According to the context of the sentence, it can be inferred that this action takes place in a restaurant.
To identify where the action is carried out, it is necessary to know the context, for this it is necessary to look at all the details of the sentence.
For example, in this sentence they refer to waiters, so we know that waiters are people who work in a restaurant serving food. From the above, we can conclude that the action takes place in a restaurant.
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