FilterTools: tried to create an overloaded low-pass filter function using boost's dvector6, but cannot get it to work. It's still there but non-usable. As for AssemblyStrategy, I have found the best StateMachine parameters yet. The snap assembly finishes within 11 seconds. Seems very similar to prior results in AIST. As far as transition state parameters, I cannot get the last one right, so that the last entry time gets recorded.