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The task is to find the most precise understanding possible.

")` ## Embodied HOWTO There is a fair amount of setup needed to run the fully-embodied version.

* The animation is done in blender; you have to install blender and get the blender rig. You have to install ROS and catkin and catkin make to build the ROS messages.

Thus, the concept of a "filter": the filter is a collection of increasingly less-precise understandings of an utterance.

All of these "understandings" enclose or wrap or encompass the "true" meaning of the utterance; just that some understandings are less precise than others.

* Start a guile shell: just say `guile` in this directory.