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Feature-level data for each object can be found in the data/ directory.
The logs of user and robot utterances and guesses (pointing) can be found in subjects/testing


run with

$ rosrun perception_classifiers fetch_features
$ rosrun perception_classifiers classifier_services


for robot, also run for TTS
$ rosrun sound_play

then start the game by calling
$ rosrun perception_classifiers [object_IDs] [num_rounds] \
  src/perception_classifiers/src/stopwords_en.txt [user_id/None] robot