loadData.m was updated and corrected. stateData includes the end time for the snap assembly. This end-time is currently hard-coded in the C++ code. The endTime may actually be smaller than the time that the simulation was allowed to run. Other data needs to be cut so that endtime of the compositions is equal to that listed in stateData. snapVerification was modified simply by increasing by 1 the number of times we filter both the motionCompositions and the low-level behaviors. hlbehComposition was documented in a bit more detail. And plot highlevelCompositions relocates the position of the text in the plot.