#grasp"
161 xpath="/GroupSlot"/>
162 <slot key="GroupSlot" state="arm.PlanToPose#preHandover#grasp"
163 xpath="/GroupSlot"/>
164 </slots>
165 </data>
166 <data id="GOO_MAX_REC" expr="3"/>
167 <data id="GOO_MAX_TRY" expr="2"/>
168 <data id="GOO_numberOfTries"/>
169 <data id="GOO_numberOfRecognize"/>
170 </datamodel>
171 <state id="welcome" initial="shakehand">
172 <state id="shakehand" initial="deprecated.body.MoveHead#welcoming#shakehand">
173 <state id="deprecated.body.MoveHead#welcoming#shakehand">
174 <datamodel>
175 <data id="#_J0" expr="0.00"/>
176 <data id="#_J1" expr="0.00"/>
177 </datamodel>
178 <transition event="MoveHead.success" target="personPerception.SearchForPerson#shakehand"/>
179 <transition event="MoveHead.error" target="personPerception.SearchForPerson#shakehand"/>
180 <transition event="MoveHead.fatal" target="deprecated.body.MoveHead#welcoming#shakehand"/>
181 </state>
182 <state id="personPerception.SearchForPerson#shakehand">
183 <datamodel>
184 <data id="#_TIMEOUT" expr="'10000'"/>
185 </datamodel>
186 <transition event="SearchForPerson.success.noPerson" target="personPerception.SearchForPerson#shakehand"/>
187 <transition event="SearchForPerson.success.personFound"
188 target="dialog.Talk#welcoming#shakehand"/>
189 <transition event="SearchForPerson.fatal" target="dialog.Talk#welcoming#shakehand"/>
190 </state>
191 <state id="dialog.Talk#welcoming#shakehand">
192 <datamodel>
193 <data id="#_MESSAGE" expr="'welcome to the cognitive
194 service robotics apartment.'"/>
195 <data id="#_BLOCKING" expr="'false'"/>
196 </datamodel>
197 <transition event="Talk.*" target="arm.ShakeHandAction#shakehand"/>
198 </state>
199 <state id="arm.ShakeHandAction#shakehand">
200 <transition event="ShakeHandAction.*">
201 <send event="'shakehand.success'"/>
202 </transition>
203 </state>
204 <transition event="shakehand.success" target="guideRobot"/>
205 </state>
206 </state>
207 <state id="guideRobot" initial="dialog.Talk#guide">
208 <state id="dialog.Talk#guide">
209 <datamodel>
210 <data id="#_MESSAGE" expr="'please, guide me to the table.
211 I show you my grasping skills.'"/>
212 <data id="#_BLOCKING" expr="'false'"/>
213 </datamodel>
214 <transition event="Talk.*" target="guidingparallel"/>
215 </state>
216 <parallel id="guidingparallel">
217 <transition event="ConfirmYesOrNo.success.confirmYes" target="dialog.Talk#arm"/>
218 <state id="parallel1" initial="body.Guiding">
219 <state id="body.Guiding">
220 <transition event="Guiding.*" target="body.Guiding"/>
221 </state>
222 </state>
223 <state id="parallel2" initial="dialog.WaitForNonterminals#drink">
224 <state id="dialog.WaitForNonterminals#drink">
225 <datamodel>
226 <data id="#_NONTERMINALS" expr="obj"/>
227 <data id="#_SENSOR" expr="SpeechSensorObject"/>
228 </datamodel>
229 <transition event="WaitForNonterminals.success.*" target="dialog.SaySlot#drink"/>
230 <transition event="WaitForNonterminals.fatal" target="dialog.WaitForNonterminals#drink"/>
231 </state>
232 <state id="dialog.SaySlot#drink">
233 <datamodel>
234 <data id="#_MESSAGE" expr="'Shall i grasp the $S?'"/>
235 </datamodel>
236 <transition event="SaySlot.success" target="dialog.ConfirmYesOrNo#drink"/>
237 <transition event="SaySlot.fatal" target="dialog.WaitForNonterminals#drink"/>
238 </state>
239 <state id="dialog.ConfirmYesOrNo#drink">
240 <datamodel>
241 <data id="#_USESIMPLE" expr="'true'"/>
242 </datamodel>
243 <transition event="ConfirmYesOrNo.success.confirmNo"
244 target="dialog.WaitForNonterminals#drink"/>
245 <transition event="ConfirmYesOrNo.fatal" target="dialog.WaitForNonterminals#drink"/>
246 </state>
247 </state>
248 </parallel>
249 </state>
250 <state id="dialog.Talk#arm">
251 <datamodel>
252 <data id="#_MESSAGE" expr="'which arm shall i use for grasping?'"/>
253 </datamodel>
254 <transition event="Talk.*" target="dialog.WaitForNonterminals#arm"/>
255 </state>
256 <state id="dialog.WaitForNonterminals#arm">
257 <datamodel>
258 <data id="#_NONTERMINALS" expr="arm"/>
259 <data id="#_SENSOR" expr="SpeechSensorArm"/>
260 </datamodel>
261 <transition event="WaitForNonterminals.success.arm" target="grasp"/>
262 <transition event="WaitForNonterminals.error.misunderstanding"
263 target="dialog.WaitForNonterminals#arm"/>
264 <transition event="WaitForNonterminals.fatal" target="dialog.WaitForNonterminals#arm"/>
265 </state>
266 <state id="grasp" initial="graspMachine#grasp">
267 <state id="graspMachine#grasp" initial="nav.StoreCurrentPosition#grasp">
268 <onentry>
269 <assign name="GOO_numberOfRecognize" expr="GOO_MAX_REC"/>
270 <assign name="GOO_numberOfTries" expr="GOO_MAX_TRY"/>
271 </onentry>
272 <state id="nav.StoreCurrentPosition#grasp">
273 <transition event="StoreCurrentPosition.*" target="arm.PlanToPose#preGrasp#grasp"/>
274 </state>
275 </state>
276 <state id="arm.PlanToPose#preGrasp#grasp">
277 <datamodel>
278 <data id="#_POSE" expr="'pre_grasp'"/>
279 <data id="#_CHOOSE_GROUP" expr="'true'"/>
280 </datamodel>
281 <transition event="PlanToPose.*" target="recObjects#grasp"/>
282 </state>
283 <state id="recObjects#grasp" initial="deprecated.body.MoveHead#rec#grasp">
284 <state id="deprecated.body.MoveHead#rec#grasp">
285 <datamodel>
286 <data id="#_J0" expr="-0.60"/>
287 <data id="#_J1" expr="0.00"/>
288 </datamodel>
289 <transition event="MoveHead.success" target="dialog.Talk#rec#grasp"/>
290 <transition event="MoveHead.error" target="dialog.Talk#rec#grasp"/>
291 <transition event="MoveHead.fatal" target="deprecated.body.MoveHead#rec#grasp"/>
292 </state>
293 <state id="dialog.Talk#rec#grasp">
294 <datamodel>
295 <data id="#_MESSAGE" expr="'Lets have a look.'"/>
296 <data id="#_BLOCKING" expr="'false'"/>
297 </datamodel>
298 <transition event="Talk.*" target="objectPerception.RecognizeObjects#grasp"/>
299 </state>
300 <state id="objectPerception.RecognizeObjects#grasp">
301 <transition event="RecognizeObjects.success" target="objectPerception.FitObjectPrimitives#grasp"/>
302 <transition event="RecognizeObjects.error.noObjects" cond="GOO_numberOfRecognize
303 > 0" target="changeRecAngle#grasp">
304 <assign name="GOO_numberOfRecognize" expr="GOO_numberOfRecognize
305 - 1"/>
306 </transition>
307 <transition event="RecognizeObjects.error.noObjects" target="dialog.Talk#errorNoObjectsFound#grasp"/>
308 <transition event="RecognizeObjects.error.noImage" target="dialog.Talk#errorNoObjectsFound#grasp"/>
309 <transition event="RecognizeObjects.error" target="objectPerception.RecognizeObjects#grasp"/>
310 <transition event="RecognizeObjects.fatal" target="dialog.Talk#fatal#grasp"/>
311 </state>
312 <state id="objectPerception.FitObjectPrimitives#grasp">
313 <transition event="FitObjectPrimitives.success" target="Wait#find#grasp"/>
314 <transition event="FitObjectPrimitives.error" target="objectPerception.FitObjectPrimitives#grasp"/>
315 <transition event="FitObjectPrimitives.fatal" target="dialog.Talk#fatal#grasp"/>
316 </state>
317 <state id="Wait#find#grasp">
318 <datamodel>
319 <data id="#_TIMEOUT" expr="1000"/>
320 </datamodel>
321 <transition event="Wait.success" target="objectPerception.SelectObjectsForGrasping#grasp"/>
322 <transition event="Wait.error" target="Wait#find#grasp"/>
323 <transition event="Wait.fatal" target="dialog.Talk#fatal#grasp"/>
324 </state>
325 <state id="objectPerception.SelectObjectsForGrasping#grasp">
326 <datamodel>
327 <data id="#_USE_BEST_LABEL_ONLY" expr="'true'"/>
328 </datamodel>
329 <transition event="SelectObjectsForGrasping.success" target="pickUpObjects#grasp"/>
330 <transition event="SelectObjectsForGrasping.fatal" target="dialog.Talk#fatal#grasp"/>
331 <transition event="SelectObjectsForGrasping.error.notFound"
332 target="dialog.Talk#errorNoDesiredFound#grasp"/>
333 </state>
334 </state>
335 <state id="changeRecAngle#grasp" initial="dialog.Talk#noObj#grasp">
336 <state id="dialog.Talk#noObj#grasp">
337 <datamodel>
338 <data id="#_MESSAGE" expr="'i see no object, i try
339 it again.'"/>
340 <data id="#_BLOCKING" expr="'false'"/>
341 </datamodel>
342 <transition event="Talk.*" target="objectPerception.RecognizeObjects#grasp"/>
343 </state>
344 </state>
345 <state id="pickUpObjects#grasp" initial="arm.grasping.GraspObjects#grasp">
346 <state id="arm.grasping.GraspObjects#grasp">
347 <datamodel>
348 <data id="#_TRY_ALL" expr="'true'"/>
349 <data id="#_CHOOSE_GROUP" expr="'true'"/>
350 </datamodel>
351 <transition event="GraspObjects.fatal" target="dialog.Talk#fatal#grasp"/>
352 <transition event="GraspObjects.error.cantGrasp" cond="GOO_numberOfTries
353 > 0" target="arm.grasping.GraspObjects#grasp">
354 <assign name="GOO_numberOfTries" expr="GOO_numberOfTries
355 - 1"/>
356 </transition>
357 <transition event="GraspObjects.error.cantGrasp" target="dialog.Talk#cantGrasp#grasp"/>
358 <transition event="GraspObjects.success" target="dialog.Talk#success#grasp"/>
359 </state>
360 </state>
361 <state id="dialog.Talk#success#grasp">
362 <datamodel>
363 <data id="#_MESSAGE" expr="'Nice! Got it.'"/>
364 <data id="#_BLOCKING" expr="'false'"/>
365 </datamodel>
366 <transition event="Talk.*" target="deprecated.body.MoveHead#handover#grasp"/>
367 </state>
368 <state id="deprecated.body.MoveHead#handover#grasp">
369 <datamodel>
370 <data id="#_J0" expr="0.03"/>
371 <data id="#_J1" expr="0.01"/>
372 </datamodel>
373 <transition event="MoveHead.success" target="arm.PlanToPose#preHandover#grasp"/>
374 <transition event="MoveHead.error" target="arm.PlanToPose#preHandover#grasp"/>
375 <transition event="MoveHead.fatal" target="deprecated.body.MoveHead#handover#grasp"/>
376 </state>
377 <state id="dialog.Talk#cantGrasp#grasp">
378 <datamodel>
379 <data id="#_MESSAGE" expr="'I will grasp that another time.'"/>
380 <data id="#_BLOCKING" expr="'false'"/>
381 </datamodel>
382 <transition event="Talk.*">
383 <send event="'grasp.error.cantGrasp'"/>
384 </transition>
385 </state>
386 <state id="arm.PlanToPose#preHandover#grasp">
387 <datamodel>
388 <data id="#_POSE" expr="'pre_handover'"/>
389 <data id="#_CHOOSE_GROUP" expr="'true'"/>
390 </datamodel>
391 <transition event="PlanToPose.success">
392 <send event="'grasp.success'"/>
393 </transition>
394 <transition event="PlanToPose.error" target="dialog.Talk#fatal#grasp"/>
395 <transition event="PlanToPose.fatal" target="dialog.Talk#fatal#grasp"/>
396 </state>
397 <state id="dialog.Talk#errorNoObjectsFound#grasp">
398 <datamodel>
399 <data id="#_MESSAGE" expr="'I shall search other locations.'"/>
400 <data id="#_BLOCKING" expr="'false'"/>
401 </datamodel>
402 <transition event="Talk.*">
403 <send event="'grasp.error.noObjects'"/>
404 </transition>
405 </state>
406 <state id="dialog.Talk#errorNoDesiredFound#grasp">
407 <datamodel>
408 <data id="#_MESSAGE" expr="'really messy here, you should
409 get a cleaning robot.'"/>
410 <data id="#_BLOCKING" expr="'false'"/>
411 </datamodel>
412 <transition event="Talk.*">
413 <send event="'grasp.error.notFound'"/>
414 </transition>
415 </state>
416 <state id="dialog.Talk#fatal#grasp">
417 <datamodel>
418 <data id="#_MESSAGE" expr="'Whoopsy'"/>
419 </datamodel>
420 <transition event="Talk.*">
421 <send event="'grasp.fatal'"/>
422 </transition>
423 </state>
424 <transition event="grasp.success" target="handover"/>
425 <transition event="grasp.error.*" target="grasp"/>
426 </state>
427 <parallel id="handover">
428 <transition event="HandOver.*" target="End"/>
429 <state id="handoverparallel" initial="Wait#handover">
430 <state id="Wait#handover">
431 <datamodel>
432 <data id="#_TIMEOUT" expr="1000"/>
433 </datamodel>
434 <transition event="Wait.*" target="dialog.Talk#handover"/>
435 </state>
436 <state id="dialog.Talk#handover">
437 <datamodel>
438 <data id="#_MESSAGE" expr="'here is your object'"/>
439 </datamodel>
440 <transition event="Talk.*" target="Wait#forever"/>
441 </state>
442 <state id="Wait#forever">
443 <datamodel>
444 <data id="#_TIMEOUT" expr="3000"/>
445 </datamodel>
446 <transition event="Wait.*" target="Wait#forever"/>
447 </state>
448 </state>
449 <state id="arm.HandOver">
450 <datamodel>
451 <data id="#_CHOOSE_GROUP" expr="true"/>
452 </datamodel>
453 </state>
454 </parallel>
455 <state id="End"/>
456</scxml>
457
45814:01:02 ERROR SkillStateMachine: expr from Data is null! data:#_SLOTS
45914:01:02 ERROR SkillStateMachine: expr from Data is null! data:#_SLOTS
46014:01:02 ERROR SkillStateMachine: expr from Data is null! data:#_SLOTS
46114:01:02 ERROR SkillStateMachine: expr from Data is null! data:GOO_numberOfTries
46214:01:02 ERROR SkillStateMachine: expr from Data is null! data:GOO_numberOfRecognize
46314:01:02 DEBUG SkillStateMachine: Set state prefix to: de.unibi.citec.clf.bonsai.skills.
46414:01:02 INFO StateMachineConfigurator: CREATING NEW STATE MACHINE CONFIGURATOR
46514:01:02 WARN StateMachineConfigurator: Data GOO_numberOfTries has no expr
46614:01:02 WARN StateMachineConfigurator: Data GOO_numberOfRecognize has no expr
46714:01:02 DEBUG StateMachineConfigurator: Set XPath '/DrinkSlot' for slot 'StringSlot' in state 'dialog.WaitForNonterminals#drink'.
46814:01:02 DEBUG StateMachineConfigurator: Set XPath '/DrinkSlot' for slot 'StringSlot' in state 'dialog.SaySlot#drink'.
46914:01:02 DEBUG StateMachineConfigurator: Set XPath '/GroupSlot' for slot 'StringSlot' in state 'dialog.WaitForNonterminals#arm'.
47014:01:02 DEBUG StateMachineConfigurator: Set XPath '/GroupSlot' for slot 'GroupSlot' in state 'arm.HandOver'.
47114:01:02 DEBUG StateMachineConfigurator: Set XPath '/curPerson' for slot 'PersonDataSlot' in state 'personPerception.SearchForPerson#shakehand'.
47214:01:02 DEBUG StateMachineConfigurator: Set XPath '/curPersonGoal' for slot 'NavigationGoalDataSlot' in state 'personPerception.SearchForPerson#shakehand'.
47314:01:02 DEBUG StateMachineConfigurator: Set XPath '/GraspPatternSlot' for slot 'GraspPatternSlot' in state 'objectPerception.SelectObjectsForGrasping#grasp'.
47414:01:03 DEBUG StateMachineConfigurator: Set XPath '/GOO/Position' for slot 'PositionDataSlot' in state 'nav.StoreCurrentPosition#grasp'.
47514:01:03 DEBUG StateMachineConfigurator: Set XPath '/GOO/ImageNameSlot' for slot 'ImageNameSlot' in state 'objectPerception.RecognizeObjects#grasp'.
47614:01:03 DEBUG StateMachineConfigurator: Set XPath '/GOO/ObjectShapeListSlot' for slot 'ObjectShapeListSlot' in state 'objectPerception.RecognizeObjects#grasp'.
47714:01:03 DEBUG StateMachineConfigurator: Set XPath '/GOO/ObjectShapeListSlot' for slot 'ObjectShapeListSlot' in state 'objectPerception.SelectObjectsForGrasping#grasp'.
47814:01:03 DEBUG StateMachineConfigurator: Set XPath '/GOO/ObjectShapeListSlot' for slot 'ObjectShapeListSlot' in state 'arm.grasping.GraspObjects#grasp'.
47914:01:03 DEBUG StateMachineConfigurator: Set XPath '/GOO/TargetObjectsSlot' for slot 'TargetObjectsSlot' in state 'objectPerception.SelectObjectsForGrasping#grasp'.
48014:01:03 DEBUG StateMachineConfigurator: Set XPath '/GOO/TargetObjectsSlot' for slot 'TargetObjectsSlot' in state 'arm.grasping.GraspObjects#grasp'.
48114:01:03 DEBUG StateMachineConfigurator: Set XPath '/GraspObjectSlot' for slot 'GraspObjectSlot' in state 'arm.grasping.GraspObjects#grasp'.
48214:01:03 DEBUG StateMachineConfigurator: Set XPath '/GroupSlot' for slot 'GroupSlot' in state 'arm.grasping.GraspObjects#grasp'.
48314:01:03 DEBUG StateMachineConfigurator: Set XPath '/GroupSlot' for slot 'GroupSlot' in state 'arm.PlanToPose#preGrasp#grasp'.
48414:01:03 DEBUG StateMachineConfigurator: Set XPath '/GroupSlot' for slot 'GroupSlot' in state 'arm.PlanToPose#preHandover#grasp'.
48514:01:03 DEBUG StateMachineConfigurator: ### STATE-SLOT-XPATH MAPPING ###
48614:01:03 DEBUG StateMachineConfigurator: Mapping for state: de.unibi.citec.clf.bonsai.skills.arm.HandOver
48714:01:03 DEBUG StateMachineConfigurator: - GroupSlot : /GroupSlot
48814:01:03 DEBUG StateMachineConfigurator: Mapping for state: de.unibi.citec.clf.bonsai.skills.nav.StoreCurrentPosition#grasp
48914:01:03 DEBUG StateMachineConfigurator: - PositionDataSlot : /GOO/Position
49014:01:03 DEBUG StateMachineConfigurator: Mapping for state: de.unibi.citec.clf.bonsai.skills.dialog.WaitForNonterminals#arm
49114:01:03 DEBUG StateMachineConfigurator: - StringSlot : /GroupSlot
49214:01:03 DEBUG StateMachineConfigurator: Mapping for state: de.unibi.citec.clf.bonsai.skills.dialog.SaySlot#drink
49314:01:03 DEBUG StateMachineConfigurator: - StringSlot : /DrinkSlot
49414:01:03 DEBUG StateMachineConfigurator: Mapping for state: de.unibi.citec.clf.bonsai.skills.objectPerception.SelectObjectsForGrasping#grasp
49514:01:03 DEBUG StateMachineConfigurator: - TargetObjectsSlot : /GOO/TargetObjectsSlot
49614:01:03 DEBUG StateMachineConfigurator: - ObjectShapeListSlot : /GOO/ObjectShapeListSlot
49714:01:03 DEBUG StateMachineConfigurator: - GraspPatternSlot : /GraspPatternSlot
49814:01:03 DEBUG StateMachineConfigurator: Mapping for state: de.unibi.citec.clf.bonsai.skills.personPerception.SearchForPerson#shakehand
49914:01:03 DEBUG StateMachineConfigurator: - NavigationGoalDataSlot : /curPersonGoal
50014:01:03 DEBUG StateMachineConfigurator: - PersonDataSlot : /curPerson
50114:01:03 DEBUG StateMachineConfigurator: Mapping for state: de.unibi.citec.clf.bonsai.skills.arm.PlanToPose#preHandover#grasp
50214:01:03 DEBUG StateMachineConfigurator: - GroupSlot : /GroupSlot
50314:01:03 DEBUG StateMachineConfigurator: Mapping for state: de.unibi.citec.clf.bonsai.skills.dialog.WaitForNonterminals#drink
50414:01:03 DEBUG StateMachineConfigurator: - StringSlot : /DrinkSlot
50514:01:03 DEBUG StateMachineConfigurator: Mapping for state: de.unibi.citec.clf.bonsai.skills.objectPerception.RecognizeObjects#grasp
50614:01:03 DEBUG StateMachineConfigurator: - ImageNameSlot : /GOO/ImageNameSlot
50714:01:03 DEBUG StateMachineConfigurator: - ObjectShapeListSlot : /GOO/ObjectShapeListSlot
50814:01:03 DEBUG StateMachineConfigurator: Mapping for state: de.unibi.citec.clf.bonsai.skills.arm.grasping.GraspObjects#grasp
50914:01:03 DEBUG StateMachineConfigurator: - GroupSlot : /GroupSlot
51014:01:03 DEBUG StateMachineConfigurator: - TargetObjectsSlot : /GOO/TargetObjectsSlot
51114:01:03 DEBUG StateMachineConfigurator: - GraspObjectSlot : /GraspObjectSlot
51214:01:03 DEBUG StateMachineConfigurator: - ObjectShapeListSlot : /GOO/ObjectShapeListSlot
51314:01:03 DEBUG StateMachineConfigurator: Mapping for state: de.unibi.citec.clf.bonsai.skills.arm.PlanToPose#preGrasp#grasp
51414:01:03 DEBUG StateMachineConfigurator: - GroupSlot : /GroupSlot
51514:01:03 DEBUG StateMachineConfigurator: ################################
51614:01:03 DEBUG StateMachineConfigurator: configuring state: de.unibi.citec.clf.bonsai.skills.dialog.Talk#success#grasp
51714:01:03 DEBUG StateMachineConfigurator: created class object: class de.unibi.citec.clf.bonsai.skills.dialog.Talk
51814:01:03 DEBUG StateMachineConfigurator: using settings:
51914:01:03 DEBUG StateMachineConfigurator: -#_BLOCKING=false
52014:01:03 DEBUG StateMachineConfigurator: -#_MESSAGE=Nice! Got it.
52114:01:03 DEBUG SkillConfigurator: request value #_MESSAGE
52214:01:03 DEBUG SkillConfigurator: .. using config value Nice! Got it.
52314:01:03 DEBUG SkillConfigurator: request bool #_BLOCKING default:true
52414:01:03 DEBUG SkillConfigurator: .. using config value false
52514:01:03 DEBUG SkillConfigurator: Requested actuator "SpeechActuator" of type "interface de.unibi.citec.clf.bonsai.actuators.SpeechActuator"
52614:01:03 DEBUG StateMachineConfigurator: Created actuator "SpeechActuator" for state de.unibi.citec.clf.bonsai.skills.dialog.Talk#success#grasp
52714:01:03 DEBUG StateMachineConfigurator: configuring state: de.unibi.citec.clf.bonsai.skills.dialog.ConfirmYesOrNo#drink
52814:01:03 DEBUG StateMachineConfigurator: created class object: class de.unibi.citec.clf.bonsai.skills.dialog.ConfirmYesOrNo
52914:01:03 DEBUG StateMachineConfigurator: using settings:
53014:01:03 DEBUG StateMachineConfigurator: -#_USESIMPLE=true
53114:01:03 DEBUG SkillConfigurator: request INT #_TIMEOUT default:-1
53214:01:03 DEBUG SkillConfigurator: .. using config value -1
53314:01:03 DEBUG SkillConfigurator: request bool #_USESIMPLE default:true
53414:01:03 DEBUG SkillConfigurator: .. using config value true
53514:01:03 DEBUG SkillConfigurator: request INT #_REPEAT_AFTER default:5000
53614:01:03 DEBUG SkillConfigurator: .. using config value 5000
53714:01:03 DEBUG SkillConfigurator: request INT #_REPEATS default:1
53814:01:03 DEBUG SkillConfigurator: .. using config value 1
53914:01:03 DEBUG SkillConfigurator: request value #_MESSAGE default:Was that correct?
54014:01:03 DEBUG SkillConfigurator: .. using config value Was that correct?
54114:01:03 DEBUG SkillConfigurator: request value #_NONTERMINAL_NO default:confirm_no
54214:01:03 DEBUG SkillConfigurator: .. using config value confirm_no
54314:01:03 DEBUG SkillConfigurator: request value #_NONTERMINAL_YES default:confirm_yes
54414:01:03 DEBUG SkillConfigurator: .. using config value confirm_yes
54514:01:03 DEBUG SkillConfigurator: request value #_SPEECH_SENSOR default:SpeechSensorConfirm
54614:01:03 DEBUG SkillConfigurator: .. using config value SpeechSensorConfirm
54714:01:03 DEBUG SkillConfigurator: Requested sensor "SpeechSensorConfirm" with data type "class de.unibi.citec.clf.btl.data.speechrec.Utterance"
54814:01:03 DEBUG SkillConfigurator: Requested actuator "SpeechActuator" of type "interface de.unibi.citec.clf.bonsai.actuators.SpeechActuator"
54914:01:03 DEBUG StateMachineConfigurator: Created actuator "SpeechActuator" for state de.unibi.citec.clf.bonsai.skills.dialog.ConfirmYesOrNo#drink
55014:01:03 DEBUG StateMachineConfigurator: Request sensor "SpeechSensorConfirm" for state de.unibi.citec.clf.bonsai.skills.dialog.ConfirmYesOrNo#drink
55114:01:03 DEBUG StateMachineConfigurator: ... is not a simple state.
55214:01:03 DEBUG StateMachineConfigurator: configuring state: de.unibi.citec.clf.bonsai.skills.dialog.Talk#errorNoDesiredFound#grasp
55314:01:03 DEBUG StateMachineConfigurator: created class object: class de.unibi.citec.clf.bonsai.skills.dialog.Talk
55414:01:03 DEBUG StateMachineConfigurator: using settings:
55514:01:03 DEBUG StateMachineConfigurator: -#_BLOCKING=false
55614:01:03 DEBUG StateMachineConfigurator: -#_MESSAGE=really messy here, you should get a cleaning robot.
55714:01:03 DEBUG SkillConfigurator: request value #_MESSAGE
55814:01:03 DEBUG SkillConfigurator: .. using config value really messy here, you should get a cleaning robot.
55914:01:03 DEBUG SkillConfigurator: request bool #_BLOCKING default:true
56014:01:03 DEBUG SkillConfigurator: .. using config value false
56114:01:03 DEBUG SkillConfigurator: Requested actuator "SpeechActuator" of type "interface de.unibi.citec.clf.bonsai.actuators.SpeechActuator"
56214:01:03 DEBUG StateMachineConfigurator: Created actuator "SpeechActuator" for state de.unibi.citec.clf.bonsai.skills.dialog.Talk#errorNoDesiredFound#grasp
56314:01:03 DEBUG StateMachineConfigurator: configuring state: de.unibi.citec.clf.bonsai.skills.dialog.WaitForNonterminals#arm
56414:01:03 DEBUG StateMachineConfigurator: created class object: class de.unibi.citec.clf.bonsai.skills.dialog.WaitForNonterminals
56514:01:03 DEBUG StateMachineConfigurator: using settings:
56614:01:03 DEBUG StateMachineConfigurator: -#_SENSOR=SpeechSensorArm
56714:01:03 DEBUG StateMachineConfigurator: -#_NONTERMINALS=arm
56814:01:03 DEBUG SkillConfigurator: request value #_NONTERMINALS
56914:01:03 DEBUG SkillConfigurator: .. using config value arm
57014:01:03 DEBUG SkillConfigurator: request value #_SENSOR default:SpeechSensor
57114:01:03 DEBUG SkillConfigurator: .. using config value SpeechSensorArm
57214:01:03 DEBUG SkillConfigurator: request INT #_TIMEOUT default:-1
57314:01:03 DEBUG SkillConfigurator: .. using config value -1
57414:01:03 DEBUG SkillConfigurator: Requested sensor "SpeechSensorArm" with data type "class de.unibi.citec.clf.btl.data.speechrec.Utterance"
57514:01:03 DEBUG SkillConfigurator: Requested slot "StringSlot" of type "String"
57614:01:03 DEBUG StateMachineConfigurator: Request sensor "SpeechSensorArm" for state de.unibi.citec.clf.bonsai.skills.dialog.WaitForNonterminals#arm
57714:01:03 DEBUG StateMachineConfigurator: configuring state: de.unibi.citec.clf.bonsai.skills.deprecated.body.MoveHead#handover#grasp
57814:01:03 DEBUG StateMachineConfigurator: created class object: class de.unibi.citec.clf.bonsai.skills.deprecated.body.MoveHead
57914:01:03 DEBUG StateMachineConfigurator: using settings:
58014:01:03 DEBUG StateMachineConfigurator: -#_J1=0.01
58114:01:03 DEBUG StateMachineConfigurator: -#_J0=0.03
58214:01:03 DEBUG SkillConfigurator: Requested actuator "MekaJointActuator" of type "interface de.unibi.citec.clf.bonsai.actuators.JointControllerActuator"
58314:01:03 DEBUG SkillConfigurator: request double #_J0 default:NaN
58414:01:03 DEBUG SkillConfigurator: .. using config value 0.03
58514:01:03 DEBUG SkillConfigurator: request double #_J1 default:NaN
58614:01:03 DEBUG SkillConfigurator: .. using config value 0.01
58714:01:03 DEBUG SkillConfigurator: request INT #_TIMEOUT default:5000
58814:01:03 DEBUG SkillConfigurator: .. using config value 5000
58914:01:03 DEBUG StateMachineConfigurator: Created actuator "MekaJointActuator" for state de.unibi.citec.clf.bonsai.skills.deprecated.body.MoveHead#handover#grasp
59014:01:03 DEBUG StateMachineConfigurator: configuring state: de.unibi.citec.clf.bonsai.skills.dialog.Talk#guide
59114:01:03 DEBUG StateMachineConfigurator: created class object: class de.unibi.citec.clf.bonsai.skills.dialog.Talk
59214:01:03 DEBUG StateMachineConfigurator: using settings:
59314:01:03 DEBUG StateMachineConfigurator: -#_BLOCKING=false
59414:01:03 DEBUG StateMachineConfigurator: -#_MESSAGE=please, guide me to the table. I show you my grasping skills.
59514:01:03 DEBUG SkillConfigurator: request value #_MESSAGE
59614:01:03 DEBUG SkillConfigurator: .. using config value please, guide me to the table. I show you my grasping skills.
59714:01:03 DEBUG SkillConfigurator: request bool #_BLOCKING default:true
59814:01:03 DEBUG SkillConfigurator: .. using config value false
59914:01:03 DEBUG SkillConfigurator: Requested actuator "SpeechActuator" of type "interface de.unibi.citec.clf.bonsai.actuators.SpeechActuator"
60014:01:03 DEBUG StateMachineConfigurator: Created actuator "SpeechActuator" for state de.unibi.citec.clf.bonsai.skills.dialog.Talk#guide
60114:01:03 DEBUG StateMachineConfigurator: configuring state: de.unibi.citec.clf.bonsai.skills.arm.PlanToPose#preHandover#grasp
60214:01:03 DEBUG StateMachineConfigurator: created class object: class de.unibi.citec.clf.bonsai.skills.arm.PlanToPose
60314:01:03 DEBUG StateMachineConfigurator: using settings:
60414:01:03 DEBUG StateMachineConfigurator: -#_POSE=pre_handover
60514:01:03 DEBUG StateMachineConfigurator: -#_CHOOSE_GROUP=true
60614:01:03 DEBUG SkillConfigurator: Requested actuator "PoseActuatorTobi" of type "interface de.unibi.citec.clf.bonsai.actuators.PicknPlaceActuator"
60714:01:03 DEBUG SkillConfigurator: request value #_POSE
60814:01:03 DEBUG SkillConfigurator: .. using config value pre_handover
60914:01:03 DEBUG SkillConfigurator: request bool #_CHOOSE_GROUP default:false
61014:01:03 DEBUG SkillConfigurator: .. using config value true
61114:01:03 DEBUG SkillConfigurator: Requested slot "GroupSlot" of type "String"
61214:01:03 INFO PlanToPose: using group slot!
61314:01:03 DEBUG StateMachineConfigurator: Created actuator "PoseActuatorTobi" for state de.unibi.citec.clf.bonsai.skills.arm.PlanToPose#preHandover#grasp
61414:01:03 DEBUG StateMachineConfigurator: configuring state: de.unibi.citec.clf.bonsai.skills.dialog.Talk#fatal#grasp
61514:01:03 DEBUG StateMachineConfigurator: created class object: class de.unibi.citec.clf.bonsai.skills.dialog.Talk
61614:01:03 DEBUG StateMachineConfigurator: using settings:
61714:01:03 DEBUG StateMachineConfigurator: -#_MESSAGE=Whoopsy
61814:01:03 DEBUG SkillConfigurator: request value #_MESSAGE
61914:01:03 DEBUG SkillConfigurator: .. using config value Whoopsy
62014:01:03 DEBUG SkillConfigurator: request bool #_BLOCKING default:true
62114:01:03 DEBUG SkillConfigurator: .. using config value true
62214:01:03 DEBUG SkillConfigurator: Requested actuator "SpeechActuator" of type "interface de.unibi.citec.clf.bonsai.actuators.SpeechActuator"
62314:01:03 DEBUG StateMachineConfigurator: Created actuator "SpeechActuator" for state de.unibi.citec.clf.bonsai.skills.dialog.Talk#fatal#grasp
62414:01:03 DEBUG StateMachineConfigurator: configuring state: de.unibi.citec.clf.bonsai.skills.dialog.Talk#welcoming#shakehand
62514:01:03 DEBUG StateMachineConfigurator: created class object: class de.unibi.citec.clf.bonsai.skills.dialog.Talk
62614:01:03 DEBUG StateMachineConfigurator: using settings:
62714:01:03 DEBUG StateMachineConfigurator: -#_BLOCKING=false
62814:01:03 DEBUG StateMachineConfigurator: -#_MESSAGE=welcome to the cognitive service robotics apartment.
62914:01:03 DEBUG SkillConfigurator: request value #_MESSAGE
63014:01:03 DEBUG SkillConfigurator: .. using config value welcome to the cognitive service robotics apartment.
63114:01:03 DEBUG SkillConfigurator: request bool #_BLOCKING default:true
63214:01:03 DEBUG SkillConfigurator: .. using config value false
63314:01:03 DEBUG SkillConfigurator: Requested actuator "SpeechActuator" of type "interface de.unibi.citec.clf.bonsai.actuators.SpeechActuator"
63414:01:03 DEBUG StateMachineConfigurator: Created actuator "SpeechActuator" for state de.unibi.citec.clf.bonsai.skills.dialog.Talk#welcoming#shakehand
63514:01:03 DEBUG StateMachineConfigurator: ... is not a simple state.
63614:01:03 DEBUG StateMachineConfigurator: configuring state: de.unibi.citec.clf.bonsai.skills.objectPerception.SelectObjectsForGrasping#grasp
63714:01:03 DEBUG StateMachineConfigurator: created class object: class de.unibi.citec.clf.bonsai.skills.objectPerception.SelectObjectsForGrasping
63814:01:03 DEBUG StateMachineConfigurator: using settings:
63914:01:03 DEBUG StateMachineConfigurator: -#_USE_BEST_LABEL_ONLY=true
64014:01:03 DEBUG SkillConfigurator: Requested slot "ObjectShapeListSlot" of type "ObjectShapeList"
64114:01:03 DEBUG SkillConfigurator: Requested slot "TargetObjectsSlot" of type "ObjectShapeList"
64214:01:03 DEBUG SkillConfigurator: request bool #_BY_PLANE default:false
64314:01:03 DEBUG SkillConfigurator: .. using config value false
64414:01:03 DEBUG SkillConfigurator: request bool #_BY_POSITION default:false
64514:01:03 DEBUG SkillConfigurator: .. using config value false
64614:01:03 DEBUG SkillConfigurator: request bool #_USE_BEST_LABEL_ONLY default:true
64714:01:03 DEBUG SkillConfigurator: .. using config value true
64814:01:03 DEBUG SkillConfigurator: request double #_MIN_REL default:-1.0
64914:01:03 DEBUG SkillConfigurator: .. using config value -1.0
65014:01:03 DEBUG SkillConfigurator: request value #_LABELS default:
65114:01:03 DEBUG SkillConfigurator: .. using config value
65214:01:03 DEBUG SkillConfigurator: Requested slot "GraspPatternSlot" of type "String"
65314:01:03 DEBUG StateMachineConfigurator: configuring state: de.unibi.citec.clf.bonsai.skills.Wait#handover
65414:01:03 DEBUG StateMachineConfigurator: created class object: class de.unibi.citec.clf.bonsai.skills.Wait
65514:01:03 DEBUG StateMachineConfigurator: using settings:
65614:01:03 DEBUG StateMachineConfigurator: -#_TIMEOUT=1000
65714:01:03 DEBUG SkillConfigurator: request INT #_TIMEOUT
65814:01:03 DEBUG SkillConfigurator: .. using config value 1000
65914:01:03 DEBUG StateMachineConfigurator: configuring state: de.unibi.citec.clf.bonsai.skills.dialog.Talk#handover
66014:01:03 DEBUG StateMachineConfigurator: created class object: class de.unibi.citec.clf.bonsai.skills.dialog.Talk
66114:01:03 DEBUG StateMachineConfigurator: using settings:
66214:01:03 DEBUG StateMachineConfigurator: -#_MESSAGE=here is your object
66314:01:03 DEBUG SkillConfigurator: request value #_MESSAGE
66414:01:03 DEBUG SkillConfigurator: .. using config value here is your object
66514:01:03 DEBUG SkillConfigurator: request bool #_BLOCKING default:true
66614:01:03 DEBUG SkillConfigurator: .. using config value true
66714:01:03 DEBUG SkillConfigurator: Requested actuator "SpeechActuator" of type "interface de.unibi.citec.clf.bonsai.actuators.SpeechActuator"
66814:01:03 DEBUG StateMachineConfigurator: Created actuator "SpeechActuator" for state de.unibi.citec.clf.bonsai.skills.dialog.Talk#handover
66914:01:03 DEBUG StateMachineConfigurator: ... is not a simple state.
67014:01:03 DEBUG StateMachineConfigurator: ... is not a simple state.
67114:01:03 DEBUG StateMachineConfigurator: configuring state: de.unibi.citec.clf.bonsai.skills.dialog.Talk#noObj#grasp
67214:01:03 DEBUG StateMachineConfigurator: created class object: class de.unibi.citec.clf.bonsai.skills.dialog.Talk
67314:01:03 DEBUG StateMachineConfigurator: using settings:
67414:01:03 DEBUG StateMachineConfigurator: -#_BLOCKING=false
67514:01:03 DEBUG StateMachineConfigurator: -#_MESSAGE=i see no object, i try it again.
67614:01:03 DEBUG SkillConfigurator: request value #_MESSAGE
67714:01:03 DEBUG SkillConfigurator: .. using config value i see no object, i try it again.
67814:01:03 DEBUG SkillConfigurator: request bool #_BLOCKING default:true
67914:01:03 DEBUG SkillConfigurator: .. using config value false
68014:01:03 DEBUG SkillConfigurator: Requested actuator "SpeechActuator" of type "interface de.unibi.citec.clf.bonsai.actuators.SpeechActuator"
68114:01:03 DEBUG StateMachineConfigurator: Created actuator "SpeechActuator" for state de.unibi.citec.clf.bonsai.skills.dialog.Talk#noObj#grasp
68214:01:03 DEBUG StateMachineConfigurator: configuring state: de.unibi.citec.clf.bonsai.skills.dialog.Talk#rec#grasp
68314:01:03 DEBUG StateMachineConfigurator: created class object: class de.unibi.citec.clf.bonsai.skills.dialog.Talk
68414:01:03 DEBUG StateMachineConfigurator: using settings:
68514:01:03 DEBUG StateMachineConfigurator: -#_BLOCKING=false
68614:01:03 DEBUG StateMachineConfigurator: -#_MESSAGE=Lets have a look.
68714:01:03 DEBUG SkillConfigurator: request value #_MESSAGE
68814:01:03 DEBUG SkillConfigurator: .. using config value Lets have a look.
68914:01:03 DEBUG SkillConfigurator: request bool #_BLOCKING default:true
69014:01:03 DEBUG SkillConfigurator: .. using config value false
69114:01:03 DEBUG SkillConfigurator: Requested actuator "SpeechActuator" of type "interface de.unibi.citec.clf.bonsai.actuators.SpeechActuator"
69214:01:03 DEBUG StateMachineConfigurator: Created actuator "SpeechActuator" for state de.unibi.citec.clf.bonsai.skills.dialog.Talk#rec#grasp
69314:01:03 DEBUG StateMachineConfigurator: ... is not a simple state.
69414:01:03 DEBUG StateMachineConfigurator: configuring state: de.unibi.citec.clf.bonsai.skills.dialog.Talk#cantGrasp#grasp
69514:01:03 DEBUG StateMachineConfigurator: created class object: class de.unibi.citec.clf.bonsai.skills.dialog.Talk
69614:01:03 DEBUG StateMachineConfigurator: using settings:
69714:01:03 DEBUG StateMachineConfigurator: -#_BLOCKING=false
69814:01:03 DEBUG StateMachineConfigurator: -#_MESSAGE=I will grasp that another time.
69914:01:03 DEBUG SkillConfigurator: request value #_MESSAGE
70014:01:03 DEBUG SkillConfigurator: .. using config value I will grasp that another time.
70114:01:03 DEBUG SkillConfigurator: request bool #_BLOCKING default:true
70214:01:03 DEBUG SkillConfigurator: .. using config value false
70314:01:03 DEBUG SkillConfigurator: Requested actuator "SpeechActuator" of type "interface de.unibi.citec.clf.bonsai.actuators.SpeechActuator"
70414:01:03 DEBUG StateMachineConfigurator: Created actuator "SpeechActuator" for state de.unibi.citec.clf.bonsai.skills.dialog.Talk#cantGrasp#grasp
70514:01:03 DEBUG StateMachineConfigurator: ... is instance of parallel.
70614:01:03 DEBUG StateMachineConfigurator: configuring state: de.unibi.citec.clf.bonsai.skills.personPerception.SearchForPerson#shakehand
70714:01:03 DEBUG StateMachineConfigurator: created class object: class de.unibi.citec.clf.bonsai.skills.personPerception.SearchForPerson
70814:01:03 DEBUG StateMachineConfigurator: using settings:
70914:01:03 DEBUG StateMachineConfigurator: -#_TIMEOUT=10000
71014:01:03 DEBUG SkillConfigurator: request double #_MAX_DIST default:1.7976931348623157E308
71114:01:03 DEBUG SkillConfigurator: .. using config value 1.7976931348623157E308
71214:01:03 DEBUG SkillConfigurator: request double #_MAX_ANGLE default:1.7976931348623157E308
71314:01:03 DEBUG SkillConfigurator: .. using config value 1.7976931348623157E308
71414:01:03 DEBUG SkillConfigurator: request INT #_TIMEOUT default:-1
71514:01:03 DEBUG SkillConfigurator: .. using config value 10000
71614:01:03 DEBUG SkillConfigurator: request value #_GESTURE default:0
71714:01:03 DEBUG SkillConfigurator: .. using config value 0
71814:01:03 WARN SearchForPerson: Gesture 0 not defined.
71914:01:03 DEBUG SkillConfigurator: request value #_POSTURE default:0
72014:01:03 DEBUG SkillConfigurator: .. using config value 0
72114:01:03 WARN SearchForPerson: Posture 0 not defined.
72214:01:03 DEBUG SkillConfigurator: request value #_GENDER default:none
72314:01:03 DEBUG SkillConfigurator: .. using config value none
72414:01:03 DEBUG SkillConfigurator: request INT #_AGE_FROM default:-2147483648
72514:01:03 DEBUG SkillConfigurator: .. using config value -2147483648
72614:01:03 DEBUG SkillConfigurator: request INT #_AGE_TO default:2147483647
72714:01:03 DEBUG SkillConfigurator: .. using config value 2147483647
72814:01:03 DEBUG SkillConfigurator: request double #_STOP_DISTANCE default:800.0
72914:01:03 DEBUG SkillConfigurator: .. using config value 800.0
73014:01:03 DEBUG SkillConfigurator: Requested slot "NavigationGoalDataSlot" of type "NavigationGoalData"
73114:01:03 DEBUG SkillConfigurator: Requested slot "PersonDataSlot" of type "PersonData"
73214:01:03 DEBUG SkillConfigurator: Requested sensor "PositionSensor" with data type "class de.unibi.citec.clf.btl.data.navigation.PositionData"
73314:01:03 DEBUG SkillConfigurator: Requested sensor "PersonSensor" with data type "class de.unibi.citec.clf.btl.data.person.PersonDataList"
73414:01:03 DEBUG StateMachineConfigurator: Request sensor "PositionSensor" for state de.unibi.citec.clf.bonsai.skills.personPerception.SearchForPerson#shakehand
73514:01:03 DEBUG StateMachineConfigurator: Request sensor "PersonSensor" for state de.unibi.citec.clf.bonsai.skills.personPerception.SearchForPerson#shakehand
73614:01:03 DEBUG StateMachineConfigurator: configuring state: de.unibi.citec.clf.bonsai.skills.dialog.WaitForNonterminals#drink
73714:01:03 DEBUG StateMachineConfigurator: created class object: class de.unibi.citec.clf.bonsai.skills.dialog.WaitForNonterminals
73814:01:03 DEBUG StateMachineConfigurator: using settings:
73914:01:03 DEBUG StateMachineConfigurator: -#_SENSOR=SpeechSensorObject
74014:01:03 DEBUG StateMachineConfigurator: -#_NONTERMINALS=obj
74114:01:03 DEBUG SkillConfigurator: request value #_NONTERMINALS
74214:01:03 DEBUG SkillConfigurator: .. using config value obj
74314:01:03 DEBUG SkillConfigurator: request value #_SENSOR default:SpeechSensor
74414:01:03 DEBUG SkillConfigurator: .. using config value SpeechSensorObject
74514:01:03 DEBUG SkillConfigurator: request INT #_TIMEOUT default:-1
74614:01:03 DEBUG SkillConfigurator: .. using config value -1
74714:01:03 DEBUG SkillConfigurator: Requested sensor "SpeechSensorObject" with data type "class de.unibi.citec.clf.btl.data.speechrec.Utterance"
74814:01:03 DEBUG SkillConfigurator: Requested slot "StringSlot" of type "String"
74914:01:03 DEBUG StateMachineConfigurator: Request sensor "SpeechSensorObject" for state de.unibi.citec.clf.bonsai.skills.dialog.WaitForNonterminals#drink
75014:01:03 DEBUG StateMachineConfigurator: configuring state: de.unibi.citec.clf.bonsai.skills.body.Guiding
75114:01:03 DEBUG StateMachineConfigurator: created class object: class de.unibi.citec.clf.bonsai.skills.body.Guiding
75214:01:03 DEBUG StateMachineConfigurator: using settings:
75314:01:03 DEBUG SkillConfigurator: Requested actuator "Guiding" of type "interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator"
75414:01:03 DEBUG StateMachineConfigurator: Created actuator "Guiding" for state de.unibi.citec.clf.bonsai.skills.body.Guiding
75514:01:03 DEBUG StateMachineConfigurator: configuring state: de.unibi.citec.clf.bonsai.skills.nav.StoreCurrentPosition#grasp
75614:01:03 DEBUG StateMachineConfigurator: created class object: class de.unibi.citec.clf.bonsai.skills.nav.StoreCurrentPosition
75714:01:03 DEBUG StateMachineConfigurator: using settings:
75814:01:03 DEBUG SkillConfigurator: Requested slot "PositionDataSlot" of type "PositionData"
75914:01:03 DEBUG SkillConfigurator: Requested sensor "PositionSensor" with data type "class de.unibi.citec.clf.btl.data.navigation.PositionData"
76014:01:03 DEBUG StateMachineConfigurator: Request sensor "PositionSensor" for state de.unibi.citec.clf.bonsai.skills.nav.StoreCurrentPosition#grasp
76114:01:03 DEBUG StateMachineConfigurator: configuring state: de.unibi.citec.clf.bonsai.skills.dialog.Talk#arm
76214:01:03 DEBUG StateMachineConfigurator: created class object: class de.unibi.citec.clf.bonsai.skills.dialog.Talk
76314:01:03 DEBUG StateMachineConfigurator: using settings:
76414:01:03 DEBUG StateMachineConfigurator: -#_MESSAGE=which arm shall i use for grasping?
76514:01:03 DEBUG SkillConfigurator: request value #_MESSAGE
76614:01:03 DEBUG SkillConfigurator: .. using config value which arm shall i use for grasping?
76714:01:03 DEBUG SkillConfigurator: request bool #_BLOCKING default:true
76814:01:03 DEBUG SkillConfigurator: .. using config value true
76914:01:03 DEBUG SkillConfigurator: Requested actuator "SpeechActuator" of type "interface de.unibi.citec.clf.bonsai.actuators.SpeechActuator"
77014:01:03 DEBUG StateMachineConfigurator: Created actuator "SpeechActuator" for state de.unibi.citec.clf.bonsai.skills.dialog.Talk#arm
77114:01:03 DEBUG StateMachineConfigurator: configuring state: de.unibi.citec.clf.bonsai.skills.objectPerception.RecognizeObjects#grasp
77214:01:03 DEBUG StateMachineConfigurator: created class object: class de.unibi.citec.clf.bonsai.skills.objectPerception.RecognizeObjects
77314:01:03 DEBUG StateMachineConfigurator: using settings:
77414:01:03 DEBUG SkillConfigurator: Requested slot "ObjectShapeListSlot" of type "ObjectShapeList"
77514:01:03 DEBUG SkillConfigurator: Requested actuator "RecognizeObjectsActuator" of type "interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator"
77614:01:03 DEBUG StateMachineConfigurator: Created actuator "RecognizeObjectsActuator" for state de.unibi.citec.clf.bonsai.skills.objectPerception.RecognizeObjects#grasp
77714:01:03 DEBUG StateMachineConfigurator: configuring state: de.unibi.citec.clf.bonsai.skills.Wait#find#grasp
77814:01:03 DEBUG StateMachineConfigurator: created class object: class de.unibi.citec.clf.bonsai.skills.Wait
77914:01:03 DEBUG StateMachineConfigurator: using settings:
78014:01:03 DEBUG StateMachineConfigurator: -#_TIMEOUT=1000
78114:01:03 DEBUG SkillConfigurator: request INT #_TIMEOUT
78214:01:03 DEBUG SkillConfigurator: .. using config value 1000
78314:01:03 DEBUG StateMachineConfigurator: configuring state: de.unibi.citec.clf.bonsai.skills.objectPerception.FitObjectPrimitives#grasp
78414:01:03 DEBUG StateMachineConfigurator: created class object: class de.unibi.citec.clf.bonsai.skills.objectPerception.FitObjectPrimitives
78514:01:03 DEBUG StateMachineConfigurator: using settings:
78614:01:03 DEBUG SkillConfigurator: Requested actuator "PlanningSceneManager" of type "interface de.unibi.citec.clf.bonsai.actuators.PlanningSceneActuator"
78714:01:03 DEBUG StateMachineConfigurator: Created actuator "PlanningSceneManager" for state de.unibi.citec.clf.bonsai.skills.objectPerception.FitObjectPrimitives#grasp
78814:01:03 DEBUG StateMachineConfigurator: configuring state: de.unibi.citec.clf.bonsai.skills.arm.HandOver
78914:01:03 DEBUG StateMachineConfigurator: created class object: class de.unibi.citec.clf.bonsai.skills.arm.HandOver
79014:01:03 DEBUG StateMachineConfigurator: using settings:
79114:01:03 DEBUG StateMachineConfigurator: -#_CHOOSE_GROUP=true
79214:01:03 DEBUG SkillConfigurator: Requested actuator "HandOver" of type "interface de.unibi.citec.clf.bonsai.actuators.HandOverActuator"
79314:01:03 DEBUG SkillConfigurator: request bool #_CHOOSE_GROUP default:false
79414:01:03 DEBUG SkillConfigurator: .. using config value true
79514:01:03 DEBUG SkillConfigurator: request INT #_TYPE default:1
79614:01:03 DEBUG SkillConfigurator: .. using config value 1
79714:01:03 DEBUG SkillConfigurator: Requested slot "GroupSlot" of type "String"
79814:01:03 INFO HandOver: using group slot!
79914:01:03 DEBUG StateMachineConfigurator: Created actuator "HandOver" for state de.unibi.citec.clf.bonsai.skills.arm.HandOver
80014:01:03 DEBUG StateMachineConfigurator: configuring state: de.unibi.citec.clf.bonsai.skills.dialog.Talk#errorNoObjectsFound#grasp
80114:01:03 DEBUG StateMachineConfigurator: created class object: class de.unibi.citec.clf.bonsai.skills.dialog.Talk
80214:01:03 DEBUG StateMachineConfigurator: using settings:
80314:01:03 DEBUG StateMachineConfigurator: -#_BLOCKING=false
80414:01:03 DEBUG StateMachineConfigurator: -#_MESSAGE=I shall search other locations.
80514:01:03 DEBUG SkillConfigurator: request value #_MESSAGE
80614:01:03 DEBUG SkillConfigurator: .. using config value I shall search other locations.
80714:01:03 DEBUG SkillConfigurator: request bool #_BLOCKING default:true
80814:01:03 DEBUG SkillConfigurator: .. using config value false
80914:01:03 DEBUG SkillConfigurator: Requested actuator "SpeechActuator" of type "interface de.unibi.citec.clf.bonsai.actuators.SpeechActuator"
81014:01:03 DEBUG StateMachineConfigurator: Created actuator "SpeechActuator" for state de.unibi.citec.clf.bonsai.skills.dialog.Talk#errorNoObjectsFound#grasp
81114:01:03 DEBUG StateMachineConfigurator: configuring state: de.unibi.citec.clf.bonsai.skills.arm.grasping.GraspObjects#grasp
81214:01:03 DEBUG StateMachineConfigurator: created class object: class de.unibi.citec.clf.bonsai.skills.arm.grasping.GraspObjects
81314:01:03 DEBUG StateMachineConfigurator: using settings:
81414:01:03 DEBUG StateMachineConfigurator: -#_CHOOSE_GROUP=true
81514:01:03 DEBUG StateMachineConfigurator: -#_TRY_ALL=true
81614:01:03 DEBUG SkillConfigurator: Requested actuator "PoseActuatorTobi" of type "interface de.unibi.citec.clf.bonsai.actuators.PicknPlaceActuator"
81714:01:03 DEBUG SkillConfigurator: Requested slot "GraspObjectSlot" of type "ObjectShapeData"
81814:01:03 DEBUG SkillConfigurator: Requested slot "TargetObjectsSlot" of type "ObjectShapeList"
81914:01:03 DEBUG SkillConfigurator: Requested slot "ObjectShapeListSlot" of type "ObjectShapeList"
82014:01:03 DEBUG SkillConfigurator: request bool #_TRY_ALL default:false
82114:01:03 DEBUG SkillConfigurator: .. using config value true
82214:01:03 DEBUG SkillConfigurator: request bool #_CHOOSE_GROUP default:false
82314:01:03 DEBUG SkillConfigurator: .. using config value true
82414:01:03 DEBUG SkillConfigurator: Requested slot "GroupSlot" of type "String"
82514:01:03 INFO GraspObjects: using group slot!
82614:01:03 DEBUG StateMachineConfigurator: Created actuator "PoseActuatorTobi" for state de.unibi.citec.clf.bonsai.skills.arm.grasping.GraspObjects#grasp
82714:01:03 DEBUG StateMachineConfigurator: ... is not a simple state.
82814:01:03 DEBUG StateMachineConfigurator: configuring state: de.unibi.citec.clf.bonsai.skills.Wait#forever
82914:01:03 DEBUG StateMachineConfigurator: created class object: class de.unibi.citec.clf.bonsai.skills.Wait
83014:01:03 DEBUG StateMachineConfigurator: using settings:
83114:01:03 DEBUG StateMachineConfigurator: -#_TIMEOUT=3000
83214:01:03 DEBUG SkillConfigurator: request INT #_TIMEOUT
83314:01:03 DEBUG SkillConfigurator: .. using config value 3000
83414:01:03 DEBUG StateMachineConfigurator: configuring state: de.unibi.citec.clf.bonsai.skills.arm.ShakeHandAction#shakehand
83514:01:03 DEBUG StateMachineConfigurator: created class object: class de.unibi.citec.clf.bonsai.skills.arm.ShakeHandAction
83614:01:03 DEBUG StateMachineConfigurator: using settings:
83714:01:03 DEBUG SkillConfigurator: Requested actuator "HandShaker" of type "interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator"
83814:01:03 DEBUG StateMachineConfigurator: Created actuator "HandShaker" for state de.unibi.citec.clf.bonsai.skills.arm.ShakeHandAction#shakehand
83914:01:03 DEBUG StateMachineConfigurator: configuring state: de.unibi.citec.clf.bonsai.skills.deprecated.body.MoveHead#welcoming#shakehand
84014:01:03 DEBUG StateMachineConfigurator: created class object: class de.unibi.citec.clf.bonsai.skills.deprecated.body.MoveHead
84114:01:03 DEBUG StateMachineConfigurator: using settings:
84214:01:03 DEBUG StateMachineConfigurator: -#_J1=0.00
84314:01:03 DEBUG StateMachineConfigurator: -#_J0=0.00
84414:01:03 DEBUG SkillConfigurator: Requested actuator "MekaJointActuator" of type "interface de.unibi.citec.clf.bonsai.actuators.JointControllerActuator"
84514:01:03 DEBUG SkillConfigurator: request double #_J0 default:NaN
84614:01:03 DEBUG SkillConfigurator: .. using config value 0.00
84714:01:03 DEBUG SkillConfigurator: request double #_J1 default:NaN
84814:01:03 DEBUG SkillConfigurator: .. using config value 0.00
84914:01:03 DEBUG SkillConfigurator: request INT #_TIMEOUT default:5000
85014:01:03 DEBUG SkillConfigurator: .. using config value 5000
85114:01:03 DEBUG StateMachineConfigurator: Created actuator "MekaJointActuator" for state de.unibi.citec.clf.bonsai.skills.deprecated.body.MoveHead#welcoming#shakehand
85214:01:03 DEBUG StateMachineConfigurator: ... is not a simple state.
85314:01:03 DEBUG StateMachineConfigurator: ... is not a simple state.
85414:01:03 DEBUG StateMachineConfigurator: ... is not a simple state.
85514:01:03 DEBUG StateMachineConfigurator: configuring state: de.unibi.citec.clf.bonsai.skills.dialog.SaySlot#drink
85614:01:03 DEBUG StateMachineConfigurator: created class object: class de.unibi.citec.clf.bonsai.skills.dialog.SaySlot
85714:01:03 DEBUG StateMachineConfigurator: using settings:
85814:01:03 DEBUG StateMachineConfigurator: -#_MESSAGE=Shall i grasp the $S?
85914:01:03 DEBUG SkillConfigurator: request value #_MESSAGE default:$S
86014:01:03 DEBUG SkillConfigurator: .. using config value Shall i grasp the $S?
86114:01:03 DEBUG SkillConfigurator: request bool #_BLOCKING default:true
86214:01:03 DEBUG SkillConfigurator: .. using config value true
86314:01:03 DEBUG SkillConfigurator: Requested actuator "SpeechActuator" of type "interface de.unibi.citec.clf.bonsai.actuators.SpeechActuator"
86414:01:03 DEBUG SkillConfigurator: Requested slot "StringSlot" of type "String"
86514:01:03 DEBUG StateMachineConfigurator: Created actuator "SpeechActuator" for state de.unibi.citec.clf.bonsai.skills.dialog.SaySlot#drink
86614:01:03 DEBUG StateMachineConfigurator: ... is not a simple state.
86714:01:03 DEBUG StateMachineConfigurator: configuring state: de.unibi.citec.clf.bonsai.skills.End
86814:01:03 DEBUG StateMachineConfigurator: created class object: class de.unibi.citec.clf.bonsai.skills.End
86914:01:03 DEBUG StateMachineConfigurator: using settings:
87014:01:03 DEBUG StateMachineConfigurator: configuring state: de.unibi.citec.clf.bonsai.skills.arm.PlanToPose#preGrasp#grasp
87114:01:03 DEBUG StateMachineConfigurator: created class object: class de.unibi.citec.clf.bonsai.skills.arm.PlanToPose
87214:01:03 DEBUG StateMachineConfigurator: using settings:
87314:01:03 DEBUG StateMachineConfigurator: -#_POSE=pre_grasp
87414:01:03 DEBUG StateMachineConfigurator: -#_CHOOSE_GROUP=true
87514:01:03 DEBUG SkillConfigurator: Requested actuator "PoseActuatorTobi" of type "interface de.unibi.citec.clf.bonsai.actuators.PicknPlaceActuator"
87614:01:03 DEBUG SkillConfigurator: request value #_POSE
87714:01:03 DEBUG SkillConfigurator: .. using config value pre_grasp
87814:01:03 DEBUG SkillConfigurator: request bool #_CHOOSE_GROUP default:false
87914:01:03 DEBUG SkillConfigurator: .. using config value true
88014:01:03 DEBUG SkillConfigurator: Requested slot "GroupSlot" of type "String"
88114:01:03 INFO PlanToPose: using group slot!
88214:01:03 DEBUG StateMachineConfigurator: Created actuator "PoseActuatorTobi" for state de.unibi.citec.clf.bonsai.skills.arm.PlanToPose#preGrasp#grasp
88314:01:03 DEBUG StateMachineConfigurator: ... is instance of parallel.
88414:01:03 DEBUG StateMachineConfigurator: configuring state: de.unibi.citec.clf.bonsai.skills.deprecated.body.MoveHead#rec#grasp
88514:01:03 DEBUG StateMachineConfigurator: created class object: class de.unibi.citec.clf.bonsai.skills.deprecated.body.MoveHead
88614:01:03 DEBUG StateMachineConfigurator: using settings:
88714:01:03 DEBUG StateMachineConfigurator: -#_J1=0.00
88814:01:03 DEBUG StateMachineConfigurator: -#_J0=-0.60
88914:01:03 DEBUG SkillConfigurator: Requested actuator "MekaJointActuator" of type "interface de.unibi.citec.clf.bonsai.actuators.JointControllerActuator"
89014:01:03 DEBUG SkillConfigurator: request double #_J0 default:NaN
89114:01:03 DEBUG SkillConfigurator: .. using config value -0.60
89214:01:03 DEBUG SkillConfigurator: request double #_J1 default:NaN
89314:01:03 DEBUG SkillConfigurator: .. using config value 0.00
89414:01:03 DEBUG SkillConfigurator: request INT #_TIMEOUT default:5000
89514:01:03 DEBUG SkillConfigurator: .. using config value 5000
89614:01:03 DEBUG StateMachineConfigurator: Created actuator "MekaJointActuator" for state de.unibi.citec.clf.bonsai.skills.deprecated.body.MoveHead#rec#grasp
89714:01:03 DEBUG StateMachineConfigurator: ... is not a simple state.
89814:01:03 INFO StateMachineConfigurator: configured 46 skills with 0 errors
89914:01:03 DEBUG SCXMLValidator: Found TranistionTarget: dialog.Talk#success#grasp
90014:01:03 DEBUG SCXMLValidator: ... class exists.
90114:01:03 DEBUG SCXMLValidator: Found TranistionTarget: dialog.ConfirmYesOrNo#drink
90214:01:03 DEBUG SCXMLValidator: ... class exists.
90314:01:03 DEBUG SCXMLValidator: Found TranistionTarget: pickUpObjects#grasp
90414:01:03 DEBUG SCXMLValidator: ... is not a simple state.
90514:01:03 DEBUG SCXMLValidator: Found TranistionTarget: dialog.Talk#errorNoDesiredFound#grasp
90614:01:03 DEBUG SCXMLValidator: ... class exists.
90714:01:03 DEBUG SCXMLValidator: Found TranistionTarget: dialog.WaitForNonterminals#arm
90814:01:03 DEBUG SCXMLValidator: ... class exists.
90914:01:03 DEBUG SCXMLValidator: Found TranistionTarget: deprecated.body.MoveHead#handover#grasp
91014:01:03 DEBUG SCXMLValidator: ... class exists.
91114:01:03 DEBUG SCXMLValidator: Found TranistionTarget: dialog.Talk#guide
91214:01:03 DEBUG SCXMLValidator: ... class exists.
91314:01:03 DEBUG SCXMLValidator: Found TranistionTarget: arm.PlanToPose#preHandover#grasp
91414:01:03 DEBUG SCXMLValidator: ... class exists.
91514:01:03 DEBUG SCXMLValidator: Found TranistionTarget: dialog.Talk#fatal#grasp
91614:01:03 DEBUG SCXMLValidator: ... class exists.
91714:01:03 DEBUG SCXMLValidator: Found TranistionTarget: dialog.Talk#welcoming#shakehand
91814:01:03 DEBUG SCXMLValidator: ... class exists.
91914:01:03 DEBUG SCXMLValidator: Found TranistionTarget: grasp
92014:01:03 DEBUG SCXMLValidator: ... is not a simple state.
92114:01:03 DEBUG SCXMLValidator: Found TranistionTarget: objectPerception.SelectObjectsForGrasping#grasp
92214:01:03 DEBUG SCXMLValidator: ... class exists.
92314:01:03 DEBUG SCXMLValidator: Found TranistionTarget: Wait#handover
92414:01:03 DEBUG SCXMLValidator: ... class exists.
92514:01:03 DEBUG SCXMLValidator: Found TranistionTarget: dialog.Talk#handover
92614:01:03 DEBUG SCXMLValidator: ... class exists.
92714:01:03 DEBUG SCXMLValidator: Found TranistionTarget: handoverparallel
92814:01:03 DEBUG SCXMLValidator: ... is not a simple state.
92914:01:03 DEBUG SCXMLValidator: Found TranistionTarget: welcome
93014:01:03 DEBUG SCXMLValidator: ... is not a simple state.
93114:01:03 DEBUG SCXMLValidator: Found TranistionTarget: dialog.Talk#noObj#grasp
93214:01:03 DEBUG SCXMLValidator: ... class exists.
93314:01:03 DEBUG SCXMLValidator: Found TranistionTarget: dialog.Talk#rec#grasp
93414:01:03 DEBUG SCXMLValidator: ... class exists.
93514:01:03 DEBUG SCXMLValidator: Found TranistionTarget: guideRobot
93614:01:03 DEBUG SCXMLValidator: ... is not a simple state.
93714:01:03 DEBUG SCXMLValidator: Found TranistionTarget: dialog.Talk#cantGrasp#grasp
93814:01:03 DEBUG SCXMLValidator: ... class exists.
93914:01:03 DEBUG SCXMLValidator: Found TranistionTarget: handover
94014:01:03 DEBUG SCXMLValidator: ... is instance of parallel.
94114:01:03 DEBUG SCXMLValidator: Found TranistionTarget: personPerception.SearchForPerson#shakehand
94214:01:03 DEBUG SCXMLValidator: ... class exists.
94314:01:03 DEBUG SCXMLValidator: Found TranistionTarget: dialog.WaitForNonterminals#drink
94414:01:03 DEBUG SCXMLValidator: ... class exists.
94514:01:03 DEBUG SCXMLValidator: Found TranistionTarget: body.Guiding
94614:01:03 DEBUG SCXMLValidator: ... class exists.
94714:01:03 DEBUG SCXMLValidator: Found TranistionTarget: nav.StoreCurrentPosition#grasp
94814:01:03 DEBUG SCXMLValidator: ... class exists.
94914:01:03 DEBUG SCXMLValidator: Found TranistionTarget: dialog.Talk#arm
95014:01:03 DEBUG SCXMLValidator: ... class exists.
95114:01:03 DEBUG SCXMLValidator: Found TranistionTarget: objectPerception.RecognizeObjects#grasp
95214:01:03 DEBUG SCXMLValidator: ... class exists.
95314:01:03 DEBUG SCXMLValidator: Found TranistionTarget: Wait#find#grasp
95414:01:03 DEBUG SCXMLValidator: ... class exists.
95514:01:03 DEBUG SCXMLValidator: Found TranistionTarget: objectPerception.FitObjectPrimitives#grasp
95614:01:03 DEBUG SCXMLValidator: ... class exists.
95714:01:03 DEBUG SCXMLValidator: Found TranistionTarget: arm.HandOver
95814:01:03 DEBUG SCXMLValidator: ... class exists.
95914:01:03 DEBUG SCXMLValidator: Found TranistionTarget: dialog.Talk#errorNoObjectsFound#grasp
96014:01:03 DEBUG SCXMLValidator: ... class exists.
96114:01:03 DEBUG SCXMLValidator: Found TranistionTarget: arm.grasping.GraspObjects#grasp
96214:01:03 DEBUG SCXMLValidator: ... class exists.
96314:01:03 DEBUG SCXMLValidator: Found TranistionTarget: graspMachine#grasp
96414:01:03 DEBUG SCXMLValidator: ... is not a simple state.
96514:01:03 DEBUG SCXMLValidator: Found TranistionTarget: Wait#forever
96614:01:03 DEBUG SCXMLValidator: ... class exists.
96714:01:03 DEBUG SCXMLValidator: Found TranistionTarget: arm.ShakeHandAction#shakehand
96814:01:03 DEBUG SCXMLValidator: ... class exists.
96914:01:03 DEBUG SCXMLValidator: Found TranistionTarget: deprecated.body.MoveHead#welcoming#shakehand
97014:01:03 DEBUG SCXMLValidator: ... class exists.
97114:01:03 DEBUG SCXMLValidator: Found TranistionTarget: parallel2
97214:01:03 DEBUG SCXMLValidator: ... is not a simple state.
97314:01:03 DEBUG SCXMLValidator: Found TranistionTarget: recObjects#grasp
97414:01:03 DEBUG SCXMLValidator: ... is not a simple state.
97514:01:03 DEBUG SCXMLValidator: Found TranistionTarget: parallel1
97614:01:03 DEBUG SCXMLValidator: ... is not a simple state.
97714:01:03 DEBUG SCXMLValidator: Found TranistionTarget: dialog.SaySlot#drink
97814:01:03 DEBUG SCXMLValidator: ... class exists.
97914:01:03 DEBUG SCXMLValidator: Found TranistionTarget: changeRecAngle#grasp
98014:01:03 DEBUG SCXMLValidator: ... is not a simple state.
98114:01:03 DEBUG SCXMLValidator: Found TranistionTarget: End
98214:01:03 DEBUG SCXMLValidator: ... class exists.
98314:01:03 DEBUG SCXMLValidator: Found TranistionTarget: arm.PlanToPose#preGrasp#grasp
98414:01:03 DEBUG SCXMLValidator: ... class exists.
98514:01:03 DEBUG SCXMLValidator: Found TranistionTarget: guidingparallel
98614:01:03 DEBUG SCXMLValidator: ... is instance of parallel.
98714:01:03 DEBUG SCXMLValidator: Found TranistionTarget: deprecated.body.MoveHead#rec#grasp
98814:01:03 DEBUG SCXMLValidator: ... class exists.
98914:01:03 DEBUG SCXMLValidator: Found TranistionTarget: shakehand
99014:01:03 DEBUG SCXMLValidator: ... is not a simple state.
99114:01:03 DEBUG SCXMLValidator: Parsing and validation successful.
99214:01:03 INFO BonsaiManager: Parsing configuration file
99314:01:03 DEBUG XmlConfigurationParser: Parsed Config:
994<?xml version="1.0"?>
995<BonsaiConfiguration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="BonsaiConfiguration.xsd">
996
997 <FactoryOptions factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" />
998 <FactoryOptions factoryClass="de.unibi.citec.clf.bonsai.ros.RosFactory" />
999
1000 <CoordinateTransformer factoryClass="de.unibi.citec.clf.bonsai.ros.RosFactory" coordinateTransformerClass="de.unibi.citec.clf.bonsai.ros.TFTransformer" />
1001
1002
1003 <WorkingMemory key="WorkingMemory" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" workingMemoryClass="de.unibi.citec.clf.bonsai.rsb.RsbamWorkingMemory">
1004 <Options>
1005 <Option key="memoryName">Scene</Option>
1006 </Options>
1007 <Slots>
1008 <Slot slotClass="de.unibi.citec.clf.bonsai.rsb.slots.RsbBtlMemorySlot" dataTypeClass="de.unibi.citec.clf.btl.Type" />
1009 <Slot slotClass="de.unibi.citec.clf.bonsai.rsb.slots.RsbStringSlot" dataTypeClass="java.lang.String" />
1010 <Slot slotClass="de.unibi.citec.clf.bonsai.rsb.slots.RsbDoubleSlot" dataTypeClass="java.lang.Double" />
1011 </Slots>
1012 </WorkingMemory>
1013
1014 <!-- SENSORS -->
1015
1016 <Sensor key="SpeechSensorConfirm" dataTypeClass="de.unibi.citec.clf.btl.data.speechrec.Utterance" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" sensorClass="de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor" wireTypeClass="rst.xml.XOPType$XOP">
1017 <Options>
1018 <Option key="scope">/speechrec/psa/confirm</Option>
1019 </Options>
1020 </Sensor>
1021 <Sensor key="SpeechSensor" dataTypeClass="de.unibi.citec.clf.btl.data.speechrec.Utterance" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" sensorClass="de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor" wireTypeClass="rst.xml.XOPType$XOP">
1022 <Options>
1023 <Option key="scope">/speechrec/psa/</Option>
1024 </Options>
1025 </Sensor>
1026 <Sensor key="SpeechSensorGuiding" dataTypeClass="de.unibi.citec.clf.btl.data.speechrec.Utterance" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" sensorClass="de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor" wireTypeClass="rst.xml.XOPType$XOP">
1027 <Options>
1028 <Option key="scope">/speechrec/psa/guiding</Option>
1029 </Options>
1030 </Sensor>
1031 <Sensor key="SpeechSensorObject" dataTypeClass="de.unibi.citec.clf.btl.data.speechrec.Utterance" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" sensorClass="de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor" wireTypeClass="rst.xml.XOPType$XOP">
1032 <Options>
1033 <Option key="scope">/speechrec/psa/object</Option>
1034 </Options>
1035 </Sensor>
1036 <Sensor key="SpeechSensorName" dataTypeClass="de.unibi.citec.clf.btl.data.speechrec.Utterance" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" sensorClass="de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor" wireTypeClass="rst.xml.XOPType$XOP">
1037 <Options>
1038 <Option key="scope">/speechrec/psa/person</Option>
1039 </Options>
1040 </Sensor>
1041 <Sensor key="SpeechSensorArm" dataTypeClass="de.unibi.citec.clf.btl.data.speechrec.Utterance" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" sensorClass="de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor" wireTypeClass="rst.xml.XOPType$XOP">
1042 <Options>
1043 <Option key="scope">/speechrec/psa/arm</Option>
1044 </Options>
1045 </Sensor>
1046 <Sensor key="PersonSensor" dataTypeClass="de.unibi.citec.clf.btl.data.person.PersonDataList" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" sensorClass="de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor" wireTypeClass="rst.hri.PersonHypothesesType$PersonHypotheses">
1047 <Options>
1048 <Option key="scope">/hri/persons</Option>
1049 </Options>
1050 </Sensor>
1051 <Sensor key="PositionSensor" dataTypeClass="de.unibi.citec.clf.btl.data.navigation.PositionData" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" sensorClass="de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor" wireTypeClass="rst.geometry.PoseType$Pose">
1052 <Options>
1053 <Option key="scope">/ros4rsb/slampose</Option>
1054 </Options>
1055 </Sensor>
1056 <Sensor key="LaserSensor" dataTypeClass="de.unibi.citec.clf.btl.data.vision1d.LaserData" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" sensorClass="de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor" wireTypeClass="rst.vision.LaserScanType$LaserScan">
1057 <Options>
1058 <Option key="scope">/ros4rsb/laserscan</Option>
1059 </Options>
1060 </Sensor>
1061 <Sensor key="ImageDataSensor" dataTypeClass="de.unibi.citec.clf.btl.data.vision2d.ImageData" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" sensorClass="de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor" wireTypeClass="rst.vision.ImageType$Image">
1062 <Options>
1063 <Option key="scope">/video</Option>
1064 </Options>
1065 </Sensor>
1066 <Sensor key="SpeedSensor" dataTypeClass="de.unibi.citec.clf.btl.data.navigation.SpeedData" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" sensorClass="de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor" wireTypeClass="rst.kinematics.TwistType$Twist">
1067 <Options>
1068 <Option key="scope">/ros4rsb/speedData</Option>
1069 </Options>
1070 </Sensor>
1071 <Sensor key="OdomSensor" dataTypeClass="de.unibi.citec.clf.btl.data.navigation.PositionData" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" sensorClass="de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor" wireTypeClass="rst.geometry.PoseType$Pose">
1072 <Options>
1073 <Option key="scope">/ros4rsb/odometryData</Option>
1074 </Options>
1075 </Sensor>
1076 <Sensor key="SlamMapSensor" dataTypeClass="de.unibi.citec.clf.btl.data.map.BinarySlamMap" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" sensorClass="de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor" wireTypeClass="rst.navigation.OccupancyGrid2DIntType$OccupancyGrid2DInt">
1077 <Options>
1078 <Option key="scope">/ros4rsb/slamMap</Option>
1079 </Options>
1080 </Sensor>
1081 <Sensor key="GlobalPlanSensor" dataTypeClass="de.unibi.citec.clf.btl.data.navigation.GlobalPlan" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" sensorClass="de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor" wireTypeClass="rst.navigation.PathType$Path">
1082 <Options>
1083 <Option key="scope">/ros4rsb/globalplan</Option>
1084 </Options>
1085 </Sensor>
1086 <Sensor key="HandPosSensor" dataTypeClass="de.unibi.citec.clf.btl.data.person.HandPos" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" sensorClass="de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor" wireTypeClass=">rst.geometry.PoseType$Pose">
1087 <Options>
1088 <Option key="scope">/ros4rsb/handPos</Option>
1089 </Options>
1090 </Sensor>
1091 <Sensor key="ObjectSensor3D" dataTypeClass="de.unibi.citec.clf.btl.data.object.ObjectShapeList" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" sensorClass="de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor" wireTypeClass="rst.tracking.TrackedClassifiedRegions3DType$TrackedClassifiedRegions3D">
1092 <Options>
1093 <Option key="scope">/clafu/results/region3d</Option>
1094 </Options>
1095 </Sensor>
1096 <Sensor key="ObjectSensor2D" dataTypeClass="de.unibi.citec.clf.btl.data.object.ObjectLocationList" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" sensorClass="de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor" wireTypeClass="rst.classification.ClassifiedRegions2DType$ClassifiedRegions2D">
1097 <Options>
1098 <Option key="scope">/clafu/results/region2d</Option>
1099 </Options>
1100 </Sensor>
1101 <Sensor key="PlanePatchSensor" dataTypeClass="de.unibi.citec.clf.btl.data.vision3d.PlanePatchList" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" sensorClass="de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor" wireTypeClass="rst.geometry.PolygonalPatch3DSetType$PolygonalPatch3DSet">
1102 <Options>
1103 <Option key="scope">/clafu/table</Option>
1104 </Options>
1105 </Sensor>
1106 <Sensor key="TableSensor3D" dataTypeClass="de.unibi.citec.clf.btl.data.object.ObjectShapeData" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" sensorClass="de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor" wireTypeClass="rst.classification.ClassifiedRegion3DType$ClassifiedRegion3D">
1107 <Options>
1108 <Option key="scope">/clafu/table</Option>
1109 </Options>
1110 </Sensor>
1111
1112
1113 <!-- ACTUATORS -->
1114
1115 <Actuator key="NavigationActuator" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" actuatorInterface="de.unibi.citec.clf.bonsai.actuators.NavigationActuator" actuatorClass="de.unibi.citec.clf.bonsai.rsb.actuators.RsbNavigationActuator">
1116 <Options>
1117 <Option key="scope">/nav_server</Option>
1118 </Options>
1119 </Actuator>
1120 <Actuator key="SpeechActuator" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" actuatorInterface="de.unibi.citec.clf.bonsai.actuators.SpeechActuator" actuatorClass="de.unibi.citec.clf.bonsai.rsb.actuators.RsbSpeechActuator">
1121 <Options>
1122 <Option key="scope">/speech/tts/mary/server</Option>
1123 <Option key="plainText">true</Option>
1124 </Options>
1125 </Actuator>
1126 <Actuator key="GazeActuator" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" actuatorInterface="de.unibi.citec.clf.bonsai.actuators.GazeActuator" actuatorClass="de.unibi.citec.clf.bonsai.rsb.actuators.RsbGazeActuator">
1127 <Options>
1128 <Option key="scopeGaze">/meka/robotgazetools/saliency</Option>
1129 </Options>
1130 </Actuator>
1131 <Actuator key="JointControllerActuator" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" actuatorInterface="de.unibi.citec.clf.bonsai.actuators.JointControllerActuator" actuatorClass="de.unibi.citec.clf.bonsai.rsb.actuators.RsbJointControllerActuator">
1132 <Options>
1133 <Option key="scope">/ros4rsb/ros_control</Option>
1134 </Options>
1135 </Actuator>
1136 <Actuator key="PostureActuator" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" actuatorInterface="de.unibi.citec.clf.bonsai.actuators.PostureActuator" actuatorClass="de.unibi.citec.clf.bonsai.rsb.actuators.RsbPostureActuator">
1137 <Options>
1138 <Option key="scope">/meka/posture_execution/server</Option>
1139 </Options>
1140 </Actuator>
1141 <Actuator key="MekaSimpleGazeTool" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" actuatorInterface="de.unibi.citec.clf.bonsai.actuators.GazeActuator" actuatorClass="de.unibi.citec.clf.bonsai.rsb.actuators.RsbGazeActuator">
1142 <Options>
1143 <Option key="scopeGaze">/meka/robotgazetools/saliency</Option>
1144 </Options>
1145 </Actuator>
1146 <Actuator key="MekaJointActuator" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" actuatorInterface="de.unibi.citec.clf.bonsai.actuators.JointControllerActuator" actuatorClass="de.unibi.citec.clf.bonsai.rsb.actuators.RsbJointControllerActuator">
1147 <Options>
1148 <Option key="scope">/ros4rsb/ros_control</Option>
1149 </Options>
1150 </Actuator>
1151 <Actuator key="HandShaker" factoryClass="de.unibi.citec.clf.bonsai.ros.RosFactory" actuatorInterface="de.unibi.citec.clf.bonsai.actuators.HandShakeActuator" actuatorClass="de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator">
1152 <Options>
1153 <Option key="topic">/hand_shaker</Option>
1154 </Options>
1155 </Actuator>
1156 <Actuator key="HandOver" factoryClass="de.unibi.citec.clf.bonsai.ros.RosFactory" actuatorInterface="de.unibi.citec.clf.bonsai.actuators.HandOverActuator" actuatorClass="de.unibi.citec.clf.bonsai.ros.actuators.RosHandOverActuator">
1157 <Options>
1158 <Option key="topic">/hand_over</Option>
1159 </Options>
1160 </Actuator>
1161 <Actuator key="Guiding" factoryClass="de.unibi.citec.clf.bonsai.ros.RosFactory" actuatorInterface="de.unibi.citec.clf.bonsai.actuators.GuidingActuator" actuatorClass="de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator">
1162 <Options>
1163 <Option key="topic">/force_guiding</Option>
1164 </Options>
1165 </Actuator>
1166 <Actuator key="PlanningSceneManager" factoryClass="de.unibi.citec.clf.bonsai.ros.RosFactory" actuatorInterface="de.unibi.citec.clf.bonsai.actuators.PlanningSceneActuator" actuatorClass="de.unibi.citec.clf.bonsai.ros.actuators.RosPlanningSceneActuator">
1167 <Options>
1168 <Option key="topic">/planning_scene_manager</Option>
1169 </Options>
1170 </Actuator>
1171 <Actuator key="PoseActuatorTobi" factoryClass="de.unibi.citec.clf.bonsai.ros.RosFactory" actuatorInterface="de.unibi.citec.clf.bonsai.actuators.PicknPlaceActuator" actuatorClass="de.unibi.citec.clf.bonsai.ros.actuators.RosPicknPlaceActuator">
1172 <Options>
1173 <Option key="action_topic">/augmented_pickup</Option>
1174 <Option key="service_topic">/biron_posture</Option>
1175 </Options>
1176 </Actuator>
1177 <Actuator key="RecognizeObjectsActuator" factoryClass="de.unibi.citec.clf.bonsai.ros.RosFactory" actuatorInterface="de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator" actuatorClass="de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator">
1178 <Options>
1179 <Option key="topic">/recognize_objects</Option>
1180 </Options>
1181 </Actuator>
1182 <Actuator key="DetectPeopleActuator" factoryClass="de.unibi.citec.clf.bonsai.ros.RosFactory" actuatorInterface="de.unibi.citec.clf.bonsai.actuators.DetectPeopleActuator" actuatorClass="de.unibi.citec.clf.bonsai.ros.actuators.RosDetectPeopleActuator">
1183 <Options>
1184 <Option key="topic">/detect_people</Option>
1185 </Options>
1186 </Actuator>
1187
1188</BonsaiConfiguration>
1189
119014:01:03 DEBUG XmlConfigurationParser: Parsing factory settings
119114:01:03 DEBUG XmlConfigurationParser: Possible FactoryOptions: <FactoryOptions factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" />
119214:01:03 DEBUG XmlConfigurationParser: Parsing options in root: <FactoryOptions factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" />
119314:01:03 DEBUG XmlConfigurationParser: Add factory: de.unibi.citec.clf.bonsai.rsb.RsbFactory
119414:01:03 DEBUG XmlConfigurationParser: Possible FactoryOptions: <FactoryOptions factoryClass="de.unibi.citec.clf.bonsai.ros.RosFactory" />
119514:01:03 DEBUG XmlConfigurationParser: Parsing options in root: <FactoryOptions factoryClass="de.unibi.citec.clf.bonsai.ros.RosFactory" />
119614:01:03 DEBUG XmlConfigurationParser: Add factory: de.unibi.citec.clf.bonsai.ros.RosFactory
119714:01:03 DEBUG XmlConfigurationParser: Parsing sensors
119814:01:03 DEBUG XmlConfigurationParser: Possible Sensor: <Sensor key="SpeechSensorConfirm" dataTypeClass="de.unibi.citec.clf.btl.data.speechrec.Utterance" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" sensorClass="de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor" wireTypeClass="rst.xml.XOPType$XOP">
1199 <Options>
1200 <Option key="scope">/speechrec/psa/confirm</Option>
1201 </Options>
1202 </Sensor>
120314:01:03 DEBUG XmlConfigurationParser: Parsing options in root: <Options>
1204 <Option key="scope">/speechrec/psa/confirm</Option>
1205 </Options>
120614:01:03 DEBUG XmlConfigurationParser: Possible Option: <Option key="scope">/speechrec/psa/confirm</Option>
120714:01:03 DEBUG XmlConfigurationParser: Possible Sensor: <Sensor key="SpeechSensor" dataTypeClass="de.unibi.citec.clf.btl.data.speechrec.Utterance" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" sensorClass="de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor" wireTypeClass="rst.xml.XOPType$XOP">
1208 <Options>
1209 <Option key="scope">/speechrec/psa/</Option>
1210 </Options>
1211 </Sensor>
121214:01:03 DEBUG XmlConfigurationParser: Parsing options in root: <Options>
1213 <Option key="scope">/speechrec/psa/</Option>
1214 </Options>
121514:01:03 DEBUG XmlConfigurationParser: Possible Option: <Option key="scope">/speechrec/psa/</Option>
121614:01:03 DEBUG XmlConfigurationParser: Possible Sensor: <Sensor key="SpeechSensorGuiding" dataTypeClass="de.unibi.citec.clf.btl.data.speechrec.Utterance" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" sensorClass="de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor" wireTypeClass="rst.xml.XOPType$XOP">
1217 <Options>
1218 <Option key="scope">/speechrec/psa/guiding</Option>
1219 </Options>
1220 </Sensor>
122114:01:03 DEBUG XmlConfigurationParser: Parsing options in root: <Options>
1222 <Option key="scope">/speechrec/psa/guiding</Option>
1223 </Options>
122414:01:03 DEBUG XmlConfigurationParser: Possible Option: <Option key="scope">/speechrec/psa/guiding</Option>
122514:01:03 DEBUG XmlConfigurationParser: Possible Sensor: <Sensor key="SpeechSensorObject" dataTypeClass="de.unibi.citec.clf.btl.data.speechrec.Utterance" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" sensorClass="de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor" wireTypeClass="rst.xml.XOPType$XOP">
1226 <Options>
1227 <Option key="scope">/speechrec/psa/object</Option>
1228 </Options>
1229 </Sensor>
123014:01:03 DEBUG XmlConfigurationParser: Parsing options in root: <Options>
1231 <Option key="scope">/speechrec/psa/object</Option>
1232 </Options>
123314:01:03 DEBUG XmlConfigurationParser: Possible Option: <Option key="scope">/speechrec/psa/object</Option>
123414:01:03 DEBUG XmlConfigurationParser: Possible Sensor: <Sensor key="SpeechSensorName" dataTypeClass="de.unibi.citec.clf.btl.data.speechrec.Utterance" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" sensorClass="de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor" wireTypeClass="rst.xml.XOPType$XOP">
1235 <Options>
1236 <Option key="scope">/speechrec/psa/person</Option>
1237 </Options>
1238 </Sensor>
123914:01:03 DEBUG XmlConfigurationParser: Parsing options in root: <Options>
1240 <Option key="scope">/speechrec/psa/person</Option>
1241 </Options>
124214:01:03 DEBUG XmlConfigurationParser: Possible Option: <Option key="scope">/speechrec/psa/person</Option>
124314:01:03 DEBUG XmlConfigurationParser: Possible Sensor: <Sensor key="SpeechSensorArm" dataTypeClass="de.unibi.citec.clf.btl.data.speechrec.Utterance" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" sensorClass="de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor" wireTypeClass="rst.xml.XOPType$XOP">
1244 <Options>
1245 <Option key="scope">/speechrec/psa/arm</Option>
1246 </Options>
1247 </Sensor>
124814:01:03 DEBUG XmlConfigurationParser: Parsing options in root: <Options>
1249 <Option key="scope">/speechrec/psa/arm</Option>
1250 </Options>
125114:01:03 DEBUG XmlConfigurationParser: Possible Option: <Option key="scope">/speechrec/psa/arm</Option>
125214:01:03 DEBUG XmlConfigurationParser: Possible Sensor: <Sensor key="PersonSensor" dataTypeClass="de.unibi.citec.clf.btl.data.person.PersonDataList" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" sensorClass="de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor" wireTypeClass="rst.hri.PersonHypothesesType$PersonHypotheses">
1253 <Options>
1254 <Option key="scope">/hri/persons</Option>
1255 </Options>
1256 </Sensor>
125714:01:03 DEBUG XmlConfigurationParser: Parsing options in root: <Options>
1258 <Option key="scope">/hri/persons</Option>
1259 </Options>
126014:01:03 DEBUG XmlConfigurationParser: Possible Option: <Option key="scope">/hri/persons</Option>
126114:01:03 DEBUG XmlConfigurationParser: Possible Sensor: <Sensor key="PositionSensor" dataTypeClass="de.unibi.citec.clf.btl.data.navigation.PositionData" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" sensorClass="de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor" wireTypeClass="rst.geometry.PoseType$Pose">
1262 <Options>
1263 <Option key="scope">/ros4rsb/slampose</Option>
1264 </Options>
1265 </Sensor>
126614:01:03 DEBUG XmlConfigurationParser: Parsing options in root: <Options>
1267 <Option key="scope">/ros4rsb/slampose</Option>
1268 </Options>
126914:01:03 DEBUG XmlConfigurationParser: Possible Option: <Option key="scope">/ros4rsb/slampose</Option>
127014:01:03 DEBUG XmlConfigurationParser: Possible Sensor: <Sensor key="LaserSensor" dataTypeClass="de.unibi.citec.clf.btl.data.vision1d.LaserData" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" sensorClass="de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor" wireTypeClass="rst.vision.LaserScanType$LaserScan">
1271 <Options>
1272 <Option key="scope">/ros4rsb/laserscan</Option>
1273 </Options>
1274 </Sensor>
127514:01:03 DEBUG XmlConfigurationParser: Parsing options in root: <Options>
1276 <Option key="scope">/ros4rsb/laserscan</Option>
1277 </Options>
127814:01:03 DEBUG XmlConfigurationParser: Possible Option: <Option key="scope">/ros4rsb/laserscan</Option>
127914:01:03 DEBUG XmlConfigurationParser: Possible Sensor: <Sensor key="ImageDataSensor" dataTypeClass="de.unibi.citec.clf.btl.data.vision2d.ImageData" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" sensorClass="de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor" wireTypeClass="rst.vision.ImageType$Image">
1280 <Options>
1281 <Option key="scope">/video</Option>
1282 </Options>
1283 </Sensor>
128414:01:03 DEBUG XmlConfigurationParser: Parsing options in root: <Options>
1285 <Option key="scope">/video</Option>
1286 </Options>
128714:01:03 DEBUG XmlConfigurationParser: Possible Option: <Option key="scope">/video</Option>
128814:01:03 DEBUG XmlConfigurationParser: Possible Sensor: <Sensor key="SpeedSensor" dataTypeClass="de.unibi.citec.clf.btl.data.navigation.SpeedData" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" sensorClass="de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor" wireTypeClass="rst.kinematics.TwistType$Twist">
1289 <Options>
1290 <Option key="scope">/ros4rsb/speedData</Option>
1291 </Options>
1292 </Sensor>
129314:01:03 DEBUG XmlConfigurationParser: Parsing options in root: <Options>
1294 <Option key="scope">/ros4rsb/speedData</Option>
1295 </Options>
129614:01:03 DEBUG XmlConfigurationParser: Possible Option: <Option key="scope">/ros4rsb/speedData</Option>
129714:01:03 DEBUG XmlConfigurationParser: Possible Sensor: <Sensor key="OdomSensor" dataTypeClass="de.unibi.citec.clf.btl.data.navigation.PositionData" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" sensorClass="de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor" wireTypeClass="rst.geometry.PoseType$Pose">
1298 <Options>
1299 <Option key="scope">/ros4rsb/odometryData</Option>
1300 </Options>
1301 </Sensor>
130214:01:03 DEBUG XmlConfigurationParser: Parsing options in root: <Options>
1303 <Option key="scope">/ros4rsb/odometryData</Option>
1304 </Options>
130514:01:03 DEBUG XmlConfigurationParser: Possible Option: <Option key="scope">/ros4rsb/odometryData</Option>
130614:01:03 DEBUG XmlConfigurationParser: Possible Sensor: <Sensor key="SlamMapSensor" dataTypeClass="de.unibi.citec.clf.btl.data.map.BinarySlamMap" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" sensorClass="de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor" wireTypeClass="rst.navigation.OccupancyGrid2DIntType$OccupancyGrid2DInt">
1307 <Options>
1308 <Option key="scope">/ros4rsb/slamMap</Option>
1309 </Options>
1310 </Sensor>
131114:01:03 DEBUG XmlConfigurationParser: Parsing options in root: <Options>
1312 <Option key="scope">/ros4rsb/slamMap</Option>
1313 </Options>
131414:01:03 DEBUG XmlConfigurationParser: Possible Option: <Option key="scope">/ros4rsb/slamMap</Option>
131514:01:03 DEBUG XmlConfigurationParser: Possible Sensor: <Sensor key="GlobalPlanSensor" dataTypeClass="de.unibi.citec.clf.btl.data.navigation.GlobalPlan" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" sensorClass="de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor" wireTypeClass="rst.navigation.PathType$Path">
1316 <Options>
1317 <Option key="scope">/ros4rsb/globalplan</Option>
1318 </Options>
1319 </Sensor>
132014:01:03 DEBUG XmlConfigurationParser: Parsing options in root: <Options>
1321 <Option key="scope">/ros4rsb/globalplan</Option>
1322 </Options>
132314:01:03 DEBUG XmlConfigurationParser: Possible Option: <Option key="scope">/ros4rsb/globalplan</Option>
132414:01:03 DEBUG XmlConfigurationParser: Possible Sensor: <Sensor key="HandPosSensor" dataTypeClass="de.unibi.citec.clf.btl.data.person.HandPos" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" sensorClass="de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor" wireTypeClass=">rst.geometry.PoseType$Pose">
1325 <Options>
1326 <Option key="scope">/ros4rsb/handPos</Option>
1327 </Options>
1328 </Sensor>
132914:01:03 DEBUG XmlConfigurationParser: Parsing options in root: <Options>
1330 <Option key="scope">/ros4rsb/handPos</Option>
1331 </Options>
133214:01:03 DEBUG XmlConfigurationParser: Possible Option: <Option key="scope">/ros4rsb/handPos</Option>
133314:01:03 DEBUG XmlConfigurationParser: Possible Sensor: <Sensor key="ObjectSensor3D" dataTypeClass="de.unibi.citec.clf.btl.data.object.ObjectShapeList" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" sensorClass="de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor" wireTypeClass="rst.tracking.TrackedClassifiedRegions3DType$TrackedClassifiedRegions3D">
1334 <Options>
1335 <Option key="scope">/clafu/results/region3d</Option>
1336 </Options>
1337 </Sensor>
133814:01:03 DEBUG XmlConfigurationParser: Parsing options in root: <Options>
1339 <Option key="scope">/clafu/results/region3d</Option>
1340 </Options>
134114:01:03 DEBUG XmlConfigurationParser: Possible Option: <Option key="scope">/clafu/results/region3d</Option>
134214:01:03 DEBUG XmlConfigurationParser: Possible Sensor: <Sensor key="ObjectSensor2D" dataTypeClass="de.unibi.citec.clf.btl.data.object.ObjectLocationList" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" sensorClass="de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor" wireTypeClass="rst.classification.ClassifiedRegions2DType$ClassifiedRegions2D">
1343 <Options>
1344 <Option key="scope">/clafu/results/region2d</Option>
1345 </Options>
1346 </Sensor>
134714:01:03 DEBUG XmlConfigurationParser: Parsing options in root: <Options>
1348 <Option key="scope">/clafu/results/region2d</Option>
1349 </Options>
135014:01:03 DEBUG XmlConfigurationParser: Possible Option: <Option key="scope">/clafu/results/region2d</Option>
135114:01:03 DEBUG XmlConfigurationParser: Possible Sensor: <Sensor key="PlanePatchSensor" dataTypeClass="de.unibi.citec.clf.btl.data.vision3d.PlanePatchList" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" sensorClass="de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor" wireTypeClass="rst.geometry.PolygonalPatch3DSetType$PolygonalPatch3DSet">
1352 <Options>
1353 <Option key="scope">/clafu/table</Option>
1354 </Options>
1355 </Sensor>
135614:01:03 DEBUG XmlConfigurationParser: Parsing options in root: <Options>
1357 <Option key="scope">/clafu/table</Option>
1358 </Options>
135914:01:03 DEBUG XmlConfigurationParser: Possible Option: <Option key="scope">/clafu/table</Option>
136014:01:03 DEBUG XmlConfigurationParser: Possible Sensor: <Sensor key="TableSensor3D" dataTypeClass="de.unibi.citec.clf.btl.data.object.ObjectShapeData" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" sensorClass="de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor" wireTypeClass="rst.classification.ClassifiedRegion3DType$ClassifiedRegion3D">
1361 <Options>
1362 <Option key="scope">/clafu/table</Option>
1363 </Options>
1364 </Sensor>
136514:01:03 DEBUG XmlConfigurationParser: Parsing options in root: <Options>
1366 <Option key="scope">/clafu/table</Option>
1367 </Options>
136814:01:03 DEBUG XmlConfigurationParser: Possible Option: <Option key="scope">/clafu/table</Option>
136914:01:03 DEBUG XmlConfigurationParser: Parsing actuators
137014:01:03 DEBUG XmlConfigurationParser: Possible Actuator: <Actuator key="NavigationActuator" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" actuatorInterface="de.unibi.citec.clf.bonsai.actuators.NavigationActuator" actuatorClass="de.unibi.citec.clf.bonsai.rsb.actuators.RsbNavigationActuator">
1371 <Options>
1372 <Option key="scope">/nav_server</Option>
1373 </Options>
1374 </Actuator>
137514:01:03 DEBUG XmlConfigurationParser: Parsing options in root: <Options>
1376 <Option key="scope">/nav_server</Option>
1377 </Options>
137814:01:03 DEBUG XmlConfigurationParser: Possible Option: <Option key="scope">/nav_server</Option>
137914:01:03 DEBUG XmlConfigurationParser: Possible Actuator: <Actuator key="SpeechActuator" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" actuatorInterface="de.unibi.citec.clf.bonsai.actuators.SpeechActuator" actuatorClass="de.unibi.citec.clf.bonsai.rsb.actuators.RsbSpeechActuator">
1380 <Options>
1381 <Option key="scope">/speech/tts/mary/server</Option>
1382 <Option key="plainText">true</Option>
1383 </Options>
1384 </Actuator>
138514:01:03 DEBUG XmlConfigurationParser: Parsing options in root: <Options>
1386 <Option key="scope">/speech/tts/mary/server</Option>
1387 <Option key="plainText">true</Option>
1388 </Options>
138914:01:03 DEBUG XmlConfigurationParser: Possible Option: <Option key="scope">/speech/tts/mary/server</Option>
139014:01:03 DEBUG XmlConfigurationParser: Possible Option: <Option key="plainText">true</Option>
139114:01:03 DEBUG XmlConfigurationParser: Possible Actuator: <Actuator key="GazeActuator" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" actuatorInterface="de.unibi.citec.clf.bonsai.actuators.GazeActuator" actuatorClass="de.unibi.citec.clf.bonsai.rsb.actuators.RsbGazeActuator">
1392 <Options>
1393 <Option key="scopeGaze">/meka/robotgazetools/saliency</Option>
1394 </Options>
1395 </Actuator>
139614:01:03 DEBUG XmlConfigurationParser: Parsing options in root: <Options>
1397 <Option key="scopeGaze">/meka/robotgazetools/saliency</Option>
1398 </Options>
139914:01:03 DEBUG XmlConfigurationParser: Possible Option: <Option key="scopeGaze">/meka/robotgazetools/saliency</Option>
140014:01:03 DEBUG XmlConfigurationParser: Possible Actuator: <Actuator key="JointControllerActuator" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" actuatorInterface="de.unibi.citec.clf.bonsai.actuators.JointControllerActuator" actuatorClass="de.unibi.citec.clf.bonsai.rsb.actuators.RsbJointControllerActuator">
1401 <Options>
1402 <Option key="scope">/ros4rsb/ros_control</Option>
1403 </Options>
1404 </Actuator>
140514:01:03 DEBUG XmlConfigurationParser: Parsing options in root: <Options>
1406 <Option key="scope">/ros4rsb/ros_control</Option>
1407 </Options>
140814:01:03 DEBUG XmlConfigurationParser: Possible Option: <Option key="scope">/ros4rsb/ros_control</Option>
140914:01:03 DEBUG XmlConfigurationParser: Possible Actuator: <Actuator key="PostureActuator" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" actuatorInterface="de.unibi.citec.clf.bonsai.actuators.PostureActuator" actuatorClass="de.unibi.citec.clf.bonsai.rsb.actuators.RsbPostureActuator">
1410 <Options>
1411 <Option key="scope">/meka/posture_execution/server</Option>
1412 </Options>
1413 </Actuator>
141414:01:03 DEBUG XmlConfigurationParser: Parsing options in root: <Options>
1415 <Option key="scope">/meka/posture_execution/server</Option>
1416 </Options>
141714:01:03 DEBUG XmlConfigurationParser: Possible Option: <Option key="scope">/meka/posture_execution/server</Option>
141814:01:03 DEBUG XmlConfigurationParser: Possible Actuator: <Actuator key="MekaSimpleGazeTool" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" actuatorInterface="de.unibi.citec.clf.bonsai.actuators.GazeActuator" actuatorClass="de.unibi.citec.clf.bonsai.rsb.actuators.RsbGazeActuator">
1419 <Options>
1420 <Option key="scopeGaze">/meka/robotgazetools/saliency</Option>
1421 </Options>
1422 </Actuator>
142314:01:03 DEBUG XmlConfigurationParser: Parsing options in root: <Options>
1424 <Option key="scopeGaze">/meka/robotgazetools/saliency</Option>
1425 </Options>
142614:01:03 DEBUG XmlConfigurationParser: Possible Option: <Option key="scopeGaze">/meka/robotgazetools/saliency</Option>
142714:01:03 DEBUG XmlConfigurationParser: Possible Actuator: <Actuator key="MekaJointActuator" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" actuatorInterface="de.unibi.citec.clf.bonsai.actuators.JointControllerActuator" actuatorClass="de.unibi.citec.clf.bonsai.rsb.actuators.RsbJointControllerActuator">
1428 <Options>
1429 <Option key="scope">/ros4rsb/ros_control</Option>
1430 </Options>
1431 </Actuator>
143214:01:03 DEBUG XmlConfigurationParser: Parsing options in root: <Options>
1433 <Option key="scope">/ros4rsb/ros_control</Option>
1434 </Options>
143514:01:03 DEBUG XmlConfigurationParser: Possible Option: <Option key="scope">/ros4rsb/ros_control</Option>
143614:01:03 DEBUG XmlConfigurationParser: Possible Actuator: <Actuator key="HandShaker" factoryClass="de.unibi.citec.clf.bonsai.ros.RosFactory" actuatorInterface="de.unibi.citec.clf.bonsai.actuators.HandShakeActuator" actuatorClass="de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator">
1437 <Options>
1438 <Option key="topic">/hand_shaker</Option>
1439 </Options>
1440 </Actuator>
144114:01:03 DEBUG XmlConfigurationParser: Parsing options in root: <Options>
1442 <Option key="topic">/hand_shaker</Option>
1443 </Options>
144414:01:03 DEBUG XmlConfigurationParser: Possible Option: <Option key="topic">/hand_shaker</Option>
144514:01:03 DEBUG XmlConfigurationParser: Possible Actuator: <Actuator key="HandOver" factoryClass="de.unibi.citec.clf.bonsai.ros.RosFactory" actuatorInterface="de.unibi.citec.clf.bonsai.actuators.HandOverActuator" actuatorClass="de.unibi.citec.clf.bonsai.ros.actuators.RosHandOverActuator">
1446 <Options>
1447 <Option key="topic">/hand_over</Option>
1448 </Options>
1449 </Actuator>
145014:01:03 DEBUG XmlConfigurationParser: Parsing options in root: <Options>
1451 <Option key="topic">/hand_over</Option>
1452 </Options>
145314:01:03 DEBUG XmlConfigurationParser: Possible Option: <Option key="topic">/hand_over</Option>
145414:01:03 DEBUG XmlConfigurationParser: Possible Actuator: <Actuator key="Guiding" factoryClass="de.unibi.citec.clf.bonsai.ros.RosFactory" actuatorInterface="de.unibi.citec.clf.bonsai.actuators.GuidingActuator" actuatorClass="de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator">
1455 <Options>
1456 <Option key="topic">/force_guiding</Option>
1457 </Options>
1458 </Actuator>
145914:01:03 DEBUG XmlConfigurationParser: Parsing options in root: <Options>
1460 <Option key="topic">/force_guiding</Option>
1461 </Options>
146214:01:03 DEBUG XmlConfigurationParser: Possible Option: <Option key="topic">/force_guiding</Option>
146314:01:03 DEBUG XmlConfigurationParser: Possible Actuator: <Actuator key="PlanningSceneManager" factoryClass="de.unibi.citec.clf.bonsai.ros.RosFactory" actuatorInterface="de.unibi.citec.clf.bonsai.actuators.PlanningSceneActuator" actuatorClass="de.unibi.citec.clf.bonsai.ros.actuators.RosPlanningSceneActuator">
1464 <Options>
1465 <Option key="topic">/planning_scene_manager</Option>
1466 </Options>
1467 </Actuator>
146814:01:03 DEBUG XmlConfigurationParser: Parsing options in root: <Options>
1469 <Option key="topic">/planning_scene_manager</Option>
1470 </Options>
147114:01:03 DEBUG XmlConfigurationParser: Possible Option: <Option key="topic">/planning_scene_manager</Option>
147214:01:03 DEBUG XmlConfigurationParser: Possible Actuator: <Actuator key="PoseActuatorTobi" factoryClass="de.unibi.citec.clf.bonsai.ros.RosFactory" actuatorInterface="de.unibi.citec.clf.bonsai.actuators.PicknPlaceActuator" actuatorClass="de.unibi.citec.clf.bonsai.ros.actuators.RosPicknPlaceActuator">
1473 <Options>
1474 <Option key="action_topic">/augmented_pickup</Option>
1475 <Option key="service_topic">/biron_posture</Option>
1476 </Options>
1477 </Actuator>
147814:01:03 DEBUG XmlConfigurationParser: Parsing options in root: <Options>
1479 <Option key="action_topic">/augmented_pickup</Option>
1480 <Option key="service_topic">/biron_posture</Option>
1481 </Options>
148214:01:03 DEBUG XmlConfigurationParser: Possible Option: <Option key="action_topic">/augmented_pickup</Option>
148314:01:03 DEBUG XmlConfigurationParser: Possible Option: <Option key="service_topic">/biron_posture</Option>
148414:01:03 DEBUG XmlConfigurationParser: Possible Actuator: <Actuator key="RecognizeObjectsActuator" factoryClass="de.unibi.citec.clf.bonsai.ros.RosFactory" actuatorInterface="de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator" actuatorClass="de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator">
1485 <Options>
1486 <Option key="topic">/recognize_objects</Option>
1487 </Options>
1488 </Actuator>
148914:01:03 DEBUG XmlConfigurationParser: Parsing options in root: <Options>
1490 <Option key="topic">/recognize_objects</Option>
1491 </Options>
149214:01:03 DEBUG XmlConfigurationParser: Possible Option: <Option key="topic">/recognize_objects</Option>
149314:01:03 DEBUG XmlConfigurationParser: Possible Actuator: <Actuator key="DetectPeopleActuator" factoryClass="de.unibi.citec.clf.bonsai.ros.RosFactory" actuatorInterface="de.unibi.citec.clf.bonsai.actuators.DetectPeopleActuator" actuatorClass="de.unibi.citec.clf.bonsai.ros.actuators.RosDetectPeopleActuator">
1494 <Options>
1495 <Option key="topic">/detect_people</Option>
1496 </Options>
1497 </Actuator>
149814:01:03 DEBUG XmlConfigurationParser: Parsing options in root: <Options>
1499 <Option key="topic">/detect_people</Option>
1500 </Options>
150114:01:03 DEBUG XmlConfigurationParser: Possible Option: <Option key="topic">/detect_people</Option>
150214:01:03 DEBUG XmlConfigurationParser: Parsing working memory settings
150314:01:03 DEBUG XmlConfigurationParser: Possible WorkingMemory: <WorkingMemory key="WorkingMemory" factoryClass="de.unibi.citec.clf.bonsai.rsb.RsbFactory" workingMemoryClass="de.unibi.citec.clf.bonsai.rsb.RsbamWorkingMemory">
1504 <Options>
1505 <Option key="memoryName">Scene</Option>
1506 </Options>
1507 <Slots>
1508 <Slot slotClass="de.unibi.citec.clf.bonsai.rsb.slots.RsbBtlMemorySlot" dataTypeClass="de.unibi.citec.clf.btl.Type" />
1509 <Slot slotClass="de.unibi.citec.clf.bonsai.rsb.slots.RsbStringSlot" dataTypeClass="java.lang.String" />
1510 <Slot slotClass="de.unibi.citec.clf.bonsai.rsb.slots.RsbDoubleSlot" dataTypeClass="java.lang.Double" />
1511 </Slots>
1512 </WorkingMemory>
151314:01:03 DEBUG XmlConfigurationParser: Parsing options in root: <Options>
1514 <Option key="memoryName">Scene</Option>
1515 </Options>
151614:01:03 DEBUG XmlConfigurationParser: Possible Option: <Option key="memoryName">Scene</Option>
151714:01:03 DEBUG XmlConfigurationParser: Parsing coordinate transformer settings
151814:01:03 DEBUG XmlConfigurationParser: Possible CoordinateTransformer: <CoordinateTransformer factoryClass="de.unibi.citec.clf.bonsai.ros.RosFactory" coordinateTransformerClass="de.unibi.citec.clf.bonsai.ros.TFTransformer" />
151914:01:03 INFO BonsaiManager: Creating factories
152014:01:03 DEBUG BonsaiManager: Creating factories: [de.unibi.citec.clf.bonsai.core.configuration.data.FactoryData@2be3e5c5, de.unibi.citec.clf.bonsai.core.configuration.data.FactoryData@7833814e]
152114:01:03 INFO RosFactory: using ros master: http://localhost:11311
152214:01:04 WARN ReflectionServiceDiscovery: discoverServicesByInterface is using 'de.unibi.citec.clf.bonsai.ros.actuators' package
152314:01:04 WARN ReflectionServiceDiscovery: discoverServicesByInterface is using 'de.unibi.citec.clf.bonsai.ros.sensors' package
152414:01:04 DEBUG RosFactory: Ros factory initialize
152514:01:04 DEBUG RosFactory: found class de.unibi.citec.clf.bonsai.ros.actuators.RosDetectPeopleActuator
152614:01:04 DEBUG RosFactory: found class de.unibi.citec.clf.bonsai.ros.actuators.RosFollowPeopleActuator
152714:01:04 DEBUG RosFactory: found class de.unibi.citec.clf.bonsai.ros.actuators.ClfMoveBaseNavigationActuator
152814:01:04 DEBUG RosFactory: found class de.unibi.citec.clf.bonsai.ros.actuators.RosLearnPersonActuator
152914:01:04 DEBUG RosFactory: found class de.unibi.citec.clf.bonsai.ros.actuators.RosTWMActuator
153014:01:04 DEBUG RosFactory: found class de.unibi.citec.clf.bonsai.ros.actuators.RosPlanningSceneActuator
153114:01:04 DEBUG RosFactory: found class de.unibi.citec.clf.bonsai.ros.actuators.RosHandOverActuator
153214:01:04 DEBUG RosFactory: found class de.unibi.citec.clf.bonsai.ros.actuators.RosStringActuator
153314:01:04 DEBUG RosFactory: found class de.unibi.citec.clf.bonsai.ros.actuators.RosKBaseActuator
153414:01:04 DEBUG RosFactory: found class de.unibi.citec.clf.bonsai.ros.actuators.RosGetPersonAttributesActuator
153514:01:04 DEBUG RosFactory: found class de.unibi.citec.clf.bonsai.ros.actuators.RosPicknPlaceActuator
153614:01:04 DEBUG RosFactory: found class de.unibi.citec.clf.bonsai.ros.actuators.RosDetectPlanesActuator
153714:01:04 DEBUG RosFactory: found class de.unibi.citec.clf.bonsai.ros.actuators.RosGetCrowdAttributesActuator
153814:01:04 DEBUG RosFactory: found class de.unibi.citec.clf.bonsai.ros.actuators.RosNaoQiPostureActuator
153914:01:04 DEBUG RosFactory: found class de.unibi.citec.clf.bonsai.ros.actuators.RosGazeActuator
154014:01:04 DEBUG RosFactory: found class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator
154114:01:04 DEBUG RosFactory: found class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator
154214:01:04 DEBUG RosFactory: found class de.unibi.citec.clf.bonsai.ros.actuators.RosTriggerActuator
154314:01:04 DEBUG RosFactory: found class de.unibi.citec.clf.bonsai.ros.actuators.RosMoveBaseNavigationActuator
154414:01:04 DEBUG RosFactory: found class de.unibi.citec.clf.bonsai.ros.actuators.RosNaoQiSpeechActuator
154514:01:04 DEBUG RosFactory: found class de.unibi.citec.clf.bonsai.ros.actuators.RosNaoQiSSLActuator
154614:01:04 DEBUG RosFactory: found class de.unibi.citec.clf.bonsai.ros.actuators.RosDetectObjectsActuator
154714:01:04 DEBUG RosFactory: found class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator
154814:01:04 WARN RosFactory: cleanup, may take some time...
154914:01:04 DEBUG BonsaiManager: configured: de.unibi.citec.clf.bonsai.ros.RosFactory
155014:01:05 WARN ReflectionServiceDiscovery: discoverServicesByInterface is using 'de.unibi.citec.clf.bonsai.rsb.actuators' package
155114:01:05 WARN ReflectionServiceDiscovery: discoverServicesByInterface is using 'de.unibi.citec.clf.bonsai.rsb.sensors' package
155214:01:05 WARN ReflectionServiceDiscovery: discoverServicesByInterface is using 'de.unibi.citec.clf.bonsai.rsb.actuators' package
155314:01:05 DEBUG BonsaiManager: configured: de.unibi.citec.clf.bonsai.rsb.RsbFactory
155414:01:05 INFO BonsaiManager: Initializing coordinate transformer
155514:01:05 DEBUG BonsaiManager: Mapping CoreObjectData to factories. Got 1 object(s) to map.
155614:01:05 DEBUG BonsaiManager: de.unibi.citec.clf.bonsai.core.configuration.data.TransformerData@641c1ec0 belongs to de.unibi.citec.clf.bonsai.ros.RosFactory@10dd9454
155714:01:05 DEBUG BonsaiManager: Mapping of objects to factories:
1558 de.unibi.citec.clf.bonsai.ros.RosFactory@10dd9454:
1559 CoordinateTransformerToConfigure [transformerClass=class de.unibi.citec.clf.bonsai.ros.TFTransformer, Options={}]
1560
156114:01:05 DEBUG BonsaiManager: Factory de.unibi.citec.clf.bonsai.ros.RosFactory@10dd9454: [CoordinateTransformerToConfigure [transformerClass=class de.unibi.citec.clf.bonsai.ros.TFTransformer, Options={}]]
156214:01:05 FATAL RosFactory: Configuring transformer: CoordinateTransformerToConfigure [transformerClass=class de.unibi.citec.clf.bonsai.ros.TFTransformer, Options={}]
156314:01:05 INFO BonsaiManager: Building map of initialized coordinate transformers
156414:01:05 DEBUG BonsaiManager: factory = de.unibi.citec.clf.bonsai.ros.RosFactory@10dd9454
156514:01:05 DEBUG BonsaiManager: transformer = CoordinateTransformerToConfigure [transformerClass=class de.unibi.citec.clf.bonsai.ros.TFTransformer, Options={}]
156614:01:05 TRACE BonsaiManager: have required actuators
156714:01:05 TRACE BonsaiManager: key: Guiding
156814:01:05 TRACE BonsaiManager: key: HandShaker
156914:01:05 TRACE BonsaiManager: key: PlanningSceneManager
157014:01:05 TRACE BonsaiManager: key: MekaJointActuator
157114:01:05 TRACE BonsaiManager: key: RecognizeObjectsActuator
157214:01:05 TRACE BonsaiManager: key: SpeechActuator
157314:01:05 TRACE BonsaiManager: key: PoseActuatorTobi
157414:01:05 TRACE BonsaiManager: key: HandOver
157514:01:05 INFO BonsaiManager: Initializing working memories
157614:01:05 DEBUG BonsaiManager: Mapping ConfiguredObject to factories. Got 1 object(s) to map.
157714:01:05 DEBUG BonsaiManager: de.unibi.citec.clf.bonsai.core.configuration.data.MemoryData@49b05af9 belongs to de.unibi.citec.clf.bonsai.rsb.RsbFactory@267b2956
157814:01:05 DEBUG BonsaiManager: Mapping of objects to factories:
1579 de.unibi.citec.clf.bonsai.rsb.RsbFactory@267b2956:
1580 WorkingMemoryToConfigure [memoryClass=class de.unibi.citec.clf.bonsai.rsb.RsbamWorkingMemory, memoryOptions={memoryName=Scene}, slots=null, key=WorkingMemory]
1581
158214:01:05 DEBUG BonsaiManager: Factory de.unibi.citec.clf.bonsai.rsb.RsbFactory@267b2956: [WorkingMemoryToConfigure [memoryClass=class de.unibi.citec.clf.bonsai.rsb.RsbamWorkingMemory, memoryOptions={memoryName=Scene}, slots=null, key=WorkingMemory]]
158314:01:05 INFO RsbFactory: Configuring memories: [WorkingMemoryToConfigure [memoryClass=class de.unibi.citec.clf.bonsai.rsb.RsbamWorkingMemory, memoryOptions={memoryName=Scene}, slots=null, key=WorkingMemory]]
158414:01:05 DEBUG RsbFactory: Processing working memory to configure: WorkingMemoryToConfigure [memoryClass=class de.unibi.citec.clf.bonsai.rsb.RsbamWorkingMemory, memoryOptions={memoryName=Scene}, slots=null, key=WorkingMemory]
158514:01:05 DEBUG RsbFactory: Processing slots for memory
158614:01:05 INFO BonsaiManager: Building map of initialized working memorys
158714:01:05 DEBUG BonsaiManager: factory = de.unibi.citec.clf.bonsai.rsb.RsbFactory@267b2956
158814:01:05 DEBUG BonsaiManager: working memory = WorkingMemoryToConfigure [memoryClass=class de.unibi.citec.clf.bonsai.rsb.RsbamWorkingMemory, memoryOptions={memoryName=Scene}, slots=null, key=WorkingMemory]
158914:01:05 INFO BonsaiManager: Initializing sensors per factory
159014:01:05 DEBUG BonsaiManager: Mapping ConfiguredObject to factories. Got 5 object(s) to map.
159114:01:05 DEBUG BonsaiManager: de.unibi.citec.clf.bonsai.core.configuration.data.SensorData@7f24b1d7 belongs to de.unibi.citec.clf.bonsai.rsb.RsbFactory@267b2956
159214:01:05 DEBUG BonsaiManager: de.unibi.citec.clf.bonsai.core.configuration.data.SensorData@5bf8237f belongs to de.unibi.citec.clf.bonsai.rsb.RsbFactory@267b2956
159314:01:05 DEBUG BonsaiManager: de.unibi.citec.clf.bonsai.core.configuration.data.SensorData@38cee83 belongs to de.unibi.citec.clf.bonsai.rsb.RsbFactory@267b2956
159414:01:05 DEBUG BonsaiManager: de.unibi.citec.clf.bonsai.core.configuration.data.SensorData@e30e110 belongs to de.unibi.citec.clf.bonsai.rsb.RsbFactory@267b2956
159514:01:05 DEBUG BonsaiManager: de.unibi.citec.clf.bonsai.core.configuration.data.SensorData@2fbf4a72 belongs to de.unibi.citec.clf.bonsai.rsb.RsbFactory@267b2956
159614:01:05 DEBUG BonsaiManager: Mapping of objects to factories:
1597 de.unibi.citec.clf.bonsai.rsb.RsbFactory@267b2956:
1598 SensorToConfigure [key=PersonSensor, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.person.PersonDataList, wireClass=class rst.hri.PersonHypothesesType$PersonHypotheses, sensorOptions={scope=/hri/persons}]
1599 SensorToConfigure [key=SpeechSensorConfirm, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.speechrec.Utterance, wireClass=class rst.xml.XOPType$XOP, sensorOptions={scope=/speechrec/psa/confirm}]
1600 SensorToConfigure [key=PositionSensor, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.navigation.PositionData, wireClass=class rst.geometry.PoseType$Pose, sensorOptions={scope=/ros4rsb/slampose}]
1601 SensorToConfigure [key=SpeechSensorObject, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.speechrec.Utterance, wireClass=class rst.xml.XOPType$XOP, sensorOptions={scope=/speechrec/psa/object}]
1602 SensorToConfigure [key=SpeechSensorArm, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.speechrec.Utterance, wireClass=class rst.xml.XOPType$XOP, sensorOptions={scope=/speechrec/psa/arm}]
1603
160414:01:05 DEBUG BonsaiManager: Factory de.unibi.citec.clf.bonsai.rsb.RsbFactory@267b2956: [SensorToConfigure [key=PersonSensor, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.person.PersonDataList, wireClass=class rst.hri.PersonHypothesesType$PersonHypotheses, sensorOptions={scope=/hri/persons}], SensorToConfigure [key=SpeechSensorConfirm, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.speechrec.Utterance, wireClass=class rst.xml.XOPType$XOP, sensorOptions={scope=/speechrec/psa/confirm}], SensorToConfigure [key=PositionSensor, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.navigation.PositionData, wireClass=class rst.geometry.PoseType$Pose, sensorOptions={scope=/ros4rsb/slampose}], SensorToConfigure [key=SpeechSensorObject, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.speechrec.Utterance, wireClass=class rst.xml.XOPType$XOP, sensorOptions={scope=/speechrec/psa/object}], SensorToConfigure [key=SpeechSensorArm, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.speechrec.Utterance, wireClass=class rst.xml.XOPType$XOP, sensorOptions={scope=/speechrec/psa/arm}]]
160514:01:05 INFO RsbFactory: Configuring sensors: [SensorToConfigure [key=PersonSensor, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.person.PersonDataList, wireClass=class rst.hri.PersonHypothesesType$PersonHypotheses, sensorOptions={scope=/hri/persons}], SensorToConfigure [key=SpeechSensorConfirm, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.speechrec.Utterance, wireClass=class rst.xml.XOPType$XOP, sensorOptions={scope=/speechrec/psa/confirm}], SensorToConfigure [key=PositionSensor, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.navigation.PositionData, wireClass=class rst.geometry.PoseType$Pose, sensorOptions={scope=/ros4rsb/slampose}], SensorToConfigure [key=SpeechSensorObject, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.speechrec.Utterance, wireClass=class rst.xml.XOPType$XOP, sensorOptions={scope=/speechrec/psa/object}], SensorToConfigure [key=SpeechSensorArm, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.speechrec.Utterance, wireClass=class rst.xml.XOPType$XOP, sensorOptions={scope=/speechrec/psa/arm}]]
160614:01:05 DEBUG RsbFactory: Processing sensor to configure: SensorToConfigure [key=PersonSensor, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.person.PersonDataList, wireClass=class rst.hri.PersonHypothesesType$PersonHypotheses, sensorOptions={scope=/hri/persons}]
160714:01:05 DEBUG RsbFactory: Checking if class class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor satifies sensor SensorToConfigure [key=PersonSensor, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.person.PersonDataList, wireClass=class rst.hri.PersonHypothesesType$PersonHypotheses, sensorOptions={scope=/hri/persons}]
160814:01:05 DEBUG RsbFactory: Sensor class class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor satisfies sensor SensorToConfigure [key=PersonSensor, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.person.PersonDataList, wireClass=class rst.hri.PersonHypothesesType$PersonHypotheses, sensorOptions={scope=/hri/persons}]
160914:01:05 DEBUG RsbFactory: Processing sensor to configure: SensorToConfigure [key=SpeechSensorConfirm, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.speechrec.Utterance, wireClass=class rst.xml.XOPType$XOP, sensorOptions={scope=/speechrec/psa/confirm}]
161014:01:05 DEBUG RsbFactory: Checking if class class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor satifies sensor SensorToConfigure [key=SpeechSensorConfirm, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.speechrec.Utterance, wireClass=class rst.xml.XOPType$XOP, sensorOptions={scope=/speechrec/psa/confirm}]
161114:01:05 DEBUG RsbFactory: Sensor class class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor does not satify sensor SensorToConfigure [key=SpeechSensorConfirm, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.speechrec.Utterance, wireClass=class rst.xml.XOPType$XOP, sensorOptions={scope=/speechrec/psa/confirm}]
161214:01:05 DEBUG RsbFactory: Checking if class class de.unibi.citec.clf.bonsai.rsb.sensors.RsbStringSensor satifies sensor SensorToConfigure [key=SpeechSensorConfirm, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.speechrec.Utterance, wireClass=class rst.xml.XOPType$XOP, sensorOptions={scope=/speechrec/psa/confirm}]
161314:01:05 DEBUG RsbFactory: Sensor class class de.unibi.citec.clf.bonsai.rsb.sensors.RsbStringSensor does not satify sensor SensorToConfigure [key=SpeechSensorConfirm, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.speechrec.Utterance, wireClass=class rst.xml.XOPType$XOP, sensorOptions={scope=/speechrec/psa/confirm}]
161414:01:05 DEBUG RsbFactory: Checking if class class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor satifies sensor SensorToConfigure [key=SpeechSensorConfirm, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.speechrec.Utterance, wireClass=class rst.xml.XOPType$XOP, sensorOptions={scope=/speechrec/psa/confirm}]
161514:01:05 DEBUG RsbFactory: Sensor class class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor satisfies sensor SensorToConfigure [key=SpeechSensorConfirm, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.speechrec.Utterance, wireClass=class rst.xml.XOPType$XOP, sensorOptions={scope=/speechrec/psa/confirm}]
161614:01:05 DEBUG RsbFactory: Processing sensor to configure: SensorToConfigure [key=PositionSensor, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.navigation.PositionData, wireClass=class rst.geometry.PoseType$Pose, sensorOptions={scope=/ros4rsb/slampose}]
161714:01:05 DEBUG RsbFactory: Checking if class class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor satifies sensor SensorToConfigure [key=PositionSensor, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.navigation.PositionData, wireClass=class rst.geometry.PoseType$Pose, sensorOptions={scope=/ros4rsb/slampose}]
161814:01:05 DEBUG RsbFactory: Sensor class class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor satisfies sensor SensorToConfigure [key=PositionSensor, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.navigation.PositionData, wireClass=class rst.geometry.PoseType$Pose, sensorOptions={scope=/ros4rsb/slampose}]
161914:01:05 DEBUG RsbFactory: Processing sensor to configure: SensorToConfigure [key=SpeechSensorObject, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.speechrec.Utterance, wireClass=class rst.xml.XOPType$XOP, sensorOptions={scope=/speechrec/psa/object}]
162014:01:05 DEBUG RsbFactory: Checking if class class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor satifies sensor SensorToConfigure [key=SpeechSensorObject, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.speechrec.Utterance, wireClass=class rst.xml.XOPType$XOP, sensorOptions={scope=/speechrec/psa/object}]
162114:01:05 DEBUG RsbFactory: Sensor class class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor does not satify sensor SensorToConfigure [key=SpeechSensorObject, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.speechrec.Utterance, wireClass=class rst.xml.XOPType$XOP, sensorOptions={scope=/speechrec/psa/object}]
162214:01:05 DEBUG RsbFactory: Checking if class class de.unibi.citec.clf.bonsai.rsb.sensors.RsbStringSensor satifies sensor SensorToConfigure [key=SpeechSensorObject, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.speechrec.Utterance, wireClass=class rst.xml.XOPType$XOP, sensorOptions={scope=/speechrec/psa/object}]
162314:01:05 DEBUG RsbFactory: Sensor class class de.unibi.citec.clf.bonsai.rsb.sensors.RsbStringSensor does not satify sensor SensorToConfigure [key=SpeechSensorObject, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.speechrec.Utterance, wireClass=class rst.xml.XOPType$XOP, sensorOptions={scope=/speechrec/psa/object}]
162414:01:05 DEBUG RsbFactory: Checking if class class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor satifies sensor SensorToConfigure [key=SpeechSensorObject, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.speechrec.Utterance, wireClass=class rst.xml.XOPType$XOP, sensorOptions={scope=/speechrec/psa/object}]
162514:01:05 DEBUG RsbFactory: Sensor class class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor satisfies sensor SensorToConfigure [key=SpeechSensorObject, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.speechrec.Utterance, wireClass=class rst.xml.XOPType$XOP, sensorOptions={scope=/speechrec/psa/object}]
162614:01:05 DEBUG RsbFactory: Processing sensor to configure: SensorToConfigure [key=SpeechSensorArm, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.speechrec.Utterance, wireClass=class rst.xml.XOPType$XOP, sensorOptions={scope=/speechrec/psa/arm}]
162714:01:05 DEBUG RsbFactory: Checking if class class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor satifies sensor SensorToConfigure [key=SpeechSensorArm, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.speechrec.Utterance, wireClass=class rst.xml.XOPType$XOP, sensorOptions={scope=/speechrec/psa/arm}]
162814:01:05 DEBUG RsbFactory: Sensor class class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor does not satify sensor SensorToConfigure [key=SpeechSensorArm, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.speechrec.Utterance, wireClass=class rst.xml.XOPType$XOP, sensorOptions={scope=/speechrec/psa/arm}]
162914:01:05 DEBUG RsbFactory: Checking if class class de.unibi.citec.clf.bonsai.rsb.sensors.RsbStringSensor satifies sensor SensorToConfigure [key=SpeechSensorArm, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.speechrec.Utterance, wireClass=class rst.xml.XOPType$XOP, sensorOptions={scope=/speechrec/psa/arm}]
163014:01:05 DEBUG RsbFactory: Sensor class class de.unibi.citec.clf.bonsai.rsb.sensors.RsbStringSensor does not satify sensor SensorToConfigure [key=SpeechSensorArm, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.speechrec.Utterance, wireClass=class rst.xml.XOPType$XOP, sensorOptions={scope=/speechrec/psa/arm}]
163114:01:05 DEBUG RsbFactory: Checking if class class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor satifies sensor SensorToConfigure [key=SpeechSensorArm, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.speechrec.Utterance, wireClass=class rst.xml.XOPType$XOP, sensorOptions={scope=/speechrec/psa/arm}]
163214:01:05 DEBUG RsbFactory: Sensor class class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor satisfies sensor SensorToConfigure [key=SpeechSensorArm, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.speechrec.Utterance, wireClass=class rst.xml.XOPType$XOP, sensorOptions={scope=/speechrec/psa/arm}]
163314:01:05 INFO BonsaiManager: Building map of initialized sensors
163414:01:05 DEBUG BonsaiManager: factory = de.unibi.citec.clf.bonsai.rsb.RsbFactory@267b2956
163514:01:05 DEBUG BonsaiManager: sensor = SensorToConfigure [key=PersonSensor, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.person.PersonDataList, wireClass=class rst.hri.PersonHypothesesType$PersonHypotheses, sensorOptions={scope=/hri/persons}]
163614:01:05 DEBUG BonsaiManager: sensor = SensorToConfigure [key=SpeechSensorConfirm, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.speechrec.Utterance, wireClass=class rst.xml.XOPType$XOP, sensorOptions={scope=/speechrec/psa/confirm}]
163714:01:05 DEBUG BonsaiManager: sensor = SensorToConfigure [key=PositionSensor, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlRstSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.navigation.PositionData, wireClass=class rst.geometry.PoseType$Pose, sensorOptions={scope=/ros4rsb/slampose}]
163814:01:05 DEBUG BonsaiManager: sensor = SensorToConfigure [key=SpeechSensorObject, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.speechrec.Utterance, wireClass=class rst.xml.XOPType$XOP, sensorOptions={scope=/speechrec/psa/object}]
163914:01:05 DEBUG BonsaiManager: sensor = SensorToConfigure [key=SpeechSensorArm, sensorClass=class de.unibi.citec.clf.bonsai.rsb.sensors.RsbBtlXmlSensor, dataTypeClass=class de.unibi.citec.clf.btl.data.speechrec.Utterance, wireClass=class rst.xml.XOPType$XOP, sensorOptions={scope=/speechrec/psa/arm}]
164014:01:05 INFO BonsaiManager: Initializing actuators per factory
164114:01:05 TRACE BonsaiManager: require actuators# 8
164214:01:05 DEBUG BonsaiManager: Mapping ConfiguredObject to factories. Got 8 object(s) to map.
164314:01:05 DEBUG BonsaiManager: de.unibi.citec.clf.bonsai.core.configuration.data.ActuatorData@26af244a belongs to de.unibi.citec.clf.bonsai.ros.RosFactory@10dd9454
164414:01:05 DEBUG BonsaiManager: de.unibi.citec.clf.bonsai.core.configuration.data.ActuatorData@3f3a412e belongs to de.unibi.citec.clf.bonsai.ros.RosFactory@10dd9454
164514:01:05 DEBUG BonsaiManager: de.unibi.citec.clf.bonsai.core.configuration.data.ActuatorData@388756b6 belongs to de.unibi.citec.clf.bonsai.ros.RosFactory@10dd9454
164614:01:05 DEBUG BonsaiManager: de.unibi.citec.clf.bonsai.core.configuration.data.ActuatorData@6f010093 belongs to de.unibi.citec.clf.bonsai.rsb.RsbFactory@267b2956
164714:01:05 DEBUG BonsaiManager: de.unibi.citec.clf.bonsai.core.configuration.data.ActuatorData@2735b052 belongs to de.unibi.citec.clf.bonsai.ros.RosFactory@10dd9454
164814:01:05 DEBUG BonsaiManager: de.unibi.citec.clf.bonsai.core.configuration.data.ActuatorData@3ed7a713 belongs to de.unibi.citec.clf.bonsai.rsb.RsbFactory@267b2956
164914:01:05 DEBUG BonsaiManager: de.unibi.citec.clf.bonsai.core.configuration.data.ActuatorData@4d73338c belongs to de.unibi.citec.clf.bonsai.ros.RosFactory@10dd9454
165014:01:05 DEBUG BonsaiManager: de.unibi.citec.clf.bonsai.core.configuration.data.ActuatorData@2ba764ad belongs to de.unibi.citec.clf.bonsai.ros.RosFactory@10dd9454
165114:01:05 DEBUG BonsaiManager: Mapping of objects to factories:
1652 de.unibi.citec.clf.bonsai.ros.RosFactory@10dd9454:
1653 ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPicknPlaceActuator, actuatorOptions={service_topic=/biron_posture, action_topic=/augmented_pickup}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PicknPlaceActuator, key=PoseActuatorTobi]
1654 ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator]
1655 ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator, actuatorOptions={topic=/hand_shaker}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator, key=HandShaker]
1656 ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandOverActuator, actuatorOptions={topic=/hand_over}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandOverActuator, key=HandOver]
1657 ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
1658 ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPlanningSceneActuator, actuatorOptions={topic=/planning_scene_manager}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PlanningSceneActuator, key=PlanningSceneManager]
1659
166014:01:05 DEBUG BonsaiManager: Mapping of objects to factories:
1661 de.unibi.citec.clf.bonsai.rsb.RsbFactory@267b2956:
1662 ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.rsb.actuators.RsbJointControllerActuator, actuatorOptions={scope=/ros4rsb/ros_control}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.JointControllerActuator, key=MekaJointActuator]
1663 ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.rsb.actuators.RsbSpeechActuator, actuatorOptions={scope=/speech/tts/mary/server, plainText=true}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.SpeechActuator, key=SpeechActuator]
1664
166514:01:05 DEBUG BonsaiManager: Factory de.unibi.citec.clf.bonsai.ros.RosFactory@10dd9454: [ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPicknPlaceActuator, actuatorOptions={service_topic=/biron_posture, action_topic=/augmented_pickup}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PicknPlaceActuator, key=PoseActuatorTobi], ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator], ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator, actuatorOptions={topic=/hand_shaker}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator, key=HandShaker], ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandOverActuator, actuatorOptions={topic=/hand_over}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandOverActuator, key=HandOver], ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding], ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPlanningSceneActuator, actuatorOptions={topic=/planning_scene_manager}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PlanningSceneActuator, key=PlanningSceneManager]]
166614:01:05 INFO RosFactory: Configuring actuators: [ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPicknPlaceActuator, actuatorOptions={service_topic=/biron_posture, action_topic=/augmented_pickup}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PicknPlaceActuator, key=PoseActuatorTobi], ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator], ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator, actuatorOptions={topic=/hand_shaker}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator, key=HandShaker], ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandOverActuator, actuatorOptions={topic=/hand_over}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandOverActuator, key=HandOver], ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding], ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPlanningSceneActuator, actuatorOptions={topic=/planning_scene_manager}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PlanningSceneActuator, key=PlanningSceneManager]]
166714:01:05 DEBUG RosFactory: Processing actuator to configure: ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPicknPlaceActuator, actuatorOptions={service_topic=/biron_posture, action_topic=/augmented_pickup}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PicknPlaceActuator, key=PoseActuatorTobi]
166814:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosDetectPeopleActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPicknPlaceActuator, actuatorOptions={service_topic=/biron_posture, action_topic=/augmented_pickup}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PicknPlaceActuator, key=PoseActuatorTobi]
166914:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosDetectPeopleActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPicknPlaceActuator, actuatorOptions={service_topic=/biron_posture, action_topic=/augmented_pickup}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PicknPlaceActuator, key=PoseActuatorTobi]
167014:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosFollowPeopleActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPicknPlaceActuator, actuatorOptions={service_topic=/biron_posture, action_topic=/augmented_pickup}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PicknPlaceActuator, key=PoseActuatorTobi]
167114:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosFollowPeopleActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPicknPlaceActuator, actuatorOptions={service_topic=/biron_posture, action_topic=/augmented_pickup}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PicknPlaceActuator, key=PoseActuatorTobi]
167214:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.ClfMoveBaseNavigationActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPicknPlaceActuator, actuatorOptions={service_topic=/biron_posture, action_topic=/augmented_pickup}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PicknPlaceActuator, key=PoseActuatorTobi]
167314:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.ClfMoveBaseNavigationActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPicknPlaceActuator, actuatorOptions={service_topic=/biron_posture, action_topic=/augmented_pickup}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PicknPlaceActuator, key=PoseActuatorTobi]
167414:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosLearnPersonActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPicknPlaceActuator, actuatorOptions={service_topic=/biron_posture, action_topic=/augmented_pickup}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PicknPlaceActuator, key=PoseActuatorTobi]
167514:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosLearnPersonActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPicknPlaceActuator, actuatorOptions={service_topic=/biron_posture, action_topic=/augmented_pickup}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PicknPlaceActuator, key=PoseActuatorTobi]
167614:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosTWMActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPicknPlaceActuator, actuatorOptions={service_topic=/biron_posture, action_topic=/augmented_pickup}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PicknPlaceActuator, key=PoseActuatorTobi]
167714:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosTWMActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPicknPlaceActuator, actuatorOptions={service_topic=/biron_posture, action_topic=/augmented_pickup}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PicknPlaceActuator, key=PoseActuatorTobi]
167814:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosPlanningSceneActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPicknPlaceActuator, actuatorOptions={service_topic=/biron_posture, action_topic=/augmented_pickup}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PicknPlaceActuator, key=PoseActuatorTobi]
167914:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosPlanningSceneActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPicknPlaceActuator, actuatorOptions={service_topic=/biron_posture, action_topic=/augmented_pickup}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PicknPlaceActuator, key=PoseActuatorTobi]
168014:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosHandOverActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPicknPlaceActuator, actuatorOptions={service_topic=/biron_posture, action_topic=/augmented_pickup}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PicknPlaceActuator, key=PoseActuatorTobi]
168114:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosHandOverActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPicknPlaceActuator, actuatorOptions={service_topic=/biron_posture, action_topic=/augmented_pickup}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PicknPlaceActuator, key=PoseActuatorTobi]
168214:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosStringActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPicknPlaceActuator, actuatorOptions={service_topic=/biron_posture, action_topic=/augmented_pickup}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PicknPlaceActuator, key=PoseActuatorTobi]
168314:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosStringActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPicknPlaceActuator, actuatorOptions={service_topic=/biron_posture, action_topic=/augmented_pickup}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PicknPlaceActuator, key=PoseActuatorTobi]
168414:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosKBaseActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPicknPlaceActuator, actuatorOptions={service_topic=/biron_posture, action_topic=/augmented_pickup}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PicknPlaceActuator, key=PoseActuatorTobi]
168514:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosKBaseActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPicknPlaceActuator, actuatorOptions={service_topic=/biron_posture, action_topic=/augmented_pickup}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PicknPlaceActuator, key=PoseActuatorTobi]
168614:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosGetPersonAttributesActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPicknPlaceActuator, actuatorOptions={service_topic=/biron_posture, action_topic=/augmented_pickup}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PicknPlaceActuator, key=PoseActuatorTobi]
168714:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosGetPersonAttributesActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPicknPlaceActuator, actuatorOptions={service_topic=/biron_posture, action_topic=/augmented_pickup}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PicknPlaceActuator, key=PoseActuatorTobi]
168814:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosPicknPlaceActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPicknPlaceActuator, actuatorOptions={service_topic=/biron_posture, action_topic=/augmented_pickup}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PicknPlaceActuator, key=PoseActuatorTobi]
168914:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosPicknPlaceActuator satisfies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPicknPlaceActuator, actuatorOptions={service_topic=/biron_posture, action_topic=/augmented_pickup}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PicknPlaceActuator, key=PoseActuatorTobi]
169014:01:05 DEBUG RosFactory: Processing actuator to configure: ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator]
169114:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosDetectPeopleActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator]
169214:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosDetectPeopleActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator]
169314:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosFollowPeopleActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator]
169414:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosFollowPeopleActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator]
169514:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.ClfMoveBaseNavigationActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator]
169614:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.ClfMoveBaseNavigationActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator]
169714:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosLearnPersonActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator]
169814:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosLearnPersonActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator]
169914:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosTWMActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator]
170014:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosTWMActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator]
170114:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosPlanningSceneActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator]
170214:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosPlanningSceneActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator]
170314:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosHandOverActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator]
170414:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosHandOverActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator]
170514:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosStringActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator]
170614:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosStringActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator]
170714:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosKBaseActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator]
170814:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosKBaseActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator]
170914:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosGetPersonAttributesActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator]
171014:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosGetPersonAttributesActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator]
171114:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosPicknPlaceActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator]
171214:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosPicknPlaceActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator]
171314:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosDetectPlanesActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator]
171414:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosDetectPlanesActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator]
171514:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosGetCrowdAttributesActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator]
171614:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosGetCrowdAttributesActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator]
171714:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosNaoQiPostureActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator]
171814:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosNaoQiPostureActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator]
171914:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosGazeActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator]
172014:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosGazeActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator]
172114:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator]
172214:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator]
172314:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator]
172414:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator satisfies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator]
172514:01:05 DEBUG RosFactory: Processing actuator to configure: ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator, actuatorOptions={topic=/hand_shaker}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator, key=HandShaker]
172614:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosDetectPeopleActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator, actuatorOptions={topic=/hand_shaker}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator, key=HandShaker]
172714:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosDetectPeopleActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator, actuatorOptions={topic=/hand_shaker}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator, key=HandShaker]
172814:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosFollowPeopleActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator, actuatorOptions={topic=/hand_shaker}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator, key=HandShaker]
172914:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosFollowPeopleActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator, actuatorOptions={topic=/hand_shaker}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator, key=HandShaker]
173014:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.ClfMoveBaseNavigationActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator, actuatorOptions={topic=/hand_shaker}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator, key=HandShaker]
173114:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.ClfMoveBaseNavigationActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator, actuatorOptions={topic=/hand_shaker}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator, key=HandShaker]
173214:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosLearnPersonActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator, actuatorOptions={topic=/hand_shaker}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator, key=HandShaker]
173314:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosLearnPersonActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator, actuatorOptions={topic=/hand_shaker}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator, key=HandShaker]
173414:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosTWMActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator, actuatorOptions={topic=/hand_shaker}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator, key=HandShaker]
173514:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosTWMActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator, actuatorOptions={topic=/hand_shaker}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator, key=HandShaker]
173614:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosPlanningSceneActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator, actuatorOptions={topic=/hand_shaker}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator, key=HandShaker]
173714:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosPlanningSceneActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator, actuatorOptions={topic=/hand_shaker}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator, key=HandShaker]
173814:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosHandOverActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator, actuatorOptions={topic=/hand_shaker}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator, key=HandShaker]
173914:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosHandOverActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator, actuatorOptions={topic=/hand_shaker}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator, key=HandShaker]
174014:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosStringActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator, actuatorOptions={topic=/hand_shaker}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator, key=HandShaker]
174114:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosStringActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator, actuatorOptions={topic=/hand_shaker}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator, key=HandShaker]
174214:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosKBaseActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator, actuatorOptions={topic=/hand_shaker}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator, key=HandShaker]
174314:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosKBaseActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator, actuatorOptions={topic=/hand_shaker}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator, key=HandShaker]
174414:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosGetPersonAttributesActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator, actuatorOptions={topic=/hand_shaker}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator, key=HandShaker]
174514:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosGetPersonAttributesActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator, actuatorOptions={topic=/hand_shaker}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator, key=HandShaker]
174614:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosPicknPlaceActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator, actuatorOptions={topic=/hand_shaker}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator, key=HandShaker]
174714:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosPicknPlaceActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator, actuatorOptions={topic=/hand_shaker}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator, key=HandShaker]
174814:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosDetectPlanesActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator, actuatorOptions={topic=/hand_shaker}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator, key=HandShaker]
174914:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosDetectPlanesActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator, actuatorOptions={topic=/hand_shaker}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator, key=HandShaker]
175014:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosGetCrowdAttributesActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator, actuatorOptions={topic=/hand_shaker}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator, key=HandShaker]
175114:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosGetCrowdAttributesActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator, actuatorOptions={topic=/hand_shaker}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator, key=HandShaker]
175214:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosNaoQiPostureActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator, actuatorOptions={topic=/hand_shaker}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator, key=HandShaker]
175314:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosNaoQiPostureActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator, actuatorOptions={topic=/hand_shaker}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator, key=HandShaker]
175414:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosGazeActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator, actuatorOptions={topic=/hand_shaker}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator, key=HandShaker]
175514:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosGazeActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator, actuatorOptions={topic=/hand_shaker}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator, key=HandShaker]
175614:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator, actuatorOptions={topic=/hand_shaker}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator, key=HandShaker]
175714:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator satisfies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator, actuatorOptions={topic=/hand_shaker}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator, key=HandShaker]
175814:01:05 DEBUG RosFactory: Processing actuator to configure: ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandOverActuator, actuatorOptions={topic=/hand_over}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandOverActuator, key=HandOver]
175914:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosDetectPeopleActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandOverActuator, actuatorOptions={topic=/hand_over}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandOverActuator, key=HandOver]
176014:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosDetectPeopleActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandOverActuator, actuatorOptions={topic=/hand_over}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandOverActuator, key=HandOver]
176114:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosFollowPeopleActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandOverActuator, actuatorOptions={topic=/hand_over}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandOverActuator, key=HandOver]
176214:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosFollowPeopleActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandOverActuator, actuatorOptions={topic=/hand_over}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandOverActuator, key=HandOver]
176314:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.ClfMoveBaseNavigationActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandOverActuator, actuatorOptions={topic=/hand_over}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandOverActuator, key=HandOver]
176414:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.ClfMoveBaseNavigationActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandOverActuator, actuatorOptions={topic=/hand_over}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandOverActuator, key=HandOver]
176514:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosLearnPersonActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandOverActuator, actuatorOptions={topic=/hand_over}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandOverActuator, key=HandOver]
176614:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosLearnPersonActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandOverActuator, actuatorOptions={topic=/hand_over}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandOverActuator, key=HandOver]
176714:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosTWMActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandOverActuator, actuatorOptions={topic=/hand_over}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandOverActuator, key=HandOver]
176814:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosTWMActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandOverActuator, actuatorOptions={topic=/hand_over}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandOverActuator, key=HandOver]
176914:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosPlanningSceneActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandOverActuator, actuatorOptions={topic=/hand_over}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandOverActuator, key=HandOver]
177014:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosPlanningSceneActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandOverActuator, actuatorOptions={topic=/hand_over}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandOverActuator, key=HandOver]
177114:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosHandOverActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandOverActuator, actuatorOptions={topic=/hand_over}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandOverActuator, key=HandOver]
177214:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosHandOverActuator satisfies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandOverActuator, actuatorOptions={topic=/hand_over}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandOverActuator, key=HandOver]
177314:01:05 DEBUG RosFactory: Processing actuator to configure: ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
177414:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosDetectPeopleActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
177514:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosDetectPeopleActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
177614:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosFollowPeopleActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
177714:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosFollowPeopleActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
177814:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.ClfMoveBaseNavigationActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
177914:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.ClfMoveBaseNavigationActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
178014:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosLearnPersonActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
178114:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosLearnPersonActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
178214:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosTWMActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
178314:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosTWMActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
178414:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosPlanningSceneActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
178514:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosPlanningSceneActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
178614:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosHandOverActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
178714:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosHandOverActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
178814:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosStringActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
178914:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosStringActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
179014:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosKBaseActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
179114:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosKBaseActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
179214:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosGetPersonAttributesActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
179314:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosGetPersonAttributesActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
179414:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosPicknPlaceActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
179514:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosPicknPlaceActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
179614:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosDetectPlanesActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
179714:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosDetectPlanesActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
179814:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosGetCrowdAttributesActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
179914:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosGetCrowdAttributesActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
180014:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosNaoQiPostureActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
180114:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosNaoQiPostureActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
180214:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosGazeActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
180314:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosGazeActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
180414:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
180514:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
180614:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
180714:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
180814:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosTriggerActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
180914:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosTriggerActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
181014:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosMoveBaseNavigationActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
181114:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosMoveBaseNavigationActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
181214:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosNaoQiSpeechActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
181314:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosNaoQiSpeechActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
181414:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosNaoQiSSLActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
181514:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosNaoQiSSLActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
181614:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosDetectObjectsActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
181714:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosDetectObjectsActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
181814:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
181914:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator satisfies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
182014:01:05 DEBUG RosFactory: Processing actuator to configure: ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPlanningSceneActuator, actuatorOptions={topic=/planning_scene_manager}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PlanningSceneActuator, key=PlanningSceneManager]
182114:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosDetectPeopleActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPlanningSceneActuator, actuatorOptions={topic=/planning_scene_manager}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PlanningSceneActuator, key=PlanningSceneManager]
182214:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosDetectPeopleActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPlanningSceneActuator, actuatorOptions={topic=/planning_scene_manager}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PlanningSceneActuator, key=PlanningSceneManager]
182314:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosFollowPeopleActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPlanningSceneActuator, actuatorOptions={topic=/planning_scene_manager}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PlanningSceneActuator, key=PlanningSceneManager]
182414:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosFollowPeopleActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPlanningSceneActuator, actuatorOptions={topic=/planning_scene_manager}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PlanningSceneActuator, key=PlanningSceneManager]
182514:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.ClfMoveBaseNavigationActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPlanningSceneActuator, actuatorOptions={topic=/planning_scene_manager}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PlanningSceneActuator, key=PlanningSceneManager]
182614:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.ClfMoveBaseNavigationActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPlanningSceneActuator, actuatorOptions={topic=/planning_scene_manager}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PlanningSceneActuator, key=PlanningSceneManager]
182714:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosLearnPersonActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPlanningSceneActuator, actuatorOptions={topic=/planning_scene_manager}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PlanningSceneActuator, key=PlanningSceneManager]
182814:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosLearnPersonActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPlanningSceneActuator, actuatorOptions={topic=/planning_scene_manager}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PlanningSceneActuator, key=PlanningSceneManager]
182914:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosTWMActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPlanningSceneActuator, actuatorOptions={topic=/planning_scene_manager}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PlanningSceneActuator, key=PlanningSceneManager]
183014:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosTWMActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPlanningSceneActuator, actuatorOptions={topic=/planning_scene_manager}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PlanningSceneActuator, key=PlanningSceneManager]
183114:01:05 DEBUG RosFactory: Checking if class class de.unibi.citec.clf.bonsai.ros.actuators.RosPlanningSceneActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPlanningSceneActuator, actuatorOptions={topic=/planning_scene_manager}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PlanningSceneActuator, key=PlanningSceneManager]
183214:01:05 DEBUG RosFactory: Actuator class class de.unibi.citec.clf.bonsai.ros.actuators.RosPlanningSceneActuator satisfies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPlanningSceneActuator, actuatorOptions={topic=/planning_scene_manager}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PlanningSceneActuator, key=PlanningSceneManager]
183314:01:05 DEBUG BonsaiManager: Factory de.unibi.citec.clf.bonsai.rsb.RsbFactory@267b2956: [ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.rsb.actuators.RsbJointControllerActuator, actuatorOptions={scope=/ros4rsb/ros_control}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.JointControllerActuator, key=MekaJointActuator], ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.rsb.actuators.RsbSpeechActuator, actuatorOptions={scope=/speech/tts/mary/server, plainText=true}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.SpeechActuator, key=SpeechActuator]]
183414:01:05 INFO RsbFactory: Configuring actuators: [ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.rsb.actuators.RsbJointControllerActuator, actuatorOptions={scope=/ros4rsb/ros_control}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.JointControllerActuator, key=MekaJointActuator], ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.rsb.actuators.RsbSpeechActuator, actuatorOptions={scope=/speech/tts/mary/server, plainText=true}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.SpeechActuator, key=SpeechActuator]]
183514:01:05 DEBUG RsbFactory: Processing actuator to configure: ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.rsb.actuators.RsbJointControllerActuator, actuatorOptions={scope=/ros4rsb/ros_control}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.JointControllerActuator, key=MekaJointActuator]
183614:01:05 DEBUG RsbFactory: Checking if class class de.unibi.citec.clf.bonsai.rsb.actuators.RsbJointControllerActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.rsb.actuators.RsbJointControllerActuator, actuatorOptions={scope=/ros4rsb/ros_control}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.JointControllerActuator, key=MekaJointActuator]
183714:01:05 DEBUG RsbFactory: Actuator class class de.unibi.citec.clf.bonsai.rsb.actuators.RsbJointControllerActuator satisfies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.rsb.actuators.RsbJointControllerActuator, actuatorOptions={scope=/ros4rsb/ros_control}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.JointControllerActuator, key=MekaJointActuator]
183814:01:05 DEBUG RsbFactory: Processing actuator to configure: ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.rsb.actuators.RsbSpeechActuator, actuatorOptions={scope=/speech/tts/mary/server, plainText=true}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.SpeechActuator, key=SpeechActuator]
183914:01:05 DEBUG RsbFactory: Checking if class class de.unibi.citec.clf.bonsai.rsb.actuators.RsbJointControllerActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.rsb.actuators.RsbSpeechActuator, actuatorOptions={scope=/speech/tts/mary/server, plainText=true}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.SpeechActuator, key=SpeechActuator]
184014:01:05 DEBUG RsbFactory: Actuator class class de.unibi.citec.clf.bonsai.rsb.actuators.RsbJointControllerActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.rsb.actuators.RsbSpeechActuator, actuatorOptions={scope=/speech/tts/mary/server, plainText=true}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.SpeechActuator, key=SpeechActuator]
184114:01:05 DEBUG RsbFactory: Checking if class class de.unibi.citec.clf.bonsai.rsb.actuators.RsbStringActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.rsb.actuators.RsbSpeechActuator, actuatorOptions={scope=/speech/tts/mary/server, plainText=true}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.SpeechActuator, key=SpeechActuator]
184214:01:05 DEBUG RsbFactory: Actuator class class de.unibi.citec.clf.bonsai.rsb.actuators.RsbStringActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.rsb.actuators.RsbSpeechActuator, actuatorOptions={scope=/speech/tts/mary/server, plainText=true}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.SpeechActuator, key=SpeechActuator]
184314:01:05 DEBUG RsbFactory: Checking if class class de.unibi.citec.clf.bonsai.rsb.actuators.RsbPostureActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.rsb.actuators.RsbSpeechActuator, actuatorOptions={scope=/speech/tts/mary/server, plainText=true}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.SpeechActuator, key=SpeechActuator]
184414:01:05 DEBUG RsbFactory: Actuator class class de.unibi.citec.clf.bonsai.rsb.actuators.RsbPostureActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.rsb.actuators.RsbSpeechActuator, actuatorOptions={scope=/speech/tts/mary/server, plainText=true}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.SpeechActuator, key=SpeechActuator]
184514:01:05 DEBUG RsbFactory: Checking if class class de.unibi.citec.clf.bonsai.rsb.actuators.RsbServerMethodCallActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.rsb.actuators.RsbSpeechActuator, actuatorOptions={scope=/speech/tts/mary/server, plainText=true}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.SpeechActuator, key=SpeechActuator]
184614:01:05 DEBUG RsbFactory: Actuator class class de.unibi.citec.clf.bonsai.rsb.actuators.RsbServerMethodCallActuator does not satify actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.rsb.actuators.RsbSpeechActuator, actuatorOptions={scope=/speech/tts/mary/server, plainText=true}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.SpeechActuator, key=SpeechActuator]
184714:01:05 DEBUG RsbFactory: Checking if class class de.unibi.citec.clf.bonsai.rsb.actuators.RsbSpeechActuator satifies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.rsb.actuators.RsbSpeechActuator, actuatorOptions={scope=/speech/tts/mary/server, plainText=true}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.SpeechActuator, key=SpeechActuator]
184814:01:05 DEBUG RsbFactory: Actuator class class de.unibi.citec.clf.bonsai.rsb.actuators.RsbSpeechActuator satisfies actuator ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.rsb.actuators.RsbSpeechActuator, actuatorOptions={scope=/speech/tts/mary/server, plainText=true}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.SpeechActuator, key=SpeechActuator]
184914:01:05 INFO BonsaiManager: Building map of initialized actuators
185014:01:05 DEBUG BonsaiManager: factory = de.unibi.citec.clf.bonsai.ros.RosFactory@10dd9454
185114:01:05 DEBUG BonsaiManager: actuator = ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPicknPlaceActuator, actuatorOptions={service_topic=/biron_posture, action_topic=/augmented_pickup}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PicknPlaceActuator, key=PoseActuatorTobi]
185214:01:05 DEBUG BonsaiManager: actuator = ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosRecognizeObjectsActuator, actuatorOptions={topic=/recognize_objects}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator, key=RecognizeObjectsActuator]
185314:01:05 DEBUG BonsaiManager: actuator = ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandShakeActuator, actuatorOptions={topic=/hand_shaker}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator, key=HandShaker]
185414:01:05 DEBUG BonsaiManager: actuator = ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosHandOverActuator, actuatorOptions={topic=/hand_over}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.HandOverActuator, key=HandOver]
185514:01:05 DEBUG BonsaiManager: actuator = ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosGuidingActuator, actuatorOptions={topic=/force_guiding}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator, key=Guiding]
185614:01:05 DEBUG BonsaiManager: actuator = ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.ros.actuators.RosPlanningSceneActuator, actuatorOptions={topic=/planning_scene_manager}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.PlanningSceneActuator, key=PlanningSceneManager]
185714:01:05 DEBUG BonsaiManager: factory = de.unibi.citec.clf.bonsai.rsb.RsbFactory@267b2956
185814:01:05 DEBUG BonsaiManager: actuator = ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.rsb.actuators.RsbJointControllerActuator, actuatorOptions={scope=/ros4rsb/ros_control}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.JointControllerActuator, key=MekaJointActuator]
185914:01:05 DEBUG BonsaiManager: actuator = ActuatorToConfigure [actuatorClass=class de.unibi.citec.clf.bonsai.rsb.actuators.RsbSpeechActuator, actuatorOptions={scope=/speech/tts/mary/server, plainText=true}, interfaceClass=interface de.unibi.citec.clf.bonsai.actuators.SpeechActuator, key=SpeechActuator]
186014:01:05 INFO BonsaiManager: trigger object creation
186114:01:05 WARN RosFactory: ROS_IP not set
186214:01:05 WARN RosFactory: basepc not set, using 127.0.0.1
186314:01:05 DEBUG RosFactory: running node on: ip-129-70-135-85.Wired.Dyn.CIT-EC.NET , master: http://localhost:11311
186414:01:05 DEBUG RosFactory: /bonsai/ros/Transformer, should be started
186514:01:05 WARN RosFactory: ROS_IP not set
186614:01:05 WARN RosFactory: basepc not set, using 127.0.0.1
186714:01:05 DEBUG RosFactory: running node on: ip-129-70-135-85.Wired.Dyn.CIT-EC.NET , master: http://localhost:11311
186814:01:05 WARN RosFactory: ROS_IP not set
186914:01:05 WARN RosFactory: basepc not set, using 127.0.0.1
187014:01:05 WARN RosFactory: ROS_IP not set
187114:01:05 WARN RosFactory: ROS_IP not set
187214:01:05 WARN RosFactory: basepc not set, using 127.0.0.1
187314:01:05 WARN RosFactory: basepc not set, using 127.0.0.1
187414:01:05 DEBUG RosFactory: running node on: ip-129-70-135-85.Wired.Dyn.CIT-EC.NET , master: http://localhost:11311
187514:01:05 DEBUG RosFactory: running node on: ip-129-70-135-85.Wired.Dyn.CIT-EC.NET , master: http://localhost:11311
187614:01:05 DEBUG RosFactory: running node on: ip-129-70-135-85.Wired.Dyn.CIT-EC.NET , master: http://localhost:11311
187714:01:05 DEBUG RosFactory: /bonsai/ros/HandShaker, should be started
187814:01:05 WARN RosFactory: ROS_IP not set
187914:01:05 WARN RosFactory: basepc not set, using 127.0.0.1
188014:01:05 DEBUG RosFactory: running node on: ip-129-70-135-85.Wired.Dyn.CIT-EC.NET , master: http://localhost:11311
188114:01:05 DEBUG RosFactory: /bonsai/ros/PlanningSceneManager, should be started
188214:01:05 DEBUG RosFactory: /bonsai/ros/RecognizeObjectsActuator, should be started
188314:01:05 DEBUG RosFactory: /bonsai/ros/Guiding, should be started
188414:01:05 DEBUG RosFactory: /bonsai/ros/PoseActuatorTobi, should be started
188514:01:05 WARN RosFactory: ROS_IP not set
188614:01:05 WARN RosFactory: basepc not set, using 127.0.0.1
188714:01:05 DEBUG RosFactory: running node on: ip-129-70-135-85.Wired.Dyn.CIT-EC.NET , master: http://localhost:11311
188814:01:06 DEBUG RosFactory: /bonsai/ros/HandOver, should be started
188914:01:06 FATAL RosHandOverActuator: on start, RosHandShakeActuator done
189014:01:06 FATAL RosPlanningSceneActuator: on start, RosNaoQiSpeechActuator done
189114:01:06 FATAL RosHandShakeActuator: on start, RosHandShakeActuator done
189214:01:06 FATAL RosGuidingActuator: on start, RosGuidingActuator done
189314:01:06 DEBUG RosFactory: Sleep additional 2sec
189414:01:08 DEBUG RosFactory: all nodes should be started now
189514:01:08 DEBUG RsbFactory: all nodes should be started now
189614:01:08 DEBUG BonsaiManager: Checking if an sensor of key 'SpeechSensorConfirm' can be created with interface class class de.unibi.citec.clf.btl.data.speechrec.Utterance
189714:01:08 DEBUG BonsaiManager: Can create sensor.
189814:01:08 DEBUG BonsaiManager: Checking if an sensor of key 'SpeechSensorObject' can be created with interface class class de.unibi.citec.clf.btl.data.speechrec.Utterance
189914:01:08 DEBUG BonsaiManager: Can create sensor.
190014:01:08 DEBUG BonsaiManager: Checking if an sensor of key 'PositionSensor' can be created with interface class class de.unibi.citec.clf.btl.data.navigation.PositionData
190114:01:08 DEBUG BonsaiManager: Can create sensor.
190214:01:08 DEBUG BonsaiManager: Checking if an sensor of key 'PersonSensor' can be created with interface class class de.unibi.citec.clf.btl.data.person.PersonDataList
190314:01:08 DEBUG BonsaiManager: Can create sensor.
190414:01:08 DEBUG BonsaiManager: Checking if an sensor of key 'SpeechSensorArm' can be created with interface class class de.unibi.citec.clf.btl.data.speechrec.Utterance
190514:01:08 DEBUG BonsaiManager: Can create sensor.
190614:01:08 DEBUG BonsaiManager: Checking if an actuator of key 'Guiding' can be created with interface class interface de.unibi.citec.clf.bonsai.actuators.GuidingActuator
190714:01:08 DEBUG BonsaiManager: Can create actuator.
190814:01:08 DEBUG BonsaiManager: Checking if an actuator of key 'HandShaker' can be created with interface class interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator
190914:01:08 DEBUG BonsaiManager: Can create actuator.
191014:01:08 DEBUG BonsaiManager: Checking if an actuator of key 'PlanningSceneManager' can be created with interface class interface de.unibi.citec.clf.bonsai.actuators.PlanningSceneActuator
191114:01:08 DEBUG BonsaiManager: Can create actuator.
191214:01:08 DEBUG BonsaiManager: Checking if an actuator of key 'MekaJointActuator' can be created with interface class interface de.unibi.citec.clf.bonsai.actuators.JointControllerActuator
191314:01:08 DEBUG BonsaiManager: Can create actuator.
191414:01:08 DEBUG BonsaiManager: Checking if an actuator of key 'RecognizeObjectsActuator' can be created with interface class interface de.unibi.citec.clf.bonsai.actuators.RecognizeObjectsActuator
191514:01:08 DEBUG BonsaiManager: Can create actuator.
191614:01:08 DEBUG BonsaiManager: Checking if an actuator of key 'SpeechActuator' can be created with interface class interface de.unibi.citec.clf.bonsai.actuators.SpeechActuator
191714:01:08 DEBUG BonsaiManager: Can create actuator.
191814:01:08 DEBUG BonsaiManager: Checking if an actuator of key 'PoseActuatorTobi' can be created with interface class interface de.unibi.citec.clf.bonsai.actuators.PicknPlaceActuator
191914:01:08 DEBUG BonsaiManager: Can create actuator.
192014:01:08 DEBUG BonsaiManager: Checking if an actuator of key 'HandOver' can be created with interface class interface de.unibi.citec.clf.bonsai.actuators.HandOverActuator
192114:01:08 DEBUG BonsaiManager: Can create actuator.
192214:01:08 DEBUG BonsaiManager: Checking if an working memory of key 'WorkingMemory' can be created.
192314:01:08 DEBUG BonsaiManager: Can create working memory.
192414:01:08 DEBUG SkillStateMachine:
1925#########RESULTS:#########
1926
192714:01:08 INFO SCXMLOverviewController: loading finished without error
192814:01:08 INFO SCXMLOverviewController: getting states...
1929UpdateListView
193014:01:10 FATAL SCXMLOverviewController: start
193114:01:10 INFO SCXMLOverviewController: enable automatic events
193214:01:10 INFO SkillStateMachine:
1933#######################
1934STARTING STATE MACHINE
1935#######################
1936
193714:01:10 DEBUG SkillStateMachine: #OnEntry: welcome
193814:01:10 DEBUG SkillStateMachine: #OnEntry: shakehand
193914:01:10 DEBUG SkillStateMachine: #OnEntry: deprecated.body.MoveHead#welcoming#shakehand
194014:01:10 INFO SkillStateMachine: ##INVOKE MoveHead#welcoming#shakehand
194114:01:10 DEBUG SkillConfigurator: Requested actuator "MekaJointActuator" of type "interface de.unibi.citec.clf.bonsai.actuators.JointControllerActuator"
194214:01:10 DEBUG SkillConfigurator: request double #_J0 default:NaN
194314:01:10 DEBUG SkillConfigurator: .. using config value 0.00
194414:01:10 DEBUG SkillConfigurator: request double #_J1 default:NaN
194514:01:10 DEBUG SkillConfigurator: .. using config value 0.00
194614:01:10 DEBUG SkillConfigurator: request INT #_TIMEOUT default:5000
194714:01:10 DEBUG SkillConfigurator: .. using config value 5000
194814:01:10 DEBUG SkillRunner: MoveHead#welcoming#shakehand -> invoke configure().
194914:01:10 INFO BonsaiManager: Creating an actuator instance with key 'MekaJointActuator' and type 'interface de.unibi.citec.clf.bonsai.actuators.JointControllerActuator'
195014:01:10 DEBUG FXGUI: statemachine started
1951Apr 10, 2018 2:01:10 PM rsb.transport.socket.BusServer$AcceptorThread run
1952INFO: Waiting for new client connection
195314:01:11 DEBUG SkillRunner: MoveHead#welcoming#shakehand -> invoke init()
195414:01:11 DEBUG MoveHead: going to: 0.0 / 0.0
1955Invoked goToHeadPose with j0: 0.0and j1: 0.0
195614:01:11 DEBUG SkillRunner: MoveHead#welcoming#shakehand -> init() returned: true
195714:01:11 DEBUG SkillRunner: MoveHead#welcoming#shakehand -> invoke execute()
195814:01:16 DEBUG SkillRunner: MoveHead#welcoming#shakehand -> execute() returned: error
195914:01:16 DEBUG SkillRunner: MoveHead#welcoming#shakehand -> invoke end()
196014:01:16 DEBUG SkillRunner: MoveHead#welcoming#shakehand -> end() returned: error
196114:01:16 DEBUG SCXMLSkillRunner: Fire event: MoveHead.error
196214:01:16 DEBUG SkillStateMachine: FIRE SKILL Event: MoveHead.error
196314:01:16 DEBUG SkillStateMachine: #OnExit: deprecated.body.MoveHead#welcoming#shakehand
196414:01:16 INFO SkillStateMachine: #onTransition: "deprecated.body.MoveHead#welcoming#shakehand" --> "personPerception.SearchForPerson#shakehand "event: "MoveHead.error"
196514:01:16 DEBUG SkillStateMachine: #OnEntry: personPerception.SearchForPerson#shakehand
196614:01:16 INFO SkillStateMachine: ##INVOKE SearchForPerson#shakehand
196714:01:16 DEBUG SkillConfigurator: request double #_MAX_DIST default:1.7976931348623157E308
196814:01:16 DEBUG SkillConfigurator: .. using config value 1.7976931348623157E308
196914:01:16 DEBUG SkillConfigurator: request double #_MAX_ANGLE default:1.7976931348623157E308
197014:01:16 DEBUG SkillConfigurator: .. using config value 1.7976931348623157E308
197114:01:16 DEBUG SkillConfigurator: request INT #_TIMEOUT default:-1
197214:01:16 DEBUG SkillConfigurator: .. using config value 10000
197314:01:16 DEBUG SkillConfigurator: request value #_GESTURE default:0
197414:01:16 DEBUG SkillConfigurator: .. using config value 0
197514:01:16 WARN SearchForPerson: Gesture 0 not defined.
197614:01:16 DEBUG SkillConfigurator: request value #_POSTURE default:0
197714:01:16 DEBUG SkillConfigurator: .. using config value 0
197814:01:16 WARN SearchForPerson: Posture 0 not defined.
197914:01:16 DEBUG SkillConfigurator: request value #_GENDER default:none
198014:01:16 DEBUG SkillConfigurator: .. using config value none
198114:01:16 DEBUG SkillConfigurator: request INT #_AGE_FROM default:-2147483648
198214:01:16 DEBUG SkillConfigurator: .. using config value -2147483648
198314:01:16 DEBUG SkillConfigurator: request INT #_AGE_TO default:2147483647
198414:01:16 DEBUG SkillConfigurator: .. using config value 2147483647
198514:01:16 DEBUG SkillConfigurator: request double #_STOP_DISTANCE default:800.0
198614:01:16 DEBUG SkillConfigurator: .. using config value 800.0
198714:01:16 DEBUG SkillConfigurator: Requested slot "NavigationGoalDataSlot" of type "NavigationGoalData"
198814:01:16 DEBUG SkillConfigurator: Requested slot "PersonDataSlot" of type "PersonData"
198914:01:16 DEBUG SkillConfigurator: Requested sensor "PositionSensor" with data type "class de.unibi.citec.clf.btl.data.navigation.PositionData"
199014:01:16 DEBUG SkillConfigurator: Requested sensor "PersonSensor" with data type "class de.unibi.citec.clf.btl.data.person.PersonDataList"
199114:01:16 DEBUG SkillRunner: SearchForPerson#shakehand -> invoke configure().
199214:01:16 WARN SearchForPerson: Gesture 0 not defined.
199314:01:16 WARN SearchForPerson: Posture 0 not defined.
199414:01:16 INFO BonsaiManager: Creating an working memory instance with key 'WorkingMemory'
199514:01:16 DEBUG SkillStateMachine: FIRE SKILL Event: SearchForPerson.fatal
199614:01:16 DEBUG SkillStateMachine: #OnExit: personPerception.SearchForPerson#shakehand
199714:01:16 INFO SkillStateMachine: Not waiting for corrupt state/class: de.unibi.citec.clf.bonsai.skills.personPerception.SearchForPerson#shakehand
199814:01:16 INFO SkillStateMachine: #onTransition: "personPerception.SearchForPerson#shakehand" --> "dialog.Talk#welcoming#shakehand "event: "SearchForPerson.fatal"
199914:01:16 DEBUG SkillStateMachine: #OnEntry: dialog.Talk#welcoming#shakehand
200014:01:16 INFO SkillStateMachine: ##INVOKE Talk#welcoming#shakehand
200114:01:16 DEBUG SkillConfigurator: request value #_MESSAGE
200214:01:16 DEBUG SkillConfigurator: .. using config value welcome to the cognitive service robotics apartment.
200314:01:16 DEBUG SkillConfigurator: request bool #_BLOCKING default:true
200414:01:16 DEBUG SkillConfigurator: .. using config value false
200514:01:16 DEBUG SkillConfigurator: Requested actuator "SpeechActuator" of type "interface de.unibi.citec.clf.bonsai.actuators.SpeechActuator"
200614:01:16 DEBUG SkillRunner: Talk#welcoming#shakehand -> invoke configure().
200714:01:16 INFO BonsaiManager: Creating an actuator instance with key 'SpeechActuator' and type 'interface de.unibi.citec.clf.bonsai.actuators.SpeechActuator'
200814:01:16 ERROR SkillStateMachine: Caught skill execution exception:
2009de.unibi.citec.clf.bonsai.engine.model.config.SkillConfigurationException: Can not create MemorySlot for data type: NavigationGoalData. No applicable slot implementation found in configuration.
2010 at de.unibi.citec.clf.bonsai.engine.SkillConfigurator.getCheckedSlot(SkillConfigurator.java:371)
2011 at de.unibi.citec.clf.bonsai.engine.SkillConfigurator.getSlot(SkillConfigurator.java:468)
2012 at de.unibi.citec.clf.bonsai.engine.SkillConfigurator.getWriteSlot(SkillConfigurator.java:676)
2013 at de.unibi.citec.clf.bonsai.skills.personPerception.SearchForPerson.configure(SearchForPerson.java:160)
2014 at de.unibi.citec.clf.bonsai.engine.SkillRunner.execute(SkillRunner.java:193)
2015 at de.unibi.citec.clf.bonsai.engine.SkillRunner.run(SkillRunner.java:246)
2016 at de.unibi.citec.clf.bonsai.engine.scxml.SCXMLSkillRunner.run(SCXMLSkillRunner.java:52)
2017 at java.util.concurrent.Executors$RunnableAdapter.call(Executors.java:511)
2018 at java.util.concurrent.FutureTask.run(FutureTask.java:266)
2019 at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142)
2020 at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617)
2021 at java.lang.Thread.run(Thread.java:748)
202214:01:16 DEBUG SkillRunner: Talk#welcoming#shakehand -> invoke init()
202314:01:16 INFO RsbSpeechActuator: Biron: welcome to the cognitive service robotics apartment.
202414:01:16 DEBUG RsbSpeechActuator: call listener
202514:01:16 DEBUG RsbSpeechActuator: say async
202614:01:16 FATAL SkillRunner: An exception occurred while executing state: SearchForPerson#shakehand: Can not create MemorySlot for data type: NavigationGoalData. No applicable slot implementation found in configuration.
2027de.unibi.citec.clf.bonsai.engine.model.config.SkillConfigurationException: Can not create MemorySlot for data type: NavigationGoalData. No applicable slot implementation found in configuration.
2028 at de.unibi.citec.clf.bonsai.engine.SkillConfigurator.getCheckedSlot(SkillConfigurator.java:371)
2029 at de.unibi.citec.clf.bonsai.engine.SkillConfigurator.getSlot(SkillConfigurator.java:468)
2030 at de.unibi.citec.clf.bonsai.engine.SkillConfigurator.getWriteSlot(SkillConfigurator.java:676)
2031 at de.unibi.citec.clf.bonsai.skills.personPerception.SearchForPerson.configure(SearchForPerson.java:160)
2032 at de.unibi.citec.clf.bonsai.engine.SkillRunner.execute(SkillRunner.java:193)
2033 at de.unibi.citec.clf.bonsai.engine.SkillRunner.run(SkillRunner.java:246)
2034 at de.unibi.citec.clf.bonsai.engine.scxml.SCXMLSkillRunner.run(SCXMLSkillRunner.java:52)
2035 at java.util.concurrent.Executors$RunnableAdapter.call(Executors.java:511)
2036 at java.util.concurrent.FutureTask.run(FutureTask.java:266)
2037 at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1142)
2038 at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:617)
2039 at java.lang.Thread.run(Thread.java:748)
204014:01:16 DEBUG SkillRunner: Talk#welcoming#shakehand -> init() returned: true
204114:01:16 DEBUG SkillRunner: Talk#welcoming#shakehand -> invoke execute()
204214:01:16 DEBUG SkillRunner: Talk#welcoming#shakehand -> execute() returned: success
204314:01:16 DEBUG SkillRunner: Talk#welcoming#shakehand -> invoke end()
204414:01:16 DEBUG SkillRunner: Talk#welcoming#shakehand -> end() returned: success
204514:01:16 DEBUG SCXMLSkillRunner: Fire event: Talk.success
204614:01:16 DEBUG SkillStateMachine: FIRE SKILL Event: Talk.success
204714:01:16 DEBUG SkillStateMachine: #OnExit: dialog.Talk#welcoming#shakehand
204814:01:16 INFO SkillStateMachine: #onTransition: "dialog.Talk#welcoming#shakehand" --> "arm.ShakeHandAction#shakehand "event: "Talk.*"
204914:01:16 DEBUG SkillStateMachine: #OnEntry: arm.ShakeHandAction#shakehand
205014:01:16 INFO SkillStateMachine: ##INVOKE ShakeHandAction#shakehand
205114:01:16 DEBUG SkillConfigurator: Requested actuator "HandShaker" of type "interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator"
205214:01:16 DEBUG SkillRunner: ShakeHandAction#shakehand -> invoke configure().
205314:01:16 INFO BonsaiManager: Creating an actuator instance with key 'HandShaker' and type 'interface de.unibi.citec.clf.bonsai.actuators.HandShakeActuator'
205414:01:16 DEBUG SkillRunner: ShakeHandAction#shakehand -> invoke init()