In snapVerification.m added a switch to turn the error characterization layer ON/OFF. This also changed hlbehComposition_new.m where we also entered a flag during the analysis of the HIRO Approach State. We also noticed two small errors in hlbehComposition_new.m in places where we do a string compare for the PA10 robot. I had included ~ForceControl/HSA/ instead of ForceControl/SideApproach.