diff --git a/demos/pycram_receptionist_demo/Ms3_receptionist_demo.py b/demos/pycram_receptionist_demo/Ms3_receptionist_demo.py
index c06dda0cd..72e7e5744 100644
--- a/demos/pycram_receptionist_demo/Ms3_receptionist_demo.py
+++ b/demos/pycram_receptionist_demo/Ms3_receptionist_demo.py
@@ -1,4 +1,4 @@
-from pycram.designators.action_designator import DetectAction, NavigateAction
+from pycram.designators.action_designator import DetectAction, NavigateAction, OpenAction
 from demos.pycram_receptionist_demo.utils.new_misc import *
 from pycram.process_module import real_robot
 import pycram.external_interfaces.giskard as giskardpy
@@ -19,14 +19,16 @@
 kitchen = Object("kitchen", "environment", "kitchen.urdf")
 giskardpy.init_giskard_interface()
 RobotStateUpdater("/tf", "/giskard_joint_states")
+kitchen_desig = ObjectDesignatorDescription(names=["kitchen"])
 
 # variables for communcation with nlp
 pub_nlp = rospy.Publisher('/startListener', String, queue_size=10)
 response = ""
 callback = False
+doorbell = True
 
 # Declare variables for humans
-host = HumanDescription("Yannis", fav_drink="ice tea")
+host = HumanDescription("Bob", fav_drink="coffee")
 guest1 = HumanDescription("guest1")
 guest2 = HumanDescription("guest2")
 seat_number = 2
@@ -48,22 +50,24 @@ def data_cb(data):
 
     while not doorbell:
         # TODO: spin or sleep better?
-        # TODO: Failure Handling, when no bell is heard for a longer period of time
         rospy.spin()
 
+    # TODO: find name of door handle
+    # link in rviz: iai_kitchen:arena:door_handle_inside
+    # door_handle_desig = ObjectPart(names=["door_handle_inside"], part_of=kitchen_desig.resolve())
+    # OpenAction(object_designator_description=door_handle_desig, arms=["left"]).resolve().perform()
     # NavigateAction([pose_door]).resolve().perform()
-    # giskardpy.opendoor()
 
-    TalkingMotion("Welcome, please come in").resolve().perform()
+    TalkingMotion("Welcome, please step in").resolve().perform()
 
     # look for human
-    human_desig = DetectAction(technique='attributes', state='start').resolve().perform()
+    attr_list = DetectAction(technique='attributes', state='start').resolve().perform()
     rospy.loginfo("human detected")
 
-    # TODO: check what perception returns exactly
-    attr_list = human_desig.attribute
+    guest1.set_attributes(attr_list)
     print(attr_list)
-    guest1.set_attributes(human_desig.attribute)
+
+    DetectAction(technique='human').resolve().perform()
 
     # look at guest and introduce
     giskardpy.move_head_to_human()
@@ -80,7 +84,7 @@ def data_cb(data):
     if response[0] == "<GUEST>":
         # success a name and intent was understood
         if response[1] != "<None>":
-            TalkingMotion("it is so noisy here, please confirm if i got your name right").resolve().perform()
+            TalkingMotion("please confirm if i got your name right").resolve().perform()
             guest1.set_drink(response[2])
             rospy.sleep(1)
             guest1.set_name(name_confirm(response[1]))
@@ -132,37 +136,22 @@ def data_cb(data):
     NavigateAction([pose_couch]).resolve().perform()
     TalkingMotion("Welcome to the living room").resolve().perform()
     rospy.sleep(1)
+    TalkingMotion("please take a seat next to your host").resolve().perform()
 
     # search for free place to sit and host
     # TODO: Failure Handling: scan room if no human detected on couch
-    for i in range(seat_number):
-        state = "seat" + str(i)
-        seat_desig = DetectAction(technique='location', state=state).resolve().perform()
-        print(seat_desig)
-        # TODO get pose of occupied seat
-        if not seat_desig.occupied:
-            guest1.set_pose(seat_desig.pose)
-            # point to free place
-            # giskardpy.point_to_seat
-            TalkingMotion("please sit over there").resolve().perform()
-
-        # failure handling if all seats are taken
-        elif i+1 == seat_number:
-            guest1.set_pose(seat_desig.pose)
-            # point to free place
-            # giskardpy.point_to_seat
-            TalkingMotion("please sit over there").resolve().perform()
+
 
     # TODO: is it ok to seat guest bevore introducing??
 
     pose_host = PoseStamped()
-    pose_host.header.frame_id = 'map'
+    pose_host.header.frame_id = '/map'
     pose_host.pose.position.x = 1.0
     pose_host.pose.position.y = 5.9
     pose_host.pose.position.z = 0.9
 
     pose_guest = PoseStamped()
-    pose_guest.header.frame_id = 'map'
+    pose_guest.header.frame_id = '/map'
     pose_guest.pose.position.x = 1.0
     pose_guest.pose.position.y = 4.7
     pose_guest.pose.position.z = 1.0
@@ -173,4 +162,5 @@ def data_cb(data):
 
     # introduce humans and look at them
     introduce(host, guest1)
+    describe(guest1)
 
diff --git a/demos/pycram_receptionist_demo/tests/MS3_testable.py b/demos/pycram_receptionist_demo/tests/MS3_testable.py
index f2c98eb8a..daa1fb9fe 100644
--- a/demos/pycram_receptionist_demo/tests/MS3_testable.py
+++ b/demos/pycram_receptionist_demo/tests/MS3_testable.py
@@ -1,4 +1,5 @@
 import rospy
+from geometry_msgs.msg import PointStamped
 
 from pycram.designators.action_designator import DetectAction, NavigateAction
 from demos.pycram_receptionist_demo.utils.new_misc import *
@@ -27,8 +28,9 @@
 response = ""
 callback = False
 
+
 # Declare variables for humans
-host = HumanDescription("Yannis", fav_drink="ice tea")
+host = HumanDescription("Angel", fav_drink="ice tea")
 guest1 = HumanDescription("guest1")
 guest2 = HumanDescription("guest2")
 seat_number = 2
@@ -41,6 +43,7 @@ def data_cb(data):
     response.append("None")
     callback = True
 
+
 def demo_tst():
     """
     testing HRI and introduction and navigating
@@ -50,13 +53,18 @@ def demo_tst():
         global response
         test_all = True
 
+        TalkingMotion("Hello").resolve().perform()
+        giskardpy.move_head_to_human()
+
         rospy.Subscriber("nlp_out", String, data_cb)
+        desig = DetectAction(technique='attributes').resolve().perform()
+        guest1.set_attributes(desig)
+
         DetectAction(technique='human', state='start').resolve().perform()
         rospy.loginfo("human detected")
 
-        giskardpy.move_head_to_human()
-        TalkingMotion("Hello, i am Toya and my favorite drink is oil. What about you, talk to me?").resolve().perform()
-        rospy.sleep(0.9)
+        TalkingMotion("I am Toya and my favorite drink is oil. What about you, talk to me loud and clear?").resolve().perform()
+        rospy.sleep(1.2)
 
         # signal to start listening
         pub_nlp.publish("start listening")
@@ -67,7 +75,7 @@ def demo_tst():
 
         if response[0] == "<GUEST>":
             if response[1] != "<None>":
-                TalkingMotion("it is so noisy here, please confirm if i got your name right").resolve().perform()
+                TalkingMotion("please confirm if i got your name right").resolve().perform()
                 guest1.set_drink(response[2])
                 rospy.sleep(1)
                 guest1.set_name(name_confirm(response[1]))
@@ -116,10 +124,18 @@ def demo_tst():
             TalkingMotion("Welcome to the living room").resolve().perform()
             rospy.sleep(1)
 
+            # hard coded poses for seat1 as PointStamped
+            pose_seat = PointStamped()
+            pose_seat.header.frame_id = "/map"
+            pose_seat.point.x = 1.1
+            pose_seat.point.y = 4.7
+            pose_seat.point.z = 1
+
+            giskardpy.move_arm_to_pose(pose_seat)
             TalkingMotion("please take a seat next to your host").resolve().perform()
             rospy.sleep(2)
 
-            # hard coded poses for seat1 and seat2
+            # hard coded poses for seat1 and seat2 as PoseStamped
             pose_host = PoseStamped()
             pose_host.header.frame_id = "/map"
             pose_host.pose.position.x = 1
@@ -147,45 +163,57 @@ def demo_tst2():
     just testing the gazing between humans -> introduce function
     """
     with real_robot:
+        jule = False
 
         TalkingMotion("Welcome, please come in").resolve().perform()
 
-        # look for human
-        # TODO: test new technique
-        #DetectAction(technique='human', state='start').resolve().perform()
-        rospy.loginfo("human detected")
-        #giskardpy.move_head_to_human()
-        #rospy.sleep(7)
-        #DetectAction(technique='human', state='stop').resolve().perform()
+        pose_seat = PointStamped()
+        pose_seat.header.frame_id = "/map"
+        pose_seat.point.x = 1.1
+        pose_seat.point.y = 4.7
+        pose_seat.point.z = 1
 
-        pose_host = PoseStamped()
-        pose_host.header.frame_id = 'map'
-        pose_host.pose.position.x = 1.0
-        pose_host.pose.position.y = 5.9
-        pose_host.pose.position.z = 0.9
+        giskardpy.move_arm_to_pose(pose_seat)
+        TalkingMotion("please take a seat next to your host").resolve().perform()
+        rospy.sleep(2)
 
-        pose_guest = PoseStamped()
-        pose_guest.header.frame_id = 'map'
-        pose_guest.pose.position.x = 1.0
-        pose_guest.pose.position.y = 4.7
-        pose_guest.pose.position.z = 1.0
+        if jule:
+            # look for human
+            # TODO: test new technique
+            #DetectAction(technique='human', state='start').resolve().perform()
+            rospy.loginfo("human detected")
+            #giskardpy.move_head_to_human()
+            #rospy.sleep(7)
+            #DetectAction(technique='human', state='stop').resolve().perform()
 
-        host.set_pose(pose_host)
+            pose_host = PoseStamped()
+            pose_host.header.frame_id = 'map'
+            pose_host.pose.position.x = 1.0
+            pose_host.pose.position.y = 5.9
+            pose_host.pose.position.z = 0.9
 
-        guest1.set_pose(pose_guest)
+            pose_guest = PoseStamped()
+            pose_guest.header.frame_id = 'map'
+            pose_guest.pose.position.x = 1.0
+            pose_guest.pose.position.y = 4.7
+            pose_guest.pose.position.z = 1.0
 
-        # introduce humans and look at them
-        giskardpy.move_head_to_human()
-        rospy.sleep(3)
-        introduce(host, guest1)
+            host.set_pose(pose_host)
 
-        rospy.sleep(2)
-        TalkingMotion("Introducing again").resolve().perform()
-        rospy.sleep(2)
-        introduce(host, guest1)
+            guest1.set_pose(pose_guest)
 
+            # introduce humans and look at them
+            giskardpy.move_head_to_human()
+            rospy.sleep(3)
+            introduce(host, guest1)
+
+            rospy.sleep(2)
+            TalkingMotion("Introducing again").resolve().perform()
+            rospy.sleep(2)
+            introduce(host, guest1)
 
 
-demo_tst()
 
+demo_tst()
+# demo_tst2()
 
diff --git a/demos/pycram_receptionist_demo/tests/perception_humans.py b/demos/pycram_receptionist_demo/tests/perception_humans.py
index 803cd56ea..41c27b8ee 100644
--- a/demos/pycram_receptionist_demo/tests/perception_humans.py
+++ b/demos/pycram_receptionist_demo/tests/perception_humans.py
@@ -1,19 +1,13 @@
 import rospy
 
 from pycram.designators.action_designator import DetectAction, NavigateAction
-from pycram.designators.motion_designator import TalkingMotion
-from pycram.fluent import Fluent
-from pycram.helper import axis_angle_to_quaternion
 from pycram.process_module import semi_real_robot, real_robot
 import pycram.external_interfaces.giskard as giskardpy
-from pycram.ros.robot_state_updater import RobotStateUpdater
 from pycram.ros.viz_marker_publisher import VizMarkerPublisher
 from pycram.designators.location_designator import *
 from pycram.designators.object_designator import *
 from pycram.bullet_world import BulletWorld, Object
-from std_msgs.msg import String
-from demos.pycram_receptionist_demo.deprecated import talk_actions
-import pycram.external_interfaces.navigate as moveBase
+from demos.pycram_receptionist_demo.utils.new_misc import *
 
 world = BulletWorld("DIRECT")
 # /pycram/viz_marker topic bei Marker Array
@@ -26,42 +20,53 @@
 # careful that u spawn the correct kitchen
 kitchen = Object("kitchen", "environment", "kitchen.urdf")
 giskardpy.init_giskard_interface()
+guest1 = HumanDescription("guest1")
 
 
 
 def p():
     with real_robot:
-        seat = True
-        attributes = False
+        seat = False
+        attributes = True
 
         if attributes:
             # to signal the start of demo
             # TalkingMotion("Hello, i am ready for the test").resolve().perform()
 
             # does the code work with the manipulation feature?
-            giskardpy.move_head_to_human()
+            #
+
 
-            # new Query to detect attributes of a human
             TalkingMotion("detecting attributes now").resolve().perform()
+            giskardpy.move_head_to_human()
+
+
             desig = DetectAction(technique='attributes').resolve().perform()
-            rospy.loginfo("Attributes: " + str(desig))
-            print("#####################")
-            print(desig[1].res[0].attribute)
-            gender = desig[1].res[0].attribute[0][13:19]
-            clothes = desig[1].res[0].attribute[2][20:]
-            brightness_clothes = desig[1].res[0].attribute[1]
-            hat = desig[1].res[0].attribute[3][20:]
-
-            print("#####################")
-            print(gender)
-            print("#####################")
-            print(clothes)
-            print("#####################")
-            print(brightness_clothes)
-            print("#####################")
-            print(hat)
-
-            # rospy.sleep(5)
+            print("msgs from PPP: " + str(desig[1]))
+            guest1.set_attributes(desig)
+
+
+
+            DetectAction(technique='human').resolve().perform()
+
+            describe(guest1)
+
+
+            
+            rospy.sleep(3)
+
+            giskardpy.stop_looking()
+            DetectAction(technique='human', state='stop').resolve().perform()
+
+            rospy.sleep(3)
+
+            TalkingMotion("looking again").resolve().perform()
+            DetectAction(technique='human').resolve().perform()
+            giskardpy.move_head_to_human()
+
+            rospy.sleep(6)
+
+            TalkingMotion("demo over").resolve().perform()
 
         if seat:
             # new Query for free seat
diff --git a/demos/pycram_receptionist_demo/utils/new_misc.py b/demos/pycram_receptionist_demo/utils/new_misc.py
index 081efb7e1..b26caf9df 100644
--- a/demos/pycram_receptionist_demo/utils/new_misc.py
+++ b/demos/pycram_receptionist_demo/utils/new_misc.py
@@ -1,4 +1,6 @@
 import rospy
+
+from pycram.designators.action_designator import LookAtAction
 from pycram.designators.object_designator import Pose, PoseStamped, HumanDescription
 from pycram.designators.motion_designator import TalkingMotion
 from pycram.helper import axis_angle_to_quaternion
@@ -12,7 +14,7 @@
 callback = False
 
 # TODO: set to False when NLP has implemented that feature
-doorbell = True
+
 
 # Pose variables
 # Pose in front of the couch, HSR looks in direction of couch
@@ -143,11 +145,13 @@ def introduce(human1: HumanDescription, human2: HumanDescription):
     """
 
     if human1.pose:
+        LookAtAction(targets=[human1.pose]).resolve().perform()
         pub_pose.publish(human1.pose)
         rospy.sleep(3.5)
     TalkingMotion(f"Hey, {human1.name}").resolve().perform()
 
     if human2.pose:
+        LookAtAction(targets=[human2.pose]).resolve().perform()
         pub_pose.publish(human2.pose)
         rospy.sleep(3.5)
     TalkingMotion(f" This is {human2.name} and their favorite drink is {human2.fav_drink}").resolve().perform()
@@ -155,6 +159,7 @@ def introduce(human1: HumanDescription, human2: HumanDescription):
     TalkingMotion(f"Hey, {human2.name}").resolve().perform()
 
     if human1.pose:
+        LookAtAction(targets=[human1.pose]).resolve().perform()
         pub_pose.publish(human1.pose)
         rospy.sleep(3.5)
     TalkingMotion(f" This is {human1.name} and their favorite drink is {human1.fav_drink}").resolve().perform()
@@ -167,9 +172,12 @@ def describe(human: HumanDescription):
         the following will be stated: gender, headgear, clothing, brightness of clothes
         :param human: human to be described
         """
+        if human.pose:
+            LookAtAction(targets=[human.pose]).resolve().perform()
+            pub_pose.publish(human.pose)
 
-        # TalkingMotion(f"I will describe {human.name} further now").resolve().perform()
-        # rospy.sleep(1)
+        TalkingMotion(f"I will describe {human.name} further now").resolve().perform()
+        rospy.sleep(1)
 
         # gender
         TalkingMotion(f"i think your gender is {human.attributes[0]}").resolve().perform()
diff --git a/src/pycram/designators/object_designator.py b/src/pycram/designators/object_designator.py
index 30d274b4c..c3afef5b9 100644
--- a/src/pycram/designators/object_designator.py
+++ b/src/pycram/designators/object_designator.py
@@ -244,4 +244,4 @@ def set_attributes(self, attribute_list):
         function for setting attributes
         :param attribute_list: list with attributes: gender, headgear, kind of clothes, bright/dark clothes
         """
-        self.attributes = attribute_list
+        self.attributes = attribute_list[1]
diff --git a/src/pycram/external_interfaces/giskard.py b/src/pycram/external_interfaces/giskard.py
index fa5b1b29d..7da9ab3b6 100644
--- a/src/pycram/external_interfaces/giskard.py
+++ b/src/pycram/external_interfaces/giskard.py
@@ -480,6 +480,8 @@ def stop_looking():
     stops the move_head_to_human function so that hsr looks forward
     """
 
+    # cancels all goals in giskard
+    # giskard_wrapper.cancel_all_goals()
     # moves hsr in standard position
     giskard_wrapper.take_pose("park")
     giskard_wrapper.plan_and_execute(wait=False)
@@ -493,7 +495,7 @@ def move_head_to_pose(pose: PointStamped):
     """
     # TODO: necessary? there is a LookAtAction?
     # TODO: needs to be tested!
-    p_axis = Vector3Stamped
+    p_axis = Vector3Stamped()
     p_axis.vector = (0, 0, 1)
     giskard_wrapper.set_pointing_goal(goal_point=pose,
                                       tip_link="head_center_camera_frame",
@@ -507,8 +509,12 @@ def move_arm_to_pose(pose: PointStamped):
     :param pose: pose that arm will point to
     """
     # TODO: needs to be tested!
-    p_axis = Vector3Stamped
-    p_axis.vector = (0, 0, 1)
+    print("in move arm")
+    p_axis = Vector3Stamped()
+    #p_axis.header.frame_id = "/map"
+    p_axis.vector.x = 0
+    p_axis.vector.y = 1
+    p_axis.vector.z = 1
     giskard_wrapper.set_pointing_goal(goal_point=pose,
                                       tip_link="hand_gripper_tool_frame",
                                       pointing_axis=p_axis,
diff --git a/src/pycram/external_interfaces/robokudo.py b/src/pycram/external_interfaces/robokudo.py
index 35908e9a5..34bfb2d79 100644
--- a/src/pycram/external_interfaces/robokudo.py
+++ b/src/pycram/external_interfaces/robokudo.py
@@ -148,6 +148,8 @@ def feedback_callback(msg):
 def queryHuman() -> Any:
     """
     Sends a query to RoboKudo to look for a Human
+    returns a PoseStamped of pose where human is. keeps publishing it onto the
+    topic /human_pose
     """
     init_robokudo_interface()
     from robokudo_msgs.msg import QueryAction, QueryGoal, QueryResult
@@ -189,21 +191,11 @@ def callback(pose):
     rospy.Subscriber("/human_pose", PoseStamped, callback)
 
     while not human_bool:
-        rospy.loginfo_throttle(3, "Waiting for human to be detected")
-        pub = rospy.Publisher('/talk_request', Voice, queue_size=10)
-        texttospeech = Voice()
-        texttospeech.language = 1
-        texttospeech.sentence = "please step in front of me"
-        if waiting_human:
-            pub.publish(texttospeech)
-        waiting_human = True
-        rospy.sleep(5)
-        pass
+        rospy.sleep(0.5)
 
     return human_pose
 
 
-
 def stop_queryHuman() -> Any:
     """
        Sends a query to RoboKudo to stop human detection
diff --git a/src/pycram/process_modules/hsrb_process_modules.py b/src/pycram/process_modules/hsrb_process_modules.py
index 0eae1f14a..1566c0bdf 100644
--- a/src/pycram/process_modules/hsrb_process_modules.py
+++ b/src/pycram/process_modules/hsrb_process_modules.py
@@ -346,30 +346,41 @@ class HSRBDetectingReal(ProcessModule):
     """
 
     def _execute(self, desig: DetectingMotion.Motion) -> Any:
+        """
+        specifies the query send to robokudo
+        :param desig.technique: if this is set to human the hsr searches for human and publishes the pose
+        to /human_pose. returns PoseStamped of Human.
+        this value can also be set to 'attributes' or 'location' to get the attributes and pose of a human or a bool
+        if a seat specified in the sematic map is taken
+        """
+
         # todo at the moment perception ignores searching for a specific object type so we do as well on real
         if desig.technique == 'human' and (desig.state == 'start' or desig.state == None):
             human_pose = queryHuman()
-            pose = Pose.from_pose_stamped(human_pose)
-            pose.position.z = 0
-            human = [Object("human", ObjectType.HUMAN, "human_male.stl", pose=pose)]
-            object_dict = {}
-
-            # Iterate over the list of objects and store each one in the dictionary
-            for i, obj in enumerate(human):
-                object_dict[obj.name] = obj
-            return object_dict
+            return human_pose
 
         elif desig.state == "stop":
             stop_queryHuman()
             return "stopped"
+
         elif desig.technique == 'location':
-            # TODO: test what and how Perception returns Query msg and make it fit rest of code
             seat = desig.state
             seat_human_pose = seat_queryHuman(seat)
             return seat_human_pose
+
         elif desig.technique == 'attributes':
             human_pose_attr = attributes_queryHuman()
-            return human_pose_attr
+
+            # extract information from query
+            gender = human_pose_attr.res[0].attribute[0][13:19]
+            if gender[0] != 'f':
+                gender = gender[:4]
+            clothes = human_pose_attr.res[0].attribute[2][20:]
+            brightness_clothes = human_pose_attr.res[0].attribute[1][5:]
+            hat = human_pose_attr.res[0].attribute[3][20:]
+            attr_list = [gender, hat, clothes, brightness_clothes]
+
+            return attr_list
 
         query_result = queryEmpty(ObjectDesignatorDescription(types=[desig.object_type]))
         perceived_objects = []