diff --git a/agbot/experiments/commands_perception_noise.txt b/agbot/experiments/commands_perception_noise.txt
index 97af1d495e7b8da4488007c76edb39c7cc467940..334ddaf310330afdfc0ad7d636992839cdc16b9c 100644
--- a/agbot/experiments/commands_perception_noise.txt
+++ b/agbot/experiments/commands_perception_noise.txt
@@ -3,26 +3,21 @@
#
# For heading
-python main.py agbot/input/experiments/noise/p01_a10/heading/input_agbot_perceptnoise_pose0_00__heading0_00.json
-python main.py agbot/input/experiments/noise/p01_a10/heading/input_agbot_perceptnoise_pose0_00__heading0_01.json
-python main.py agbot/input/experiments/noise/p01_a10/heading/input_agbot_perceptnoise_pose0_00__heading0_10.json
-python main.py agbot/input/experiments/noise/p01_a10/heading/input_agbot_perceptnoise_pose0_00__heading0_50.json
-python main.py agbot/input/experiments/noise/p01_a10/heading/input_agbot_perceptnoise_pose0_00__heading1_00.json
-python main.py agbot/input/experiments/noise/p01_a10/heading/input_agbot_perceptnoise_pose0_00__heading2_00.json
-
-# For heading (deg)
-python main.py agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg0.json
-python main.py agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg1.json
-python main.py agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg5.json
-python main.py agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg20.json
-python main.py agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg45.json
-python main.py agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg90.json
+python main.py agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg0_0.json
+python main.py agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg0_1.json
+python main.py agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg1_0.json
+python main.py agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg2_5.json
+python main.py agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg5_0.json
+python main.py agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg10_0.json
+python main.py agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg25_0.json
+python main.py agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg45_0.json
# For pose
python main.py agbot/input/experiments/noise/p01_a10/pose/input_agbot_perceptnoise_pose0_00__heading0_00.json
python main.py agbot/input/experiments/noise/p01_a10/pose/input_agbot_perceptnoise_pose0_01__heading0_00.json
+python main.py agbot/input/experiments/noise/p01_a10/pose/input_agbot_perceptnoise_pose0_05__heading0_00.json
python main.py agbot/input/experiments/noise/p01_a10/pose/input_agbot_perceptnoise_pose0_10__heading0_00.json
+python main.py agbot/input/experiments/noise/p01_a10/pose/input_agbot_perceptnoise_pose0_25__heading0_00.json
python main.py agbot/input/experiments/noise/p01_a10/pose/input_agbot_perceptnoise_pose0_50__heading0_00.json
python main.py agbot/input/experiments/noise/p01_a10/pose/input_agbot_perceptnoise_pose1_00__heading0_00.json
python main.py agbot/input/experiments/noise/p01_a10/pose/input_agbot_perceptnoise_pose2_00__heading0_00.json
-
diff --git a/agbot/input/experiments/noise/p01_a10/heading/input_agbot_perceptnoise_pose0_00__heading1_00.json b/agbot/input/experiments/noise/p01_a10/heading/input_agbot_perceptnoise_pose0_00__heading1_00.json
deleted file mode 100644
index 4f6c266ad6a640f377f4ce604c9d05edf3961567..0000000000000000000000000000000000000000
--- a/agbot/input/experiments/noise/p01_a10/heading/input_agbot_perceptnoise_pose0_00__heading1_00.json
+++ /dev/null
@@ -1,40 +0,0 @@
-{
- "vertex": [
- "cropfollow/pn=[0.00:1.00]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]"
- ],
- "edge": [],
- "variables": [
- "x",
- "y",
- "theta",
- "c1_y",
- "c2_y",
- "c3_y",
- "c4_y"
- ],
- "guards": [],
- "initialSet": [
- [
- 0.0,
- -0.1,
- -0.175,
- 0.0,
- 0.0,
- 0.0,
- 0.0
- ],
- [
- 0.0,
- 0.1,
- 0.175,
- 0.0,
- 0.0,
- 0.0,
- 0.0
- ]
- ],
- "unsafeSet": "@Allmode:Or(c1_y<-0.38,c1_y>0.38, c2_y<-0.38,c2_y>0.38, c3_y<-0.38,c3_y>0.38, c4_y<-0.38,c4_y>0.38)",
- "timeHorizon": 15,
- "directory": "agbot/cropfollow",
- "output_directory": "output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading1_00"
-}
\ No newline at end of file
diff --git a/agbot/input/experiments/noise/p01_a10/heading/input_agbot_perceptnoise_pose0_00__heading2_00.json b/agbot/input/experiments/noise/p01_a10/heading/input_agbot_perceptnoise_pose0_00__heading2_00.json
deleted file mode 100644
index 1bb9756200570c24399d988a30856e09c09f646a..0000000000000000000000000000000000000000
--- a/agbot/input/experiments/noise/p01_a10/heading/input_agbot_perceptnoise_pose0_00__heading2_00.json
+++ /dev/null
@@ -1,40 +0,0 @@
-{
- "vertex": [
- "cropfollow/pn=[0.00:2.00]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]"
- ],
- "edge": [],
- "variables": [
- "x",
- "y",
- "theta",
- "c1_y",
- "c2_y",
- "c3_y",
- "c4_y"
- ],
- "guards": [],
- "initialSet": [
- [
- 0.0,
- -0.1,
- -0.175,
- 0.0,
- 0.0,
- 0.0,
- 0.0
- ],
- [
- 0.0,
- 0.1,
- 0.175,
- 0.0,
- 0.0,
- 0.0,
- 0.0
- ]
- ],
- "unsafeSet": "@Allmode:Or(c1_y<-0.38,c1_y>0.38, c2_y<-0.38,c2_y>0.38, c3_y<-0.38,c3_y>0.38, c4_y<-0.38,c4_y>0.38)",
- "timeHorizon": 15,
- "directory": "agbot/cropfollow",
- "output_directory": "output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading2_00"
-}
\ No newline at end of file
diff --git a/agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg0.json b/agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg0.json
deleted file mode 100644
index ebc5ee46982546234df5f2e496722977fc846474..0000000000000000000000000000000000000000
--- a/agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg0.json
+++ /dev/null
@@ -1,40 +0,0 @@
-{
- "vertex": [
- "cropfollow/pn=[0.00:0.00]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]"
- ],
- "edge": [],
- "variables": [
- "x",
- "y",
- "theta",
- "c1_y",
- "c2_y",
- "c3_y",
- "c4_y"
- ],
- "guards": [],
- "initialSet": [
- [
- 0.0,
- -0.1,
- -0.175,
- 0.0,
- 0.0,
- 0.0,
- 0.0
- ],
- [
- 0.0,
- 0.1,
- 0.175,
- 0.0,
- 0.0,
- 0.0,
- 0.0
- ]
- ],
- "unsafeSet": "@Allmode:Or(c1_y<-0.38,c1_y>0.38, c2_y<-0.38,c2_y>0.38, c3_y<-0.38,c3_y>0.38, c4_y<-0.38,c4_y>0.38)",
- "timeHorizon": 15,
- "directory": "agbot/cropfollow",
- "output_directory": "output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg0"
-}
\ No newline at end of file
diff --git a/agbot/input/experiments/noise/p01_a10/heading/input_agbot_perceptnoise_pose0_00__heading0_00.json b/agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg0_0.json
similarity index 85%
rename from agbot/input/experiments/noise/p01_a10/heading/input_agbot_perceptnoise_pose0_00__heading0_00.json
rename to agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg0_0.json
index 8ba40b07a685224c54cbe84a5997241a56e0dfdf..f1c50713ed381fd4b69c85d2f3dd320bb3c64225 100644
--- a/agbot/input/experiments/noise/p01_a10/heading/input_agbot_perceptnoise_pose0_00__heading0_00.json
+++ b/agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg0_0.json
@@ -1,6 +1,6 @@
{
"vertex": [
- "cropfollow/pn=[0.00:0.00]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]"
+ "cropfollow/pn=[0.000:0.000]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]"
],
"edge": [],
"variables": [
@@ -36,5 +36,5 @@
"unsafeSet": "@Allmode:Or(c1_y<-0.38,c1_y>0.38, c2_y<-0.38,c2_y>0.38, c3_y<-0.38,c3_y>0.38, c4_y<-0.38,c4_y>0.38)",
"timeHorizon": 15,
"directory": "agbot/cropfollow",
- "output_directory": "output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_00"
+ "output_directory": "output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg0_0"
}
\ No newline at end of file
diff --git a/agbot/input/experiments/noise/p01_a10/heading/input_agbot_perceptnoise_pose0_00__heading0_01.json b/agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg0_1.json
similarity index 85%
rename from agbot/input/experiments/noise/p01_a10/heading/input_agbot_perceptnoise_pose0_00__heading0_01.json
rename to agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg0_1.json
index 842d2cfa837b600069f16d51c2a6c7a51ce56c3b..59a007c4eba3ef360ef74503e8386b553a7f4f01 100644
--- a/agbot/input/experiments/noise/p01_a10/heading/input_agbot_perceptnoise_pose0_00__heading0_01.json
+++ b/agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg0_1.json
@@ -1,6 +1,6 @@
{
"vertex": [
- "cropfollow/pn=[0.00:0.01]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]"
+ "cropfollow/pn=[0.000:0.002]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]"
],
"edge": [],
"variables": [
@@ -36,5 +36,5 @@
"unsafeSet": "@Allmode:Or(c1_y<-0.38,c1_y>0.38, c2_y<-0.38,c2_y>0.38, c3_y<-0.38,c3_y>0.38, c4_y<-0.38,c4_y>0.38)",
"timeHorizon": 15,
"directory": "agbot/cropfollow",
- "output_directory": "output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_01"
+ "output_directory": "output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg0_1"
}
\ No newline at end of file
diff --git a/agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg1.json b/agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg1.json
deleted file mode 100644
index 20f756ff61c09737185cb00c02dae0f0f1887c7b..0000000000000000000000000000000000000000
--- a/agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg1.json
+++ /dev/null
@@ -1,40 +0,0 @@
-{
- "vertex": [
- "cropfollow/pn=[0.00:0.02]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]"
- ],
- "edge": [],
- "variables": [
- "x",
- "y",
- "theta",
- "c1_y",
- "c2_y",
- "c3_y",
- "c4_y"
- ],
- "guards": [],
- "initialSet": [
- [
- 0.0,
- -0.1,
- -0.175,
- 0.0,
- 0.0,
- 0.0,
- 0.0
- ],
- [
- 0.0,
- 0.1,
- 0.175,
- 0.0,
- 0.0,
- 0.0,
- 0.0
- ]
- ],
- "unsafeSet": "@Allmode:Or(c1_y<-0.38,c1_y>0.38, c2_y<-0.38,c2_y>0.38, c3_y<-0.38,c3_y>0.38, c4_y<-0.38,c4_y>0.38)",
- "timeHorizon": 15,
- "directory": "agbot/cropfollow",
- "output_directory": "output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg1"
-}
\ No newline at end of file
diff --git a/agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg10_0.json b/agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg10_0.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b095e250755746c46e0171b7313e34c8c856283
--- /dev/null
+++ b/agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg10_0.json
@@ -0,0 +1,40 @@
+{
+ "vertex": [
+ "cropfollow/pn=[0.000:0.175]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]"
+ ],
+ "edge": [],
+ "variables": [
+ "x",
+ "y",
+ "theta",
+ "c1_y",
+ "c2_y",
+ "c3_y",
+ "c4_y"
+ ],
+ "guards": [],
+ "initialSet": [
+ [
+ 0.0,
+ -0.1,
+ -0.175,
+ 0.0,
+ 0.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.1,
+ 0.175,
+ 0.0,
+ 0.0,
+ 0.0,
+ 0.0
+ ]
+ ],
+ "unsafeSet": "@Allmode:Or(c1_y<-0.38,c1_y>0.38, c2_y<-0.38,c2_y>0.38, c3_y<-0.38,c3_y>0.38, c4_y<-0.38,c4_y>0.38)",
+ "timeHorizon": 15,
+ "directory": "agbot/cropfollow",
+ "output_directory": "output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg10_0"
+}
\ No newline at end of file
diff --git a/agbot/input/experiments/noise/p01_a10/heading/input_agbot_perceptnoise_pose0_00__heading0_10.json b/agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg1_0.json
similarity index 85%
rename from agbot/input/experiments/noise/p01_a10/heading/input_agbot_perceptnoise_pose0_00__heading0_10.json
rename to agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg1_0.json
index 9e7fc3da1bbaa57fdd6182b1137a2acbde3138d3..89be9432dfc7f079eddf2d710ce4201b86fd65cf 100644
--- a/agbot/input/experiments/noise/p01_a10/heading/input_agbot_perceptnoise_pose0_00__heading0_10.json
+++ b/agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg1_0.json
@@ -1,6 +1,6 @@
{
"vertex": [
- "cropfollow/pn=[0.00:0.10]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]"
+ "cropfollow/pn=[0.000:0.017]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]"
],
"edge": [],
"variables": [
@@ -36,5 +36,5 @@
"unsafeSet": "@Allmode:Or(c1_y<-0.38,c1_y>0.38, c2_y<-0.38,c2_y>0.38, c3_y<-0.38,c3_y>0.38, c4_y<-0.38,c4_y>0.38)",
"timeHorizon": 15,
"directory": "agbot/cropfollow",
- "output_directory": "output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_10"
+ "output_directory": "output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg1_0"
}
\ No newline at end of file
diff --git a/agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg20.json b/agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg20.json
deleted file mode 100644
index c7334aaba0d71cbaa6d49ce77d56f3c4c88d0d92..0000000000000000000000000000000000000000
--- a/agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg20.json
+++ /dev/null
@@ -1,40 +0,0 @@
-{
- "vertex": [
- "cropfollow/pn=[0.00:0.35]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]"
- ],
- "edge": [],
- "variables": [
- "x",
- "y",
- "theta",
- "c1_y",
- "c2_y",
- "c3_y",
- "c4_y"
- ],
- "guards": [],
- "initialSet": [
- [
- 0.0,
- -0.1,
- -0.175,
- 0.0,
- 0.0,
- 0.0,
- 0.0
- ],
- [
- 0.0,
- 0.1,
- 0.175,
- 0.0,
- 0.0,
- 0.0,
- 0.0
- ]
- ],
- "unsafeSet": "@Allmode:Or(c1_y<-0.38,c1_y>0.38, c2_y<-0.38,c2_y>0.38, c3_y<-0.38,c3_y>0.38, c4_y<-0.38,c4_y>0.38)",
- "timeHorizon": 15,
- "directory": "agbot/cropfollow",
- "output_directory": "output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg20"
-}
\ No newline at end of file
diff --git a/agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg25_0.json b/agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg25_0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba3fc6c01fc56fc13d5f3429c0e5a7188557ced6
--- /dev/null
+++ b/agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg25_0.json
@@ -0,0 +1,40 @@
+{
+ "vertex": [
+ "cropfollow/pn=[0.000:0.436]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]"
+ ],
+ "edge": [],
+ "variables": [
+ "x",
+ "y",
+ "theta",
+ "c1_y",
+ "c2_y",
+ "c3_y",
+ "c4_y"
+ ],
+ "guards": [],
+ "initialSet": [
+ [
+ 0.0,
+ -0.1,
+ -0.175,
+ 0.0,
+ 0.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.1,
+ 0.175,
+ 0.0,
+ 0.0,
+ 0.0,
+ 0.0
+ ]
+ ],
+ "unsafeSet": "@Allmode:Or(c1_y<-0.38,c1_y>0.38, c2_y<-0.38,c2_y>0.38, c3_y<-0.38,c3_y>0.38, c4_y<-0.38,c4_y>0.38)",
+ "timeHorizon": 15,
+ "directory": "agbot/cropfollow",
+ "output_directory": "output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg25_0"
+}
\ No newline at end of file
diff --git a/agbot/input/experiments/noise/p01_a10/heading/input_agbot_perceptnoise_pose0_00__heading0_50.json b/agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg2_5.json
similarity index 85%
rename from agbot/input/experiments/noise/p01_a10/heading/input_agbot_perceptnoise_pose0_00__heading0_50.json
rename to agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg2_5.json
index bb8e101138d240811e18a8166bdd87ad88a9ecbc..cafb77d3a79760c1960813c00c41843bc9310230 100644
--- a/agbot/input/experiments/noise/p01_a10/heading/input_agbot_perceptnoise_pose0_00__heading0_50.json
+++ b/agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg2_5.json
@@ -1,6 +1,6 @@
{
"vertex": [
- "cropfollow/pn=[0.00:0.50]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]"
+ "cropfollow/pn=[0.000:0.044]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]"
],
"edge": [],
"variables": [
@@ -36,5 +36,5 @@
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"timeHorizon": 15,
"directory": "agbot/cropfollow",
- "output_directory": "output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_50"
+ "output_directory": "output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg2_5"
}
\ No newline at end of file
diff --git a/agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg45.json b/agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg45.json
deleted file mode 100644
index b96eadc712f098df8d2428d4a82d1b1bece85ddd..0000000000000000000000000000000000000000
--- a/agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg45.json
+++ /dev/null
@@ -1,40 +0,0 @@
-{
- "vertex": [
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- ],
- "edge": [],
- "variables": [
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- "timeHorizon": 15,
- "directory": "agbot/cropfollow",
- "output_directory": "output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg45"
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\ No newline at end of file
diff --git a/agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg45_0.json b/agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg45_0.json
new file mode 100644
index 0000000000000000000000000000000000000000..c84647632aab8601fee9edf817d558a19cf75ab2
--- /dev/null
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@@ -0,0 +1,40 @@
+{
+ "vertex": [
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+ ],
+ "edge": [],
+ "variables": [
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+ "timeHorizon": 15,
+ "directory": "agbot/cropfollow",
+ "output_directory": "output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg45_0"
+}
\ No newline at end of file
diff --git a/agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg5.json b/agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg5.json
deleted file mode 100644
index daaa48bc17f2d714aae2f70bf6bab8cc343e7dea..0000000000000000000000000000000000000000
--- a/agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg5.json
+++ /dev/null
@@ -1,40 +0,0 @@
-{
- "vertex": [
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- ],
- "edge": [],
- "variables": [
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- "directory": "agbot/cropfollow",
- "output_directory": "output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg5"
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\ No newline at end of file
diff --git a/agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg5_0.json b/agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg5_0.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0ef54b0f257ce86d1d895fd81cac32476427ecb
--- /dev/null
+++ b/agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg5_0.json
@@ -0,0 +1,40 @@
+{
+ "vertex": [
+ "cropfollow/pn=[0.000:0.087]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]"
+ ],
+ "edge": [],
+ "variables": [
+ "x",
+ "y",
+ "theta",
+ "c1_y",
+ "c2_y",
+ "c3_y",
+ "c4_y"
+ ],
+ "guards": [],
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+ "timeHorizon": 15,
+ "directory": "agbot/cropfollow",
+ "output_directory": "output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg5_0"
+}
\ No newline at end of file
diff --git a/agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg90.json b/agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg90.json
deleted file mode 100644
index cff8c154d8576779e8968f0595d428109aaf03ad..0000000000000000000000000000000000000000
--- a/agbot/input/experiments/noise/p01_a10/heading_degrees/input_agbot_perceptnoise_pose0_00__headingdeg90.json
+++ /dev/null
@@ -1,40 +0,0 @@
-{
- "vertex": [
- "cropfollow/pn=[0.00:1.57]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]"
- ],
- "edge": [],
- "variables": [
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- "timeHorizon": 15,
- "directory": "agbot/cropfollow",
- "output_directory": "output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg90"
-}
\ No newline at end of file
diff --git a/agbot/input/experiments/noise/p01_a10/pose/input_agbot_perceptnoise_pose0_00__heading0_00.json b/agbot/input/experiments/noise/p01_a10/pose/input_agbot_perceptnoise_pose0_00__heading0_00.json
index c5bfcf47535ceba7d96b56e009ea90af9c3117db..a0ec2a19576219e877ba9e40d2c6b3dee7a8be0a 100644
--- a/agbot/input/experiments/noise/p01_a10/pose/input_agbot_perceptnoise_pose0_00__heading0_00.json
+++ b/agbot/input/experiments/noise/p01_a10/pose/input_agbot_perceptnoise_pose0_00__heading0_00.json
@@ -1,6 +1,6 @@
{
"vertex": [
- "cropfollow/pn=[0.00:0.00]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]"
+ "cropfollow/pn=[0.000:0.000]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]"
],
"edge": [],
"variables": [
diff --git a/agbot/input/experiments/noise/p01_a10/pose/input_agbot_perceptnoise_pose0_01__heading0_00.json b/agbot/input/experiments/noise/p01_a10/pose/input_agbot_perceptnoise_pose0_01__heading0_00.json
index 8bb9505130bdf0f5f47ca7ed5a38bfdd37210521..e222fa06d76c651ac22a8f8c5422338b31753da4 100644
--- a/agbot/input/experiments/noise/p01_a10/pose/input_agbot_perceptnoise_pose0_01__heading0_00.json
+++ b/agbot/input/experiments/noise/p01_a10/pose/input_agbot_perceptnoise_pose0_01__heading0_00.json
@@ -1,6 +1,6 @@
{
"vertex": [
- "cropfollow/pn=[0.01:0.00]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]"
+ "cropfollow/pn=[0.010:0.000]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]"
],
"edge": [],
"variables": [
diff --git a/agbot/input/experiments/noise/p01_a10/pose/input_agbot_perceptnoise_pose0_05__heading0_00.json b/agbot/input/experiments/noise/p01_a10/pose/input_agbot_perceptnoise_pose0_05__heading0_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..875afd744550f028b585e7c764654804a86f85cf
--- /dev/null
+++ b/agbot/input/experiments/noise/p01_a10/pose/input_agbot_perceptnoise_pose0_05__heading0_00.json
@@ -0,0 +1,40 @@
+{
+ "vertex": [
+ "cropfollow/pn=[0.050:0.000]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]"
+ ],
+ "edge": [],
+ "variables": [
+ "x",
+ "y",
+ "theta",
+ "c1_y",
+ "c2_y",
+ "c3_y",
+ "c4_y"
+ ],
+ "guards": [],
+ "initialSet": [
+ [
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+ ]
+ ],
+ "unsafeSet": "@Allmode:Or(c1_y<-0.38,c1_y>0.38, c2_y<-0.38,c2_y>0.38, c3_y<-0.38,c3_y>0.38, c4_y<-0.38,c4_y>0.38)",
+ "timeHorizon": 15,
+ "directory": "agbot/cropfollow",
+ "output_directory": "output/noise/perception/p01_a10/pose/perceptnoise_pose0_05__heading0_00"
+}
\ No newline at end of file
diff --git a/agbot/input/experiments/noise/p01_a10/pose/input_agbot_perceptnoise_pose0_10__heading0_00.json b/agbot/input/experiments/noise/p01_a10/pose/input_agbot_perceptnoise_pose0_10__heading0_00.json
index 8910d1ee9281c5b33062c1e646a83d5e25dcd7d4..aae5d8ca0d4ed481c4fa98aca46b1dc54074e4db 100644
--- a/agbot/input/experiments/noise/p01_a10/pose/input_agbot_perceptnoise_pose0_10__heading0_00.json
+++ b/agbot/input/experiments/noise/p01_a10/pose/input_agbot_perceptnoise_pose0_10__heading0_00.json
@@ -1,6 +1,6 @@
{
"vertex": [
- "cropfollow/pn=[0.10:0.00]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]"
+ "cropfollow/pn=[0.100:0.000]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]"
],
"edge": [],
"variables": [
diff --git a/agbot/input/experiments/noise/p01_a10/pose/input_agbot_perceptnoise_pose0_25__heading0_00.json b/agbot/input/experiments/noise/p01_a10/pose/input_agbot_perceptnoise_pose0_25__heading0_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..89f39fd47cc15ebb4d130caeb0c042bd96c94766
--- /dev/null
+++ b/agbot/input/experiments/noise/p01_a10/pose/input_agbot_perceptnoise_pose0_25__heading0_00.json
@@ -0,0 +1,40 @@
+{
+ "vertex": [
+ "cropfollow/pn=[0.250:0.000]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]"
+ ],
+ "edge": [],
+ "variables": [
+ "x",
+ "y",
+ "theta",
+ "c1_y",
+ "c2_y",
+ "c3_y",
+ "c4_y"
+ ],
+ "guards": [],
+ "initialSet": [
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+ ]
+ ],
+ "unsafeSet": "@Allmode:Or(c1_y<-0.38,c1_y>0.38, c2_y<-0.38,c2_y>0.38, c3_y<-0.38,c3_y>0.38, c4_y<-0.38,c4_y>0.38)",
+ "timeHorizon": 15,
+ "directory": "agbot/cropfollow",
+ "output_directory": "output/noise/perception/p01_a10/pose/perceptnoise_pose0_25__heading0_00"
+}
\ No newline at end of file
diff --git a/agbot/input/experiments/noise/p01_a10/pose/input_agbot_perceptnoise_pose0_50__heading0_00.json b/agbot/input/experiments/noise/p01_a10/pose/input_agbot_perceptnoise_pose0_50__heading0_00.json
index bf0dbe42f90b8a6f5a0bfb002bd120c0b911a33c..fcb365b0e3df8b5af2851e001aea2380cfa41ffd 100644
--- a/agbot/input/experiments/noise/p01_a10/pose/input_agbot_perceptnoise_pose0_50__heading0_00.json
+++ b/agbot/input/experiments/noise/p01_a10/pose/input_agbot_perceptnoise_pose0_50__heading0_00.json
@@ -1,6 +1,6 @@
{
"vertex": [
- "cropfollow/pn=[0.50:0.00]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]"
+ "cropfollow/pn=[0.500:0.000]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]"
],
"edge": [],
"variables": [
diff --git a/agbot/input/experiments/noise/p01_a10/pose/input_agbot_perceptnoise_pose1_00__heading0_00.json b/agbot/input/experiments/noise/p01_a10/pose/input_agbot_perceptnoise_pose1_00__heading0_00.json
index b5bda93c44520f4a9af54a9efee6459a709db739..df3b5f9316ab56dde64d90753734ef7cee00f1d4 100644
--- a/agbot/input/experiments/noise/p01_a10/pose/input_agbot_perceptnoise_pose1_00__heading0_00.json
+++ b/agbot/input/experiments/noise/p01_a10/pose/input_agbot_perceptnoise_pose1_00__heading0_00.json
@@ -1,6 +1,6 @@
{
"vertex": [
- "cropfollow/pn=[1.00:0.00]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]"
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],
"edge": [],
"variables": [
diff --git a/agbot/input/experiments/noise/p01_a10/pose/input_agbot_perceptnoise_pose2_00__heading0_00.json b/agbot/input/experiments/noise/p01_a10/pose/input_agbot_perceptnoise_pose2_00__heading0_00.json
index 5042cb15bc657d939b52e472cc95d5ed1feb776e..0ef1fb48bb5575a9bc235d210ef4aa596f6ea442 100644
--- a/agbot/input/experiments/noise/p01_a10/pose/input_agbot_perceptnoise_pose2_00__heading0_00.json
+++ b/agbot/input/experiments/noise/p01_a10/pose/input_agbot_perceptnoise_pose2_00__heading0_00.json
@@ -1,6 +1,6 @@
{
"vertex": [
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],
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"variables": [
diff --git a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_00/Traj.txt b/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_00/Traj.txt
deleted file mode 100644
index 15cb3142b4412eae634bb746638222f7f3cc9513..0000000000000000000000000000000000000000
--- a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_00/Traj.txt
+++ /dev/null
@@ -1,47 +0,0 @@
-cropfollow/pn=[0.00:0.00]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]
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-4.0 2.39998722076416 0.00029597574030049145 0.00038735929410904646 0.1503928154706955 -0.14960716664791107 -0.1498008519411087 0.15019913017749786
-4.333333492279053 2.599987268447876 0.00037344760494306684 0.00021448080951813608 0.15042707324028015 -0.1495729386806488 -0.14968016743659973 0.15031984448432922
-4.666666507720947 2.799987316131592 0.0004163437697570771 0.00010381752508692443 0.15044230222702026 -0.1495577096939087 -0.14960962533950806 0.1503903865814209
-5.0 2.9999873638153076 0.00043710728641599417 3.063360054511577e-06 0.1504378765821457 -0.14956213533878326 -0.14956365525722504 0.15043635666370392
-5.333333492279053 3.1999874114990234 0.00043771995115093887 -8.039375097723678e-05 0.15041762590408325 -0.1495823860168457 -0.1495421826839447 0.15045782923698425
-5.666666507720947 3.3999874591827393 0.00042164119076915085 -0.0001183530330308713 0.1503920555114746 -0.14960795640945435 -0.14954876899719238 0.15045124292373657
-6.0 3.599987506866455 0.000397970579797402 -0.00015106791397556663 0.15036021173000336 -0.1496398001909256 -0.14956428110599518 0.15043573081493378
-6.333333492279053 3.799987554550171 0.0003677569911815226 -0.00017467050929553807 0.15032410621643066 -0.1496759057044983 -0.14958858489990234 0.1504114270210266
-6.666666507720947 3.9999876022338867 0.0003328228776808828 -0.00018975030980072916 0.15028539299964905 -0.1497146189212799 -0.14961975812911987 0.15038025379180908
-7.0 4.199987411499023 0.00029487282154150307 -0.00019640570098999888 0.1502457857131958 -0.14975422620773315 -0.1496560275554657 0.15034398436546326
-7.333333492279053 4.39998722076416 0.00025559167261235416 -0.00019376336422283202 0.15020714700222015 -0.1497928649187088 -0.1496959775686264 0.15030403435230255
-7.666666507720947 4.599987030029297 0.00021683899103663862 -0.00018251359870191664 0.1501712203025818 -0.14982879161834717 -0.14973753690719604 0.1502624750137329
-8.0 4.799986839294434 0.00018033626838587224 -0.00016606420103926212 0.15013882517814636 -0.1498611867427826 -0.14977815747261047 0.15022185444831848
-8.333333015441895 4.99998664855957 0.00014712342817801982 -0.00014630168152507395 0.15011054277420044 -0.14988946914672852 -0.14981630444526672 0.15018370747566223
-8.666666984558105 5.199986457824707 0.00011786309187300503 -0.00012800857075490057 0.15008586645126343 -0.14991414546966553 -0.14985013008117676 0.1501498818397522
-9.0 5.399986267089844 9.22613762668334e-05 -0.00011018233635695651 0.15006472170352936 -0.1499352902173996 -0.14988018572330475 0.1501198261976242
-9.333333015441895 5.5999860763549805 7.022490899544209e-05 -9.404205775354058e-05 0.1500467211008072 -0.14995329082012177 -0.14990626275539398 0.15009374916553497
-9.666666984558105 5.799985885620117 5.1416496717138216e-05 -7.961557275848463e-05 0.15003152191638947 -0.1499684900045395 -0.14992867410182953 0.15007133781909943
-10.0 5.999985694885254 3.5493379982654005e-05 -6.725573621224612e-05 0.15001869201660156 -0.1499813199043274 -0.14994770288467407 0.15005230903625488
-10.333333015441895 6.199985504150391 2.204223164881114e-05 -5.336974572855979e-05 0.15000870823860168 -0.14999130368232727 -0.14996463060379028 0.15003538131713867
-10.666666984558105 6.399985313415527 1.136828177550342e-05 -3.875273250741884e-05 0.15000168979167938 -0.14999832212924957 -0.14997895061969757 0.15002106130123138
-11.0 6.599985122680664 3.6177343645249493e-06 -2.6733587219496258e-05 0.14999693632125854 -0.1500030755996704 -0.14998969435691833 0.15001031756401062
-11.333333015441895 6.799984931945801 -1.7289830793743022e-06 -1.7092479538405314e-05 0.14999400079250336 -0.1500060111284256 -0.14999745786190033 0.15000255405902863
-11.666666984558105 6.9999847412109375 -5.147478987055365e-06 -9.896914889395703e-06 0.14999239146709442 -0.15000762045383453 -0.15000267326831818 0.14999733865261078
-12.0 7.199984550476074 -7.126862328732386e-06 -4.261115464032628e-06 0.14999182522296906 -0.1500081866979599 -0.15000607073307037 0.14999394118785858
-12.333333015441895 7.399984359741211 -7.979085239639971e-06 -3.6594565244740807e-07 0.1499919444322586 -0.15000806748867035 -0.15000788867473602 0.14999212324619293
-12.666666984558105 7.599984169006348 -8.052274097281042e-06 2.2751382857677527e-06 0.14999252557754517 -0.1500074863433838 -0.15000861883163452 0.14999139308929443
-13.0 7.799983978271484 -7.597246622026432e-06 3.975491836172296e-06 0.1499934047460556 -0.15000660717487335 -0.15000860393047333 0.14999140799045563
-13.333333015441895 7.999983787536621 -6.802148163842503e-06 4.911974428978283e-06 0.14999443292617798 -0.15000557899475098 -0.15000802278518677 0.1499919891357422
-13.666666984558105 8.199983596801758 -5.819752914248966e-06 5.255709311313694e-06 0.14999549090862274 -0.1500045210123062 -0.15000714361667633 0.14999286830425262
-14.0 8.399983406066895 -4.768610779137816e-06 5.184547262615524e-06 0.1499965339899063 -0.15000347793102264 -0.15000607073307037 0.14999394118785858
-14.333333015441895 8.599983215332031 -3.7317013266147114e-06 4.879713742411695e-06 0.1499975025653839 -0.15000250935554504 -0.15000495314598083 0.14999505877494812
-14.666666984558105 8.799983024597168 -2.755758487182902e-06 4.4688435991702136e-06 0.14999836683273315 -0.1500016450881958 -0.15000388026237488 0.14999613165855408
-15.0 8.999982833862305 -1.8619896309246542e-06 1.9052704374189489e-06 0.14999862015247345 -0.1500013917684555 -0.1500023454427719 0.14999766647815704
diff --git a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_00/log.txt b/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_00/log.txt
deleted file mode 100644
index 22862414cd5afcc1045e5d13db9bdfb8660eef8d..0000000000000000000000000000000000000000
--- a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_00/log.txt
+++ /dev/null
@@ -1,52 +0,0 @@
-2025-04-27 14:35:33,001 [INFO] Simulating with mode cropfollow
-2025-04-27 14:35:33,001 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:35:33,001 [INFO] [0.0, -0.0064221107742417904, 0.006181248567202924, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:35:34,137 [INFO] Verification Begin
-2025-04-27 14:35:34,137 [INFO] ===============================================
-Mode: 0
-stack size: 1
-remainTime: 15
-
-2025-04-27 14:35:34,137 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 14:35:34,137 [INFO] Simulating with mode cropfollow
-2025-04-27 14:35:34,137 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:35:34,137 [INFO] [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:35:34,698 [INFO] Simulating with mode cropfollow
-2025-04-27 14:35:34,698 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:35:34,698 [INFO] [0.0, -0.01940758680886745, 0.14033325522049223, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:35:38,061 [INFO] Simulating with mode cropfollow
-2025-04-27 14:35:38,061 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:35:38,061 [INFO] [0.0, -0.034665496387149705, -0.06979694992937524, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:35:41,118 [INFO] Simulating with mode cropfollow
-2025-04-27 14:35:41,118 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:35:41,118 [INFO] [0.0, 0.07665289804869688, 0.05541825921424964, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:35:44,229 [INFO] Simulating with mode cropfollow
-2025-04-27 14:35:44,229 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:35:44,229 [INFO] [0.0, 0.046257448675656454, 0.15345175705380004, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:35:47,885 [INFO] Simulating with mode cropfollow
-2025-04-27 14:35:47,885 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:35:47,885 [INFO] [0.0, -0.03345710164017601, -0.06858806493749396, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:35:50,854 [INFO] Simulating with mode cropfollow
-2025-04-27 14:35:50,854 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:35:50,854 [INFO] [0.0, 0.027648412052970667, -0.09632342595171799, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:35:53,625 [INFO] Simulating with mode cropfollow
-2025-04-27 14:35:53,625 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:35:53,625 [INFO] [0.0, -0.012766788591394379, 0.06847911459459036, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:35:56,211 [INFO] Simulating with mode cropfollow
-2025-04-27 14:35:56,211 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:35:56,211 [INFO] [0.0, -0.02733756141935624, -0.04965555460798679, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:35:58,960 [INFO] Simulating with mode cropfollow
-2025-04-27 14:35:58,960 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:35:58,960 [INFO] [0.0, -0.02887357625434564, -0.10760399590836674, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:36:02,169 [INFO] Simulating with mode cropfollow
-2025-04-27 14:36:02,170 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:36:02,170 [INFO] [0.0, -0.06804166442991832, -0.025575941156179977, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:36:05,155 [INFO] Mode 0 check bloated tube safe
-2025-04-27 14:36:05,155 [INFO] No child exist in current initial, pop
-2025-04-27 14:36:05,155 [INFO] System is Safe!
-2025-04-27 14:36:05,155 [INFO] refine time 0
-2025-04-27 14:36:05,155 [INFO] simulation time: 1.1356825828552246
-2025-04-27 14:36:05,155 [INFO] verification time: 31.01883029937744
diff --git a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_00/reachtube.txt b/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_00/reachtube.txt
deleted file mode 100644
index c14b5722043b6bf5a4cbf51aee01287b06318335..0000000000000000000000000000000000000000
--- a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_00/reachtube.txt
+++ /dev/null
@@ -1,91 +0,0 @@
-cropfollow/pn=[0.00:0.00]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]],0
-0.0 0.0 -0.13401138368589632 -0.175 -0.011400183247411183 -0.3120961503415679 -0.25677446222559025 0.04369564085800749
-0.3333333432674408 0.20364713439301305 0.13401138368589632 0.175 0.31140019516834017 0.012096138420638919 -0.04322554969533869 0.2563043710629215
-0.3333333432674408 0.19635290136977382 -0.15620082836961557 -0.1607625278988049 -0.021861225747130564 -0.3222407968895291 -0.2905404377316727 0.00983913341072587
-0.6666666865348816 0.4056744486847894 0.15620082836961557 0.1607625278988049 0.3218612376680595 0.022240784968600158 -0.009459574189256276 0.2901608785102031
-0.6666666865348816 0.3943256228407843 -0.16888097607650143 -0.14768337357950873 -0.0252709370217285 -0.3254160654090924 -0.3124910083917022 -0.012345893483482473
-1.0 0.6067135384982536 0.16888097607650143 0.14768337357950873 0.32527094894265746 0.025416053488163476 0.012490996470773258 0.31234590540441143
-1.0 0.5932865091854622 -0.17405100292720072 -0.135668300830814 -0.0252709370217285 -0.3254160654090924 -0.3248396298074677 -0.024856102879892872
-1.3333333730697632 0.8071855224404931 0.17405100292720072 0.135668300830814 0.32527094894265746 0.025416053488163476 0.024839617886538795 0.3248561148008218
-1.3333333730697632 0.7928146206106543 -0.17405100292720072 -0.12463073618185563 -0.02326238278650586 -0.32324590971408074 -0.32960706831883524 -0.029725255013378055
-1.6666666269302368 1.0073602054115063 0.17405100292720072 0.12463073618185563 0.3232623947074348 0.023245897793151782 0.029607056397906284 0.32972526693430704
-1.6666666269302368 0.9926400330070728 -0.17341350680235942 -0.11449115804865435 -0.017282436411400842 -0.3172590262664864 -0.32960706831883524 -0.029725255013378055
-2.0 1.207425000832347 0.17341350680235942 0.11449115804865435 0.31728244833232977 0.017259014345557405 0.029607056397906284 0.32972526693430704
-2.0 1.1925753329536637 -0.16844279304524593 -0.10517650200182999 -0.008556824115385664 -0.30848982582103157 -0.3285360424791558 -0.028709911518380177
-2.3333332538604736 1.4074903658248838 0.16844279304524593 0.10517650200182999 0.3085568360363146 0.008489813900102589 0.028536030558226816 0.32870992343930916
-2.3333332538604736 1.3925100633285585 -0.16050722908678464 -0.09661966126979543 0.0021491080929413597 -0.2977408306216919 -0.3231635400085892 -0.023274230954255848
-2.6666667461395264 1.6075563054703128 0.16050722908678464 0.09661966126979543 0.2978509038279876 -0.002259181299237051 0.023163528087660257 0.3232742428751848
-2.6666667461395264 1.5924442190505612 -0.15033812695148077 -0.08875897372132172 0.01409039672698284 -0.2857664832646718 -0.31476667688786564 -0.014909796896211025
-3.0 1.8076228247292634 0.15033812695148077 0.08875897372132172 0.2859096151939461 -0.014233528656257183 0.01476666496693671 0.31490980881714
-3.0 1.7923777951590423 -0.13873803374745036 -0.08153781322238275 0.026650899662280514 -0.2731861030829128 -0.30412696715718124 -0.004289964411987979
-3.3333332538604736 2.007689809538724 0.13873803374745036 0.08153781322238275 0.27334911225864844 -0.02681390883801618 0.004126955236252283 0.30428997633291693
-3.3333332538604736 1.992310667298434 -0.12636167761457442 -0.07490414440755402 0.03935091093370632 -0.26047915972025076 -0.29207426616285526 0.007755804491101859
-3.6666667461395264 2.207757503510085 0.12636167761457442 0.07490414440755402 0.2606491009872226 -0.03952085220067819 -0.007925745758073727 0.2922442074298271
-3.6666667461395264 2.1922430686945047 -0.11372364816649333 -0.06881016656147766 0.05182589181916977 -0.24800764488040544 -0.2792731618942351 0.020560374805340148
-4.0 2.407825792526759 0.11372364816649333 0.06881016656147766 0.24817412010175918 -0.05199236704052353 -0.02072685002669386 0.27943963711558883
-4.0 2.3921748750452623 -0.1012174203546244 -0.06321198041909112 0.06380906183776316 -0.23603560822046404 -0.26624387628909063 0.03360079376913659
-4.333333492279053 2.6078946819214965 0.1012174203546244 0.06321198041909112 0.2361909500831658 -0.0639644037004649 -0.0337561356318383 0.26639921815179235
-4.333333492279053 2.5921060810179566 -0.0891340960595249 -0.05806924217239797 0.07470547047838036 -0.22516294679430227 -0.25337040518923215 0.04649022968517534
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diff --git a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_00/results.json b/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_00/results.json
deleted file mode 100644
index 46218707608bd05fa25d31c56ab6f35301be78a0..0000000000000000000000000000000000000000
--- a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_00/results.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
- "safety": "SAFE",
- "sim_time": 1.1356825828552246,
- "verification_time": 31.01883029937744,
- "refine_time": 0,
- "total_time": 32.72700834274292
-}
\ No newline at end of file
diff --git a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_01/Traj.txt b/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_01/Traj.txt
deleted file mode 100644
index ac975c2820dc7f18af397d5a4a1e9dbb4533a128..0000000000000000000000000000000000000000
--- a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_01/Traj.txt
+++ /dev/null
@@ -1,47 +0,0 @@
-cropfollow/pn=[0.00:0.01]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]
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-12.666666984558105 7.598987579345703 -0.0009854506934061646 0.00041363894706591964 0.14911796152591705 -0.15088202059268951 -0.15108884871006012 0.14891113340854645
-13.0 7.79898738861084 -0.0009027228807099164 0.0006221700459718704 0.149252787232399 -0.1507471650838852 -0.15105824172496796 0.14894171059131622
-13.333333015441895 7.998987197875977 -0.0007782888715155423 0.0004040841304231435 0.1493227183818817 -0.15067726373672485 -0.15087929368019104 0.14912068843841553
-13.666666984558105 8.198987007141113 -0.0006974720163270831 0.000683383084833622 0.14947333931922913 -0.15052661299705505 -0.15086829662322998 0.1491316556930542
-14.0 8.39898681640625 -0.0005607954226434231 0.000540062552317977 0.14957422018051147 -0.1504257619380951 -0.15069580078125 0.14930418133735657
-14.333333015441895 8.598986625671387 -0.0004527829005382955 0.00011500512482598424 0.14957596361637115 -0.1504240483045578 -0.15048153698444366 0.1495184749364853
-14.666666984558105 8.798986434936523 -0.00042978188139386475 4.685200110543519e-05 0.1495819389820099 -0.15041807293891907 -0.1504414975643158 0.14955851435661316
-15.0 8.99898624420166 -0.0004204114666208625 6.176690658321604e-05 0.14959503710269928 -0.15040497481822968 -0.15043585002422333 0.14956416189670563
diff --git a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_01/log.txt b/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_01/log.txt
deleted file mode 100644
index 5b8d812f07783a637ccafd4bc8718e4d6da4be22..0000000000000000000000000000000000000000
--- a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_01/log.txt
+++ /dev/null
@@ -1,52 +0,0 @@
-2025-04-27 14:36:06,301 [INFO] Simulating with mode cropfollow
-2025-04-27 14:36:06,301 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.01}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:36:06,301 [INFO] [0.0, 0.0775606175360613, 0.024430260843558455, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:36:24,076 [INFO] Verification Begin
-2025-04-27 14:36:24,076 [INFO] ===============================================
-Mode: 0
-stack size: 1
-remainTime: 15
-
-2025-04-27 14:36:24,076 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 14:36:24,076 [INFO] Simulating with mode cropfollow
-2025-04-27 14:36:24,076 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.01}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:36:24,076 [INFO] [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:36:41,541 [INFO] Simulating with mode cropfollow
-2025-04-27 14:36:41,541 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.01}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:36:41,541 [INFO] [0.0, -0.01940758680886745, 0.14033325522049223, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:36:58,938 [INFO] Simulating with mode cropfollow
-2025-04-27 14:36:58,938 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.01}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:36:58,938 [INFO] [0.0, -0.034665496387149705, -0.06979694992937524, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:37:17,095 [INFO] Simulating with mode cropfollow
-2025-04-27 14:37:17,095 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.01}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:37:17,095 [INFO] [0.0, 0.07665289804869688, 0.05541825921424964, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:37:34,793 [INFO] Simulating with mode cropfollow
-2025-04-27 14:37:34,794 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.01}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:37:34,794 [INFO] [0.0, 0.046257448675656454, 0.15345175705380004, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:37:52,825 [INFO] Simulating with mode cropfollow
-2025-04-27 14:37:52,825 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.01}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:37:52,825 [INFO] [0.0, -0.03345710164017601, -0.06858806493749396, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:38:10,417 [INFO] Simulating with mode cropfollow
-2025-04-27 14:38:10,417 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.01}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:38:10,417 [INFO] [0.0, 0.027648412052970667, -0.09632342595171799, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:38:28,039 [INFO] Simulating with mode cropfollow
-2025-04-27 14:38:28,039 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.01}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:38:28,039 [INFO] [0.0, -0.012766788591394379, 0.06847911459459036, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:38:45,271 [INFO] Simulating with mode cropfollow
-2025-04-27 14:38:45,271 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.01}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:38:45,271 [INFO] [0.0, -0.02733756141935624, -0.04965555460798679, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:39:03,101 [INFO] Simulating with mode cropfollow
-2025-04-27 14:39:03,101 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.01}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:39:03,101 [INFO] [0.0, -0.02887357625434564, -0.10760399590836674, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:39:20,412 [INFO] Simulating with mode cropfollow
-2025-04-27 14:39:20,413 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.01}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:39:20,413 [INFO] [0.0, -0.06804166442991832, -0.025575941156179977, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:39:38,198 [INFO] Mode 0 check bloated tube safe
-2025-04-27 14:39:38,198 [INFO] No child exist in current initial, pop
-2025-04-27 14:39:38,198 [INFO] System is Safe!
-2025-04-27 14:39:38,198 [INFO] refine time 0
-2025-04-27 14:39:38,198 [INFO] simulation time: 17.774884700775146
-2025-04-27 14:39:38,198 [INFO] verification time: 194.12288856506348
diff --git a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_01/reachtube.txt b/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_01/reachtube.txt
deleted file mode 100644
index 271c04224cd0786f1f85c3fa87abea8c3e12d1ad..0000000000000000000000000000000000000000
--- a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_01/reachtube.txt
+++ /dev/null
@@ -1,91 +0,0 @@
-cropfollow/pn=[0.00:0.01]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]],0
-0.0 0.0 -0.13401138368589632 -0.175 -0.011297102653918034 -0.3119954420774536 -0.26126193542447873 0.038267634790722455
-0.3333333432674408 0.20364713439301307 0.13401138368589632 0.175 0.3114099461674068 0.01210826174908447 -0.03885090808901007 0.26161954553764666
-0.3333333432674408 0.1963529013697738 -0.156119304612978 -0.17286909645952253 -0.021876367062677926 -0.3222665973641031 -0.29036222432379993 0.010028005977625237
-0.6666666865348816 0.4056655935289082 0.15620957822672846 0.173320464506447 0.3222178241912027 0.022608090255414742 -0.009798690335700189 0.2898110436000878
-0.6666666865348816 0.39433447799666554 -0.16888104722849798 -0.17070789617883841 -0.0254109346257948 -0.32556121204624233 -0.3123511611533901 -0.012200883732942508
-1.0 0.6066933603561636 0.16917228358463157 0.1717127098834781 0.32572190397851697 0.02587215755710659 0.012622648389413044 0.31247239481082334
-1.0 0.5933066873275522 -0.17416507267007808 -0.1693069091539537 -0.0254109346257948 -0.32556121204624233 -0.32489703500876516 -0.02491282064483616
-1.3333333730697632 0.8071577956409305 0.17447208216726984 0.16938577483014067 0.32572190397851697 0.02587215755710659 0.025228156691885884 0.32524396616981477
-1.3333333730697632 0.792842347410217 -0.17416507267007808 -0.1675508701649718 -0.023433089563772602 -0.32341730392770157 -0.32979158439999356 -0.0299105528848998
-1.6666666269302368 1.0073353819417408 0.17447208216726984 0.1674544768524114 0.32371601493112795 0.023700205453199008 0.029971518901641486 0.33009051122840566
-1.6666666269302368 0.9926648564768382 -0.17357317823612325 -0.1654634889899159 -0.019397357322617437 -0.3193821582202466 -0.32979158439999356 -0.0299105528848998
-2.0 1.207403093160345 0.17386090906498217 0.16589466628356483 0.3197929056662759 0.019777682722047163 0.029971518901641486 0.33009051122840566
-2.0 1.1925972406256657 -0.16877843794886394 -0.16370969207708683 -0.01547854666842316 -0.31546391550958774 -0.32842336214729606 -0.02859469710741122
-2.3333332538604736 1.4074714285111933 0.1691524042422734 0.16404097702105488 0.31593533878458835 0.015920683783894995 0.0287144891137725 0.3288858479157456
-2.3333332538604736 1.392529000642249 -0.1641236580242899 -0.16213961614013803 -0.01169988581191253 -0.3116858045501604 -0.3231823829296899 -0.023377643370756512
-2.6666667461395264 1.607540393825371 0.16456388131231375 0.16204284264424038 0.3121159083510513 0.012101803247441284 0.023646780598528455 0.32384206488145295
-2.6666667461395264 1.592460130695503 -0.15963809516747993 -0.1604884049364753 -0.008025978234343228 -0.3080124293527444 -0.31791420388768943 -0.018163947984795314
-3.0 1.8076099948148807 0.16005896376796577 0.16016468800706005 0.30836591544442626 0.008352342720969491 0.01841600347112446 0.3186657714100883
-3.0 1.792390625073425 -0.15529818654957964 -0.15852083289512198 -0.00437596056358 -0.30436292705861645 -0.31291153966004126 -0.01321231087218172
-3.3333332538604736 2.0076801181836865 0.15565431175836167 0.15864132080325621 0.3047622403849759 0.004749183038154414 0.013237535343711276 0.3135383303977097
-3.3333332538604736 1.9923203586534717 -0.15103345087684125 -0.1572726997158692 -0.0009398209163607452 -0.30092725648238355 -0.3078434343739431 -0.00819196471317038
-3.6666667461395264 2.207751008319551 0.15141367367889166 0.15643652047339984 0.30111098757476223 0.0010984589035719083 0.00843270377358607 0.3087811983500265
-3.6666667461395264 2.192249563885039 -0.1469807012478901 -0.1555796346524844 0.002435372748196718 -0.2975525456739726 -0.3031363552246926 -0.003529469417145825
-4.0 2.4078225518847187 0.14719368820144663 0.15471424156707916 0.2975612715103024 -0.0024507743047413877 0.0035657053624031654 0.30395878379206953
-4.0 2.3921781156873028 -0.14304401652026855 -0.1538664991285063 0.005737903139566736 -0.29425048259311914 -0.29858678052704407 0.0009785208542910373
-4.333333492279053 2.6078947550094442 0.14308392485674404 0.15304921828372103 0.2940976595664269 -0.005913918938100365 -0.0011689715595953332 0.29926569129628267
-4.333333492279053 2.592106007930009 -0.13921256363735188 -0.1520973965795338 0.008986284316953336 -0.2910025536402775 -0.2936389578624332 0.00595363284659936
-4.666666507720947 2.8079676236217592 0.13908901579613916 0.1514769375477545 0.29073501628500587 -0.009276109994976384 -0.006329463596764812 0.2940779099314158
-4.666666507720947 2.7920332346851255 -0.135468469876782 -0.15005028683082688 0.012252650744983745 -0.2877366545983027 -0.28891729163099084 0.010701264265628313
-5.0 3.0080411640697036 0.1352208302146615 0.15021904626484517 0.28754193376772685 -0.012468784730844618 -0.011372547875158456 0.2890089200700803
-5.0 2.991959789604613 -0.1317495569590137 -0.14858775669265095 0.015382197491157157 -0.2846075312298918 -0.2841409735338585 0.01550222442351934
-5.333333492279053 3.2081153824459214 0.13153566918369686 0.14841255212806653 0.2843601137480854 -0.015650181372723587 -0.016029120240937084 0.28432770564354304
-5.333333492279053 3.1918856665958266 -0.12816630102689722 -0.14697571317871572 0.018446846650183285 -0.2815432916634245 -0.27960118721499105 0.020065417431683358
-5.666666507720947 3.4081902848963366 0.12791737232702197 0.1467911611477286 0.2812580924767851 -0.018751793051464988 -0.020601629509786168 0.27973178968539736
-5.666666507720947 3.391810859512843 -0.12468247561113296 -0.14550884481993637 0.021407974799860507 -0.2785825597300936 -0.2751852769916019 0.02450355448394939
-6.0 3.6082623351590213 0.12439663650214991 0.14505980187802708 0.2781939376986136 -0.021815551613290213 -0.02498830365491303 0.27532288871139365
-6.0 3.59173890461759 -0.12132089106110791 -0.14381191068224797 0.024335443623654696 -0.27565547414558156 -0.2710072810206976 0.028702650679309175
-6.333333492279053 3.808322191436558 0.12094524335210147 0.1435933228565911 0.2752342525643183 -0.024774853508303357 -0.02931373171466921 0.27097636042718193
-6.333333492279053 3.791679143707485 -0.11802943754309331 -0.1422240032074859 0.027195531404479764 -0.2727957570131942 -0.2669277877530508 0.03280216847287397
-6.666666507720947 4.008364969982693 0.11761007227186587 0.14205225716748998 0.27234215708924886 -0.02766657833493509 -0.03344865730195713 0.266821410313976
-6.666666507720947 3.991635983691624 -0.11482393232118956 -0.14063088055804016 0.02999994395066652 -0.26999170289997826 -0.2629887706223235 0.0367601831808709
-7.0 4.208397877207516 0.11437021783614218 0.14055047610412927 0.26952627064894286 -0.030482106342270276 -0.0374448650893464 0.26280620494931706
-7.0 4.191602694997074 -0.111697437272595 -0.1392608654043504 0.03269746580944473 -0.26729452762499356 -0.2591238875022578 0.04064308368621948
-7.333333492279053 4.408424397106787 0.1112276419025862 0.13885927727663488 0.26673233827724047 -0.033275692130179155 -0.04124552420466665 0.258987528448714
-7.333333492279053 4.391575793628077 -0.1086887984871433 -0.1374279575847852 0.03541983592570448 -0.2645724925977654 -0.2555412901065962 0.04424276296032331
-7.666666507720947 4.608445110346463 0.1081386855090537 0.1376642984705343 0.2640891529315648 -0.03591854238682321 -0.04506794088858199 0.2551480298863564
-7.666666507720947 4.5915546989186735 -0.10569976373689711 -0.13625013314003354 0.037984822077072974 -0.2620078303851015 -0.2518610767295518 0.04793916549146367
-8.0 4.808460016926545 0.10519691893013657 0.1358472050719638 0.261411603408538 -0.03859576797114543 -0.048541057927354275 0.25165872369348813
-8.0 4.791539410868865 -0.10285576330010608 -0.1352407334378926 0.04038773239508407 -0.25960517358686785 -0.24832828656715805 0.05148723350033413
-8.333333015441895 5.00847143951087 0.10227233289719388 0.1338942882611422 0.25869216262444716 -0.04131483602616927 -0.051918488583141006 0.24826589598193516
-8.333333015441895 4.991527606814814 -0.10018501163782675 -0.13322654614481003 0.04289286831835622 -0.2571003999030963 -0.24526258539904428 0.05456751919738352
-8.666666984558105 5.20847821676752 0.09933229222284753 0.13297841387125522 0.25619239111920483 -0.04381436450120055 -0.055528141739475 0.24464177750595512
-8.666666984558105 5.191520448088437 -0.09748115595330047 -0.13198721204086533 0.04526067958295259 -0.25473285129911094 -0.24201067981630264 0.057833144973087114
-9.0 5.408483832692251 0.09657881008361029 0.13131957750435314 0.25367002501070585 -0.04633640834444375 -0.05872473421186507 0.2414314052359583
-9.0 5.39151445069398 -0.09489389449241625 -0.13036688686289458 0.047629722121773854 -0.25236412115932316 -0.2390095539353687 0.060847311567211224
-9.333333015441895 5.608487125953144 0.09385802164557444 0.1300732927181442 0.2512610175575627 -0.04874516300319817 -0.06195292398707086 0.2381902343522071
-9.333333015441895 5.59151077596336 -0.09234182351818479 -0.1286290549326794 0.05001465452263722 -0.24997946178842606 -0.23611014300317057 0.06375902874200369
-9.666666984558105 5.808490419214038 0.09124723183075137 0.12897572334651963 0.2489774428551399 -0.05102846467565475 -0.06507111376791708 0.2350597383287666
-9.666666984558105 5.79150710123274 -0.08979632808939718 -0.1271681932424486 0.052344706727404613 -0.24764967333774035 -0.2331835819218136 0.06669722432200281
-10.0 6.008492551143012 0.08877107010801487 0.12763204464985173 0.24674600653515338 -0.05325963724155959 -0.06795765033030739 0.23216156726773413
-10.0 5.991504587834039 -0.08730779922390951 -0.12581543550558968 0.05461098961773189 -0.2453836452059464 -0.2303208851891159 0.06957091521228312
-10.333333015441895 6.208493521740067 0.08637531150654552 0.12621080289327188 0.24455539174136845 -0.05544999727681117 -0.07071046590036165 0.22939775754009725
-10.333333015441895 6.191503235767257 -0.08489291779869122 -0.12416884051085868 0.05689653085879964 -0.2430983202001063 -0.227637672750788 0.07226448180458914
-10.666666984558105 6.408493331005204 0.08403950355886368 0.12511359881059686 0.24248621536083537 -0.057518897817471826 -0.07345191207663508 0.2266458976052009
-10.666666984558105 6.391503045032394 -0.08248806267524766 -0.12288177863647859 0.059100971258694596 -0.24089411738341693 -0.22490556723629546 0.0750063898994221
-11.0 6.60849314027034 0.08182360010700929 0.12368672551074694 0.24043576356071764 -0.05956911203438399 -0.07596011274302888 0.2241278943584667
-11.0 6.591502854297531 -0.0801603901738802 -0.12131562161139742 0.06131611666312349 -0.23867917156252733 -0.2223499599063166 0.07757121612017215
-11.333333015441895 6.808492949535477 0.07965691695721243 0.12256850158210442 0.23849357762703766 -0.061511038779879915 -0.07846669525267999 0.22161203335339963
-11.333333015441895 6.791502663562667 -0.0778493905626462 -0.11999213853127268 0.06347138705435111 -0.23652412261146633 -0.21977857183775001 0.08015132536679664
-11.666666984558105 7.008492758800614 0.07759649335176136 0.12123682845125851 0.236586828802201 -0.06341756616454992 -0.08078544903436609 0.21928455839365563
-11.666666984558105 6.991502472827804 -0.07559898891864354 -0.11864799722583515 0.06558807169372696 -0.2344076517109212 -0.21729988868499533 0.08263822739721907
-12.0 7.208492568065751 0.07559502969175587 0.11995471264721376 0.23473460997169357 -0.06526957125622661 -0.08303072039818031 0.21703106815217363
-12.0 7.191502282092941 -0.07340054056609029 -0.11737511561190844 0.06765119310648333 -0.23234473657119525 -0.21488102909408574 0.08506482760660433
-12.333333015441895 7.408492377330887 0.07365792442347834 0.11862993657527626 0.23291983131139388 -0.06708414364349591 -0.08517524961151117 0.2148787983203671
-12.333333015441895 7.391502091358078 -0.0712638407874966 -0.11652805501800748 0.06956179839627023 -0.23043438992385593 -0.212442025142037 0.0875111765772559
-12.666666984558105 7.608492186596024 0.07177218883755822 0.11690762007348957 0.23104144233210805 -0.06896239318962369 -0.08714453916040746 0.21290228296215755
-12.666666984558105 7.591501900623214 -0.06926967315595943 -0.11524997963471853 0.07145268290574829 -0.22854369744082298 -0.21027666403942052 0.089683389925149
-13.0 7.808491995861161 0.06985393424040053 0.11564428383037031 0.22923018962804992 -0.07077345386723671 -0.08923765943355615 0.2108023104437322
-13.0 7.791501709888351 -0.06732754465190949 -0.11412704168141928 0.07326725373291584 -0.22672931184453768 -0.20814688418393695 0.09181960986359355
-13.333333015441895 8.008491805126297 0.0679906665813017 0.11425348563024883 0.22742750992751506 -0.07257594833688932 -0.09122161652559672 0.20881191326873066
-13.333333015441895 7.991501519153488 -0.06546424596959795 -0.1128828490926328 0.0750473034608021 -0.22494944076316387 -0.20614753936720936 0.09382500273600786
-13.666666984558105 8.208491858949108 0.06615265668293531 0.11301130900559042 0.22567323920849416 -0.0743300404093978 -0.09319619561242015 0.20683128612622054
-13.666666984558105 8.191502037535267 -0.06365136086301021 -0.11151483770924484 0.0768213845617747 -0.22317553192936487 -0.2042498434305619 0.09572837393989264
-14.0 8.408491435941777 0.06436546356475986 0.11192001317510245 0.2239940188996816 -0.07600908845103674 -0.09513737313743126 0.2048844333339721
-14.0 8.391502079072872 -0.06186004509035986 -0.1105372526971278 0.07848929672251506 -0.2215077858541032 -0.20229546723734082 0.09768807094824586
-14.333333015441895 8.608491012940796 0.06265518286781874 0.11046507234541972 0.22228781075467305 -0.07771513051056662 -0.09689138831723985 0.20312509733903136
-14.333333015441895 8.591502120604126 -0.06016435382791555 -0.10855064095026944 0.0801663934077923 -0.21983084926598634 -0.20054742872074072 0.09944109339496399
-14.666666984558105 8.8084905899455 0.06094505552339128 0.10876589346240405 0.2206681431446369 -0.07933463802344239 -0.09872570455715236 0.20128579716900086
-14.666666984558105 8.791502162129696 -0.05848649364314643 -0.07706567646734817 0.0817671987846277 -0.21823019818570633 -0.19876426857158022 0.10122891736844615
-15.0 9.008490166957221 0.05931024584104908 0.07703035009242064 0.2190477576419928 -0.08095486922953109 -0.10040315586880369 0.19960368203302786
diff --git a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_01/results.json b/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_01/results.json
deleted file mode 100644
index b65b5fdc2611fd4d70cb9593cb0b7e336ba109e4..0000000000000000000000000000000000000000
--- a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_01/results.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
- "safety": "SAFE",
- "sim_time": 17.774884700775146,
- "verification_time": 194.12288856506348,
- "refine_time": 0,
- "total_time": 212.45236444473267
-}
\ No newline at end of file
diff --git a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_10/Traj.txt b/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_10/Traj.txt
deleted file mode 100644
index f26b656027d6fcc434a8628648a3101407e03ec7..0000000000000000000000000000000000000000
--- a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_10/Traj.txt
+++ /dev/null
@@ -1,47 +0,0 @@
-cropfollow/pn=[0.00:0.10]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]
-0.0 0.0 0.09878679364919662 0.0770719051361084 0.2675904333591461 -0.03151903301477432 -0.07001683861017227 0.22909262776374817
-0.3333333432674408 0.19940631091594696 0.11418592184782028 0.0442717969417572 0.27510330080986023 -0.024602778255939484 -0.04673144966363907 0.25297462940216064
-0.6666666865348816 0.3992103636264801 0.12303739041090012 0.014797616750001907 0.276720255613327 -0.023246921598911285 -0.030645467340946198 0.2693217098712921
-1.0 0.5991884469985962 0.12599679827690125 -0.0040816739201545715 0.27497512102127075 -0.025022372603416443 -0.022981539368629456 0.2770159840583801
-1.3333333730697632 0.7991868257522583 0.1251804679632187 -0.020029839128255844 0.2701432704925537 -0.029796570539474487 -0.019782334566116333 0.28015750646591187
-1.6666666269302368 0.9991466999053955 0.12117476761341095 -0.03212803974747658 0.26306673884391785 -0.03677845001220703 -0.020717203617095947 0.27912798523902893
-2.0 1.1990435123443604 0.11475026607513428 -0.04172700643539429 0.25419098138809204 -0.04554790258407593 -0.024690449237823486 0.2750484347343445
-2.3333332538604736 1.3988693952560425 0.1064072847366333 -0.050234757363796234 0.24366465210914612 -0.055956900119781494 -0.030850082635879517 0.2687714695930481
-2.6666667461395264 1.5986170768737793 0.09636455774307251 -0.05022263154387474 0.23362505435943604 -0.06599670648574829 -0.040895938873291016 0.2587258219718933
-3.0 1.7983648777008057 0.08632425218820572 -0.05131571367383003 0.22330349683761597 -0.07630159705877304 -0.050654999911785126 0.24895009398460388
-3.3333332538604736 1.9981015920639038 0.07606561481952667 -0.0534726120531559 0.21248944103717804 -0.08708177506923676 -0.060358211398124695 0.2392130047082901
-3.6666667461395264 2.1978156566619873 0.06537618488073349 -0.048663731664419174 0.20303747057914734 -0.09660737961530685 -0.07228510826826096 0.22735974192619324
-4.0 2.3975789546966553 0.05564727634191513 -0.044571902602910995 0.19435900449752808 -0.1053430363535881 -0.08306445926427841 0.21663758158683777
-4.333333492279053 2.5973803997039795 0.046735845506191254 -0.042124465107917786 0.18607479333877563 -0.1136590912938118 -0.09260309487581253 0.2071307897567749
-4.666666507720947 2.7972030639648438 0.03831344097852707 -0.04047112539410591 0.1780756115913391 -0.12167874723672867 -0.10144872218370438 0.1983056366443634
-5.0 2.997039318084717 0.030221424996852875 -0.03636089712381363 0.1710340678691864 -0.12876763939857483 -0.11059121042490005 0.18921050429344177
-5.333333492279053 3.1969070434570312 0.022950846701860428 -0.03360918536782265 0.16446542739868164 -0.13536515831947327 -0.11856374144554138 0.18126684427261353
-5.666666507720947 3.396794080734253 0.016230273991823196 -0.03321224823594093 0.15784601867198944 -0.14198856055736542 -0.12538547813892365 0.1744491010904312
-6.0 3.5966837406158447 0.009589044377207756 -0.02564496174454689 0.1531291902065277 -0.14677217602729797 -0.1339510977268219 0.16595026850700378
-6.333333492279053 3.7966179847717285 0.004460613708943129 -0.016581345349550247 0.15029485523700714 -0.14966391026973724 -0.1413736194372177 0.15858514606952667
-6.666666507720947 3.9965906143188477 0.0011444964911788702 -0.010362331755459309 0.14854590594768524 -0.15143798291683197 -0.14625690877437592 0.1537269800901413
-7.0 4.196579933166504 -0.0009279330261051655 -0.011468193493783474 0.1461952179670334 -0.15378506481647491 -0.14805109798908234 0.15192918479442596
-7.333333492279053 4.396566867828369 -0.003221521619707346 -0.0055559296160936356 0.1453871876001358 -0.15460820496082306 -0.15183024108409882 0.14816515147686005
-7.666666507720947 4.596563816070557 -0.004332701675593853 -0.0023502011317759752 0.1450793296098709 -0.1549198478460312 -0.15374474227428436 0.14625443518161774
-8.0 4.796563148498535 -0.004802741575986147 -0.004377881996333599 0.1441013514995575 -0.15589576959609985 -0.1537068486213684 0.14629027247428894
-8.333333015441895 4.996561050415039 -0.005678315181285143 -0.005996784660965204 0.14281980693340302 -0.15717481076717377 -0.15417642891407013 0.14581818878650665
-8.666666984558105 5.196557521820068 -0.006877664942294359 -0.0007303557358682156 0.1429397314786911 -0.15706022083759308 -0.15669505298137665 0.14330489933490753
-9.0 5.396557331085205 -0.007023735903203487 0.0030315399635583162 0.14373347163200378 -0.15626516938209534 -0.1577809453010559 0.1422176957130432
-9.333333015441895 5.596556663513184 -0.006417428608983755 0.0036846590228378773 0.14450272917747498 -0.15549525618553162 -0.15733757615089417 0.14266040921211243
-9.666666984558105 5.796555519104004 -0.005680498667061329 0.004567558411508799 0.1454598307609558 -0.15453705191612244 -0.15682083368301392 0.14317604899406433
-10.0 5.996553421020508 -0.004766989964991808 0.002492639236152172 0.14585572481155396 -0.15414336323738098 -0.1553896963596344 0.14460939168930054
-10.333333015441895 6.196552753448486 -0.004268462769687176 0.004489358514547348 0.14685237407684326 -0.15314462780952454 -0.15538930892944336 0.14460769295692444
-10.666666984558105 6.39655065536499 -0.003370594000443816 0.0019154415931552649 0.14710798859596252 -0.15289145708084106 -0.15384918451309204 0.14615026116371155
-11.0 6.596550464630127 -0.002987505868077278 0.0028812196105718613 0.1477321833372116 -0.15226657688617706 -0.15370719134807587 0.1462915688753128
-11.333333015441895 6.7965497970581055 -0.002411262597888708 0.000650863628834486 0.14775143563747406 -0.15224851667881012 -0.15257395803928375 0.14742599427700043
-11.666666984558105 6.996549606323242 -0.0022810897789895535 0.0015586733352392912 0.14810840785503387 -0.15189124643802643 -0.15267057716846466 0.14732907712459564
-12.0 7.196549415588379 -0.001969355158507824 0.0016596881905570626 0.14844536781311035 -0.15155422687530518 -0.15238407254219055 0.14761552214622498
-12.333333015441895 7.396549224853516 -0.0016374175902456045 0.003819510340690613 0.14931638538837433 -0.15068145096302032 -0.15259121358394623 0.14740662276744843
-12.666666984558105 7.596547603607178 -0.0008735173032619059 0.0024836414959281683 0.14974693953990936 -0.15025214850902557 -0.15149398148059845 0.1485051065683365
-13.0 7.796546936035156 -0.00037678948137909174 0.0033942919690161943 0.15047092735767365 -0.14952735602855682 -0.1512245088815689 0.14877377450466156
-13.333333015441895 7.996545791625977 0.00030206760857254267 -0.0015405600424855947 0.14991675317287445 -0.15008290112018585 -0.14931263029575348 0.15068702399730682
-13.666666984558105 8.196545600891113 -6.044312613084912e-06 -0.0056372107937932014 0.14858227968215942 -0.1514129638671875 -0.14859437942504883 0.1514008641242981
-14.0 8.3965425491333 -0.0011334805749356747 -0.00025684060528874397 0.14880231022834778 -0.15119770169258118 -0.1510692834854126 0.14893072843551636
-14.333333015441895 8.596542358398438 -0.0011848487192764878 0.00044359290041029453 0.1489260345697403 -0.15107394754886627 -0.1512957364320755 0.14870424568653107
-14.666666984558105 8.796542167663574 -0.0010961301159113646 0.0011343777878209949 0.149187371134758 -0.15081243216991425 -0.15137962996959686 0.14862017333507538
-15.0 8.996541976928711 -0.00086925458163023 0.0005844833794981241 0.14927683770656586 -0.15072311460971832 -0.15101535618305206 0.14898459613323212
diff --git a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_10/log.txt b/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_10/log.txt
deleted file mode 100644
index 815fe0ed65fc7a266bec994042867979e2fb157c..0000000000000000000000000000000000000000
--- a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_10/log.txt
+++ /dev/null
@@ -1,447 +0,0 @@
-2025-04-27 14:39:39,328 [INFO] Simulating with mode cropfollow
-2025-04-27 14:39:39,328 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:39:39,328 [INFO] [0.0, 0.0987867903534258, 0.07707190464387109, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:39:54,704 [INFO] Verification Begin
-2025-04-27 14:39:54,704 [INFO] ===============================================
-Mode: 0
-stack size: 1
-remainTime: 15
-
-2025-04-27 14:39:54,704 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 14:39:54,704 [INFO] Simulating with mode cropfollow
-2025-04-27 14:39:54,704 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:39:54,704 [INFO] [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:40:08,878 [INFO] Simulating with mode cropfollow
-2025-04-27 14:40:08,878 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:40:08,878 [INFO] [0.0, -0.01940758680886745, 0.14033325522049223, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:40:22,322 [INFO] Simulating with mode cropfollow
-2025-04-27 14:40:22,322 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:40:22,322 [INFO] [0.0, -0.034665496387149705, -0.06979694992937524, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:40:36,416 [INFO] Simulating with mode cropfollow
-2025-04-27 14:40:36,416 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:40:36,416 [INFO] [0.0, 0.07665289804869688, 0.05541825921424964, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:40:49,496 [INFO] Simulating with mode cropfollow
-2025-04-27 14:40:49,496 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:40:49,496 [INFO] [0.0, 0.046257448675656454, 0.15345175705380004, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:41:03,280 [INFO] Simulating with mode cropfollow
-2025-04-27 14:41:03,280 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:41:03,280 [INFO] [0.0, -0.03345710164017601, -0.06858806493749396, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:41:16,465 [INFO] Simulating with mode cropfollow
-2025-04-27 14:41:16,465 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:41:16,465 [INFO] [0.0, 0.027648412052970667, -0.09632342595171799, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:41:31,751 [INFO] Simulating with mode cropfollow
-2025-04-27 14:41:31,751 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:41:31,751 [INFO] [0.0, -0.012766788591394379, 0.06847911459459036, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:41:45,393 [INFO] Simulating with mode cropfollow
-2025-04-27 14:41:45,393 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:41:45,393 [INFO] [0.0, -0.02733756141935624, -0.04965555460798679, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:41:59,909 [INFO] Simulating with mode cropfollow
-2025-04-27 14:41:59,909 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:41:59,909 [INFO] [0.0, -0.02887357625434564, -0.10760399590836674, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:42:13,742 [INFO] Simulating with mode cropfollow
-2025-04-27 14:42:13,743 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:42:13,743 [INFO] [0.0, -0.06804166442991832, -0.025575941156179977, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:42:29,823 [INFO] 0 check bloated tube unknown
-2025-04-27 14:42:29,823 [INFO] ===============================================
-Mode: 0
-stack size: 2
-remainTime: 15
-
-2025-04-27 14:42:29,823 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.1, 0.0875, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 14:42:29,823 [INFO] Simulating with mode cropfollow
-2025-04-27 14:42:29,823 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:42:29,823 [INFO] [0.0, 0.0, -0.0875, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:42:44,760 [INFO] Simulating with mode cropfollow
-2025-04-27 14:42:44,760 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:42:44,760 [INFO] [0.0, -0.01940758680886745, -0.01733337238975388, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:42:59,749 [INFO] Simulating with mode cropfollow
-2025-04-27 14:42:59,749 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:42:59,749 [INFO] [0.0, -0.034665496387149705, -0.12239847496468761, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:43:14,749 [INFO] Simulating with mode cropfollow
-2025-04-27 14:43:14,749 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:43:14,749 [INFO] [0.0, 0.07665289804869688, -0.05979087039287517, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:43:29,685 [INFO] Simulating with mode cropfollow
-2025-04-27 14:43:29,685 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:43:29,685 [INFO] [0.0, 0.046257448675656454, -0.010774121473099973, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:43:44,730 [INFO] Simulating with mode cropfollow
-2025-04-27 14:43:44,730 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:43:44,730 [INFO] [0.0, -0.03345710164017601, -0.12179403246874698, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:43:58,867 [INFO] Simulating with mode cropfollow
-2025-04-27 14:43:58,867 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:43:58,867 [INFO] [0.0, 0.027648412052970667, -0.135661712975859, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:44:12,435 [INFO] Simulating with mode cropfollow
-2025-04-27 14:44:12,435 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:44:12,435 [INFO] [0.0, -0.012766788591394379, -0.053260442702704816, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:44:26,237 [INFO] Simulating with mode cropfollow
-2025-04-27 14:44:26,237 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:44:26,237 [INFO] [0.0, -0.02733756141935624, -0.11232777730399339, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:44:39,886 [INFO] Simulating with mode cropfollow
-2025-04-27 14:44:39,886 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:44:39,886 [INFO] [0.0, -0.02887357625434564, -0.14130199795418336, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:44:53,667 [INFO] Simulating with mode cropfollow
-2025-04-27 14:44:53,668 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:44:53,668 [INFO] [0.0, -0.06804166442991832, -0.10028797057808998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:45:07,848 [INFO] 0 check bloated tube unknown
-2025-04-27 14:45:07,848 [INFO] ===============================================
-Mode: 0
-stack size: 3
-remainTime: 15
-
-2025-04-27 14:45:07,848 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.05, 0.0875, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 14:45:07,848 [INFO] Simulating with mode cropfollow
-2025-04-27 14:45:07,848 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:45:07,849 [INFO] [0.0, -0.05, -0.0875, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:45:21,621 [INFO] Simulating with mode cropfollow
-2025-04-27 14:45:21,621 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:45:21,621 [INFO] [0.0, -0.05970379340443373, -0.01733337238975388, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:45:36,674 [INFO] Simulating with mode cropfollow
-2025-04-27 14:45:36,675 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:45:36,675 [INFO] [0.0, -0.06733274819357485, -0.12239847496468761, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:45:51,127 [INFO] Simulating with mode cropfollow
-2025-04-27 14:45:51,127 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:45:51,128 [INFO] [0.0, -0.011673550975651564, -0.05979087039287517, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:46:06,086 [INFO] Simulating with mode cropfollow
-2025-04-27 14:46:06,086 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:46:06,086 [INFO] [0.0, -0.026871275662171776, -0.010774121473099973, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:46:20,951 [INFO] Simulating with mode cropfollow
-2025-04-27 14:46:20,951 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:46:20,951 [INFO] [0.0, -0.06672855082008801, -0.12179403246874698, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:46:35,781 [INFO] Simulating with mode cropfollow
-2025-04-27 14:46:35,781 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:46:35,781 [INFO] [0.0, -0.03617579397351467, -0.135661712975859, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:46:51,332 [INFO] Simulating with mode cropfollow
-2025-04-27 14:46:51,332 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:46:51,332 [INFO] [0.0, -0.05638339429569719, -0.053260442702704816, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:47:04,920 [INFO] Simulating with mode cropfollow
-2025-04-27 14:47:04,920 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:47:04,920 [INFO] [0.0, -0.06366878070967813, -0.11232777730399339, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:47:19,547 [INFO] Simulating with mode cropfollow
-2025-04-27 14:47:19,547 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:47:19,547 [INFO] [0.0, -0.06443678812717282, -0.14130199795418336, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:47:33,863 [INFO] Simulating with mode cropfollow
-2025-04-27 14:47:33,864 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:47:33,864 [INFO] [0.0, -0.08402083221495917, -0.10028797057808998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:47:48,178 [INFO] 0 check bloated tube unknown
-2025-04-27 14:47:48,178 [INFO] ===============================================
-Mode: 0
-stack size: 4
-remainTime: 15
-
-2025-04-27 14:47:48,178 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, 0.0, -0.0875, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.05, 0.04375, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 14:47:48,178 [INFO] Simulating with mode cropfollow
-2025-04-27 14:47:48,178 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:47:48,178 [INFO] [0.0, -0.05, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:48:03,374 [INFO] Simulating with mode cropfollow
-2025-04-27 14:48:03,374 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:48:03,374 [INFO] [0.0, -0.05970379340443373, -0.09616668619487694, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:48:16,474 [INFO] Simulating with mode cropfollow
-2025-04-27 14:48:16,474 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:48:16,474 [INFO] [0.0, -0.06733274819357485, -0.14869923748234382, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:48:30,447 [INFO] Simulating with mode cropfollow
-2025-04-27 14:48:30,447 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:48:30,447 [INFO] [0.0, -0.011673550975651564, -0.11739543519643758, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:48:45,928 [INFO] Simulating with mode cropfollow
-2025-04-27 14:48:45,928 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:48:45,928 [INFO] [0.0, -0.026871275662171776, -0.09288706073654998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:49:00,152 [INFO] Simulating with mode cropfollow
-2025-04-27 14:49:00,152 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:49:00,152 [INFO] [0.0, -0.06672855082008801, -0.14839701623437349, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:49:14,876 [INFO] Simulating with mode cropfollow
-2025-04-27 14:49:14,876 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:49:14,876 [INFO] [0.0, -0.03617579397351467, -0.1553308564879295, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:49:28,892 [INFO] Simulating with mode cropfollow
-2025-04-27 14:49:28,892 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:49:28,892 [INFO] [0.0, -0.05638339429569719, -0.1141302213513524, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:49:43,364 [INFO] Simulating with mode cropfollow
-2025-04-27 14:49:43,365 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:49:43,365 [INFO] [0.0, -0.06366878070967813, -0.1436638886519967, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:49:58,102 [INFO] Simulating with mode cropfollow
-2025-04-27 14:49:58,103 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:49:58,103 [INFO] [0.0, -0.06443678812717282, -0.15815099897709167, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:50:11,516 [INFO] Simulating with mode cropfollow
-2025-04-27 14:50:11,516 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:50:11,516 [INFO] [0.0, -0.08402083221495917, -0.13764398528904498, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:50:27,283 [INFO] 0 check bloated tube unknown
-2025-04-27 14:50:27,283 [INFO] ===============================================
-Mode: 0
-stack size: 5
-remainTime: 15
-
-2025-04-27 14:50:27,283 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, -0.05, -0.0875, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.025, 0.04375, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 14:50:27,283 [INFO] Simulating with mode cropfollow
-2025-04-27 14:50:27,283 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:50:27,283 [INFO] [0.0, -0.07500000000000001, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:50:41,277 [INFO] Simulating with mode cropfollow
-2025-04-27 14:50:41,277 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:50:41,278 [INFO] [0.0, -0.07985189670221687, -0.09616668619487694, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:50:55,920 [INFO] Simulating with mode cropfollow
-2025-04-27 14:50:55,920 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:50:55,920 [INFO] [0.0, -0.08366637409678743, -0.14869923748234382, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:51:10,630 [INFO] Simulating with mode cropfollow
-2025-04-27 14:51:10,630 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:51:10,630 [INFO] [0.0, -0.055836775487825785, -0.11739543519643758, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:51:24,750 [INFO] Simulating with mode cropfollow
-2025-04-27 14:51:24,751 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:51:24,751 [INFO] [0.0, -0.06343563783108588, -0.09288706073654998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:51:38,435 [INFO] Simulating with mode cropfollow
-2025-04-27 14:51:38,435 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:51:38,435 [INFO] [0.0, -0.08336427541004401, -0.14839701623437349, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:51:52,853 [INFO] Simulating with mode cropfollow
-2025-04-27 14:51:52,853 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:51:52,853 [INFO] [0.0, -0.06808789698675734, -0.1553308564879295, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:52:06,946 [INFO] Simulating with mode cropfollow
-2025-04-27 14:52:06,946 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:52:06,946 [INFO] [0.0, -0.0781916971478486, -0.1141302213513524, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:52:21,733 [INFO] Simulating with mode cropfollow
-2025-04-27 14:52:21,733 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:52:21,733 [INFO] [0.0, -0.08183439035483907, -0.1436638886519967, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:52:37,741 [INFO] Simulating with mode cropfollow
-2025-04-27 14:52:37,741 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:52:37,741 [INFO] [0.0, -0.08221839406358641, -0.15815099897709167, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:52:52,161 [INFO] Simulating with mode cropfollow
-2025-04-27 14:52:52,161 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:52:52,161 [INFO] [0.0, -0.09201041610747959, -0.13764398528904498, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:53:06,116 [INFO] 0 check bloated tube unknown
-2025-04-27 14:53:06,116 [INFO] ===============================================
-Mode: 0
-stack size: 6
-remainTime: 15
-
-2025-04-27 14:53:06,117 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, -0.05, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.025, 0.021875000000000006, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 14:53:06,117 [INFO] Simulating with mode cropfollow
-2025-04-27 14:53:06,117 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:53:06,117 [INFO] [0.0, -0.07500000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:53:21,186 [INFO] Simulating with mode cropfollow
-2025-04-27 14:53:21,186 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:53:21,186 [INFO] [0.0, -0.07985189670221687, -0.13558334309743844, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:53:35,268 [INFO] Simulating with mode cropfollow
-2025-04-27 14:53:35,268 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:53:35,268 [INFO] [0.0, -0.08366637409678743, -0.1618496187411719, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:53:48,948 [INFO] Simulating with mode cropfollow
-2025-04-27 14:53:48,948 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:53:48,948 [INFO] [0.0, -0.055836775487825785, -0.14619771759821878, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:54:04,324 [INFO] Simulating with mode cropfollow
-2025-04-27 14:54:04,324 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:54:04,325 [INFO] [0.0, -0.06343563783108588, -0.13394353036827497, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:54:19,084 [INFO] Simulating with mode cropfollow
-2025-04-27 14:54:19,084 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:54:19,084 [INFO] [0.0, -0.08336427541004401, -0.16169850811718672, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:54:33,472 [INFO] Simulating with mode cropfollow
-2025-04-27 14:54:33,472 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:54:33,472 [INFO] [0.0, -0.06808789698675734, -0.16516542824396474, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:54:47,774 [INFO] Simulating with mode cropfollow
-2025-04-27 14:54:47,774 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:54:47,774 [INFO] [0.0, -0.0781916971478486, -0.14456511067567618, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:55:01,477 [INFO] Simulating with mode cropfollow
-2025-04-27 14:55:01,477 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:55:01,477 [INFO] [0.0, -0.08183439035483907, -0.15933194432599834, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:55:15,066 [INFO] Simulating with mode cropfollow
-2025-04-27 14:55:15,066 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:55:15,066 [INFO] [0.0, -0.08221839406358641, -0.16657549948854583, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:55:29,152 [INFO] Simulating with mode cropfollow
-2025-04-27 14:55:29,153 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:55:29,153 [INFO] [0.0, -0.09201041610747959, -0.15632199264452248, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:55:43,352 [INFO] 0 check bloated tube unknown
-2025-04-27 14:55:43,352 [INFO] ===============================================
-Mode: 0
-stack size: 7
-remainTime: 15
-
-2025-04-27 14:55:43,352 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, -0.07500000000000001, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.012499999999999997, 0.021875000000000006, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 14:55:43,352 [INFO] Simulating with mode cropfollow
-2025-04-27 14:55:43,352 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:55:43,352 [INFO] [0.0, -0.08750000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:55:58,504 [INFO] Simulating with mode cropfollow
-2025-04-27 14:55:58,504 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:55:58,504 [INFO] [0.0, -0.08992594835110844, -0.13558334309743844, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:56:12,806 [INFO] Simulating with mode cropfollow
-2025-04-27 14:56:12,806 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:56:12,806 [INFO] [0.0, -0.09183318704839372, -0.1618496187411719, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:56:26,992 [INFO] Simulating with mode cropfollow
-2025-04-27 14:56:26,992 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:56:26,992 [INFO] [0.0, -0.0779183877439129, -0.14619771759821878, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:56:41,271 [INFO] Simulating with mode cropfollow
-2025-04-27 14:56:41,271 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:56:41,271 [INFO] [0.0, -0.08171781891554296, -0.13394353036827497, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:56:55,888 [INFO] Simulating with mode cropfollow
-2025-04-27 14:56:55,889 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:56:55,889 [INFO] [0.0, -0.09168213770502201, -0.16169850811718672, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:57:10,240 [INFO] Simulating with mode cropfollow
-2025-04-27 14:57:10,240 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:57:10,240 [INFO] [0.0, -0.08404394849337868, -0.16516542824396474, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:57:23,629 [INFO] Simulating with mode cropfollow
-2025-04-27 14:57:23,630 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:57:23,630 [INFO] [0.0, -0.0890958485739243, -0.14456511067567618, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:57:40,001 [INFO] Simulating with mode cropfollow
-2025-04-27 14:57:40,001 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:57:40,001 [INFO] [0.0, -0.09091719517741953, -0.15933194432599834, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:57:54,380 [INFO] Simulating with mode cropfollow
-2025-04-27 14:57:54,380 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:57:54,380 [INFO] [0.0, -0.09110919703179321, -0.16657549948854583, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:58:08,828 [INFO] Simulating with mode cropfollow
-2025-04-27 14:58:08,828 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:58:08,828 [INFO] [0.0, -0.0960052080537398, -0.15632199264452248, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:58:23,009 [INFO] 0 check bloated tube unknown
-2025-04-27 14:58:23,009 [INFO] ===============================================
-Mode: 0
-stack size: 8
-remainTime: 15
-
-2025-04-27 14:58:23,009 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, -0.07500000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.012499999999999997, 0.010937500000000003, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 14:58:23,009 [INFO] Simulating with mode cropfollow
-2025-04-27 14:58:23,009 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:58:23,009 [INFO] [0.0, -0.08750000000000001, -0.1640625, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:58:36,999 [INFO] Simulating with mode cropfollow
-2025-04-27 14:58:36,999 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:58:36,999 [INFO] [0.0, -0.08992594835110844, -0.15529167154871923, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:58:50,678 [INFO] Simulating with mode cropfollow
-2025-04-27 14:58:50,678 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:58:50,678 [INFO] [0.0, -0.09183318704839372, -0.16842480937058593, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:59:05,975 [INFO] Simulating with mode cropfollow
-2025-04-27 14:59:05,975 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:59:05,975 [INFO] [0.0, -0.0779183877439129, -0.16059885879910937, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:59:19,830 [INFO] Simulating with mode cropfollow
-2025-04-27 14:59:19,830 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:59:19,830 [INFO] [0.0, -0.08171781891554296, -0.15447176518413747, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:59:35,194 [INFO] Simulating with mode cropfollow
-2025-04-27 14:59:35,195 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:59:35,195 [INFO] [0.0, -0.09168213770502201, -0.16834925405859336, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 14:59:49,553 [INFO] Simulating with mode cropfollow
-2025-04-27 14:59:49,554 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 14:59:49,554 [INFO] [0.0, -0.08404394849337868, -0.17008271412198236, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:00:04,083 [INFO] Simulating with mode cropfollow
-2025-04-27 15:00:04,083 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:00:04,083 [INFO] [0.0, -0.0890958485739243, -0.15978255533783808, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:00:18,830 [INFO] Simulating with mode cropfollow
-2025-04-27 15:00:18,830 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:00:18,830 [INFO] [0.0, -0.09091719517741953, -0.16716597216299917, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:00:33,842 [INFO] Simulating with mode cropfollow
-2025-04-27 15:00:33,842 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:00:33,842 [INFO] [0.0, -0.09110919703179321, -0.1707877497442729, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:00:47,606 [INFO] Simulating with mode cropfollow
-2025-04-27 15:00:47,606 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:00:47,606 [INFO] [0.0, -0.0960052080537398, -0.16566099632226122, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:01:02,100 [INFO] 0 check bloated tube unknown
-2025-04-27 15:01:02,100 [INFO] ===============================================
-Mode: 0
-stack size: 9
-remainTime: 15
-
-2025-04-27 15:01:02,100 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, -0.08750000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.006249999999999999, 0.010937500000000003, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 15:01:02,100 [INFO] Simulating with mode cropfollow
-2025-04-27 15:01:02,100 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:01:02,100 [INFO] [0.0, -0.09375, -0.1640625, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:01:17,093 [INFO] Simulating with mode cropfollow
-2025-04-27 15:01:17,093 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:01:17,093 [INFO] [0.0, -0.09496297417555422, -0.15529167154871923, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:01:31,251 [INFO] Simulating with mode cropfollow
-2025-04-27 15:01:31,252 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:01:31,252 [INFO] [0.0, -0.09591659352419686, -0.16842480937058593, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:01:44,584 [INFO] Simulating with mode cropfollow
-2025-04-27 15:01:44,584 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:01:44,584 [INFO] [0.0, -0.08895919387195646, -0.16059885879910937, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:01:59,000 [INFO] Simulating with mode cropfollow
-2025-04-27 15:01:59,001 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:01:59,001 [INFO] [0.0, -0.09085890945777148, -0.15447176518413747, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:02:14,405 [INFO] Simulating with mode cropfollow
-2025-04-27 15:02:14,405 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:02:14,405 [INFO] [0.0, -0.09584106885251101, -0.16834925405859336, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:02:28,791 [INFO] Simulating with mode cropfollow
-2025-04-27 15:02:28,791 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:02:28,791 [INFO] [0.0, -0.09202197424668934, -0.17008271412198236, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:02:42,337 [INFO] Simulating with mode cropfollow
-2025-04-27 15:02:42,337 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:02:42,337 [INFO] [0.0, -0.09454792428696215, -0.15978255533783808, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:02:56,418 [INFO] Simulating with mode cropfollow
-2025-04-27 15:02:56,418 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:02:56,418 [INFO] [0.0, -0.09545859758870977, -0.16716597216299917, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:03:10,950 [INFO] Simulating with mode cropfollow
-2025-04-27 15:03:10,950 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:03:10,950 [INFO] [0.0, -0.09555459851589661, -0.1707877497442729, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:03:24,590 [INFO] Simulating with mode cropfollow
-2025-04-27 15:03:24,590 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:03:24,590 [INFO] [0.0, -0.0980026040268699, -0.16566099632226122, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:03:39,833 [INFO] 0 check bloated tube unknown
-2025-04-27 15:03:39,833 [INFO] ===============================================
-Mode: 0
-stack size: 10
-remainTime: 15
-
-2025-04-27 15:03:39,833 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, -0.08750000000000001, -0.1640625, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.006249999999999999, 0.0054687499999999944, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 15:03:39,833 [INFO] Simulating with mode cropfollow
-2025-04-27 15:03:39,833 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:03:39,833 [INFO] [0.0, -0.09375, -0.16953125, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:03:54,823 [INFO] Simulating with mode cropfollow
-2025-04-27 15:03:54,823 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:03:54,823 [INFO] [0.0, -0.09496297417555422, -0.16514583577435962, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:04:09,273 [INFO] Simulating with mode cropfollow
-2025-04-27 15:04:09,273 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:04:09,273 [INFO] [0.0, -0.09591659352419686, -0.17171240468529297, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:04:24,223 [INFO] Simulating with mode cropfollow
-2025-04-27 15:04:24,223 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:04:24,223 [INFO] [0.0, -0.08895919387195646, -0.1677994293995547, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:04:38,985 [INFO] Simulating with mode cropfollow
-2025-04-27 15:04:38,985 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:04:38,985 [INFO] [0.0, -0.09085890945777148, -0.16473588259206876, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:04:52,490 [INFO] Simulating with mode cropfollow
-2025-04-27 15:04:52,490 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:04:52,490 [INFO] [0.0, -0.09584106885251101, -0.17167462702929667, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:05:07,582 [INFO] Simulating with mode cropfollow
-2025-04-27 15:05:07,582 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:05:07,582 [INFO] [0.0, -0.09202197424668934, -0.1725413570609912, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:05:21,730 [INFO] Simulating with mode cropfollow
-2025-04-27 15:05:21,730 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:05:21,730 [INFO] [0.0, -0.09454792428696215, -0.16739127766891904, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:05:37,399 [INFO] Simulating with mode cropfollow
-2025-04-27 15:05:37,399 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:05:37,399 [INFO] [0.0, -0.09545859758870977, -0.17108298608149958, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:05:50,955 [INFO] Simulating with mode cropfollow
-2025-04-27 15:05:50,955 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:05:50,956 [INFO] [0.0, -0.09555459851589661, -0.17289387487213645, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:06:05,524 [INFO] Simulating with mode cropfollow
-2025-04-27 15:06:05,524 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.1}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:06:05,524 [INFO] [0.0, -0.0980026040268699, -0.1703304981611306, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:06:19,920 [INFO] 0 check bloated tube unknown
-2025-04-27 15:06:19,920 [INFO] ===============================================
-Mode: 0
-stack size: 11
-remainTime: 15
-
-2025-04-27 15:06:19,920 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, -0.09375, -0.1640625, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.0031250000000000028, 0.0054687499999999944, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 15:06:19,920 [INFO] 0 is not valid anymore
-2025-04-27 15:06:19,920 [INFO] Hit refine threshold, system halt, result unknown
-2025-04-27 15:06:19,920 [INFO] simulation time: 15.376130819320679
-2025-04-27 15:06:19,920 [INFO] verification time: 1585.2160806655884
diff --git a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_10/results.json b/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_10/results.json
deleted file mode 100644
index a9d92ca23945c04c11ef6240f598d5fe7181d09b..0000000000000000000000000000000000000000
--- a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_10/results.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
- "safety": "UNKNOWN",
- "sim_time": 15.376130819320679,
- "verification_time": 1585.2160806655884,
- "refine_time": null,
- "total_time": 1601.153695344925
-}
\ No newline at end of file
diff --git a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_50/Traj.txt b/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_50/Traj.txt
deleted file mode 100644
index c917bb87153bbcc247cf9d386c90f4c58613da3c..0000000000000000000000000000000000000000
--- a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_50/Traj.txt
+++ /dev/null
@@ -1,47 +0,0 @@
-cropfollow/pn=[0.00:0.50]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]
-0.0 0.0 0.015561061911284924 0.07207953184843063 0.18317586183547974 -0.11604517698287964 -0.15205374360084534 0.14716729521751404
-0.3333333432674408 0.19948069751262665 0.029964489862322807 0.0667124018073082 0.1962965577840805 -0.10303612053394318 -0.1363675743341446 0.1629651039838791
-0.6666666865348816 0.39903581142425537 0.04329707473516464 0.04158181697130203 0.20355987548828125 -0.09618081897497177 -0.11696573346853256 0.18277496099472046
-1.0 0.5988629460334778 0.0516110435128212 0.02834838069975376 0.20863690972328186 -0.09124254435300827 -0.10541483014822006 0.19446462392807007
-1.3333333730697632 0.7987825870513916 0.057279959321022034 0.01930946484208107 0.21207906305789948 -0.08786500990390778 -0.09751914441585541 0.20242492854595184
-1.6666666269302368 0.998745322227478 0.061141613870859146 -0.009811919182538986 0.20868144929409027 -0.09130410850048065 -0.08639822900295258 0.21358732879161835
-2.0 1.1987357139587402 0.059179261326789856 -0.0048258183524012566 0.20797108113765717 -0.09202544391155243 -0.08961255848407745 0.21038396656513214
-2.3333332538604736 1.398733377456665 0.05821410194039345 -0.018212486058473587 0.20363636314868927 -0.09631390869617462 -0.08720816671848297 0.21274210512638092
-2.6666667461395264 1.5987002849578857 0.05457180738449097 -0.038003165274858475 0.19496500492095947 -0.10481840372085571 -0.08582139015197754 0.21396201848983765
-3.0 1.798555850982666 0.046973004937171936 -0.049516163766384125 0.18441517651081085 -0.11521713435649872 -0.09046916663646698 0.2091631442308426
-3.3333332538604736 1.9983106851577759 0.03707381710410118 -0.06342128664255142 0.17092755436897278 -0.128469318151474 -0.09677991271018982 0.20261695981025696
-3.6666667461395264 2.197908639907837 0.024398058652877808 -0.05065656825900078 0.16154691576957703 -0.13806825876235962 -0.11275079846382141 0.18686437606811523
-4.0 2.3976521492004395 0.014271076768636703 -0.03944302350282669 0.15429621934890747 -0.14547047019004822 -0.12575405836105347 0.17401263117790222
-4.333333492279053 2.597496509552002 0.006384516134858131 -0.0425182469189167 0.1456225961446762 -0.1541062742471695 -0.13285355269908905 0.16687531769275665
-4.666666507720947 2.797315835952759 -0.0021165721118450165 -0.03336973488330841 0.1394590437412262 -0.16037395596504211 -0.14369219541549683 0.15614080429077148
-5.0 2.997204542160034 -0.008789281360805035 -0.028849687427282333 0.13393688201904297 -0.16593828797340393 -0.15151545405387878 0.14835971593856812
-5.333333492279053 3.1971213817596436 -0.014558418653905392 -0.029560506343841553 0.12798699736595154 -0.17188194394111633 -0.15710383653640747 0.1427651047706604
-5.666666507720947 3.397033929824829 -0.020469658076763153 -0.02974788472056389 0.12202810496091843 -0.17783915996551514 -0.16296741366386414 0.13689985871315002
-6.0 3.5969455242156982 -0.026418358087539673 -0.006006050854921341 0.12207743525505066 -0.17791715264320374 -0.17491415143013 0.1250804364681244
-6.333333492279053 3.7969419956207275 -0.027619561180472374 0.01769346557557583 0.12678010761737823 -0.1731729358434677 -0.1820192188024521 0.11793381720781326
-6.666666507720947 3.996910572052002 -0.024081053212285042 0.019524315372109413 0.13077113032341003 -0.16917169094085693 -0.17893323302268982 0.12100958824157715
-7.0 4.196872234344482 -0.020176438614726067 0.02773931808769703 0.13669981062412262 -0.16318480670452118 -0.17705269157886505 0.12283192574977875
-7.333333492279053 4.396795272827148 -0.014629285782575607 0.024341842159628868 0.14141114056110382 -0.15850000083446503 -0.17066971957683563 0.12924142181873322
-7.666666507720947 4.596735954284668 -0.00976139772683382 0.025761738419532776 0.14662855863571167 -0.15327191352844238 -0.16615134477615356 0.1337491273880005
-8.0 4.7966694831848145 -0.0046096197329461575 0.00042685866355895996 0.14549708366394043 -0.15450289845466614 -0.15471631288528442 0.14528366923332214
-8.333333015441895 4.996669292449951 -0.00452424818649888 -0.023270484060049057 0.13961805403232574 -0.16030074656009674 -0.14866654574871063 0.15125225484371185
-8.666666984558105 5.196615219116211 -0.009177925065159798 -0.009944007731974125 0.13832871615886688 -0.1616564840078354 -0.15668456256389618 0.1433006376028061
-9.0 5.396605491638184 -0.011166693642735481 -0.015617132186889648 0.13491089642047882 -0.16505251824855804 -0.15724427998065948 0.14271913468837738
-9.333333015441895 5.596580982208252 -0.014289993792772293 -0.026148546487092972 0.12912234663963318 -0.17077511548995972 -0.15770232677459717 0.14219513535499573
-9.666666984558105 5.796512603759766 -0.019519107416272163 -0.008345931768417358 0.12838922441005707 -0.1716003566980362 -0.1674274355173111 0.13256214559078217
-10.0 5.9965057373046875 -0.021188274025917053 -0.012670299038290977 0.12563219666481018 -0.17434373497962952 -0.1680087447166443 0.1319671869277954
-10.333333015441895 6.1964898109436035 -0.023722266778349876 -0.004124188795685768 0.12524542212486267 -0.17475202679634094 -0.17268994450569153 0.12730750441551208
-10.666666984558105 6.396488189697266 -0.02454710192978382 0.002988670486956835 0.1261993944644928 -0.1737992763519287 -0.17529359459877014 0.12470507621765137
-11.0 6.596487522125244 -0.02394936792552471 -0.0028692237101495266 0.12533271312713623 -0.17466607689857483 -0.17323145270347595 0.1267673373222351
-11.333333015441895 6.796486854553223 -0.024523211643099785 -0.011515513062477112 0.12258803844451904 -0.17739209532737732 -0.1716344654560089 0.12834566831588745
-11.666666984558105 6.996473789215088 -0.026826264336705208 -0.014970104210078716 0.1194145530462265 -0.18055184185504913 -0.17306707799434662 0.12689931690692902
-12.0 7.196451187133789 -0.029820173978805542 -0.017343390733003616 0.11582164466381073 -0.18413324654102325 -0.17546199262142181 0.12449289858341217
-12.333333015441895 7.396420955657959 -0.033288680016994476 -0.020867764949798584 0.11146209388971329 -0.18847259879112244 -0.17803946137428284 0.12189523130655289
-12.666666984558105 7.596377372741699 -0.03746192902326584 -0.010977832600474358 0.10978462547063828 -0.19019728899002075 -0.18470847606658936 0.11527343839406967
-13.0 7.796365261077881 -0.03965745121240616 0.0032501881942152977 0.11115431040525436 -0.18884411454200745 -0.19046920537948608 0.10952921956777573
-13.333333015441895 7.996364116668701 -0.039007414132356644 0.016873907297849655 0.11518952250480652 -0.18476778268814087 -0.1932043433189392 0.10675296187400818
-13.666666984558105 8.196335792541504 -0.035632792860269547 0.010628707706928253 0.11701586842536926 -0.1829671859741211 -0.18828144669532776 0.1117016077041626
-14.0 8.396324157714844 -0.033507090061903 0.01337374560534954 0.11982284486293793 -0.1801503449678421 -0.18683703243732452 0.1131361573934555
-14.333333015441895 8.596305847167969 -0.03083242103457451 0.00939496885985136 0.12150967121124268 -0.17847710847854614 -0.1831745207309723 0.11681225895881653
-14.666666984558105 8.796297073364258 -0.02895345538854599 -0.0004945816472172737 0.12092288583517075 -0.17907708883285522 -0.17882978916168213 0.12117018550634384
-15.0 8.996296882629395 -0.0290523711591959 -0.016564030200242996 0.11678623408079147 -0.18317262828350067 -0.17489098012447357 0.12506787478923798
diff --git a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_50/log.txt b/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_50/log.txt
deleted file mode 100644
index 2d71eb2090b26b8b7061e94489d92f8c79668edc..0000000000000000000000000000000000000000
--- a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_50/log.txt
+++ /dev/null
@@ -1,447 +0,0 @@
-2025-04-27 15:06:21,034 [INFO] Simulating with mode cropfollow
-2025-04-27 15:06:21,034 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:06:21,034 [INFO] [0.0, 0.015561061531184375, 0.07207953554826813, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:06:33,389 [INFO] Verification Begin
-2025-04-27 15:06:33,389 [INFO] ===============================================
-Mode: 0
-stack size: 1
-remainTime: 15
-
-2025-04-27 15:06:33,389 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 15:06:33,390 [INFO] Simulating with mode cropfollow
-2025-04-27 15:06:33,390 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:06:33,390 [INFO] [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:06:46,190 [INFO] Simulating with mode cropfollow
-2025-04-27 15:06:46,190 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:06:46,190 [INFO] [0.0, -0.01940758680886745, 0.14033325522049223, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:06:59,648 [INFO] Simulating with mode cropfollow
-2025-04-27 15:06:59,648 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:06:59,648 [INFO] [0.0, -0.034665496387149705, -0.06979694992937524, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:07:11,302 [INFO] Simulating with mode cropfollow
-2025-04-27 15:07:11,302 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:07:11,302 [INFO] [0.0, 0.07665289804869688, 0.05541825921424964, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:07:24,488 [INFO] Simulating with mode cropfollow
-2025-04-27 15:07:24,488 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:07:24,488 [INFO] [0.0, 0.046257448675656454, 0.15345175705380004, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:07:36,158 [INFO] Simulating with mode cropfollow
-2025-04-27 15:07:36,158 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:07:36,158 [INFO] [0.0, -0.03345710164017601, -0.06858806493749396, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:07:48,157 [INFO] Simulating with mode cropfollow
-2025-04-27 15:07:48,158 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:07:48,158 [INFO] [0.0, 0.027648412052970667, -0.09632342595171799, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:08:02,308 [INFO] Simulating with mode cropfollow
-2025-04-27 15:08:02,308 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:08:02,308 [INFO] [0.0, -0.012766788591394379, 0.06847911459459036, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:08:15,213 [INFO] Simulating with mode cropfollow
-2025-04-27 15:08:15,213 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:08:15,213 [INFO] [0.0, -0.02733756141935624, -0.04965555460798679, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:08:28,102 [INFO] Simulating with mode cropfollow
-2025-04-27 15:08:28,102 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:08:28,102 [INFO] [0.0, -0.02887357625434564, -0.10760399590836674, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:08:40,129 [INFO] Simulating with mode cropfollow
-2025-04-27 15:08:40,129 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:08:40,129 [INFO] [0.0, -0.06804166442991832, -0.025575941156179977, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:08:51,710 [INFO] 0 check bloated tube unknown
-2025-04-27 15:08:51,710 [INFO] ===============================================
-Mode: 0
-stack size: 2
-remainTime: 15
-
-2025-04-27 15:08:51,710 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.1, 0.0875, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 15:08:51,711 [INFO] Simulating with mode cropfollow
-2025-04-27 15:08:51,711 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:08:51,711 [INFO] [0.0, 0.0, -0.0875, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:09:04,116 [INFO] Simulating with mode cropfollow
-2025-04-27 15:09:04,116 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:09:04,116 [INFO] [0.0, -0.01940758680886745, -0.01733337238975388, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:09:16,771 [INFO] Simulating with mode cropfollow
-2025-04-27 15:09:16,772 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:09:16,772 [INFO] [0.0, -0.034665496387149705, -0.12239847496468761, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:09:29,629 [INFO] Simulating with mode cropfollow
-2025-04-27 15:09:29,629 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:09:29,629 [INFO] [0.0, 0.07665289804869688, -0.05979087039287517, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:09:42,160 [INFO] Simulating with mode cropfollow
-2025-04-27 15:09:42,160 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:09:42,160 [INFO] [0.0, 0.046257448675656454, -0.010774121473099973, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:09:53,825 [INFO] Simulating with mode cropfollow
-2025-04-27 15:09:53,826 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:09:53,826 [INFO] [0.0, -0.03345710164017601, -0.12179403246874698, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:10:05,583 [INFO] Simulating with mode cropfollow
-2025-04-27 15:10:05,583 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:10:05,583 [INFO] [0.0, 0.027648412052970667, -0.135661712975859, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:10:17,857 [INFO] Simulating with mode cropfollow
-2025-04-27 15:10:17,857 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:10:17,857 [INFO] [0.0, -0.012766788591394379, -0.053260442702704816, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:10:29,678 [INFO] Simulating with mode cropfollow
-2025-04-27 15:10:29,678 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:10:29,678 [INFO] [0.0, -0.02733756141935624, -0.11232777730399339, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:10:42,152 [INFO] Simulating with mode cropfollow
-2025-04-27 15:10:42,152 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:10:42,152 [INFO] [0.0, -0.02887357625434564, -0.14130199795418336, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:10:54,886 [INFO] Simulating with mode cropfollow
-2025-04-27 15:10:54,886 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:10:54,886 [INFO] [0.0, -0.06804166442991832, -0.10028797057808998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:11:06,656 [INFO] 0 check bloated tube unknown
-2025-04-27 15:11:06,656 [INFO] ===============================================
-Mode: 0
-stack size: 3
-remainTime: 15
-
-2025-04-27 15:11:06,656 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.05, 0.0875, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 15:11:06,656 [INFO] Simulating with mode cropfollow
-2025-04-27 15:11:06,656 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:11:06,656 [INFO] [0.0, -0.05, -0.0875, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:11:18,214 [INFO] Simulating with mode cropfollow
-2025-04-27 15:11:18,214 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:11:18,215 [INFO] [0.0, -0.05970379340443373, -0.01733337238975388, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:11:29,942 [INFO] Simulating with mode cropfollow
-2025-04-27 15:11:29,943 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:11:29,964 [INFO] [0.0, -0.06733274819357485, -0.12239847496468761, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:11:42,789 [INFO] Simulating with mode cropfollow
-2025-04-27 15:11:42,789 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:11:42,789 [INFO] [0.0, -0.011673550975651564, -0.05979087039287517, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:11:54,155 [INFO] Simulating with mode cropfollow
-2025-04-27 15:11:54,155 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:11:54,155 [INFO] [0.0, -0.026871275662171776, -0.010774121473099973, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:12:05,605 [INFO] Simulating with mode cropfollow
-2025-04-27 15:12:05,606 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:12:05,606 [INFO] [0.0, -0.06672855082008801, -0.12179403246874698, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:12:17,605 [INFO] Simulating with mode cropfollow
-2025-04-27 15:12:17,605 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:12:17,605 [INFO] [0.0, -0.03617579397351467, -0.135661712975859, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:12:29,445 [INFO] Simulating with mode cropfollow
-2025-04-27 15:12:29,445 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:12:29,445 [INFO] [0.0, -0.05638339429569719, -0.053260442702704816, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:12:41,690 [INFO] Simulating with mode cropfollow
-2025-04-27 15:12:41,690 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:12:41,690 [INFO] [0.0, -0.06366878070967813, -0.11232777730399339, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:12:53,485 [INFO] Simulating with mode cropfollow
-2025-04-27 15:12:53,485 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:12:53,485 [INFO] [0.0, -0.06443678812717282, -0.14130199795418336, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:13:05,401 [INFO] Simulating with mode cropfollow
-2025-04-27 15:13:05,402 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:13:05,402 [INFO] [0.0, -0.08402083221495917, -0.10028797057808998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:13:18,094 [INFO] 0 check bloated tube unknown
-2025-04-27 15:13:18,094 [INFO] ===============================================
-Mode: 0
-stack size: 4
-remainTime: 15
-
-2025-04-27 15:13:18,094 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, 0.0, -0.0875, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.05, 0.04375, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 15:13:18,094 [INFO] Simulating with mode cropfollow
-2025-04-27 15:13:18,094 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:13:18,094 [INFO] [0.0, -0.05, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:13:30,744 [INFO] Simulating with mode cropfollow
-2025-04-27 15:13:30,744 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:13:30,744 [INFO] [0.0, -0.05970379340443373, -0.09616668619487694, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:13:43,523 [INFO] Simulating with mode cropfollow
-2025-04-27 15:13:43,523 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:13:43,523 [INFO] [0.0, -0.06733274819357485, -0.14869923748234382, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:13:55,579 [INFO] Simulating with mode cropfollow
-2025-04-27 15:13:55,579 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:13:55,579 [INFO] [0.0, -0.011673550975651564, -0.11739543519643758, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:14:06,846 [INFO] Simulating with mode cropfollow
-2025-04-27 15:14:06,846 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:14:06,846 [INFO] [0.0, -0.026871275662171776, -0.09288706073654998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:14:19,887 [INFO] Simulating with mode cropfollow
-2025-04-27 15:14:19,887 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:14:19,887 [INFO] [0.0, -0.06672855082008801, -0.14839701623437349, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:14:31,427 [INFO] Simulating with mode cropfollow
-2025-04-27 15:14:31,427 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:14:31,427 [INFO] [0.0, -0.03617579397351467, -0.1553308564879295, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:14:42,616 [INFO] Simulating with mode cropfollow
-2025-04-27 15:14:42,616 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:14:42,616 [INFO] [0.0, -0.05638339429569719, -0.1141302213513524, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:14:56,124 [INFO] Simulating with mode cropfollow
-2025-04-27 15:14:56,125 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:14:56,125 [INFO] [0.0, -0.06366878070967813, -0.1436638886519967, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:15:07,996 [INFO] Simulating with mode cropfollow
-2025-04-27 15:15:07,996 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:15:07,996 [INFO] [0.0, -0.06443678812717282, -0.15815099897709167, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:15:20,401 [INFO] Simulating with mode cropfollow
-2025-04-27 15:15:20,401 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:15:20,401 [INFO] [0.0, -0.08402083221495917, -0.13764398528904498, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:15:32,475 [INFO] 0 check bloated tube unknown
-2025-04-27 15:15:32,476 [INFO] ===============================================
-Mode: 0
-stack size: 5
-remainTime: 15
-
-2025-04-27 15:15:32,476 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, -0.05, -0.0875, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.025, 0.04375, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 15:15:32,476 [INFO] Simulating with mode cropfollow
-2025-04-27 15:15:32,476 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:15:32,476 [INFO] [0.0, -0.07500000000000001, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:15:46,039 [INFO] Simulating with mode cropfollow
-2025-04-27 15:15:46,039 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:15:46,039 [INFO] [0.0, -0.07985189670221687, -0.09616668619487694, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:15:58,712 [INFO] Simulating with mode cropfollow
-2025-04-27 15:15:58,712 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:15:58,712 [INFO] [0.0, -0.08366637409678743, -0.14869923748234382, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:16:11,832 [INFO] Simulating with mode cropfollow
-2025-04-27 15:16:11,832 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:16:11,832 [INFO] [0.0, -0.055836775487825785, -0.11739543519643758, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:16:24,353 [INFO] Simulating with mode cropfollow
-2025-04-27 15:16:24,353 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:16:24,353 [INFO] [0.0, -0.06343563783108588, -0.09288706073654998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:16:37,130 [INFO] Simulating with mode cropfollow
-2025-04-27 15:16:37,130 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:16:37,130 [INFO] [0.0, -0.08336427541004401, -0.14839701623437349, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:16:50,566 [INFO] Simulating with mode cropfollow
-2025-04-27 15:16:50,566 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:16:50,566 [INFO] [0.0, -0.06808789698675734, -0.1553308564879295, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:17:02,451 [INFO] Simulating with mode cropfollow
-2025-04-27 15:17:02,451 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:17:02,451 [INFO] [0.0, -0.0781916971478486, -0.1141302213513524, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:17:15,181 [INFO] Simulating with mode cropfollow
-2025-04-27 15:17:15,182 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:17:15,182 [INFO] [0.0, -0.08183439035483907, -0.1436638886519967, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:17:26,568 [INFO] Simulating with mode cropfollow
-2025-04-27 15:17:26,568 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:17:26,568 [INFO] [0.0, -0.08221839406358641, -0.15815099897709167, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:17:38,333 [INFO] Simulating with mode cropfollow
-2025-04-27 15:17:38,333 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:17:38,333 [INFO] [0.0, -0.09201041610747959, -0.13764398528904498, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:17:51,683 [INFO] 0 check bloated tube unknown
-2025-04-27 15:17:51,683 [INFO] ===============================================
-Mode: 0
-stack size: 6
-remainTime: 15
-
-2025-04-27 15:17:51,683 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, -0.05, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.025, 0.021875000000000006, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 15:17:51,683 [INFO] Simulating with mode cropfollow
-2025-04-27 15:17:51,683 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:17:51,683 [INFO] [0.0, -0.07500000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:18:03,590 [INFO] Simulating with mode cropfollow
-2025-04-27 15:18:03,590 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:18:03,590 [INFO] [0.0, -0.07985189670221687, -0.13558334309743844, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:18:16,342 [INFO] Simulating with mode cropfollow
-2025-04-27 15:18:16,342 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:18:16,342 [INFO] [0.0, -0.08366637409678743, -0.1618496187411719, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:18:29,647 [INFO] Simulating with mode cropfollow
-2025-04-27 15:18:29,647 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:18:29,647 [INFO] [0.0, -0.055836775487825785, -0.14619771759821878, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:18:41,058 [INFO] Simulating with mode cropfollow
-2025-04-27 15:18:41,058 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:18:41,058 [INFO] [0.0, -0.06343563783108588, -0.13394353036827497, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:18:53,544 [INFO] Simulating with mode cropfollow
-2025-04-27 15:18:53,544 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:18:53,544 [INFO] [0.0, -0.08336427541004401, -0.16169850811718672, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:19:05,207 [INFO] Simulating with mode cropfollow
-2025-04-27 15:19:05,207 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:19:05,207 [INFO] [0.0, -0.06808789698675734, -0.16516542824396474, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:19:16,723 [INFO] Simulating with mode cropfollow
-2025-04-27 15:19:16,723 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:19:16,723 [INFO] [0.0, -0.0781916971478486, -0.14456511067567618, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:19:30,245 [INFO] Simulating with mode cropfollow
-2025-04-27 15:19:30,245 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:19:30,245 [INFO] [0.0, -0.08183439035483907, -0.15933194432599834, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:19:42,044 [INFO] Simulating with mode cropfollow
-2025-04-27 15:19:42,045 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:19:42,045 [INFO] [0.0, -0.08221839406358641, -0.16657549948854583, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:19:54,320 [INFO] Simulating with mode cropfollow
-2025-04-27 15:19:54,321 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:19:54,321 [INFO] [0.0, -0.09201041610747959, -0.15632199264452248, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:20:07,881 [INFO] 0 check bloated tube unknown
-2025-04-27 15:20:07,881 [INFO] ===============================================
-Mode: 0
-stack size: 7
-remainTime: 15
-
-2025-04-27 15:20:07,881 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, -0.07500000000000001, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.012499999999999997, 0.021875000000000006, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 15:20:07,881 [INFO] Simulating with mode cropfollow
-2025-04-27 15:20:07,881 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:20:07,881 [INFO] [0.0, -0.08750000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:20:19,036 [INFO] Simulating with mode cropfollow
-2025-04-27 15:20:19,036 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:20:19,036 [INFO] [0.0, -0.08992594835110844, -0.13558334309743844, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:20:32,331 [INFO] Simulating with mode cropfollow
-2025-04-27 15:20:32,331 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:20:32,332 [INFO] [0.0, -0.09183318704839372, -0.1618496187411719, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:20:44,392 [INFO] Simulating with mode cropfollow
-2025-04-27 15:20:44,392 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:20:44,392 [INFO] [0.0, -0.0779183877439129, -0.14619771759821878, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:20:55,376 [INFO] Simulating with mode cropfollow
-2025-04-27 15:20:55,376 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:20:55,376 [INFO] [0.0, -0.08171781891554296, -0.13394353036827497, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:21:06,482 [INFO] Simulating with mode cropfollow
-2025-04-27 15:21:06,482 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:21:06,482 [INFO] [0.0, -0.09168213770502201, -0.16169850811718672, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:21:19,356 [INFO] Simulating with mode cropfollow
-2025-04-27 15:21:19,356 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:21:19,356 [INFO] [0.0, -0.08404394849337868, -0.16516542824396474, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:21:31,893 [INFO] Simulating with mode cropfollow
-2025-04-27 15:21:31,893 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:21:31,893 [INFO] [0.0, -0.0890958485739243, -0.14456511067567618, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:21:44,506 [INFO] Simulating with mode cropfollow
-2025-04-27 15:21:44,506 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:21:44,506 [INFO] [0.0, -0.09091719517741953, -0.15933194432599834, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:21:57,191 [INFO] Simulating with mode cropfollow
-2025-04-27 15:21:57,191 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:21:57,191 [INFO] [0.0, -0.09110919703179321, -0.16657549948854583, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:22:09,509 [INFO] Simulating with mode cropfollow
-2025-04-27 15:22:09,510 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:22:09,510 [INFO] [0.0, -0.0960052080537398, -0.15632199264452248, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:22:21,313 [INFO] 0 check bloated tube unknown
-2025-04-27 15:22:21,313 [INFO] ===============================================
-Mode: 0
-stack size: 8
-remainTime: 15
-
-2025-04-27 15:22:21,313 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, -0.07500000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.012499999999999997, 0.010937500000000003, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 15:22:21,313 [INFO] Simulating with mode cropfollow
-2025-04-27 15:22:21,313 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:22:21,313 [INFO] [0.0, -0.08750000000000001, -0.1640625, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:22:33,258 [INFO] Simulating with mode cropfollow
-2025-04-27 15:22:33,258 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:22:33,258 [INFO] [0.0, -0.08992594835110844, -0.15529167154871923, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:22:45,650 [INFO] Simulating with mode cropfollow
-2025-04-27 15:22:45,651 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:22:45,651 [INFO] [0.0, -0.09183318704839372, -0.16842480937058593, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:22:57,342 [INFO] Simulating with mode cropfollow
-2025-04-27 15:22:57,342 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:22:57,342 [INFO] [0.0, -0.0779183877439129, -0.16059885879910937, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:23:08,776 [INFO] Simulating with mode cropfollow
-2025-04-27 15:23:08,776 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:23:08,776 [INFO] [0.0, -0.08171781891554296, -0.15447176518413747, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:23:22,353 [INFO] Simulating with mode cropfollow
-2025-04-27 15:23:22,353 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:23:22,353 [INFO] [0.0, -0.09168213770502201, -0.16834925405859336, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:23:33,940 [INFO] Simulating with mode cropfollow
-2025-04-27 15:23:33,940 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:23:33,940 [INFO] [0.0, -0.08404394849337868, -0.17008271412198236, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:23:46,074 [INFO] Simulating with mode cropfollow
-2025-04-27 15:23:46,074 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:23:46,074 [INFO] [0.0, -0.0890958485739243, -0.15978255533783808, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:23:58,039 [INFO] Simulating with mode cropfollow
-2025-04-27 15:23:58,039 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:23:58,039 [INFO] [0.0, -0.09091719517741953, -0.16716597216299917, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:24:09,604 [INFO] Simulating with mode cropfollow
-2025-04-27 15:24:09,604 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:24:09,604 [INFO] [0.0, -0.09110919703179321, -0.1707877497442729, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:24:22,769 [INFO] Simulating with mode cropfollow
-2025-04-27 15:24:22,769 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:24:22,769 [INFO] [0.0, -0.0960052080537398, -0.16566099632226122, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:24:33,747 [INFO] 0 check bloated tube unknown
-2025-04-27 15:24:33,747 [INFO] ===============================================
-Mode: 0
-stack size: 9
-remainTime: 15
-
-2025-04-27 15:24:33,747 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, -0.08750000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.006249999999999999, 0.010937500000000003, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 15:24:33,747 [INFO] Simulating with mode cropfollow
-2025-04-27 15:24:33,747 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:24:33,747 [INFO] [0.0, -0.09375, -0.1640625, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:24:46,092 [INFO] Simulating with mode cropfollow
-2025-04-27 15:24:46,092 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:24:46,092 [INFO] [0.0, -0.09496297417555422, -0.15529167154871923, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:24:59,125 [INFO] Simulating with mode cropfollow
-2025-04-27 15:24:59,125 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:24:59,125 [INFO] [0.0, -0.09591659352419686, -0.16842480937058593, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:25:11,065 [INFO] Simulating with mode cropfollow
-2025-04-27 15:25:11,065 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:25:11,065 [INFO] [0.0, -0.08895919387195646, -0.16059885879910937, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:25:23,349 [INFO] Simulating with mode cropfollow
-2025-04-27 15:25:23,349 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:25:23,349 [INFO] [0.0, -0.09085890945777148, -0.15447176518413747, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:25:36,382 [INFO] Simulating with mode cropfollow
-2025-04-27 15:25:36,382 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:25:36,382 [INFO] [0.0, -0.09584106885251101, -0.16834925405859336, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:25:47,838 [INFO] Simulating with mode cropfollow
-2025-04-27 15:25:47,838 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:25:47,838 [INFO] [0.0, -0.09202197424668934, -0.17008271412198236, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:26:01,081 [INFO] Simulating with mode cropfollow
-2025-04-27 15:26:01,081 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:26:01,081 [INFO] [0.0, -0.09454792428696215, -0.15978255533783808, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:26:12,729 [INFO] Simulating with mode cropfollow
-2025-04-27 15:26:12,729 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:26:12,729 [INFO] [0.0, -0.09545859758870977, -0.16716597216299917, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:26:24,501 [INFO] Simulating with mode cropfollow
-2025-04-27 15:26:24,501 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:26:24,501 [INFO] [0.0, -0.09555459851589661, -0.1707877497442729, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:26:37,678 [INFO] Simulating with mode cropfollow
-2025-04-27 15:26:37,678 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:26:37,678 [INFO] [0.0, -0.0980026040268699, -0.16566099632226122, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:26:50,348 [INFO] 0 check bloated tube unknown
-2025-04-27 15:26:50,348 [INFO] ===============================================
-Mode: 0
-stack size: 10
-remainTime: 15
-
-2025-04-27 15:26:50,348 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, -0.08750000000000001, -0.1640625, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.006249999999999999, 0.0054687499999999944, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 15:26:50,348 [INFO] Simulating with mode cropfollow
-2025-04-27 15:26:50,348 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:26:50,348 [INFO] [0.0, -0.09375, -0.16953125, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:27:03,474 [INFO] Simulating with mode cropfollow
-2025-04-27 15:27:03,475 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:27:03,475 [INFO] [0.0, -0.09496297417555422, -0.16514583577435962, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:27:15,560 [INFO] Simulating with mode cropfollow
-2025-04-27 15:27:15,560 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:27:15,560 [INFO] [0.0, -0.09591659352419686, -0.17171240468529297, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:27:28,532 [INFO] Simulating with mode cropfollow
-2025-04-27 15:27:28,532 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:27:28,532 [INFO] [0.0, -0.08895919387195646, -0.1677994293995547, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:27:40,110 [INFO] Simulating with mode cropfollow
-2025-04-27 15:27:40,110 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:27:40,110 [INFO] [0.0, -0.09085890945777148, -0.16473588259206876, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:27:53,536 [INFO] Simulating with mode cropfollow
-2025-04-27 15:27:53,536 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:27:53,536 [INFO] [0.0, -0.09584106885251101, -0.17167462702929667, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:28:06,428 [INFO] Simulating with mode cropfollow
-2025-04-27 15:28:06,428 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:28:06,428 [INFO] [0.0, -0.09202197424668934, -0.1725413570609912, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:28:19,109 [INFO] Simulating with mode cropfollow
-2025-04-27 15:28:19,109 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:28:19,109 [INFO] [0.0, -0.09454792428696215, -0.16739127766891904, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:28:32,462 [INFO] Simulating with mode cropfollow
-2025-04-27 15:28:32,463 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:28:32,463 [INFO] [0.0, -0.09545859758870977, -0.17108298608149958, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:28:43,658 [INFO] Simulating with mode cropfollow
-2025-04-27 15:28:43,658 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:28:43,658 [INFO] [0.0, -0.09555459851589661, -0.17289387487213645, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:28:56,001 [INFO] Simulating with mode cropfollow
-2025-04-27 15:28:56,001 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.5}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:28:56,001 [INFO] [0.0, -0.0980026040268699, -0.1703304981611306, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:29:08,832 [INFO] 0 check bloated tube unknown
-2025-04-27 15:29:08,832 [INFO] ===============================================
-Mode: 0
-stack size: 11
-remainTime: 15
-
-2025-04-27 15:29:08,832 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, -0.09375, -0.1640625, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.0031250000000000028, 0.0054687499999999944, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 15:29:08,832 [INFO] 0 is not valid anymore
-2025-04-27 15:29:08,832 [INFO] Hit refine threshold, system halt, result unknown
-2025-04-27 15:29:08,832 [INFO] simulation time: 12.354950189590454
-2025-04-27 15:29:08,832 [INFO] verification time: 1355.4428479671478
diff --git a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_50/results.json b/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_50/results.json
deleted file mode 100644
index c3dfba19a7f96fbd312b82e0e082f5175505df85..0000000000000000000000000000000000000000
--- a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading0_50/results.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
- "safety": "UNKNOWN",
- "sim_time": 12.354950189590454,
- "verification_time": 1355.4428479671478,
- "refine_time": null,
- "total_time": 1368.3428587913513
-}
\ No newline at end of file
diff --git a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading1_00/Traj.txt b/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading1_00/Traj.txt
deleted file mode 100644
index 54609cb2d29a7a11692c19c065cc97594bf84763..0000000000000000000000000000000000000000
--- a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading1_00/Traj.txt
+++ /dev/null
@@ -1,47 +0,0 @@
-cropfollow/pn=[0.00:1.00]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]
-0.0 0.0 0.022494498640298843 -0.14908458292484283 0.13369739055633545 -0.16297486424446106 -0.08870840072631836 0.20796385407447815
-0.3333333432674408 0.197781503200531 -0.007212089374661446 -0.09589234739542007 0.11816243827342987 -0.18045933544635773 -0.13258661329746246 0.16603516042232513
-0.6666666865348816 0.3968626856803894 -0.02636118046939373 -0.05639634281396866 0.10930873453617096 -0.19021432101726532 -0.16203109920024872 0.13749195635318756
-1.0 0.5965447425842285 -0.0376344695687294 -0.023393642157316208 0.10647661238908768 -0.19344130158424377 -0.18174555897712708 0.11817235499620438
-1.3333333730697632 0.7964900135993958 -0.04231277108192444 0.027823995798826218 0.11458428204059601 -0.18529962003231049 -0.19920982420444489 0.10067407786846161
-1.6666666269302368 0.9964126348495483 -0.03674868866801262 0.054952993988990784 0.1267562061548233 -0.17279092967510223 -0.20025359094142914 0.0992935448884964
-2.0 1.196110725402832 -0.0257636196911335 0.06609192490577698 0.1404198557138443 -0.15892519056797028 -0.1919470876455307 0.10739795863628387
-2.3333332538604736 1.3956741094589233 -0.012554855085909367 0.051964208483695984 0.1502278745174408 -0.14936718344688416 -0.17533758282661438 0.12425747513771057
-2.6666667461395264 1.5954041481018066 -0.0021666893735527992 0.07835796475410461 0.1669425070285797 -0.1321369707584381 -0.17127588391304016 0.12780359387397766
-3.0 1.794790506362915 0.013488872908055782 0.06457564979791641 0.1793089359998703 -0.12006579339504242 -0.1523311883211136 0.14704354107379913
-3.3333332538604736 1.9943736791610718 0.026395030319690704 0.04601734131574631 0.18773651123046875 -0.11194590479135513 -0.13494643568992615 0.16473597288131714
-3.6666667461395264 2.194161891937256 0.035595253109931946 0.04389798641204834 0.19642172753810883 -0.10328926146030426 -0.12523122131824493 0.17447976768016815
-4.0 2.3939692974090576 0.04437202960252762 0.023572716861963272 0.20022299885749817 -0.099693663418293 -0.11147893220186234 0.18843773007392883
-4.333333492279053 2.5939137935638428 0.04908613860607147 -0.02571999281644821 0.19260725378990173 -0.10729354619979858 -0.09443497657775879 0.20546582341194153
-4.666666507720947 2.7938475608825684 0.04394270479679108 -0.05007033422589302 0.18124236166477203 -0.11838166415691376 -0.09335695207118988 0.2062670737504959
-5.0 2.9935970306396484 0.033932819962501526 -0.07693487405776978 0.16427436470985413 -0.13483822345733643 -0.09640872478485107 0.20270386338233948
-5.333333492279053 3.193005323410034 0.018561020493507385 -0.1061624065041542 0.14122575521469116 -0.15708526968955994 -0.10410371422767639 0.1942073106765747
-5.666666507720947 3.3918793201446533 -0.0026316028088331223 -0.08620665967464447 0.12528640031814575 -0.17359957098960876 -0.1305496096611023 0.16833636164665222
-6.0 3.5911366939544678 -0.01985158957540989 -0.06179918348789215 0.11442212015390396 -0.18500521779060364 -0.15412530303001404 0.14530202746391296
-6.333333492279053 3.790754795074463 -0.032203562557697296 -0.020914703607559204 0.11253535002470016 -0.18739905953407288 -0.17694246768951416 0.12299194186925888
-6.666666507720947 3.990710973739624 -0.03638619929552078 -0.01568542793393135 0.10967416316270828 -0.1902889609336853 -0.18244656920433044 0.11751655489206314
-7.0 4.190686225891113 -0.039523154497146606 0.009307553991675377 0.11279721558094025 -0.18718980252742767 -0.19184352457523346 0.10814349353313446
-7.333333492279053 4.390677452087402 -0.03766167163848877 -0.024802448228001595 0.10609222948551178 -0.19381551444530487 -0.18141557276248932 0.11849217116832733
-7.666666507720947 4.590615749359131 -0.04262165352702141 -0.011767532676458359 0.10442614555358887 -0.19555309414863586 -0.18966946005821228 0.11030977964401245
-8.0 4.79060173034668 -0.04497510567307472 -0.019437270238995552 0.10013756155967712 -0.19980579614639282 -0.19008776545524597 0.10985559225082397
-8.333333015441895 4.990563869476318 -0.04886231571435928 -0.032144270837306976 0.09302552789449692 -0.20681950449943542 -0.1907501518726349 0.10909488052129745
-8.666666984558105 5.190460681915283 -0.055290061980485916 -0.014314958825707436 0.09111596643924713 -0.2088533192873001 -0.20169608294963837 0.09827320277690887
-9.0 5.390439987182617 -0.058152955025434494 -0.0070623597130179405 0.0900777280330658 -0.20991480350494385 -0.20638364553451538 0.09360888600349426
-9.333333015441895 5.590435028076172 -0.05956541374325752 0.0335242860019207 0.09872981905937195 -0.2011016309261322 -0.2178606390953064 0.08197081089019775
-9.666666984558105 5.790322780609131 -0.052861813455820084 0.018559537827968597 0.10175198316574097 -0.1981963813304901 -0.20747560262680054 0.09247276186943054
-10.0 5.990288257598877 -0.049150120466947556 0.04957745224237442 0.11305487155914307 -0.18657654523849487 -0.21135511994361877 0.08827629685401917
-10.333333015441895 6.190042495727539 -0.039238691329956055 0.05394817143678665 0.12402358651161194 -0.17553997039794922 -0.20250096917152405 0.09706258773803711
-10.666666984558105 6.389751434326172 -0.028454288840293884 0.05014661327004433 0.13388855755329132 -0.16573433578014374 -0.1907971352338791 0.10882575809955597
-11.0 6.5894999504089355 -0.018429167568683624 0.0497780367732048 0.14382439851760864 -0.15580400824546814 -0.18068274855613708 0.1189456656575203
-11.333333015441895 6.789252281188965 -0.008477671071887016 0.030382510274648666 0.14904756844043732 -0.1508139818906784 -0.16600291430950165 0.13385863602161407
-11.666666984558105 6.989160060882568 -0.002402103040367365 0.03375870734453201 0.15595053136348724 -0.14387856423854828 -0.1607547253370285 0.13907437026500702
-12.0 7.1890459060668945 0.004348356742411852 0.023865094408392906 0.16027136147022247 -0.13964323699474335 -0.15157465636730194 0.14833994209766388
-12.333333015441895 7.388988971710205 0.009120922535657883 0.00652201846241951 0.16074824333190918 -0.1392453908920288 -0.14250639081001282 0.15748724341392517
-12.666666984558105 7.588984489440918 0.010425317101180553 -0.02814755216240883 0.15332993865013123 -0.1465512216091156 -0.13247931003570557 0.16740185022354126
-13.0 7.788905143737793 0.004796549212187529 -0.025608515366911888 0.1483459323644638 -0.15155570209026337 -0.13875283300876617 0.161148801445961
-13.333333015441895 7.988839626312256 -0.00032459432259202003 -0.011072708293795586 0.14689810574054718 -0.15308351814746857 -0.14754728972911835 0.1524343341588974
-13.666666984558105 8.188827514648438 -0.0025390908122062683 -0.012641691602766514 0.144288569688797 -0.15568745136260986 -0.14936676621437073 0.15060925483703613
-14.0 8.388811111450195 -0.005067361984401941 -0.009810167364776134 0.14247292280197144 -0.15751266479492188 -0.15260764956474304 0.14737793803215027
-14.333333015441895 8.588801383972168 -0.007029363885521889 -0.007827047258615494 0.14100930094718933 -0.1589815318584442 -0.155068039894104 0.14492279291152954
-14.666666984558105 8.788795471191406 -0.008594756945967674 0.006608516909182072 0.14305409789085388 -0.15693935751914978 -0.16024360060691833 0.13974985480308533
-15.0 8.988791465759277 -0.007273063063621521 0.016335487365722656 0.14679062366485596 -0.15316936373710632 -0.161336749792099 0.13862323760986328
diff --git a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading1_00/log.txt b/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading1_00/log.txt
deleted file mode 100644
index 1c074d4bfb59e24bc8234e92030f613ad594c230..0000000000000000000000000000000000000000
--- a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading1_00/log.txt
+++ /dev/null
@@ -1,447 +0,0 @@
-2025-04-27 15:29:09,984 [INFO] Simulating with mode cropfollow
-2025-04-27 15:29:09,984 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:29:09,984 [INFO] [0.0, 0.022494498229150867, -0.1490845833004563, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:29:21,105 [INFO] Verification Begin
-2025-04-27 15:29:21,105 [INFO] ===============================================
-Mode: 0
-stack size: 1
-remainTime: 15
-
-2025-04-27 15:29:21,105 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 15:29:21,106 [INFO] Simulating with mode cropfollow
-2025-04-27 15:29:21,106 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:29:21,106 [INFO] [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:29:33,218 [INFO] Simulating with mode cropfollow
-2025-04-27 15:29:33,218 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:29:33,218 [INFO] [0.0, -0.01940758680886745, 0.14033325522049223, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:29:46,585 [INFO] Simulating with mode cropfollow
-2025-04-27 15:29:46,585 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:29:46,585 [INFO] [0.0, -0.034665496387149705, -0.06979694992937524, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:29:57,233 [INFO] Simulating with mode cropfollow
-2025-04-27 15:29:57,233 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:29:57,233 [INFO] [0.0, 0.07665289804869688, 0.05541825921424964, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:30:08,773 [INFO] Simulating with mode cropfollow
-2025-04-27 15:30:08,773 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:30:08,773 [INFO] [0.0, 0.046257448675656454, 0.15345175705380004, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:30:20,067 [INFO] Simulating with mode cropfollow
-2025-04-27 15:30:20,067 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:30:20,067 [INFO] [0.0, -0.03345710164017601, -0.06858806493749396, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:30:30,436 [INFO] Simulating with mode cropfollow
-2025-04-27 15:30:30,437 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:30:30,437 [INFO] [0.0, 0.027648412052970667, -0.09632342595171799, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:30:42,046 [INFO] Simulating with mode cropfollow
-2025-04-27 15:30:42,046 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:30:42,046 [INFO] [0.0, -0.012766788591394379, 0.06847911459459036, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:30:54,106 [INFO] Simulating with mode cropfollow
-2025-04-27 15:30:54,106 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:30:54,106 [INFO] [0.0, -0.02733756141935624, -0.04965555460798679, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:31:05,373 [INFO] Simulating with mode cropfollow
-2025-04-27 15:31:05,374 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:31:05,374 [INFO] [0.0, -0.02887357625434564, -0.10760399590836674, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:31:16,967 [INFO] Simulating with mode cropfollow
-2025-04-27 15:31:16,967 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:31:16,967 [INFO] [0.0, -0.06804166442991832, -0.025575941156179977, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:31:27,315 [INFO] 0 check bloated tube unknown
-2025-04-27 15:31:27,315 [INFO] ===============================================
-Mode: 0
-stack size: 2
-remainTime: 15
-
-2025-04-27 15:31:27,315 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.1, 0.0875, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 15:31:27,315 [INFO] Simulating with mode cropfollow
-2025-04-27 15:31:27,316 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:31:27,316 [INFO] [0.0, 0.0, -0.0875, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:31:39,123 [INFO] Simulating with mode cropfollow
-2025-04-27 15:31:39,123 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:31:39,123 [INFO] [0.0, -0.01940758680886745, -0.01733337238975388, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:31:50,281 [INFO] Simulating with mode cropfollow
-2025-04-27 15:31:50,281 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:31:50,281 [INFO] [0.0, -0.034665496387149705, -0.12239847496468761, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:32:01,506 [INFO] Simulating with mode cropfollow
-2025-04-27 15:32:01,506 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:32:01,506 [INFO] [0.0, 0.07665289804869688, -0.05979087039287517, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:32:13,197 [INFO] Simulating with mode cropfollow
-2025-04-27 15:32:13,197 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:32:13,197 [INFO] [0.0, 0.046257448675656454, -0.010774121473099973, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:32:25,400 [INFO] Simulating with mode cropfollow
-2025-04-27 15:32:25,400 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:32:25,400 [INFO] [0.0, -0.03345710164017601, -0.12179403246874698, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:32:36,615 [INFO] Simulating with mode cropfollow
-2025-04-27 15:32:36,615 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:32:36,615 [INFO] [0.0, 0.027648412052970667, -0.135661712975859, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:32:48,062 [INFO] Simulating with mode cropfollow
-2025-04-27 15:32:48,063 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:32:48,063 [INFO] [0.0, -0.012766788591394379, -0.053260442702704816, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:32:58,806 [INFO] Simulating with mode cropfollow
-2025-04-27 15:32:58,806 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:32:58,806 [INFO] [0.0, -0.02733756141935624, -0.11232777730399339, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:33:10,974 [INFO] Simulating with mode cropfollow
-2025-04-27 15:33:10,974 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:33:10,974 [INFO] [0.0, -0.02887357625434564, -0.14130199795418336, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:33:22,230 [INFO] Simulating with mode cropfollow
-2025-04-27 15:33:22,230 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:33:22,230 [INFO] [0.0, -0.06804166442991832, -0.10028797057808998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:33:32,291 [INFO] 0 check bloated tube unknown
-2025-04-27 15:33:32,291 [INFO] ===============================================
-Mode: 0
-stack size: 3
-remainTime: 15
-
-2025-04-27 15:33:32,291 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.05, 0.0875, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 15:33:32,291 [INFO] Simulating with mode cropfollow
-2025-04-27 15:33:32,291 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:33:32,291 [INFO] [0.0, -0.05, -0.0875, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:33:43,779 [INFO] Simulating with mode cropfollow
-2025-04-27 15:33:43,779 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:33:43,779 [INFO] [0.0, -0.05970379340443373, -0.01733337238975388, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:33:54,177 [INFO] Simulating with mode cropfollow
-2025-04-27 15:33:54,177 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:33:54,177 [INFO] [0.0, -0.06733274819357485, -0.12239847496468761, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:34:05,413 [INFO] Simulating with mode cropfollow
-2025-04-27 15:34:05,413 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:34:05,413 [INFO] [0.0, -0.011673550975651564, -0.05979087039287517, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:34:17,089 [INFO] Simulating with mode cropfollow
-2025-04-27 15:34:17,089 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:34:17,090 [INFO] [0.0, -0.026871275662171776, -0.010774121473099973, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:34:30,220 [INFO] Simulating with mode cropfollow
-2025-04-27 15:34:30,221 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:34:30,221 [INFO] [0.0, -0.06672855082008801, -0.12179403246874698, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:34:42,580 [INFO] Simulating with mode cropfollow
-2025-04-27 15:34:42,580 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:34:42,580 [INFO] [0.0, -0.03617579397351467, -0.135661712975859, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:34:55,649 [INFO] Simulating with mode cropfollow
-2025-04-27 15:34:55,649 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:34:55,649 [INFO] [0.0, -0.05638339429569719, -0.053260442702704816, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:35:06,436 [INFO] Simulating with mode cropfollow
-2025-04-27 15:35:06,436 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:35:06,436 [INFO] [0.0, -0.06366878070967813, -0.11232777730399339, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:35:17,688 [INFO] Simulating with mode cropfollow
-2025-04-27 15:35:17,688 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:35:17,688 [INFO] [0.0, -0.06443678812717282, -0.14130199795418336, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:35:29,782 [INFO] Simulating with mode cropfollow
-2025-04-27 15:35:29,782 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:35:29,782 [INFO] [0.0, -0.08402083221495917, -0.10028797057808998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:35:41,455 [INFO] 0 check bloated tube unknown
-2025-04-27 15:35:41,455 [INFO] ===============================================
-Mode: 0
-stack size: 4
-remainTime: 15
-
-2025-04-27 15:35:41,455 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, 0.0, -0.0875, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.05, 0.04375, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 15:35:41,455 [INFO] Simulating with mode cropfollow
-2025-04-27 15:35:41,455 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:35:41,455 [INFO] [0.0, -0.05, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:35:53,581 [INFO] Simulating with mode cropfollow
-2025-04-27 15:35:53,581 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:35:53,581 [INFO] [0.0, -0.05970379340443373, -0.09616668619487694, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:36:05,378 [INFO] Simulating with mode cropfollow
-2025-04-27 15:36:05,379 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:36:05,379 [INFO] [0.0, -0.06733274819357485, -0.14869923748234382, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:36:16,760 [INFO] Simulating with mode cropfollow
-2025-04-27 15:36:16,760 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:36:16,760 [INFO] [0.0, -0.011673550975651564, -0.11739543519643758, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:36:28,657 [INFO] Simulating with mode cropfollow
-2025-04-27 15:36:28,657 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:36:28,657 [INFO] [0.0, -0.026871275662171776, -0.09288706073654998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:36:40,533 [INFO] Simulating with mode cropfollow
-2025-04-27 15:36:40,533 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:36:40,533 [INFO] [0.0, -0.06672855082008801, -0.14839701623437349, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:36:50,876 [INFO] Simulating with mode cropfollow
-2025-04-27 15:36:50,876 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:36:50,876 [INFO] [0.0, -0.03617579397351467, -0.1553308564879295, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:37:03,358 [INFO] Simulating with mode cropfollow
-2025-04-27 15:37:03,358 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:37:03,358 [INFO] [0.0, -0.05638339429569719, -0.1141302213513524, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:37:14,508 [INFO] Simulating with mode cropfollow
-2025-04-27 15:37:14,508 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:37:14,508 [INFO] [0.0, -0.06366878070967813, -0.1436638886519967, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:37:25,004 [INFO] Simulating with mode cropfollow
-2025-04-27 15:37:25,004 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:37:25,004 [INFO] [0.0, -0.06443678812717282, -0.15815099897709167, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:37:36,210 [INFO] Simulating with mode cropfollow
-2025-04-27 15:37:36,210 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:37:36,210 [INFO] [0.0, -0.08402083221495917, -0.13764398528904498, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:37:48,272 [INFO] 0 check bloated tube unknown
-2025-04-27 15:37:48,272 [INFO] ===============================================
-Mode: 0
-stack size: 5
-remainTime: 15
-
-2025-04-27 15:37:48,272 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, -0.05, -0.0875, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.025, 0.04375, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 15:37:48,272 [INFO] Simulating with mode cropfollow
-2025-04-27 15:37:48,272 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:37:48,272 [INFO] [0.0, -0.07500000000000001, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:37:59,828 [INFO] Simulating with mode cropfollow
-2025-04-27 15:37:59,828 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:37:59,828 [INFO] [0.0, -0.07985189670221687, -0.09616668619487694, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:38:11,864 [INFO] Simulating with mode cropfollow
-2025-04-27 15:38:11,864 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:38:11,864 [INFO] [0.0, -0.08366637409678743, -0.14869923748234382, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:38:23,068 [INFO] Simulating with mode cropfollow
-2025-04-27 15:38:23,068 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:38:23,069 [INFO] [0.0, -0.055836775487825785, -0.11739543519643758, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:38:33,099 [INFO] Simulating with mode cropfollow
-2025-04-27 15:38:33,099 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:38:33,099 [INFO] [0.0, -0.06343563783108588, -0.09288706073654998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:38:44,860 [INFO] Simulating with mode cropfollow
-2025-04-27 15:38:44,860 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:38:44,860 [INFO] [0.0, -0.08336427541004401, -0.14839701623437349, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:38:55,961 [INFO] Simulating with mode cropfollow
-2025-04-27 15:38:55,961 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:38:55,961 [INFO] [0.0, -0.06808789698675734, -0.1553308564879295, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:39:07,657 [INFO] Simulating with mode cropfollow
-2025-04-27 15:39:07,657 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:39:07,657 [INFO] [0.0, -0.0781916971478486, -0.1141302213513524, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:39:18,971 [INFO] Simulating with mode cropfollow
-2025-04-27 15:39:18,971 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:39:18,971 [INFO] [0.0, -0.08183439035483907, -0.1436638886519967, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:39:30,077 [INFO] Simulating with mode cropfollow
-2025-04-27 15:39:30,077 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:39:30,077 [INFO] [0.0, -0.08221839406358641, -0.15815099897709167, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:39:41,656 [INFO] Simulating with mode cropfollow
-2025-04-27 15:39:41,656 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:39:41,656 [INFO] [0.0, -0.09201041610747959, -0.13764398528904498, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:39:55,515 [INFO] 0 check bloated tube unknown
-2025-04-27 15:39:55,515 [INFO] ===============================================
-Mode: 0
-stack size: 6
-remainTime: 15
-
-2025-04-27 15:39:55,515 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, -0.05, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.025, 0.021875000000000006, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 15:39:55,515 [INFO] Simulating with mode cropfollow
-2025-04-27 15:39:55,515 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:39:55,515 [INFO] [0.0, -0.07500000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:40:07,009 [INFO] Simulating with mode cropfollow
-2025-04-27 15:40:07,009 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:40:07,009 [INFO] [0.0, -0.07985189670221687, -0.13558334309743844, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:40:18,034 [INFO] Simulating with mode cropfollow
-2025-04-27 15:40:18,034 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:40:18,034 [INFO] [0.0, -0.08366637409678743, -0.1618496187411719, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:40:29,494 [INFO] Simulating with mode cropfollow
-2025-04-27 15:40:29,494 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:40:29,494 [INFO] [0.0, -0.055836775487825785, -0.14619771759821878, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:40:40,555 [INFO] Simulating with mode cropfollow
-2025-04-27 15:40:40,555 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:40:40,555 [INFO] [0.0, -0.06343563783108588, -0.13394353036827497, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:40:52,335 [INFO] Simulating with mode cropfollow
-2025-04-27 15:40:52,335 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:40:52,335 [INFO] [0.0, -0.08336427541004401, -0.16169850811718672, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:41:02,471 [INFO] Simulating with mode cropfollow
-2025-04-27 15:41:02,471 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:41:02,471 [INFO] [0.0, -0.06808789698675734, -0.16516542824396474, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:41:12,783 [INFO] Simulating with mode cropfollow
-2025-04-27 15:41:12,783 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:41:12,783 [INFO] [0.0, -0.0781916971478486, -0.14456511067567618, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:41:25,031 [INFO] Simulating with mode cropfollow
-2025-04-27 15:41:25,032 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:41:25,032 [INFO] [0.0, -0.08183439035483907, -0.15933194432599834, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:41:36,714 [INFO] Simulating with mode cropfollow
-2025-04-27 15:41:36,715 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:41:36,715 [INFO] [0.0, -0.08221839406358641, -0.16657549948854583, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:41:48,221 [INFO] Simulating with mode cropfollow
-2025-04-27 15:41:48,221 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:41:48,221 [INFO] [0.0, -0.09201041610747959, -0.15632199264452248, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:42:00,396 [INFO] 0 check bloated tube unknown
-2025-04-27 15:42:00,396 [INFO] ===============================================
-Mode: 0
-stack size: 7
-remainTime: 15
-
-2025-04-27 15:42:00,396 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, -0.07500000000000001, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.012499999999999997, 0.021875000000000006, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 15:42:00,396 [INFO] Simulating with mode cropfollow
-2025-04-27 15:42:00,396 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:42:00,396 [INFO] [0.0, -0.08750000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:42:11,101 [INFO] Simulating with mode cropfollow
-2025-04-27 15:42:11,101 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:42:11,101 [INFO] [0.0, -0.08992594835110844, -0.13558334309743844, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:42:23,173 [INFO] Simulating with mode cropfollow
-2025-04-27 15:42:23,174 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:42:23,174 [INFO] [0.0, -0.09183318704839372, -0.1618496187411719, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:42:35,486 [INFO] Simulating with mode cropfollow
-2025-04-27 15:42:35,486 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:42:35,486 [INFO] [0.0, -0.0779183877439129, -0.14619771759821878, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:42:48,742 [INFO] Simulating with mode cropfollow
-2025-04-27 15:42:48,743 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:42:48,743 [INFO] [0.0, -0.08171781891554296, -0.13394353036827497, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:43:00,184 [INFO] Simulating with mode cropfollow
-2025-04-27 15:43:00,184 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:43:00,184 [INFO] [0.0, -0.09168213770502201, -0.16169850811718672, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:43:11,627 [INFO] Simulating with mode cropfollow
-2025-04-27 15:43:11,627 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:43:11,627 [INFO] [0.0, -0.08404394849337868, -0.16516542824396474, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:43:23,881 [INFO] Simulating with mode cropfollow
-2025-04-27 15:43:23,881 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:43:23,881 [INFO] [0.0, -0.0890958485739243, -0.14456511067567618, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:43:35,229 [INFO] Simulating with mode cropfollow
-2025-04-27 15:43:35,229 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:43:35,229 [INFO] [0.0, -0.09091719517741953, -0.15933194432599834, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:43:45,926 [INFO] Simulating with mode cropfollow
-2025-04-27 15:43:45,926 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:43:45,926 [INFO] [0.0, -0.09110919703179321, -0.16657549948854583, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:43:58,162 [INFO] Simulating with mode cropfollow
-2025-04-27 15:43:58,162 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:43:58,162 [INFO] [0.0, -0.0960052080537398, -0.15632199264452248, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:44:10,821 [INFO] 0 check bloated tube unknown
-2025-04-27 15:44:10,822 [INFO] ===============================================
-Mode: 0
-stack size: 8
-remainTime: 15
-
-2025-04-27 15:44:10,822 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, -0.07500000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.012499999999999997, 0.010937500000000003, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 15:44:10,822 [INFO] Simulating with mode cropfollow
-2025-04-27 15:44:10,822 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:44:10,822 [INFO] [0.0, -0.08750000000000001, -0.1640625, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:44:23,078 [INFO] Simulating with mode cropfollow
-2025-04-27 15:44:23,078 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:44:23,078 [INFO] [0.0, -0.08992594835110844, -0.15529167154871923, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:44:32,320 [INFO] Simulating with mode cropfollow
-2025-04-27 15:44:32,320 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:44:32,320 [INFO] [0.0, -0.09183318704839372, -0.16842480937058593, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:44:44,903 [INFO] Simulating with mode cropfollow
-2025-04-27 15:44:44,903 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:44:44,903 [INFO] [0.0, -0.0779183877439129, -0.16059885879910937, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:44:57,008 [INFO] Simulating with mode cropfollow
-2025-04-27 15:44:57,008 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:44:57,008 [INFO] [0.0, -0.08171781891554296, -0.15447176518413747, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:45:09,362 [INFO] Simulating with mode cropfollow
-2025-04-27 15:45:09,362 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:45:09,362 [INFO] [0.0, -0.09168213770502201, -0.16834925405859336, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:45:21,664 [INFO] Simulating with mode cropfollow
-2025-04-27 15:45:21,664 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:45:21,664 [INFO] [0.0, -0.08404394849337868, -0.17008271412198236, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:45:33,630 [INFO] Simulating with mode cropfollow
-2025-04-27 15:45:33,630 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:45:33,630 [INFO] [0.0, -0.0890958485739243, -0.15978255533783808, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:45:45,277 [INFO] Simulating with mode cropfollow
-2025-04-27 15:45:45,278 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:45:45,278 [INFO] [0.0, -0.09091719517741953, -0.16716597216299917, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:45:58,699 [INFO] Simulating with mode cropfollow
-2025-04-27 15:45:58,699 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:45:58,699 [INFO] [0.0, -0.09110919703179321, -0.1707877497442729, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:46:08,827 [INFO] Simulating with mode cropfollow
-2025-04-27 15:46:08,827 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:46:08,827 [INFO] [0.0, -0.0960052080537398, -0.16566099632226122, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:46:19,793 [INFO] 0 check bloated tube unknown
-2025-04-27 15:46:19,793 [INFO] ===============================================
-Mode: 0
-stack size: 9
-remainTime: 15
-
-2025-04-27 15:46:19,793 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, -0.08750000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.006249999999999999, 0.010937500000000003, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 15:46:19,793 [INFO] Simulating with mode cropfollow
-2025-04-27 15:46:19,793 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:46:19,793 [INFO] [0.0, -0.09375, -0.1640625, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:46:30,590 [INFO] Simulating with mode cropfollow
-2025-04-27 15:46:30,591 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:46:30,591 [INFO] [0.0, -0.09496297417555422, -0.15529167154871923, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:46:43,205 [INFO] Simulating with mode cropfollow
-2025-04-27 15:46:43,205 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:46:43,205 [INFO] [0.0, -0.09591659352419686, -0.16842480937058593, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:46:53,917 [INFO] Simulating with mode cropfollow
-2025-04-27 15:46:53,917 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:46:53,917 [INFO] [0.0, -0.08895919387195646, -0.16059885879910937, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:47:03,961 [INFO] Simulating with mode cropfollow
-2025-04-27 15:47:03,961 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:47:03,961 [INFO] [0.0, -0.09085890945777148, -0.15447176518413747, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:47:16,410 [INFO] Simulating with mode cropfollow
-2025-04-27 15:47:16,410 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:47:16,410 [INFO] [0.0, -0.09584106885251101, -0.16834925405859336, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:47:27,917 [INFO] Simulating with mode cropfollow
-2025-04-27 15:47:27,918 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:47:27,918 [INFO] [0.0, -0.09202197424668934, -0.17008271412198236, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:47:39,854 [INFO] Simulating with mode cropfollow
-2025-04-27 15:47:39,855 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:47:39,855 [INFO] [0.0, -0.09454792428696215, -0.15978255533783808, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:47:53,665 [INFO] Simulating with mode cropfollow
-2025-04-27 15:47:53,665 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:47:53,665 [INFO] [0.0, -0.09545859758870977, -0.16716597216299917, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:48:05,003 [INFO] Simulating with mode cropfollow
-2025-04-27 15:48:05,003 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:48:05,003 [INFO] [0.0, -0.09555459851589661, -0.1707877497442729, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:48:15,678 [INFO] Simulating with mode cropfollow
-2025-04-27 15:48:15,679 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:48:15,679 [INFO] [0.0, -0.0980026040268699, -0.16566099632226122, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:48:28,095 [INFO] 0 check bloated tube unknown
-2025-04-27 15:48:28,095 [INFO] ===============================================
-Mode: 0
-stack size: 10
-remainTime: 15
-
-2025-04-27 15:48:28,095 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, -0.08750000000000001, -0.1640625, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.006249999999999999, 0.0054687499999999944, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 15:48:28,095 [INFO] Simulating with mode cropfollow
-2025-04-27 15:48:28,096 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:48:28,096 [INFO] [0.0, -0.09375, -0.16953125, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:48:38,302 [INFO] Simulating with mode cropfollow
-2025-04-27 15:48:38,302 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:48:38,302 [INFO] [0.0, -0.09496297417555422, -0.16514583577435962, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:48:49,910 [INFO] Simulating with mode cropfollow
-2025-04-27 15:48:49,910 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:48:49,910 [INFO] [0.0, -0.09591659352419686, -0.17171240468529297, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:49:00,812 [INFO] Simulating with mode cropfollow
-2025-04-27 15:49:00,812 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:49:00,812 [INFO] [0.0, -0.08895919387195646, -0.1677994293995547, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:49:10,570 [INFO] Simulating with mode cropfollow
-2025-04-27 15:49:10,570 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:49:10,570 [INFO] [0.0, -0.09085890945777148, -0.16473588259206876, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:49:21,642 [INFO] Simulating with mode cropfollow
-2025-04-27 15:49:21,642 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:49:21,642 [INFO] [0.0, -0.09584106885251101, -0.17167462702929667, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:49:33,810 [INFO] Simulating with mode cropfollow
-2025-04-27 15:49:33,810 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:49:33,810 [INFO] [0.0, -0.09202197424668934, -0.1725413570609912, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:49:45,979 [INFO] Simulating with mode cropfollow
-2025-04-27 15:49:45,979 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:49:45,979 [INFO] [0.0, -0.09454792428696215, -0.16739127766891904, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:49:56,049 [INFO] Simulating with mode cropfollow
-2025-04-27 15:49:56,050 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:49:56,050 [INFO] [0.0, -0.09545859758870977, -0.17108298608149958, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:50:07,112 [INFO] Simulating with mode cropfollow
-2025-04-27 15:50:07,112 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:50:07,112 [INFO] [0.0, -0.09555459851589661, -0.17289387487213645, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:50:18,224 [INFO] Simulating with mode cropfollow
-2025-04-27 15:50:18,224 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 1.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:50:18,224 [INFO] [0.0, -0.0980026040268699, -0.1703304981611306, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:50:29,657 [INFO] 0 check bloated tube unknown
-2025-04-27 15:50:29,657 [INFO] ===============================================
-Mode: 0
-stack size: 11
-remainTime: 15
-
-2025-04-27 15:50:29,657 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, -0.09375, -0.1640625, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.0031250000000000028, 0.0054687499999999944, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 15:50:29,657 [INFO] 0 is not valid anymore
-2025-04-27 15:50:29,657 [INFO] Hit refine threshold, system halt, result unknown
-2025-04-27 15:50:29,657 [INFO] simulation time: 11.121246576309204
-2025-04-27 15:50:29,657 [INFO] verification time: 1268.5520086288452
diff --git a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading1_00/results.json b/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading1_00/results.json
deleted file mode 100644
index 029a5abff5fafdd34e4cca1dd6ff066d7a79e3b9..0000000000000000000000000000000000000000
--- a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading1_00/results.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
- "safety": "UNKNOWN",
- "sim_time": 11.121246576309204,
- "verification_time": 1268.5520086288452,
- "refine_time": null,
- "total_time": 1280.2197606563568
-}
\ No newline at end of file
diff --git a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading2_00/Traj.txt b/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading2_00/Traj.txt
deleted file mode 100644
index 0004e41c54ba310a531ece3a6aaa9f5984be03f8..0000000000000000000000000000000000000000
--- a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading2_00/Traj.txt
+++ /dev/null
@@ -1,47 +0,0 @@
-cropfollow/pn=[0.00:2.00]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]
-0.0 0.0 -0.05110008642077446 0.16299715638160706 0.13748081028461456 -0.15854279696941376 -0.23968099057674408 0.056342627853155136
-0.3333333432674408 0.19734907150268555 -0.01864481344819069 0.11355266720056534 0.1587163656949997 -0.13935159146785736 -0.19600598514080048 0.10206197202205658
-0.6666666865348816 0.3960610628128052 0.004016947001218796 0.08692590147256851 0.17515473067760468 -0.12371258437633514 -0.1671208292245865 0.13174648582935333
-1.0 0.5953059196472168 0.021380243822932243 0.0682256817817688 0.18807446956634521 -0.1112276017665863 -0.14531397819519043 0.1539880931377411
-1.3333333730697632 0.7948406338691711 0.0350147970020771 -0.03361276537179947 0.1765284687280655 -0.12330208718776703 -0.10649888217449188 0.19333167374134064
-1.6666666269302368 0.9947276711463928 0.028293509036302567 -0.1551133096218109 0.13786961138248444 -0.15852861106395721 -0.0812825858592987 0.21511562168598175
-2.0 1.192326545715332 -0.0026049036532640457 -0.24530750513076782 0.08219084143638611 -0.20882797241210938 -0.0874006450176239 0.20361816883087158
-2.3333332538604736 1.3863390684127808 -0.051175832748413086 -0.18488770723342896 0.05030865967273712 -0.24457840621471405 -0.1526603251695633 0.14222674071788788
-2.6666667461395264 1.5829304456710815 -0.08794306963682175 -0.11895109713077545 0.03132928907871246 -0.26655080914497375 -0.20721542835235596 0.09066467732191086
-3.0 1.7815171480178833 -0.11167722940444946 -0.07016100734472275 0.020427867770195007 -0.2788340449333191 -0.24378232657909393 0.05547960102558136
-3.3333332538604736 1.9810250997543335 -0.12569792568683624 -0.021230563521385193 0.018961027264595032 -0.28097134828567505 -0.2703568935394287 0.029575511813163757
-3.6666667461395264 2.1809799671173096 -0.12994371354579926 -0.016882630065083504 0.01581445336341858 -0.28414279222488403 -0.2757018804550171 0.024255365133285522
-4.0 2.380951404571533 -0.13332007825374603 -0.013255460187792778 0.01335299015045166 -0.2866206765174866 -0.2799931466579437 0.019980520009994507
-4.333333492279053 2.5809338092803955 -0.1359710991382599 -0.053086280822753906 0.000552251935005188 -0.29902511835098267 -0.27249443531036377 0.027082934975624084
-4.666666507720947 2.7806520462036133 -0.14658336341381073 -0.05709565058350563 -0.011093944311141968 -0.31060510873794556 -0.2820727825164795 0.017438381910324097
-5.0 2.9803261756896973 -0.1579962968826294 -0.060351043939590454 -0.023347973823547363 -0.3228018283843994 -0.2926446199417114 0.006809234619140625
-5.333333492279053 3.179962158203125 -0.1700591742992401 -0.023330174386501312 -0.025932013988494873 -0.32585036754608154 -0.31418633460998535 -0.014267981052398682
-5.666666507720947 3.3799076080322266 -0.1747247874736786 0.005185605958104134 -0.02343040704727173 -0.32342636585235596 -0.32601916790008545 -0.02602320909500122
-6.0 3.5799050331115723 -0.1736876666545868 -0.01875190995633602 -0.028401732444763184 -0.3283489942550659 -0.3189736008644104 -0.019026339054107666
-6.333333492279053 3.779869794845581 -0.17743782699108124 -0.056570909917354584 -0.0418129563331604 -0.3413330614566803 -0.3130626976490021 -0.013542592525482178
-6.666666507720947 3.9795498847961426 -0.18874597549438477 -0.12420522421598434 -0.07087302207946777 -0.3685619831085205 -0.30661892890930176 -0.008929967880249023
-7.0 4.178009033203125 -0.21352319419384003 -0.1291448324918747 -0.09696885943412781 -0.39447060227394104 -0.33007752895355225 -0.032575786113739014
-7.333333492279053 4.376343727111816 -0.23928043246269226 -0.1328495740890503 -0.12371695041656494 -0.4210734963417053 -0.3548439145088196 -0.0574873685836792
-7.666666507720947 4.574581623077393 -0.2657722532749176 -0.18669036030769348 -0.1647806018590927 -0.4595677852630615 -0.3667638897895813 -0.07197670638561249
-8.0 4.771106243133545 -0.30289381742477417 -0.09459784626960754 -0.17717868089675903 -0.475837379693985 -0.4286089539527893 -0.12995025515556335
-8.333333015441895 4.970211982727051 -0.32178518176078796 -0.009425938129425049 -0.174148291349411 -0.47413498163223267 -0.4694220721721649 -0.16943538188934326
-8.666666984558105 5.17020320892334 -0.32367032766342163 0.040959008038043976 -0.16355924308300018 -0.46330761909484863 -0.4837813973426819 -0.18403302133083344
-9.0 5.370035648345947 -0.3154808282852173 0.05454762279987335 -0.15207377076148987 -0.45162758231163025 -0.4788878858089447 -0.17933407425880432
-9.333333015441895 5.569738388061523 -0.30457672476768494 0.09719328582286835 -0.131024569272995 -0.42960870265960693 -0.4781288802623749 -0.17954474687576294
-9.666666984558105 5.768794536590576 -0.2851686477661133 0.14200864732265472 -0.10129562020301819 -0.398275762796402 -0.4690416753292084 -0.17206153273582458
-10.0 5.966781139373779 -0.2568622827529907 0.15421786904335022 -0.07024064660072327 -0.3666802644729614 -0.4434839189052582 -0.14704430103302002
-10.333333015441895 6.164407730102539 -0.2261408269405365 0.1969781368970871 -0.030114755034446716 -0.32431352138519287 -0.4221668839454651 -0.12796814739704132
-10.666666984558105 6.360540390014648 -0.18699946999549866 0.23768477141857147 0.017646685242652893 -0.2739190459251404 -0.391645610332489 -0.10007987916469574
-11.0 6.554917335510254 -0.1399088352918625 0.30236274003982544 0.07773065567016602 -0.2086600363254547 -0.357548326253891 -0.07115763425827026
-11.333333015441895 6.74584436416626 -0.0803535133600235 0.3609365224838257 0.14826910197734833 -0.13240084052085876 -0.30897611379623413 -0.028306178748607635
-11.666666984558105 6.932957649230957 -0.009723395109176636 0.3830682039260864 0.22284695506095886 -0.05540970712900162 -0.24229374527931213 0.035962916910648346
-12.0 7.118462085723877 0.06503022462129593 0.3437464237213135 0.2905092239379883 0.008059583604335785 -0.16044875979423523 0.12200086563825607
-12.333333015441895 7.306761741638184 0.13243356347084045 0.29906734824180603 0.3494325876235962 0.06274907290935516 -0.08456547558307648 0.20211805403232574
-12.666666984558105 7.497884273529053 0.19135938584804535 0.17111943662166595 0.3817399740219116 0.08612154424190521 0.0009787827730178833 0.2965972423553467
-13.0 7.694963455200195 0.22541649639606476 0.16306641697883606 0.4140127897262573 0.11799255013465881 0.03682020306587219 0.3328404426574707
-13.333333015441895 7.89231014251709 0.2578854560852051 0.1388106793165207 0.4410339593887329 0.14391960203647614 0.07473693788051605 0.3718513250350952
-13.666666984558105 8.090386390686035 0.2855585217475891 0.11519622057676315 0.4632997512817383 0.1652880758047104 0.10781727731227875 0.40582895278930664
-14.0 8.289060592651367 0.30854684114456177 0.06487299501895905 0.4744381904602051 0.17506924271583557 0.14265549182891846 0.44202443957328796
-14.333333015441895 8.488639831542969 0.3215123414993286 0.026352759450674057 0.4780476987361908 0.17815184593200684 0.16497698426246643 0.4648728370666504
-14.666666984558105 8.688570022583008 0.3267822861671448 -0.026849105954170227 0.4700167775154114 0.1701248735189438 0.18354780972003937 0.48343968391418457
-15.0 8.888498306274414 0.3214130997657776 -0.06728902459144592 0.4542640745639801 0.15494298934936523 0.18856212496757507 0.48788321018218994
diff --git a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading2_00/log.txt b/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading2_00/log.txt
deleted file mode 100644
index bc8bd486cf31bff0f3e65ea328637e329b0e1d1c..0000000000000000000000000000000000000000
--- a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading2_00/log.txt
+++ /dev/null
@@ -1,5 +0,0 @@
-2025-04-27 15:50:59,261 [INFO] Simulating with mode cropfollow
-2025-04-27 15:50:59,261 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 2.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:50:59,261 [INFO] [0.0, -0.05110008705113307, 0.16299714921729064, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:51:09,053 [INFO] Current simulation is not safe. Program halt
-2025-04-27 15:51:09,053 [INFO] simulation time 9.791455745697021
diff --git a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg0/Traj.txt b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg0/Traj.txt
deleted file mode 100644
index 6293d78c8306fef43d1e223e1e0b6d46cfbd4921..0000000000000000000000000000000000000000
--- a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg0/Traj.txt
+++ /dev/null
@@ -1,47 +0,0 @@
-cropfollow/pn=[0.00:0.00]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]
-0.0 0.0 0.043305713683366776 0.022603560239076614 0.19891780614852905 -0.10100555419921875 -0.1123063862323761 0.1876169741153717
-0.3333333432674408 0.19994890689849854 0.04782604053616524 0.010827232152223587 0.2005240023136139 -0.09945842623710632 -0.10487192869186401 0.1951104998588562
-0.6666666865348816 0.3999372124671936 0.04999144375324249 0.001651763916015625 0.20040418207645416 -0.09959541261196136 -0.10042129456996918 0.19957830011844635
-1.0 0.5999369621276855 0.0503217950463295 -0.00531870499253273 0.19899001717567444 -0.10100577026605606 -0.09834641963243484 0.20164936780929565
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-7.0 4.199606895446777 0.004070719704031944 -0.005042590666562319 0.15280817449092865 -0.14718802273273468 -0.14466674625873566 0.15532945096492767
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-7.666666507720947 4.599602699279785 0.0022222294937819242 -0.003491695038974285 0.15134839713573456 -0.14864979684352875 -0.14690394699573517 0.15309424698352814
-8.0 4.7996015548706055 0.001523891813121736 -0.002802743576467037 0.15082262456417084 -0.1491761952638626 -0.1477748304605484 0.15222398936748505
-8.333333015441895 4.999600887298584 0.0009633437730371952 -0.0022701197303831577 0.1503954380750656 -0.14960379898548126 -0.1484687477350235 0.15153048932552338
-8.666666984558105 5.1996002197265625 0.0005093201762065291 -0.001756396726705134 0.15006999671459198 -0.14992953836917877 -0.14905135333538055 0.1509481817483902
-9.0 5.399600028991699 0.00015804101713001728 -0.0013675179798156023 0.14981602132320404 -0.15018369257450104 -0.14949993789196014 0.15049977600574493
-9.333333015441895 5.599599838256836 -0.00011546252062544227 -0.0010141257662326097 0.14963093400001526 -0.15036892890930176 -0.1498618721961975 0.1501379907131195
-9.666666984558105 5.799599647521973 -0.0003182876680511981 -0.0007190624019131064 0.14950191974639893 -0.15049803256988525 -0.1501384973526001 0.14986145496368408
-10.0 5.999599456787109 -0.0004621001426130533 -0.0004775309353135526 0.14941850304603577 -0.1505814790725708 -0.15034270286560059 0.14965727925300598
-10.333333015441895 6.199599266052246 -0.000557606341317296 -0.0002834714250639081 0.14937151968479156 -0.150628462433815 -0.15048672258853912 0.14951325953006744
-10.666666984558105 6.399599075317383 -0.0006143006030470133 -0.00010125301196239889 0.14936038851737976 -0.1506396234035492 -0.1505889892578125 0.14941102266311646
-11.0 6.5995988845825195 -0.0006345512229017913 1.0816023859661072e-05 0.14936815202236176 -0.1506318598985672 -0.15063725411891937 0.14936275780200958
-11.333333015441895 6.799598693847656 -0.0006323879933916032 0.00011115730012534186 0.1493954062461853 -0.15060460567474365 -0.1506601870059967 0.14933982491493225
-11.666666984558105 6.999598503112793 -0.000610156508628279 0.00016630266327410936 0.14943142235279083 -0.15056858956813812 -0.1506517380475998 0.14934827387332916
-12.0 7.19959831237793 -0.0005768959526903927 0.00021338385704439133 0.14947645366191864 -0.15052355825901031 -0.15063025057315826 0.1493697613477707
-12.333333015441895 7.399598121643066 -0.0005342192016541958 0.00024859016411937773 0.14952793717384338 -0.15047207474708557 -0.15059638023376465 0.1494036316871643
-12.666666984558105 7.599597930908203 -0.00048450115718878806 0.00027154339477419853 0.1495833843946457 -0.15041659772396088 -0.15055237710475922 0.14944760501384735
-13.0 7.79959774017334 -0.00043019247823394835 0.00028202446992509067 0.1496403068304062 -0.15035967528820038 -0.15050069987773895 0.14949928224086761
-13.333333015441895 7.999597549438477 -0.0003737875958904624 0.00027848902391269803 0.14969582855701447 -0.1503041535615921 -0.15044339001178741 0.14955659210681915
-13.666666984558105 8.199597358703613 -0.0003180897911079228 0.00026430655270814896 0.14974798262119293 -0.15025202929973602 -0.15038417279720306 0.1496158391237259
-14.0 8.39959716796875 -0.0002652284747455269 0.00023200837313197553 0.14979277551174164 -0.15020723640918732 -0.15032322704792023 0.14967678487300873
-14.333333015441895 8.599596977233887 -0.00021882679720874876 0.0002020109532168135 0.14983168244361877 -0.15016832947731018 -0.15026932954788208 0.14973068237304688
-14.666666984558105 8.799596786499023 -0.00017842461238615215 0.00017557761748321354 0.14986547827720642 -0.15013453364372253 -0.15022233128547668 0.14977768063545227
-15.0 8.99959659576416 -0.00014330909471027553 0.00014914426719769835 0.14989398419857025 -0.1501060277223587 -0.15018059313297272 0.14981941878795624
diff --git a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg0/log.txt b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg0/log.txt
deleted file mode 100644
index 738a57005127f2d668d5fd88f76df030ff9613e9..0000000000000000000000000000000000000000
--- a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg0/log.txt
+++ /dev/null
@@ -1,52 +0,0 @@
-2025-04-27 17:30:40,119 [INFO] Simulating with mode cropfollow
-2025-04-27 17:30:40,119 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:30:40,119 [INFO] [0.0, 0.04330571354186502, 0.022603560801801065, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:30:42,762 [INFO] Verification Begin
-2025-04-27 17:30:42,763 [INFO] ===============================================
-Mode: 0
-stack size: 1
-remainTime: 15
-
-2025-04-27 17:30:42,763 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 17:30:42,763 [INFO] Simulating with mode cropfollow
-2025-04-27 17:30:42,763 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:30:42,763 [INFO] [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:30:43,266 [INFO] Simulating with mode cropfollow
-2025-04-27 17:30:43,266 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:30:43,266 [INFO] [0.0, -0.01940758680886745, 0.14033325522049223, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:30:46,547 [INFO] Simulating with mode cropfollow
-2025-04-27 17:30:46,547 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:30:46,547 [INFO] [0.0, -0.034665496387149705, -0.06979694992937524, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:30:49,493 [INFO] Simulating with mode cropfollow
-2025-04-27 17:30:49,493 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:30:49,493 [INFO] [0.0, 0.07665289804869688, 0.05541825921424964, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:30:52,500 [INFO] Simulating with mode cropfollow
-2025-04-27 17:30:52,500 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:30:52,500 [INFO] [0.0, 0.046257448675656454, 0.15345175705380004, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:30:56,078 [INFO] Simulating with mode cropfollow
-2025-04-27 17:30:56,078 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:30:56,078 [INFO] [0.0, -0.03345710164017601, -0.06858806493749396, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:30:58,974 [INFO] Simulating with mode cropfollow
-2025-04-27 17:30:58,974 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:30:58,974 [INFO] [0.0, 0.027648412052970667, -0.09632342595171799, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:31:01,678 [INFO] Simulating with mode cropfollow
-2025-04-27 17:31:01,678 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:31:01,678 [INFO] [0.0, -0.012766788591394379, 0.06847911459459036, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:31:04,203 [INFO] Simulating with mode cropfollow
-2025-04-27 17:31:04,203 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:31:04,203 [INFO] [0.0, -0.02733756141935624, -0.04965555460798679, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:31:06,925 [INFO] Simulating with mode cropfollow
-2025-04-27 17:31:06,925 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:31:06,925 [INFO] [0.0, -0.02887357625434564, -0.10760399590836674, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:31:10,111 [INFO] Simulating with mode cropfollow
-2025-04-27 17:31:10,111 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:31:10,111 [INFO] [0.0, -0.06804166442991832, -0.025575941156179977, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:31:13,034 [INFO] Mode 0 check bloated tube safe
-2025-04-27 17:31:13,034 [INFO] No child exist in current initial, pop
-2025-04-27 17:31:13,034 [INFO] System is Safe!
-2025-04-27 17:31:13,034 [INFO] refine time 0
-2025-04-27 17:31:13,035 [INFO] simulation time: 2.6435465812683105
-2025-04-27 17:31:13,035 [INFO] verification time: 30.272379159927368
diff --git a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg0/reachtube.txt b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg0/reachtube.txt
deleted file mode 100644
index c14b5722043b6bf5a4cbf51aee01287b06318335..0000000000000000000000000000000000000000
--- a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg0/reachtube.txt
+++ /dev/null
@@ -1,91 +0,0 @@
-cropfollow/pn=[0.00:0.00]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]],0
-0.0 0.0 -0.13401138368589632 -0.175 -0.011400183247411183 -0.3120961503415679 -0.25677446222559025 0.04369564085800749
-0.3333333432674408 0.20364713439301305 0.13401138368589632 0.175 0.31140019516834017 0.012096138420638919 -0.04322554969533869 0.2563043710629215
-0.3333333432674408 0.19635290136977382 -0.15620082836961557 -0.1607625278988049 -0.021861225747130564 -0.3222407968895291 -0.2905404377316727 0.00983913341072587
-0.6666666865348816 0.4056744486847894 0.15620082836961557 0.1607625278988049 0.3218612376680595 0.022240784968600158 -0.009459574189256276 0.2901608785102031
-0.6666666865348816 0.3943256228407843 -0.16888097607650143 -0.14768337357950873 -0.0252709370217285 -0.3254160654090924 -0.3124910083917022 -0.012345893483482473
-1.0 0.6067135384982536 0.16888097607650143 0.14768337357950873 0.32527094894265746 0.025416053488163476 0.012490996470773258 0.31234590540441143
-1.0 0.5932865091854622 -0.17405100292720072 -0.135668300830814 -0.0252709370217285 -0.3254160654090924 -0.3248396298074677 -0.024856102879892872
-1.3333333730697632 0.8071855224404931 0.17405100292720072 0.135668300830814 0.32527094894265746 0.025416053488163476 0.024839617886538795 0.3248561148008218
-1.3333333730697632 0.7928146206106543 -0.17405100292720072 -0.12463073618185563 -0.02326238278650586 -0.32324590971408074 -0.32960706831883524 -0.029725255013378055
-1.6666666269302368 1.0073602054115063 0.17405100292720072 0.12463073618185563 0.3232623947074348 0.023245897793151782 0.029607056397906284 0.32972526693430704
-1.6666666269302368 0.9926400330070728 -0.17341350680235942 -0.11449115804865435 -0.017282436411400842 -0.3172590262664864 -0.32960706831883524 -0.029725255013378055
-2.0 1.207425000832347 0.17341350680235942 0.11449115804865435 0.31728244833232977 0.017259014345557405 0.029607056397906284 0.32972526693430704
-2.0 1.1925753329536637 -0.16844279304524593 -0.10517650200182999 -0.008556824115385664 -0.30848982582103157 -0.3285360424791558 -0.028709911518380177
-2.3333332538604736 1.4074903658248838 0.16844279304524593 0.10517650200182999 0.3085568360363146 0.008489813900102589 0.028536030558226816 0.32870992343930916
-2.3333332538604736 1.3925100633285585 -0.16050722908678464 -0.09661966126979543 0.0021491080929413597 -0.2977408306216919 -0.3231635400085892 -0.023274230954255848
-2.6666667461395264 1.6075563054703128 0.16050722908678464 0.09661966126979543 0.2978509038279876 -0.002259181299237051 0.023163528087660257 0.3232742428751848
-2.6666667461395264 1.5924442190505612 -0.15033812695148077 -0.08875897372132172 0.01409039672698284 -0.2857664832646718 -0.31476667688786564 -0.014909796896211025
-3.0 1.8076228247292634 0.15033812695148077 0.08875897372132172 0.2859096151939461 -0.014233528656257183 0.01476666496693671 0.31490980881714
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diff --git a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg0/results.json b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg0/results.json
deleted file mode 100644
index 133a6279d884d3c6beaf46ca469dbd7fa8ee5553..0000000000000000000000000000000000000000
--- a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg0/results.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
- "safety": "SAFE",
- "sim_time": 2.6435465812683105,
- "verification_time": 30.272379159927368,
- "refine_time": 0,
- "total_time": 33.473267555236816
-}
\ No newline at end of file
diff --git a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg00_0/Traj.txt b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg00_0/Traj.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ffc538a118a530ce706bfd10bf32eae761e125a5
--- /dev/null
+++ b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg00_0/Traj.txt
@@ -0,0 +1,47 @@
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diff --git a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg00_0/log.txt b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg00_0/log.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5e0d4eaad211f6e1840def3f7f559921ff691a28
--- /dev/null
+++ b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg00_0/log.txt
@@ -0,0 +1,52 @@
+2025-04-27 18:39:20,148 [INFO] Simulating with mode cropfollow
+2025-04-27 18:39:20,149 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:39:20,149 [INFO] [0.0, 0.008244381488929697, 0.13832253201486056, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:39:23,596 [INFO] Verification Begin
+2025-04-27 18:39:23,596 [INFO] ===============================================
+Mode: 0
+stack size: 1
+remainTime: 15
+
+2025-04-27 18:39:23,596 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 18:39:23,597 [INFO] Simulating with mode cropfollow
+2025-04-27 18:39:23,597 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:39:23,597 [INFO] [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:39:24,119 [INFO] Simulating with mode cropfollow
+2025-04-27 18:39:24,119 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:39:24,119 [INFO] [0.0, 0.05966977411253924, -0.11641806118144818, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:39:26,957 [INFO] Simulating with mode cropfollow
+2025-04-27 18:39:26,957 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:39:26,957 [INFO] [0.0, -0.040374738189717645, -0.03903895563433671, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:39:29,703 [INFO] Simulating with mode cropfollow
+2025-04-27 18:39:29,703 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:39:29,703 [INFO] [0.0, -0.028141279572816355, 0.0906053342179482, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:39:32,528 [INFO] Simulating with mode cropfollow
+2025-04-27 18:39:32,528 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:39:32,528 [INFO] [0.0, 0.008147474740590965, -0.1500450969935958, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:39:35,896 [INFO] Simulating with mode cropfollow
+2025-04-27 18:39:35,896 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:39:35,896 [INFO] [0.0, 0.0862990262710654, -0.09584224408898614, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:39:38,114 [INFO] Simulating with mode cropfollow
+2025-04-27 18:39:38,115 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:39:38,115 [INFO] [0.0, -0.08119207340046344, 0.1003635585172934, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:39:40,414 [INFO] Simulating with mode cropfollow
+2025-04-27 18:39:40,415 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:39:40,415 [INFO] [0.0, -0.049631608153551256, -0.07161424489960602, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:39:43,501 [INFO] Simulating with mode cropfollow
+2025-04-27 18:39:43,501 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:39:43,501 [INFO] [0.0, -0.021590907391710074, 0.14385823329226938, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:39:46,784 [INFO] Simulating with mode cropfollow
+2025-04-27 18:39:46,784 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:39:46,784 [INFO] [0.0, 0.00444310428027081, -0.14675009988967722, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:39:50,028 [INFO] Simulating with mode cropfollow
+2025-04-27 18:39:50,028 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:39:50,028 [INFO] [0.0, 0.010257683591062383, 0.09923744003046958, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:39:53,370 [INFO] Mode 0 check bloated tube safe
+2025-04-27 18:39:53,370 [INFO] No child exist in current initial, pop
+2025-04-27 18:39:53,370 [INFO] System is Safe!
+2025-04-27 18:39:53,370 [INFO] refine time 0
+2025-04-27 18:39:53,371 [INFO] simulation time: 3.4479129314422607
+2025-04-27 18:39:53,371 [INFO] verification time: 29.774250268936157
diff --git a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg00_0/reachtube.txt b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg00_0/reachtube.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d0683a75da6d4f9f687bbe616db399eeea240ae6
--- /dev/null
+++ b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg00_0/reachtube.txt
@@ -0,0 +1,91 @@
+cropfollow/pn=[0.000:0.000]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]],0
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diff --git a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg00_0/results.json b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg00_0/results.json
new file mode 100644
index 0000000000000000000000000000000000000000..96a4f30e2e97f3f0b100686ceb9b8038c266e81d
--- /dev/null
+++ b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg00_0/results.json
@@ -0,0 +1,7 @@
+{
+ "safety": "SAFE",
+ "sim_time": 3.4479129314422607,
+ "verification_time": 29.774250268936157,
+ "refine_time": 0,
+ "total_time": 33.767029762268066
+}
\ No newline at end of file
diff --git a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg00_1/Traj.txt b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg00_1/Traj.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8990d14d06a220fce9887eaf7aa2e187e9147235
--- /dev/null
+++ b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg00_1/Traj.txt
@@ -0,0 +1,47 @@
+cropfollow/pn=[0.000:0.002]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]
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diff --git a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg00_1/log.txt b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg00_1/log.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e24dcdeb4d701d663c03aada5d500103b20a3cba
--- /dev/null
+++ b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg00_1/log.txt
@@ -0,0 +1,52 @@
+2025-04-27 19:37:54,928 [INFO] Simulating with mode cropfollow
+2025-04-27 19:37:54,929 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.002}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:37:54,929 [INFO] [0.0, 0.09916478676993246, -0.17049294506754342, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:37:59,083 [INFO] Verification Begin
+2025-04-27 19:37:59,083 [INFO] ===============================================
+Mode: 0
+stack size: 1
+remainTime: 15
+
+2025-04-27 19:37:59,083 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:37:59,083 [INFO] Simulating with mode cropfollow
+2025-04-27 19:37:59,083 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.002}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:37:59,083 [INFO] [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:38:02,126 [INFO] Simulating with mode cropfollow
+2025-04-27 19:38:02,126 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.002}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:38:02,126 [INFO] [0.0, 0.05966977411253924, -0.11641806118144818, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:38:05,930 [INFO] Simulating with mode cropfollow
+2025-04-27 19:38:05,930 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.002}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:38:05,930 [INFO] [0.0, -0.040374738189717645, -0.03903895563433671, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:38:09,645 [INFO] Simulating with mode cropfollow
+2025-04-27 19:38:09,645 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.002}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:38:09,645 [INFO] [0.0, -0.028141279572816355, 0.0906053342179482, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:38:13,568 [INFO] Simulating with mode cropfollow
+2025-04-27 19:38:13,568 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.002}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:38:13,568 [INFO] [0.0, 0.008147474740590965, -0.1500450969935958, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:38:17,576 [INFO] Simulating with mode cropfollow
+2025-04-27 19:38:17,576 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.002}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:38:17,576 [INFO] [0.0, 0.0862990262710654, -0.09584224408898614, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:38:21,161 [INFO] Simulating with mode cropfollow
+2025-04-27 19:38:21,161 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.002}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:38:21,161 [INFO] [0.0, -0.08119207340046344, 0.1003635585172934, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:38:24,628 [INFO] Simulating with mode cropfollow
+2025-04-27 19:38:24,628 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.002}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:38:24,628 [INFO] [0.0, -0.049631608153551256, -0.07161424489960602, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:38:28,301 [INFO] Simulating with mode cropfollow
+2025-04-27 19:38:28,301 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.002}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:38:28,302 [INFO] [0.0, -0.021590907391710074, 0.14385823329226938, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:38:32,241 [INFO] Simulating with mode cropfollow
+2025-04-27 19:38:32,241 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.002}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:38:32,241 [INFO] [0.0, 0.00444310428027081, -0.14675009988967722, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:38:36,348 [INFO] Simulating with mode cropfollow
+2025-04-27 19:38:36,348 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.002}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:38:36,348 [INFO] [0.0, 0.010257683591062383, 0.09923744003046958, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:38:40,201 [INFO] Mode 0 check bloated tube safe
+2025-04-27 19:38:40,201 [INFO] No child exist in current initial, pop
+2025-04-27 19:38:40,201 [INFO] System is Safe!
+2025-04-27 19:38:40,201 [INFO] refine time 0
+2025-04-27 19:38:40,202 [INFO] simulation time: 4.154411315917969
+2025-04-27 19:38:40,202 [INFO] verification time: 41.11899995803833
diff --git a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg00_1/reachtube.txt b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg00_1/reachtube.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a23c0e1bdee995201953604756233c1fe4158b31
--- /dev/null
+++ b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg00_1/reachtube.txt
@@ -0,0 +1,91 @@
+cropfollow/pn=[0.000:0.002]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]],0
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+15.0 9.009607117430111 0.0409753461607283 0.06248891781850163 0.1990299418211888 -0.10097659326261921 -0.11599787562107645 0.18400895722111194
diff --git a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg00_1/results.json b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg00_1/results.json
new file mode 100644
index 0000000000000000000000000000000000000000..14b2f92d8b2fce7e7f2d565044f56a978576975a
--- /dev/null
+++ b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg00_1/results.json
@@ -0,0 +1,7 @@
+{
+ "safety": "SAFE",
+ "sim_time": 4.154411315917969,
+ "verification_time": 41.11899995803833,
+ "refine_time": 0,
+ "total_time": 45.82563233375549
+}
\ No newline at end of file
diff --git a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg01_0/Traj.txt b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg01_0/Traj.txt
new file mode 100644
index 0000000000000000000000000000000000000000..aa05297f9a1d378015bd225c0fe16ebb5893be1d
--- /dev/null
+++ b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg01_0/Traj.txt
@@ -0,0 +1,47 @@
+cropfollow/pn=[0.000:0.017]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]
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diff --git a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg01_0/log.txt b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg01_0/log.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2fb7ff1c730045d9338bf7b8fd573f8b8d88c091
--- /dev/null
+++ b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg01_0/log.txt
@@ -0,0 +1,447 @@
+2025-04-27 18:39:54,493 [INFO] Simulating with mode cropfollow
+2025-04-27 18:39:54,493 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:39:54,493 [INFO] [0.0, -0.047305743404008664, -0.08319492990387792, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:39:59,461 [INFO] Verification Begin
+2025-04-27 18:39:59,461 [INFO] ===============================================
+Mode: 0
+stack size: 1
+remainTime: 15
+
+2025-04-27 18:39:59,461 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 18:39:59,461 [INFO] Simulating with mode cropfollow
+2025-04-27 18:39:59,461 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:39:59,461 [INFO] [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:40:04,410 [INFO] Simulating with mode cropfollow
+2025-04-27 18:40:04,410 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:40:04,410 [INFO] [0.0, 0.05966977411253924, -0.11641806118144818, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:40:09,273 [INFO] Simulating with mode cropfollow
+2025-04-27 18:40:09,273 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:40:09,273 [INFO] [0.0, -0.040374738189717645, -0.03903895563433671, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:40:14,112 [INFO] Simulating with mode cropfollow
+2025-04-27 18:40:14,112 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:40:14,112 [INFO] [0.0, -0.028141279572816355, 0.0906053342179482, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:40:19,048 [INFO] Simulating with mode cropfollow
+2025-04-27 18:40:19,056 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:40:19,056 [INFO] [0.0, 0.008147474740590965, -0.1500450969935958, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:40:24,122 [INFO] Simulating with mode cropfollow
+2025-04-27 18:40:24,123 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:40:24,123 [INFO] [0.0, 0.0862990262710654, -0.09584224408898614, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:40:29,104 [INFO] Simulating with mode cropfollow
+2025-04-27 18:40:29,104 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:40:29,104 [INFO] [0.0, -0.08119207340046344, 0.1003635585172934, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:40:33,800 [INFO] Simulating with mode cropfollow
+2025-04-27 18:40:33,800 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:40:33,800 [INFO] [0.0, -0.049631608153551256, -0.07161424489960602, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:40:38,706 [INFO] Simulating with mode cropfollow
+2025-04-27 18:40:38,706 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:40:38,706 [INFO] [0.0, -0.021590907391710074, 0.14385823329226938, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:40:43,771 [INFO] Simulating with mode cropfollow
+2025-04-27 18:40:43,772 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:40:43,772 [INFO] [0.0, 0.00444310428027081, -0.14675009988967722, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:40:48,807 [INFO] Simulating with mode cropfollow
+2025-04-27 18:40:48,807 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:40:48,807 [INFO] [0.0, 0.010257683591062383, 0.09923744003046958, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:40:53,766 [INFO] 0 check bloated tube unknown
+2025-04-27 18:40:53,766 [INFO] ===============================================
+Mode: 0
+stack size: 2
+remainTime: 15
+
+2025-04-27 18:40:53,766 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.1, 0.0875, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 18:40:53,766 [INFO] Simulating with mode cropfollow
+2025-04-27 18:40:53,766 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:40:53,766 [INFO] [0.0, 0.0, -0.0875, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:40:58,947 [INFO] Simulating with mode cropfollow
+2025-04-27 18:40:58,947 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:40:58,947 [INFO] [0.0, 0.05966977411253924, -0.1457090305907241, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:41:04,021 [INFO] Simulating with mode cropfollow
+2025-04-27 18:41:04,021 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:41:04,021 [INFO] [0.0, -0.040374738189717645, -0.10701947781716835, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:41:09,113 [INFO] Simulating with mode cropfollow
+2025-04-27 18:41:09,113 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:41:09,113 [INFO] [0.0, -0.028141279572816355, -0.042197332891025896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:41:14,167 [INFO] Simulating with mode cropfollow
+2025-04-27 18:41:14,167 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:41:14,167 [INFO] [0.0, 0.008147474740590965, -0.1625225484967979, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:41:19,155 [INFO] Simulating with mode cropfollow
+2025-04-27 18:41:19,155 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:41:19,155 [INFO] [0.0, 0.0862990262710654, -0.13542112204449308, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:41:24,181 [INFO] Simulating with mode cropfollow
+2025-04-27 18:41:24,181 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:41:24,181 [INFO] [0.0, -0.08119207340046344, -0.0373182207413533, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:41:28,912 [INFO] Simulating with mode cropfollow
+2025-04-27 18:41:28,912 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:41:28,912 [INFO] [0.0, -0.049631608153551256, -0.123307122449803, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:41:33,826 [INFO] Simulating with mode cropfollow
+2025-04-27 18:41:33,826 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:41:33,826 [INFO] [0.0, -0.021590907391710074, -0.015570883353865306, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:41:38,670 [INFO] Simulating with mode cropfollow
+2025-04-27 18:41:38,670 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:41:38,670 [INFO] [0.0, 0.00444310428027081, -0.16087504994483862, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:41:43,705 [INFO] Simulating with mode cropfollow
+2025-04-27 18:41:43,705 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:41:43,705 [INFO] [0.0, 0.010257683591062383, -0.037881279984765204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:41:48,650 [INFO] 0 check bloated tube unknown
+2025-04-27 18:41:48,650 [INFO] ===============================================
+Mode: 0
+stack size: 3
+remainTime: 15
+
+2025-04-27 18:41:48,650 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.05, 0.0875, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 18:41:48,650 [INFO] Simulating with mode cropfollow
+2025-04-27 18:41:48,650 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:41:48,650 [INFO] [0.0, -0.05, -0.0875, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:41:53,759 [INFO] Simulating with mode cropfollow
+2025-04-27 18:41:53,759 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:41:53,759 [INFO] [0.0, -0.020165112943730384, -0.1457090305907241, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:41:58,794 [INFO] Simulating with mode cropfollow
+2025-04-27 18:41:58,795 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:41:58,795 [INFO] [0.0, -0.07018736909485883, -0.10701947781716835, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:42:03,822 [INFO] Simulating with mode cropfollow
+2025-04-27 18:42:03,822 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:42:03,822 [INFO] [0.0, -0.06407063978640817, -0.042197332891025896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:42:08,933 [INFO] Simulating with mode cropfollow
+2025-04-27 18:42:08,933 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:42:08,933 [INFO] [0.0, -0.04592626262970452, -0.1625225484967979, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:42:14,003 [INFO] Simulating with mode cropfollow
+2025-04-27 18:42:14,003 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:42:14,003 [INFO] [0.0, -0.006850486864467306, -0.13542112204449308, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:42:19,033 [INFO] Simulating with mode cropfollow
+2025-04-27 18:42:19,033 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:42:19,033 [INFO] [0.0, -0.09059603670023172, -0.0373182207413533, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:42:23,846 [INFO] Simulating with mode cropfollow
+2025-04-27 18:42:23,846 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:42:23,846 [INFO] [0.0, -0.07481580407677563, -0.123307122449803, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:42:28,751 [INFO] Simulating with mode cropfollow
+2025-04-27 18:42:28,752 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:42:28,752 [INFO] [0.0, -0.06079545369585504, -0.015570883353865306, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:42:33,626 [INFO] Simulating with mode cropfollow
+2025-04-27 18:42:33,626 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:42:33,626 [INFO] [0.0, -0.0477784478598646, -0.16087504994483862, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:42:38,734 [INFO] Simulating with mode cropfollow
+2025-04-27 18:42:38,734 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:42:38,734 [INFO] [0.0, -0.04487115820446881, -0.037881279984765204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:42:43,708 [INFO] 0 check bloated tube unknown
+2025-04-27 18:42:43,708 [INFO] ===============================================
+Mode: 0
+stack size: 4
+remainTime: 15
+
+2025-04-27 18:42:43,708 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, 0.0, -0.0875, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.05, 0.04375, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 18:42:43,708 [INFO] Simulating with mode cropfollow
+2025-04-27 18:42:43,708 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:42:43,708 [INFO] [0.0, -0.05, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:42:48,814 [INFO] Simulating with mode cropfollow
+2025-04-27 18:42:48,814 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:42:48,814 [INFO] [0.0, -0.020165112943730384, -0.16035451529536204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:42:53,870 [INFO] Simulating with mode cropfollow
+2025-04-27 18:42:53,870 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:42:53,870 [INFO] [0.0, -0.07018736909485883, -0.14100973890858418, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:42:58,908 [INFO] Simulating with mode cropfollow
+2025-04-27 18:42:58,908 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:42:58,908 [INFO] [0.0, -0.06407063978640817, -0.10859866644551294, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:43:03,994 [INFO] Simulating with mode cropfollow
+2025-04-27 18:43:03,994 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:43:03,994 [INFO] [0.0, -0.04592626262970452, -0.16876127424839896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:43:09,125 [INFO] Simulating with mode cropfollow
+2025-04-27 18:43:09,125 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:43:09,125 [INFO] [0.0, -0.006850486864467306, -0.15521056102224653, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:43:14,193 [INFO] Simulating with mode cropfollow
+2025-04-27 18:43:14,193 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:43:14,193 [INFO] [0.0, -0.09059603670023172, -0.10615911037067664, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:43:19,031 [INFO] Simulating with mode cropfollow
+2025-04-27 18:43:19,031 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:43:19,031 [INFO] [0.0, -0.07481580407677563, -0.1491535612249015, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:43:24,025 [INFO] Simulating with mode cropfollow
+2025-04-27 18:43:24,026 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:43:24,026 [INFO] [0.0, -0.06079545369585504, -0.09528544167693265, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:43:29,006 [INFO] Simulating with mode cropfollow
+2025-04-27 18:43:29,006 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:43:29,006 [INFO] [0.0, -0.0477784478598646, -0.1679375249724193, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:43:34,115 [INFO] Simulating with mode cropfollow
+2025-04-27 18:43:34,115 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:43:34,115 [INFO] [0.0, -0.04487115820446881, -0.1064406399923826, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:43:39,198 [INFO] 0 check bloated tube unknown
+2025-04-27 18:43:39,198 [INFO] ===============================================
+Mode: 0
+stack size: 5
+remainTime: 15
+
+2025-04-27 18:43:39,198 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.05, -0.0875, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.025, 0.04375, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 18:43:39,198 [INFO] Simulating with mode cropfollow
+2025-04-27 18:43:39,198 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:43:39,198 [INFO] [0.0, -0.07500000000000001, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:43:44,326 [INFO] Simulating with mode cropfollow
+2025-04-27 18:43:44,326 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:43:44,326 [INFO] [0.0, -0.060082556471865195, -0.16035451529536204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:43:49,394 [INFO] Simulating with mode cropfollow
+2025-04-27 18:43:49,394 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:43:49,394 [INFO] [0.0, -0.08509368454742941, -0.14100973890858418, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:43:54,474 [INFO] Simulating with mode cropfollow
+2025-04-27 18:43:54,474 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:43:54,474 [INFO] [0.0, -0.08203531989320409, -0.10859866644551294, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:43:59,600 [INFO] Simulating with mode cropfollow
+2025-04-27 18:43:59,600 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:43:59,600 [INFO] [0.0, -0.07296313131485227, -0.16876127424839896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:44:04,684 [INFO] Simulating with mode cropfollow
+2025-04-27 18:44:04,684 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:44:04,684 [INFO] [0.0, -0.053425243432233656, -0.15521056102224653, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:44:09,752 [INFO] Simulating with mode cropfollow
+2025-04-27 18:44:09,752 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:44:09,753 [INFO] [0.0, -0.09529801835011587, -0.10615911037067664, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:44:14,589 [INFO] Simulating with mode cropfollow
+2025-04-27 18:44:14,590 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:44:14,590 [INFO] [0.0, -0.08740790203838782, -0.1491535612249015, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:44:19,605 [INFO] Simulating with mode cropfollow
+2025-04-27 18:44:19,605 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:44:19,605 [INFO] [0.0, -0.08039772684792752, -0.09528544167693265, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:44:24,650 [INFO] Simulating with mode cropfollow
+2025-04-27 18:44:24,650 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:44:24,650 [INFO] [0.0, -0.0738892239299323, -0.1679375249724193, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:44:29,829 [INFO] Simulating with mode cropfollow
+2025-04-27 18:44:29,829 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:44:29,829 [INFO] [0.0, -0.07243557910223442, -0.1064406399923826, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:44:34,967 [INFO] 0 check bloated tube unknown
+2025-04-27 18:44:34,967 [INFO] ===============================================
+Mode: 0
+stack size: 6
+remainTime: 15
+
+2025-04-27 18:44:34,967 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.05, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.025, 0.021875000000000006, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 18:44:34,967 [INFO] Simulating with mode cropfollow
+2025-04-27 18:44:34,967 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:44:34,967 [INFO] [0.0, -0.07500000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:44:40,151 [INFO] Simulating with mode cropfollow
+2025-04-27 18:44:40,151 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:44:40,151 [INFO] [0.0, -0.060082556471865195, -0.16767725764768102, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:44:45,309 [INFO] Simulating with mode cropfollow
+2025-04-27 18:44:45,309 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:44:45,309 [INFO] [0.0, -0.08509368454742941, -0.15800486945429207, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:44:50,420 [INFO] Simulating with mode cropfollow
+2025-04-27 18:44:50,420 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:44:50,420 [INFO] [0.0, -0.08203531989320409, -0.14179933322275645, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:44:55,440 [INFO] Simulating with mode cropfollow
+2025-04-27 18:44:55,441 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:44:55,441 [INFO] [0.0, -0.07296313131485227, -0.17188063712419946, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:45:00,447 [INFO] Simulating with mode cropfollow
+2025-04-27 18:45:00,447 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:45:00,447 [INFO] [0.0, -0.053425243432233656, -0.16510528051112325, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:45:05,430 [INFO] Simulating with mode cropfollow
+2025-04-27 18:45:05,430 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:45:05,430 [INFO] [0.0, -0.09529801835011587, -0.1405795551853383, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:45:10,240 [INFO] Simulating with mode cropfollow
+2025-04-27 18:45:10,241 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:45:10,241 [INFO] [0.0, -0.08740790203838782, -0.16207678061245073, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:45:15,126 [INFO] Simulating with mode cropfollow
+2025-04-27 18:45:15,126 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:45:15,126 [INFO] [0.0, -0.08039772684792752, -0.1351427208384663, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:45:20,067 [INFO] Simulating with mode cropfollow
+2025-04-27 18:45:20,068 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:45:20,068 [INFO] [0.0, -0.0738892239299323, -0.17146876248620965, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:45:25,149 [INFO] Simulating with mode cropfollow
+2025-04-27 18:45:25,149 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:45:25,149 [INFO] [0.0, -0.07243557910223442, -0.14072031999619128, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:45:30,247 [INFO] 0 check bloated tube unknown
+2025-04-27 18:45:30,247 [INFO] ===============================================
+Mode: 0
+stack size: 7
+remainTime: 15
+
+2025-04-27 18:45:30,247 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.07500000000000001, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.012499999999999997, 0.021875000000000006, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 18:45:30,247 [INFO] Simulating with mode cropfollow
+2025-04-27 18:45:30,247 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:45:30,247 [INFO] [0.0, -0.08750000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:45:35,338 [INFO] Simulating with mode cropfollow
+2025-04-27 18:45:35,338 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:45:35,338 [INFO] [0.0, -0.0800412782359326, -0.16767725764768102, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:45:40,385 [INFO] Simulating with mode cropfollow
+2025-04-27 18:45:40,385 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:45:40,385 [INFO] [0.0, -0.09254684227371471, -0.15800486945429207, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:45:45,435 [INFO] Simulating with mode cropfollow
+2025-04-27 18:45:45,436 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:45:45,436 [INFO] [0.0, -0.09101765994660205, -0.14179933322275645, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:45:50,452 [INFO] Simulating with mode cropfollow
+2025-04-27 18:45:50,452 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:45:50,452 [INFO] [0.0, -0.08648156565742614, -0.17188063712419946, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:45:55,497 [INFO] Simulating with mode cropfollow
+2025-04-27 18:45:55,497 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:45:55,497 [INFO] [0.0, -0.07671262171611684, -0.16510528051112325, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:46:00,483 [INFO] Simulating with mode cropfollow
+2025-04-27 18:46:00,483 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:46:00,483 [INFO] [0.0, -0.09764900917505794, -0.1405795551853383, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:46:05,322 [INFO] Simulating with mode cropfollow
+2025-04-27 18:46:05,322 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:46:05,322 [INFO] [0.0, -0.09370395101919392, -0.16207678061245073, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:46:10,233 [INFO] Simulating with mode cropfollow
+2025-04-27 18:46:10,233 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:46:10,233 [INFO] [0.0, -0.09019886342396377, -0.1351427208384663, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:46:15,188 [INFO] Simulating with mode cropfollow
+2025-04-27 18:46:15,188 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:46:15,188 [INFO] [0.0, -0.08694461196496615, -0.17146876248620965, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:46:20,272 [INFO] Simulating with mode cropfollow
+2025-04-27 18:46:20,272 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:46:20,272 [INFO] [0.0, -0.08621778955111721, -0.14072031999619128, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:46:25,320 [INFO] 0 check bloated tube unknown
+2025-04-27 18:46:25,320 [INFO] ===============================================
+Mode: 0
+stack size: 8
+remainTime: 15
+
+2025-04-27 18:46:25,320 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.07500000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.012499999999999997, 0.010937500000000003, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 18:46:25,320 [INFO] Simulating with mode cropfollow
+2025-04-27 18:46:25,320 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:46:25,320 [INFO] [0.0, -0.08750000000000001, -0.1640625, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:46:30,412 [INFO] Simulating with mode cropfollow
+2025-04-27 18:46:30,412 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:46:30,412 [INFO] [0.0, -0.0800412782359326, -0.1713386288238405, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:46:35,509 [INFO] Simulating with mode cropfollow
+2025-04-27 18:46:35,509 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:46:35,509 [INFO] [0.0, -0.09254684227371471, -0.16650243472714604, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:46:40,708 [INFO] Simulating with mode cropfollow
+2025-04-27 18:46:40,708 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:46:40,708 [INFO] [0.0, -0.09101765994660205, -0.15839966661137822, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:46:45,952 [INFO] Simulating with mode cropfollow
+2025-04-27 18:46:45,952 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:46:45,953 [INFO] [0.0, -0.08648156565742614, -0.17344031856209974, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:46:51,130 [INFO] Simulating with mode cropfollow
+2025-04-27 18:46:51,130 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:46:51,130 [INFO] [0.0, -0.07671262171611684, -0.17005264025556163, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:46:56,174 [INFO] Simulating with mode cropfollow
+2025-04-27 18:46:56,174 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:46:56,174 [INFO] [0.0, -0.09764900917505794, -0.15778977759266916, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:47:01,191 [INFO] Simulating with mode cropfollow
+2025-04-27 18:47:01,192 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:47:01,192 [INFO] [0.0, -0.09370395101919392, -0.16853839030622536, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:47:06,377 [INFO] Simulating with mode cropfollow
+2025-04-27 18:47:06,377 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:47:06,377 [INFO] [0.0, -0.09019886342396377, -0.15507136041923314, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:47:11,617 [INFO] Simulating with mode cropfollow
+2025-04-27 18:47:11,617 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:47:11,617 [INFO] [0.0, -0.08694461196496615, -0.1732343812431048, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:47:16,861 [INFO] Simulating with mode cropfollow
+2025-04-27 18:47:16,861 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:47:16,861 [INFO] [0.0, -0.08621778955111721, -0.15786015999809563, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:47:22,131 [INFO] 0 check bloated tube unknown
+2025-04-27 18:47:22,131 [INFO] ===============================================
+Mode: 0
+stack size: 9
+remainTime: 15
+
+2025-04-27 18:47:22,131 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.08750000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.006249999999999999, 0.010937500000000003, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 18:47:22,131 [INFO] Simulating with mode cropfollow
+2025-04-27 18:47:22,131 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:47:22,131 [INFO] [0.0, -0.09375, -0.1640625, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:47:27,407 [INFO] Simulating with mode cropfollow
+2025-04-27 18:47:27,407 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:47:27,407 [INFO] [0.0, -0.0900206391179663, -0.1713386288238405, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:47:32,639 [INFO] Simulating with mode cropfollow
+2025-04-27 18:47:32,639 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:47:32,639 [INFO] [0.0, -0.09627342113685736, -0.16650243472714604, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:47:37,754 [INFO] Simulating with mode cropfollow
+2025-04-27 18:47:37,754 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:47:37,754 [INFO] [0.0, -0.09550882997330103, -0.15839966661137822, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:47:42,898 [INFO] Simulating with mode cropfollow
+2025-04-27 18:47:42,898 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:47:42,898 [INFO] [0.0, -0.09324078282871306, -0.17344031856209974, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:47:48,151 [INFO] Simulating with mode cropfollow
+2025-04-27 18:47:48,151 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:47:48,151 [INFO] [0.0, -0.08835631085805842, -0.17005264025556163, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:47:53,299 [INFO] Simulating with mode cropfollow
+2025-04-27 18:47:53,299 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:47:53,299 [INFO] [0.0, -0.09882450458752898, -0.15778977759266916, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:47:58,263 [INFO] Simulating with mode cropfollow
+2025-04-27 18:47:58,264 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:47:58,264 [INFO] [0.0, -0.09685197550959695, -0.16853839030622536, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:48:03,439 [INFO] Simulating with mode cropfollow
+2025-04-27 18:48:03,439 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:48:03,439 [INFO] [0.0, -0.09509943171198189, -0.15507136041923314, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:48:08,620 [INFO] Simulating with mode cropfollow
+2025-04-27 18:48:08,620 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:48:08,620 [INFO] [0.0, -0.09347230598248309, -0.1732343812431048, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:48:13,967 [INFO] Simulating with mode cropfollow
+2025-04-27 18:48:13,967 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:48:13,967 [INFO] [0.0, -0.09310889477555861, -0.15786015999809563, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:48:19,260 [INFO] 0 check bloated tube unknown
+2025-04-27 18:48:19,260 [INFO] ===============================================
+Mode: 0
+stack size: 10
+remainTime: 15
+
+2025-04-27 18:48:19,260 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.08750000000000001, -0.1640625, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.006249999999999999, 0.0054687499999999944, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 18:48:19,260 [INFO] Simulating with mode cropfollow
+2025-04-27 18:48:19,260 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:48:19,260 [INFO] [0.0, -0.09375, -0.16953125, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:48:24,635 [INFO] Simulating with mode cropfollow
+2025-04-27 18:48:24,635 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:48:24,635 [INFO] [0.0, -0.0900206391179663, -0.17316931441192024, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:48:29,901 [INFO] Simulating with mode cropfollow
+2025-04-27 18:48:29,901 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:48:29,901 [INFO] [0.0, -0.09627342113685736, -0.17075121736357302, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:48:34,979 [INFO] Simulating with mode cropfollow
+2025-04-27 18:48:34,979 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:48:34,979 [INFO] [0.0, -0.09550882997330103, -0.1666998333056891, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:48:40,205 [INFO] Simulating with mode cropfollow
+2025-04-27 18:48:40,206 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:48:40,206 [INFO] [0.0, -0.09324078282871306, -0.17422015928104986, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:48:45,485 [INFO] Simulating with mode cropfollow
+2025-04-27 18:48:45,485 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:48:45,485 [INFO] [0.0, -0.08835631085805842, -0.1725263201277808, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:48:50,698 [INFO] Simulating with mode cropfollow
+2025-04-27 18:48:50,698 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:48:50,698 [INFO] [0.0, -0.09882450458752898, -0.16639488879633457, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:48:55,783 [INFO] Simulating with mode cropfollow
+2025-04-27 18:48:55,783 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:48:55,783 [INFO] [0.0, -0.09685197550959695, -0.17176919515311267, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:49:00,849 [INFO] Simulating with mode cropfollow
+2025-04-27 18:49:00,850 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:49:00,850 [INFO] [0.0, -0.09509943171198189, -0.1650356802096166, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:49:05,932 [INFO] Simulating with mode cropfollow
+2025-04-27 18:49:05,932 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:49:05,932 [INFO] [0.0, -0.09347230598248309, -0.1741171906215524, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:49:11,252 [INFO] Simulating with mode cropfollow
+2025-04-27 18:49:11,252 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.017}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:49:11,252 [INFO] [0.0, -0.09310889477555861, -0.16643007999904783, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:49:16,517 [INFO] 0 check bloated tube unknown
+2025-04-27 18:49:16,517 [INFO] ===============================================
+Mode: 0
+stack size: 11
+remainTime: 15
+
+2025-04-27 18:49:16,517 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.09375, -0.1640625, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.0031250000000000028, 0.0054687499999999944, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 18:49:16,517 [INFO] 0 is not valid anymore
+2025-04-27 18:49:16,517 [INFO] Hit refine threshold, system halt, result unknown
+2025-04-27 18:49:16,517 [INFO] simulation time: 4.967943429946899
+2025-04-27 18:49:16,517 [INFO] verification time: 557.0564489364624
diff --git a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg01_0/results.json b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg01_0/results.json
new file mode 100644
index 0000000000000000000000000000000000000000..f280078b270b93ca5454d9adb429703c9542c428
--- /dev/null
+++ b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg01_0/results.json
@@ -0,0 +1,7 @@
+{
+ "safety": "UNKNOWN",
+ "sim_time": 4.967943429946899,
+ "verification_time": 557.0564489364624,
+ "refine_time": null,
+ "total_time": 562.5758912563324
+}
\ No newline at end of file
diff --git a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg02_5/Traj.txt b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg02_5/Traj.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b7bfc5a3a77b91471aa318fc9d05b252d3f2f40d
--- /dev/null
+++ b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg02_5/Traj.txt
@@ -0,0 +1,47 @@
+cropfollow/pn=[0.000:0.044]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]
+0.0 0.0 0.01719796471297741 0.009458817541599274 0.1695559322834015 -0.130430668592453 -0.13515999913215637 0.16482660174369812
+0.3333333432674408 0.19999107718467712 0.019089700654149055 0.026647072285413742 0.1756974309682846 -0.12419606745243073 -0.1375180333852768 0.16237546503543854
+0.6666666865348816 0.3999200761318207 0.024418484419584274 0.006415747106075287 0.1760193407535553 -0.1239745020866394 -0.12718236446380615 0.17281147837638855
+1.0 0.5999159812927246 0.025701625272631645 0.0011005732230842113 0.1759766936302185 -0.12402313947677612 -0.12457343935966492 0.1754263937473297
+1.3333333730697632 0.7999159097671509 0.025921739637851715 0.010368803516030312 0.17850583791732788 -0.12147804349660873 -0.12666237354278564 0.17332151532173157
+1.6666666269302368 0.9999051690101624 0.027995463460683823 0.0031174304895102978 0.17877410352230072 -0.12122444808483124 -0.12278316915035248 0.17721538245677948
+2.0 1.199904203414917 0.02861894853413105 0.00729769142344594 0.18043936789035797 -0.11955265700817108 -0.12320147454738617 0.17679055035114288
+2.3333332538604736 1.399898886680603 0.030078474432229996 0.007382820826023817 0.18192008137702942 -0.11807176470756531 -0.12176313996315002 0.1782287061214447
+2.6666667461395264 1.5998934507369995 0.03155502676963806 0.007726096548140049 0.18348205089569092 -0.11650899052619934 -0.1203719973564148 0.17961904406547546
+3.0 1.7998874187469482 0.03310023248195648 0.002998494543135166 0.18384918570518494 -0.11614948511123657 -0.11764872074127197 0.18234995007514954
+3.3333332538604736 1.9998865127563477 0.03369992971420288 0.017989344894886017 0.18817275762557983 -0.11177870631217957 -0.12077289819717407 0.17917856574058533
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+8.0 4.79901123046875 0.026711776852607727 -0.06888959556818008 0.1591472029685974 -0.14014121890068054 -0.10572364926338196 0.193564772605896
+8.333333015441895 4.998537063598633 0.012944752350449562 -0.06592851877212524 0.1461486965417862 -0.15319956839084625 -0.12025918811559677 0.17908908426761627
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+9.0 5.398049831390381 -0.004816840868443251 -0.04312169924378395 0.13426662981510162 -0.16545449197292328 -0.1439003199338913 0.1558208018541336
+9.333333015441895 5.597864151000977 -0.013438509777188301 -0.031353533267974854 0.12865066528320312 -0.1712018847465515 -0.15552768111228943 0.1443248689174652
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+10.333333015441895 6.197673320770264 -0.028156036511063576 -0.005118661560118198 0.12056233733892441 -0.17943374812602997 -0.17687441408634186 0.12312167137861252
+10.666666984558105 6.397670745849609 -0.029179764911532402 -0.018861547112464905 0.1160784512758255 -0.18386821448802948 -0.1744379848241806 0.12550868093967438
+11.0 6.597635269165039 -0.032951850444078445 0.010225692763924599 0.1195967048406601 -0.18038763105869293 -0.1855003982782364 0.11448393762111664
+11.333333015441895 6.797624588012695 -0.03090674802660942 0.013953308574855328 0.12256686389446259 -0.17740394175052643 -0.18438036739826202 0.11559043824672699
+11.666666984558105 6.997605323791504 -0.028116177767515182 -0.00043854862451553345 0.12177416682243347 -0.1782258152961731 -0.17800652980804443 0.12199345231056213
+12.0 7.197605133056641 -0.02820388786494732 0.02368229441344738 0.12767407298088074 -0.17224180698394775 -0.18408185243606567 0.11583402752876282
+12.333333015441895 7.397549152374268 -0.02346787229180336 0.020420139655470848 0.13160553574562073 -0.16833192110061646 -0.17854127287864685 0.12139618396759033
+12.666666984558105 7.597507476806641 -0.019384127110242844 0.023960508406162262 0.13656236231327057 -0.16335152089595795 -0.17533062398433685 0.12458325922489166
+13.0 7.797450065612793 -0.014592483639717102 0.005779031664133072 0.1368497759103775 -0.16314522922039032 -0.1660347431898117 0.13396026194095612
+13.333333015441895 7.997446537017822 -0.01343668345361948 -0.004035499878227711 0.13555322587490082 -0.16444434225559235 -0.16242660582065582 0.13757096230983734
+13.666666984558105 8.197444915771484 -0.014243781566619873 0.0010414840653538704 0.13601651787757874 -0.16398334503173828 -0.16450408101081848 0.13549578189849854
+14.0 8.397444725036621 -0.014035484753549099 -0.004906581714749336 0.1347360908985138 -0.16526031494140625 -0.16280704736709595 0.1371893584728241
+14.333333015441895 8.597442626953125 -0.015016796998679638 0.0012021493166685104 0.13528364896774292 -0.16471615433692932 -0.16531723737716675 0.1346825659275055
+14.666666984558105 8.797442436218262 -0.014776366762816906 -0.000820427667349577 0.1350184828042984 -0.164981409907341 -0.16457121074199677 0.13542868196964264
+15.0 8.997442245483398 -0.014940451830625534 0.021288083866238594 0.1403471827507019 -0.15958485007286072 -0.17022809386253357 0.12970393896102905
diff --git a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg02_5/log.txt b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg02_5/log.txt
new file mode 100644
index 0000000000000000000000000000000000000000..70c34f620eea63ecaf16c367263035dc44a2de2b
--- /dev/null
+++ b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg02_5/log.txt
@@ -0,0 +1,447 @@
+2025-04-27 18:49:17,677 [INFO] Simulating with mode cropfollow
+2025-04-27 18:49:17,677 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:49:17,677 [INFO] [0.0, 0.01719796378828453, 0.009458817378854706, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:49:23,031 [INFO] Verification Begin
+2025-04-27 18:49:23,032 [INFO] ===============================================
+Mode: 0
+stack size: 1
+remainTime: 15
+
+2025-04-27 18:49:23,032 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 18:49:23,032 [INFO] Simulating with mode cropfollow
+2025-04-27 18:49:23,032 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:49:23,032 [INFO] [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:49:28,425 [INFO] Simulating with mode cropfollow
+2025-04-27 18:49:28,426 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:49:28,426 [INFO] [0.0, 0.05966977411253924, -0.11641806118144818, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:49:33,799 [INFO] Simulating with mode cropfollow
+2025-04-27 18:49:33,800 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:49:33,800 [INFO] [0.0, -0.040374738189717645, -0.03903895563433671, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:49:39,115 [INFO] Simulating with mode cropfollow
+2025-04-27 18:49:39,116 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:49:39,116 [INFO] [0.0, -0.028141279572816355, 0.0906053342179482, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:49:44,418 [INFO] Simulating with mode cropfollow
+2025-04-27 18:49:44,418 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:49:44,418 [INFO] [0.0, 0.008147474740590965, -0.1500450969935958, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:49:49,714 [INFO] Simulating with mode cropfollow
+2025-04-27 18:49:49,714 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:49:49,714 [INFO] [0.0, 0.0862990262710654, -0.09584224408898614, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:49:55,055 [INFO] Simulating with mode cropfollow
+2025-04-27 18:49:55,056 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:49:55,056 [INFO] [0.0, -0.08119207340046344, 0.1003635585172934, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:50:00,264 [INFO] Simulating with mode cropfollow
+2025-04-27 18:50:00,264 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:50:00,264 [INFO] [0.0, -0.049631608153551256, -0.07161424489960602, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:50:05,528 [INFO] Simulating with mode cropfollow
+2025-04-27 18:50:05,528 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:50:05,528 [INFO] [0.0, -0.021590907391710074, 0.14385823329226938, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:50:10,766 [INFO] Simulating with mode cropfollow
+2025-04-27 18:50:10,766 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:50:10,766 [INFO] [0.0, 0.00444310428027081, -0.14675009988967722, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:50:16,014 [INFO] Simulating with mode cropfollow
+2025-04-27 18:50:16,014 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:50:16,014 [INFO] [0.0, 0.010257683591062383, 0.09923744003046958, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:50:21,393 [INFO] 0 check bloated tube unknown
+2025-04-27 18:50:21,393 [INFO] ===============================================
+Mode: 0
+stack size: 2
+remainTime: 15
+
+2025-04-27 18:50:21,393 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.1, 0.0875, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 18:50:21,393 [INFO] Simulating with mode cropfollow
+2025-04-27 18:50:21,393 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:50:21,393 [INFO] [0.0, 0.0, -0.0875, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:50:26,774 [INFO] Simulating with mode cropfollow
+2025-04-27 18:50:26,774 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:50:26,774 [INFO] [0.0, 0.05966977411253924, -0.1457090305907241, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:50:32,113 [INFO] Simulating with mode cropfollow
+2025-04-27 18:50:32,114 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:50:32,114 [INFO] [0.0, -0.040374738189717645, -0.10701947781716835, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:50:37,437 [INFO] Simulating with mode cropfollow
+2025-04-27 18:50:37,437 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:50:37,437 [INFO] [0.0, -0.028141279572816355, -0.042197332891025896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:50:42,867 [INFO] Simulating with mode cropfollow
+2025-04-27 18:50:42,867 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:50:42,867 [INFO] [0.0, 0.008147474740590965, -0.1625225484967979, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:50:48,264 [INFO] Simulating with mode cropfollow
+2025-04-27 18:50:48,264 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:50:48,264 [INFO] [0.0, 0.0862990262710654, -0.13542112204449308, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:50:53,555 [INFO] Simulating with mode cropfollow
+2025-04-27 18:50:53,555 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:50:53,555 [INFO] [0.0, -0.08119207340046344, -0.0373182207413533, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:50:58,704 [INFO] Simulating with mode cropfollow
+2025-04-27 18:50:58,704 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:50:58,704 [INFO] [0.0, -0.049631608153551256, -0.123307122449803, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:51:03,993 [INFO] Simulating with mode cropfollow
+2025-04-27 18:51:03,993 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:51:03,993 [INFO] [0.0, -0.021590907391710074, -0.015570883353865306, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:51:09,232 [INFO] Simulating with mode cropfollow
+2025-04-27 18:51:09,232 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:51:09,232 [INFO] [0.0, 0.00444310428027081, -0.16087504994483862, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:51:14,622 [INFO] Simulating with mode cropfollow
+2025-04-27 18:51:14,622 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:51:14,622 [INFO] [0.0, 0.010257683591062383, -0.037881279984765204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:51:19,988 [INFO] 0 check bloated tube unknown
+2025-04-27 18:51:19,988 [INFO] ===============================================
+Mode: 0
+stack size: 3
+remainTime: 15
+
+2025-04-27 18:51:19,988 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.05, 0.0875, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 18:51:19,988 [INFO] Simulating with mode cropfollow
+2025-04-27 18:51:19,988 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:51:19,988 [INFO] [0.0, -0.05, -0.0875, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:51:25,348 [INFO] Simulating with mode cropfollow
+2025-04-27 18:51:25,348 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:51:25,348 [INFO] [0.0, -0.020165112943730384, -0.1457090305907241, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:51:30,739 [INFO] Simulating with mode cropfollow
+2025-04-27 18:51:30,739 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:51:30,739 [INFO] [0.0, -0.07018736909485883, -0.10701947781716835, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:51:36,259 [INFO] Simulating with mode cropfollow
+2025-04-27 18:51:36,259 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:51:36,259 [INFO] [0.0, -0.06407063978640817, -0.042197332891025896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:51:41,728 [INFO] Simulating with mode cropfollow
+2025-04-27 18:51:41,728 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:51:41,728 [INFO] [0.0, -0.04592626262970452, -0.1625225484967979, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:51:47,126 [INFO] Simulating with mode cropfollow
+2025-04-27 18:51:47,126 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:51:47,126 [INFO] [0.0, -0.006850486864467306, -0.13542112204449308, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:51:52,565 [INFO] Simulating with mode cropfollow
+2025-04-27 18:51:52,565 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:51:52,565 [INFO] [0.0, -0.09059603670023172, -0.0373182207413533, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:51:57,917 [INFO] Simulating with mode cropfollow
+2025-04-27 18:51:57,917 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:51:57,917 [INFO] [0.0, -0.07481580407677563, -0.123307122449803, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:52:03,213 [INFO] Simulating with mode cropfollow
+2025-04-27 18:52:03,213 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:52:03,213 [INFO] [0.0, -0.06079545369585504, -0.015570883353865306, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:52:08,393 [INFO] Simulating with mode cropfollow
+2025-04-27 18:52:08,393 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:52:08,393 [INFO] [0.0, -0.0477784478598646, -0.16087504994483862, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:52:13,687 [INFO] Simulating with mode cropfollow
+2025-04-27 18:52:13,687 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:52:13,687 [INFO] [0.0, -0.04487115820446881, -0.037881279984765204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:52:18,953 [INFO] 0 check bloated tube unknown
+2025-04-27 18:52:18,953 [INFO] ===============================================
+Mode: 0
+stack size: 4
+remainTime: 15
+
+2025-04-27 18:52:18,953 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, 0.0, -0.0875, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.05, 0.04375, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 18:52:18,953 [INFO] Simulating with mode cropfollow
+2025-04-27 18:52:18,953 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:52:18,953 [INFO] [0.0, -0.05, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:52:24,387 [INFO] Simulating with mode cropfollow
+2025-04-27 18:52:24,388 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:52:24,388 [INFO] [0.0, -0.020165112943730384, -0.16035451529536204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:52:29,880 [INFO] Simulating with mode cropfollow
+2025-04-27 18:52:29,880 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:52:29,880 [INFO] [0.0, -0.07018736909485883, -0.14100973890858418, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:52:35,503 [INFO] Simulating with mode cropfollow
+2025-04-27 18:52:35,503 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:52:35,503 [INFO] [0.0, -0.06407063978640817, -0.10859866644551294, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:52:41,052 [INFO] Simulating with mode cropfollow
+2025-04-27 18:52:41,052 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:52:41,053 [INFO] [0.0, -0.04592626262970452, -0.16876127424839896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:52:46,430 [INFO] Simulating with mode cropfollow
+2025-04-27 18:52:46,431 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:52:46,431 [INFO] [0.0, -0.006850486864467306, -0.15521056102224653, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:52:51,896 [INFO] Simulating with mode cropfollow
+2025-04-27 18:52:51,896 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:52:51,896 [INFO] [0.0, -0.09059603670023172, -0.10615911037067664, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:52:57,160 [INFO] Simulating with mode cropfollow
+2025-04-27 18:52:57,160 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:52:57,160 [INFO] [0.0, -0.07481580407677563, -0.1491535612249015, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:53:02,523 [INFO] Simulating with mode cropfollow
+2025-04-27 18:53:02,523 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:53:02,523 [INFO] [0.0, -0.06079545369585504, -0.09528544167693265, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:53:07,829 [INFO] Simulating with mode cropfollow
+2025-04-27 18:53:07,829 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:53:07,829 [INFO] [0.0, -0.0477784478598646, -0.1679375249724193, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:53:13,244 [INFO] Simulating with mode cropfollow
+2025-04-27 18:53:13,244 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:53:13,244 [INFO] [0.0, -0.04487115820446881, -0.1064406399923826, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:53:18,679 [INFO] 0 check bloated tube unknown
+2025-04-27 18:53:18,680 [INFO] ===============================================
+Mode: 0
+stack size: 5
+remainTime: 15
+
+2025-04-27 18:53:18,680 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.05, -0.0875, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.025, 0.04375, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 18:53:18,680 [INFO] Simulating with mode cropfollow
+2025-04-27 18:53:18,680 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:53:18,680 [INFO] [0.0, -0.07500000000000001, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:53:24,142 [INFO] Simulating with mode cropfollow
+2025-04-27 18:53:24,142 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:53:24,142 [INFO] [0.0, -0.060082556471865195, -0.16035451529536204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:53:29,575 [INFO] Simulating with mode cropfollow
+2025-04-27 18:53:29,575 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:53:29,575 [INFO] [0.0, -0.08509368454742941, -0.14100973890858418, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:53:35,014 [INFO] Simulating with mode cropfollow
+2025-04-27 18:53:35,014 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:53:35,014 [INFO] [0.0, -0.08203531989320409, -0.10859866644551294, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:53:40,444 [INFO] Simulating with mode cropfollow
+2025-04-27 18:53:40,444 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:53:40,444 [INFO] [0.0, -0.07296313131485227, -0.16876127424839896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:53:45,856 [INFO] Simulating with mode cropfollow
+2025-04-27 18:53:45,857 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:53:45,857 [INFO] [0.0, -0.053425243432233656, -0.15521056102224653, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:53:51,259 [INFO] Simulating with mode cropfollow
+2025-04-27 18:53:51,259 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:53:51,259 [INFO] [0.0, -0.09529801835011587, -0.10615911037067664, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:53:56,530 [INFO] Simulating with mode cropfollow
+2025-04-27 18:53:56,530 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:53:56,530 [INFO] [0.0, -0.08740790203838782, -0.1491535612249015, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:54:01,908 [INFO] Simulating with mode cropfollow
+2025-04-27 18:54:01,908 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:54:01,908 [INFO] [0.0, -0.08039772684792752, -0.09528544167693265, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:54:07,318 [INFO] Simulating with mode cropfollow
+2025-04-27 18:54:07,319 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:54:07,319 [INFO] [0.0, -0.0738892239299323, -0.1679375249724193, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:54:12,866 [INFO] Simulating with mode cropfollow
+2025-04-27 18:54:12,866 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:54:12,866 [INFO] [0.0, -0.07243557910223442, -0.1064406399923826, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:54:18,498 [INFO] 0 check bloated tube unknown
+2025-04-27 18:54:18,498 [INFO] ===============================================
+Mode: 0
+stack size: 6
+remainTime: 15
+
+2025-04-27 18:54:18,498 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.05, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.025, 0.021875000000000006, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 18:54:18,498 [INFO] Simulating with mode cropfollow
+2025-04-27 18:54:18,498 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:54:18,498 [INFO] [0.0, -0.07500000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:54:24,193 [INFO] Simulating with mode cropfollow
+2025-04-27 18:54:24,193 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:54:24,193 [INFO] [0.0, -0.060082556471865195, -0.16767725764768102, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:54:29,847 [INFO] Simulating with mode cropfollow
+2025-04-27 18:54:29,847 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:54:29,847 [INFO] [0.0, -0.08509368454742941, -0.15800486945429207, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:54:35,443 [INFO] Simulating with mode cropfollow
+2025-04-27 18:54:35,443 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:54:35,443 [INFO] [0.0, -0.08203531989320409, -0.14179933322275645, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:54:40,844 [INFO] Simulating with mode cropfollow
+2025-04-27 18:54:40,844 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:54:40,844 [INFO] [0.0, -0.07296313131485227, -0.17188063712419946, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:54:46,078 [INFO] Simulating with mode cropfollow
+2025-04-27 18:54:46,078 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:54:46,078 [INFO] [0.0, -0.053425243432233656, -0.16510528051112325, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:54:51,305 [INFO] Simulating with mode cropfollow
+2025-04-27 18:54:51,305 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:54:51,305 [INFO] [0.0, -0.09529801835011587, -0.1405795551853383, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:54:56,425 [INFO] Simulating with mode cropfollow
+2025-04-27 18:54:56,425 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:54:56,425 [INFO] [0.0, -0.08740790203838782, -0.16207678061245073, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:55:01,586 [INFO] Simulating with mode cropfollow
+2025-04-27 18:55:01,586 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:55:01,586 [INFO] [0.0, -0.08039772684792752, -0.1351427208384663, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:55:06,764 [INFO] Simulating with mode cropfollow
+2025-04-27 18:55:06,764 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:55:06,764 [INFO] [0.0, -0.0738892239299323, -0.17146876248620965, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:55:12,039 [INFO] Simulating with mode cropfollow
+2025-04-27 18:55:12,039 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:55:12,039 [INFO] [0.0, -0.07243557910223442, -0.14072031999619128, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:55:17,338 [INFO] 0 check bloated tube unknown
+2025-04-27 18:55:17,338 [INFO] ===============================================
+Mode: 0
+stack size: 7
+remainTime: 15
+
+2025-04-27 18:55:17,338 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.07500000000000001, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.012499999999999997, 0.021875000000000006, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 18:55:17,338 [INFO] Simulating with mode cropfollow
+2025-04-27 18:55:17,338 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:55:17,338 [INFO] [0.0, -0.08750000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:55:22,864 [INFO] Simulating with mode cropfollow
+2025-04-27 18:55:22,864 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:55:22,864 [INFO] [0.0, -0.0800412782359326, -0.16767725764768102, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:55:28,366 [INFO] Simulating with mode cropfollow
+2025-04-27 18:55:28,366 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:55:28,366 [INFO] [0.0, -0.09254684227371471, -0.15800486945429207, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:55:33,775 [INFO] Simulating with mode cropfollow
+2025-04-27 18:55:33,775 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:55:33,775 [INFO] [0.0, -0.09101765994660205, -0.14179933322275645, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:55:39,172 [INFO] Simulating with mode cropfollow
+2025-04-27 18:55:39,172 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:55:39,172 [INFO] [0.0, -0.08648156565742614, -0.17188063712419946, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:55:44,482 [INFO] Simulating with mode cropfollow
+2025-04-27 18:55:44,482 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:55:44,482 [INFO] [0.0, -0.07671262171611684, -0.16510528051112325, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:55:49,819 [INFO] Simulating with mode cropfollow
+2025-04-27 18:55:49,819 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:55:49,819 [INFO] [0.0, -0.09764900917505794, -0.1405795551853383, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:55:55,080 [INFO] Simulating with mode cropfollow
+2025-04-27 18:55:55,080 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:55:55,080 [INFO] [0.0, -0.09370395101919392, -0.16207678061245073, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:56:00,436 [INFO] Simulating with mode cropfollow
+2025-04-27 18:56:00,436 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:56:00,436 [INFO] [0.0, -0.09019886342396377, -0.1351427208384663, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:56:05,755 [INFO] Simulating with mode cropfollow
+2025-04-27 18:56:05,755 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:56:05,756 [INFO] [0.0, -0.08694461196496615, -0.17146876248620965, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:56:11,130 [INFO] Simulating with mode cropfollow
+2025-04-27 18:56:11,131 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:56:11,131 [INFO] [0.0, -0.08621778955111721, -0.14072031999619128, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:56:16,497 [INFO] 0 check bloated tube unknown
+2025-04-27 18:56:16,497 [INFO] ===============================================
+Mode: 0
+stack size: 8
+remainTime: 15
+
+2025-04-27 18:56:16,497 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.07500000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.012499999999999997, 0.010937500000000003, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 18:56:16,497 [INFO] Simulating with mode cropfollow
+2025-04-27 18:56:16,497 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:56:16,497 [INFO] [0.0, -0.08750000000000001, -0.1640625, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:56:21,964 [INFO] Simulating with mode cropfollow
+2025-04-27 18:56:21,964 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:56:21,964 [INFO] [0.0, -0.0800412782359326, -0.1713386288238405, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:56:27,443 [INFO] Simulating with mode cropfollow
+2025-04-27 18:56:27,443 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:56:27,443 [INFO] [0.0, -0.09254684227371471, -0.16650243472714604, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:56:32,958 [INFO] Simulating with mode cropfollow
+2025-04-27 18:56:32,958 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:56:32,958 [INFO] [0.0, -0.09101765994660205, -0.15839966661137822, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:56:38,440 [INFO] Simulating with mode cropfollow
+2025-04-27 18:56:38,440 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:56:38,440 [INFO] [0.0, -0.08648156565742614, -0.17344031856209974, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:56:43,901 [INFO] Simulating with mode cropfollow
+2025-04-27 18:56:43,901 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:56:43,901 [INFO] [0.0, -0.07671262171611684, -0.17005264025556163, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:56:49,428 [INFO] Simulating with mode cropfollow
+2025-04-27 18:56:49,429 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:56:49,429 [INFO] [0.0, -0.09764900917505794, -0.15778977759266916, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:56:54,706 [INFO] Simulating with mode cropfollow
+2025-04-27 18:56:54,706 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:56:54,706 [INFO] [0.0, -0.09370395101919392, -0.16853839030622536, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:57:00,020 [INFO] Simulating with mode cropfollow
+2025-04-27 18:57:00,020 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:57:00,020 [INFO] [0.0, -0.09019886342396377, -0.15507136041923314, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:57:05,402 [INFO] Simulating with mode cropfollow
+2025-04-27 18:57:05,402 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:57:05,402 [INFO] [0.0, -0.08694461196496615, -0.1732343812431048, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:57:10,923 [INFO] Simulating with mode cropfollow
+2025-04-27 18:57:10,923 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:57:10,923 [INFO] [0.0, -0.08621778955111721, -0.15786015999809563, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:57:16,347 [INFO] 0 check bloated tube unknown
+2025-04-27 18:57:16,347 [INFO] ===============================================
+Mode: 0
+stack size: 9
+remainTime: 15
+
+2025-04-27 18:57:16,347 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.08750000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.006249999999999999, 0.010937500000000003, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 18:57:16,347 [INFO] Simulating with mode cropfollow
+2025-04-27 18:57:16,347 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:57:16,348 [INFO] [0.0, -0.09375, -0.1640625, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:57:21,778 [INFO] Simulating with mode cropfollow
+2025-04-27 18:57:21,778 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:57:21,778 [INFO] [0.0, -0.0900206391179663, -0.1713386288238405, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:57:27,312 [INFO] Simulating with mode cropfollow
+2025-04-27 18:57:27,312 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:57:27,313 [INFO] [0.0, -0.09627342113685736, -0.16650243472714604, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:57:32,725 [INFO] Simulating with mode cropfollow
+2025-04-27 18:57:32,725 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:57:32,725 [INFO] [0.0, -0.09550882997330103, -0.15839966661137822, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:57:38,203 [INFO] Simulating with mode cropfollow
+2025-04-27 18:57:38,203 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:57:38,203 [INFO] [0.0, -0.09324078282871306, -0.17344031856209974, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:57:43,651 [INFO] Simulating with mode cropfollow
+2025-04-27 18:57:43,651 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:57:43,651 [INFO] [0.0, -0.08835631085805842, -0.17005264025556163, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:57:49,139 [INFO] Simulating with mode cropfollow
+2025-04-27 18:57:49,139 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:57:49,139 [INFO] [0.0, -0.09882450458752898, -0.15778977759266916, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:57:54,470 [INFO] Simulating with mode cropfollow
+2025-04-27 18:57:54,470 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:57:54,470 [INFO] [0.0, -0.09685197550959695, -0.16853839030622536, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:57:59,902 [INFO] Simulating with mode cropfollow
+2025-04-27 18:57:59,902 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:57:59,902 [INFO] [0.0, -0.09509943171198189, -0.15507136041923314, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:58:05,359 [INFO] Simulating with mode cropfollow
+2025-04-27 18:58:05,359 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:58:05,359 [INFO] [0.0, -0.09347230598248309, -0.1732343812431048, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:58:10,732 [INFO] Simulating with mode cropfollow
+2025-04-27 18:58:10,732 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:58:10,732 [INFO] [0.0, -0.09310889477555861, -0.15786015999809563, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:58:16,200 [INFO] 0 check bloated tube unknown
+2025-04-27 18:58:16,200 [INFO] ===============================================
+Mode: 0
+stack size: 10
+remainTime: 15
+
+2025-04-27 18:58:16,200 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.08750000000000001, -0.1640625, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.006249999999999999, 0.0054687499999999944, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 18:58:16,200 [INFO] Simulating with mode cropfollow
+2025-04-27 18:58:16,200 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:58:16,200 [INFO] [0.0, -0.09375, -0.16953125, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:58:21,687 [INFO] Simulating with mode cropfollow
+2025-04-27 18:58:21,687 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:58:21,687 [INFO] [0.0, -0.0900206391179663, -0.17316931441192024, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:58:27,247 [INFO] Simulating with mode cropfollow
+2025-04-27 18:58:27,247 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:58:27,247 [INFO] [0.0, -0.09627342113685736, -0.17075121736357302, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:58:32,720 [INFO] Simulating with mode cropfollow
+2025-04-27 18:58:32,720 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:58:32,720 [INFO] [0.0, -0.09550882997330103, -0.1666998333056891, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:58:38,234 [INFO] Simulating with mode cropfollow
+2025-04-27 18:58:38,235 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:58:38,235 [INFO] [0.0, -0.09324078282871306, -0.17422015928104986, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:58:43,667 [INFO] Simulating with mode cropfollow
+2025-04-27 18:58:43,667 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:58:43,667 [INFO] [0.0, -0.08835631085805842, -0.1725263201277808, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:58:49,155 [INFO] Simulating with mode cropfollow
+2025-04-27 18:58:49,155 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:58:49,155 [INFO] [0.0, -0.09882450458752898, -0.16639488879633457, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:58:54,564 [INFO] Simulating with mode cropfollow
+2025-04-27 18:58:54,564 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:58:54,564 [INFO] [0.0, -0.09685197550959695, -0.17176919515311267, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:58:59,917 [INFO] Simulating with mode cropfollow
+2025-04-27 18:58:59,917 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:58:59,917 [INFO] [0.0, -0.09509943171198189, -0.1650356802096166, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:59:05,374 [INFO] Simulating with mode cropfollow
+2025-04-27 18:59:05,374 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:59:05,374 [INFO] [0.0, -0.09347230598248309, -0.1741171906215524, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:59:10,861 [INFO] Simulating with mode cropfollow
+2025-04-27 18:59:10,861 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.044}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:59:10,861 [INFO] [0.0, -0.09310889477555861, -0.16643007999904783, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:59:16,340 [INFO] 0 check bloated tube unknown
+2025-04-27 18:59:16,340 [INFO] ===============================================
+Mode: 0
+stack size: 11
+remainTime: 15
+
+2025-04-27 18:59:16,340 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.09375, -0.1640625, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.0031250000000000028, 0.0054687499999999944, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 18:59:16,340 [INFO] 0 is not valid anymore
+2025-04-27 18:59:16,340 [INFO] Hit refine threshold, system halt, result unknown
+2025-04-27 18:59:16,340 [INFO] simulation time: 5.354737281799316
+2025-04-27 18:59:16,340 [INFO] verification time: 593.3083212375641
diff --git a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg02_5/results.json b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg02_5/results.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ac4dc3f919504c3f5f8df0b1477a7065b910356
--- /dev/null
+++ b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg02_5/results.json
@@ -0,0 +1,7 @@
+{
+ "safety": "UNKNOWN",
+ "sim_time": 5.354737281799316,
+ "verification_time": 593.3083212375641,
+ "refine_time": null,
+ "total_time": 599.2249357700348
+}
\ No newline at end of file
diff --git a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg05_0/Traj.txt b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg05_0/Traj.txt
new file mode 100644
index 0000000000000000000000000000000000000000..50459ef1dbf8cf28cac77e4a78c2fa6400ae2c6e
--- /dev/null
+++ b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg05_0/Traj.txt
@@ -0,0 +1,47 @@
+cropfollow/pn=[0.000:0.087]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]
+0.0 0.0 -0.0821494609117508 0.05337495356798172 0.08097432553768158 -0.21859844028949738 -0.24527324736118317 0.05429951846599579
+0.3333333432674408 0.19971518218517303 -0.07147953659296036 0.04065433144569397 0.08855731040239334 -0.21119481325149536 -0.23151639103889465 0.06823573261499405
+0.6666666865348816 0.3995499312877655 -0.06335090845823288 0.04283566400408745 0.0972171351313591 -0.20250767469406128 -0.22391894459724426 0.07580586522817612
+1.0 0.5993664860725403 -0.05478639528155327 0.04186425358057022 0.10554517805576324 -0.19419197738170624 -0.21511797606945038 0.0846191793680191
+1.3333333730697632 0.7991912364959717 -0.046415988355875015 0.08094089478254318 0.12330608069896698 -0.1757117658853531 -0.2161380499601364 0.08287979662418365
+1.6666666269302368 0.9985364675521851 -0.030245477333664894 0.056288059800863266 0.13358153402805328 -0.16594333946704865 -0.19407249987125397 0.10545238107442856
+2.0 1.1982197761535645 -0.018993809819221497 0.07643058896064758 0.14965733885765076 -0.149466872215271 -0.18764495849609375 0.111479252576828
+2.3333332538604736 1.3976359367370605 -0.003722570836544037 0.03458889573812485 0.15483322739601135 -0.1449873447418213 -0.16227835416793823 0.1375422179698944
+2.6666667461395264 1.5975162982940674 0.003193829208612442 -0.005185719579458237 0.15189537405967712 -0.1481005847454071 -0.14550772309303284 0.1544882357120514
+3.0 1.7975136041641235 0.002156689763069153 -0.03326621651649475 0.14375868439674377 -0.1560753583908081 -0.13944530487060547 0.1603887379169464
+3.3333332538604736 1.9974029064178467 -0.004495326429605484 -0.030888043344020844 0.13771234452724457 -0.16214455664157867 -0.14670298993587494 0.1531539112329483
+3.6666667461395264 2.197307586669922 -0.010671952739357948 -0.04559570178389549 0.12777717411518097 -0.17191104590892792 -0.14912109076976776 0.15056712925434113
+4.0 2.397099733352661 -0.01978793367743492 -0.0233926959335804 0.12432338297367096 -0.17559455335140228 -0.1638992577791214 0.13601867854595184
+4.333333492279053 2.5970449447631836 -0.024466047063469887 -0.01084922906011343 0.12281288951635361 -0.17716948688030243 -0.17174498736858368 0.12823738157749176
+4.666666507720947 2.7970333099365234 -0.026635849848389626 -0.0025977743789553642 0.12271421402692795 -0.17728479206562042 -0.1759859174489975 0.12401308864355087
+5.0 2.997032642364502 -0.027155404910445213 -0.016736362129449844 0.11863970011472702 -0.1813182830810547 -0.17295050621032715 0.12700748443603516
+5.333333492279053 3.197004556655884 -0.030502520501613617 0.005361929535865784 0.1208358034491539 -0.17915987968444824 -0.18184083700180054 0.1181548461318016
+5.666666507720947 3.3970017433166504 -0.029430139809846878 -0.0110277459025383 0.11780387163162231 -0.18217790126800537 -0.17666414380073547 0.12331762909889221
+6.0 3.596989631652832 -0.031635645776987076 0.002161582000553608 0.11890441179275513 -0.1810949146747589 -0.18217569589614868 0.11782363057136536
+6.333333492279053 3.7969892024993896 -0.03120332956314087 0.0002025614958256483 0.1188473105430603 -0.18115270137786865 -0.18125396966934204 0.11874604225158691
+6.666666507720947 3.9969892501831055 -0.031162817031145096 -0.029133262112736702 0.11149126291275024 -0.18838146328926086 -0.17381688952445984 0.12605583667755127
+7.0 4.196904182434082 -0.036988645792007446 -0.015611562877893448 0.10909035801887512 -0.19087311625480652 -0.18306764960289001 0.11689582467079163
+7.333333492279053 4.39687967300415 -0.04011083021759987 -0.03704075515270233 0.10052821040153503 -0.19926601648330688 -0.18074986338615417 0.11904436349868774
+7.666666507720947 4.596742630004883 -0.047517288476228714 -0.05979159101843834 0.0872756689786911 -0.2121882289648056 -0.18231023848056793 0.11715365946292877
+8.0 4.796385288238525 -0.05946848541498184 -0.05476103723049164 0.07662325352430344 -0.222927063703537 -0.19556021690368652 0.1039901003241539
+8.333333015441895 4.9960856437683105 -0.07041522115468979 -0.06739623844623566 0.062407948076725006 -0.23691099882125854 -0.20323839783668518 0.09608054906129837
+8.666666984558105 5.195631504058838 -0.08388426899909973 -0.00020416826009750366 0.06606470048427582 -0.23393531143665314 -0.23383323848247528 0.06616677343845367
+9.0 5.395631313323975 -0.08392510563135147 0.021020323038101196 0.07129646092653275 -0.22863727807998657 -0.23914667963981628 0.06078705936670303
+9.333333015441895 5.595587253570557 -0.0797213464975357 0.010764027014374733 0.07296092808246613 -0.2270217090845108 -0.23240362107753754 0.06757901608943939
+9.666666984558105 5.7955756187438965 -0.07756858319044113 0.02061900496482849 0.07755392044782639 -0.2223823070526123 -0.23269107937812805 0.06724514812231064
+10.0 5.995532989501953 -0.07344507426023483 0.02323908545076847 0.08232367783784866 -0.21759533882141113 -0.22921383380889893 0.07070518285036087
+10.333333015441895 6.195478916168213 -0.06879767775535583 0.00036510080099105835 0.08129358291625977 -0.2187063992023468 -0.21888893842697144 0.08111104369163513
+10.666666984558105 6.39547872543335 -0.06872465461492538 0.010259011760354042 0.08383216708898544 -0.21615204215049744 -0.22128146886825562 0.07870274037122726
+11.0 6.595468044281006 -0.06667289137840271 0.04959072172641754 0.09553530812263489 -0.20409590005874634 -0.2288810908794403 0.07075011730194092
+11.333333015441895 6.795222282409668 -0.056758813560009 0.06424148380756378 0.10898109525442123 -0.19040006399154663 -0.22249871492385864 0.07688244432210922
+11.666666984558105 6.994809627532959 -0.04391935095191002 0.032662708312273026 0.11416487395763397 -0.18567512929439545 -0.2020035833120346 0.09783641993999481
+12.0 7.194703102111816 -0.037387970834970474 0.04818154498934746 0.12447868287563324 -0.17517317831516266 -0.1992546170949936 0.10039724409580231
+12.333333015441895 7.394471168518066 -0.027755388990044594 0.02174936793744564 0.1276460438966751 -0.17228300869464874 -0.1831568330526352 0.11677222698926926
+12.666666984558105 7.594423770904541 -0.023405857384204865 0.05800299346446991 0.1408345103263855 -0.15866100788116455 -0.18764623999595642 0.11184928566217422
+13.0 7.7940874099731445 -0.011811761185526848 0.03764450550079346 0.14749087393283844 -0.15229658782482147 -0.17111440002918243 0.12867306172847748
+13.333333015441895 7.993945598602295 -0.004284637980163097 0.017011070623993874 0.14994624257087708 -0.1500103771686554 -0.15851551294326782 0.14144110679626465
+13.666666984558105 8.193916320800781 -0.0008825876284390688 0.014428351074457169 0.1527087688446045 -0.14726001024246216 -0.1544739305973053 0.14549484848976135
+14.0 8.393895149230957 0.0020029826555401087 -0.00450076162815094 0.15087628364562988 -0.14912068843841553 -0.14687031507492065 0.15312665700912476
+14.333333015441895 8.593893051147461 0.0011028333101421595 -0.01890062354505062 0.1463511735200882 -0.15359525382518768 -0.14414550364017487 0.155800923705101
+14.666666984558105 8.79385757446289 -0.0026770667172968388 0.00027659349143505096 0.14739206433296204 -0.15260791778564453 -0.15274620056152344 0.14725378155708313
+15.0 8.993857383728027 -0.0026217480190098286 0.006513564847409725 0.14900344610214233 -0.15099018812179565 -0.1542469561100006 0.14574667811393738
diff --git a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg05_0/log.txt b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg05_0/log.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dca921c3726b1bbcfdc40cf7bb4ce6d2a6659a8a
--- /dev/null
+++ b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg05_0/log.txt
@@ -0,0 +1,447 @@
+2025-04-27 18:59:17,480 [INFO] Simulating with mode cropfollow
+2025-04-27 18:59:17,480 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:59:17,480 [INFO] [0.0, -0.08214945910929183, 0.05337495360249181, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:59:23,011 [INFO] Verification Begin
+2025-04-27 18:59:23,011 [INFO] ===============================================
+Mode: 0
+stack size: 1
+remainTime: 15
+
+2025-04-27 18:59:23,011 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 18:59:23,011 [INFO] Simulating with mode cropfollow
+2025-04-27 18:59:23,011 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:59:23,011 [INFO] [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:59:28,539 [INFO] Simulating with mode cropfollow
+2025-04-27 18:59:28,540 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:59:28,540 [INFO] [0.0, 0.05966977411253924, -0.11641806118144818, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:59:34,173 [INFO] Simulating with mode cropfollow
+2025-04-27 18:59:34,173 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:59:34,173 [INFO] [0.0, -0.040374738189717645, -0.03903895563433671, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:59:39,696 [INFO] Simulating with mode cropfollow
+2025-04-27 18:59:39,696 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:59:39,696 [INFO] [0.0, -0.028141279572816355, 0.0906053342179482, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:59:45,355 [INFO] Simulating with mode cropfollow
+2025-04-27 18:59:45,355 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:59:45,356 [INFO] [0.0, 0.008147474740590965, -0.1500450969935958, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:59:50,864 [INFO] Simulating with mode cropfollow
+2025-04-27 18:59:50,864 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:59:50,864 [INFO] [0.0, 0.0862990262710654, -0.09584224408898614, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 18:59:56,462 [INFO] Simulating with mode cropfollow
+2025-04-27 18:59:56,462 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 18:59:56,462 [INFO] [0.0, -0.08119207340046344, 0.1003635585172934, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:00:01,963 [INFO] Simulating with mode cropfollow
+2025-04-27 19:00:01,964 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:00:01,964 [INFO] [0.0, -0.049631608153551256, -0.07161424489960602, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:00:07,622 [INFO] Simulating with mode cropfollow
+2025-04-27 19:00:07,622 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:00:07,622 [INFO] [0.0, -0.021590907391710074, 0.14385823329226938, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:00:13,137 [INFO] Simulating with mode cropfollow
+2025-04-27 19:00:13,137 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:00:13,137 [INFO] [0.0, 0.00444310428027081, -0.14675009988967722, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:00:18,664 [INFO] Simulating with mode cropfollow
+2025-04-27 19:00:18,665 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:00:18,665 [INFO] [0.0, 0.010257683591062383, 0.09923744003046958, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:00:24,165 [INFO] 0 check bloated tube unknown
+2025-04-27 19:00:24,165 [INFO] ===============================================
+Mode: 0
+stack size: 2
+remainTime: 15
+
+2025-04-27 19:00:24,165 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.1, 0.0875, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:00:24,165 [INFO] Simulating with mode cropfollow
+2025-04-27 19:00:24,165 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:00:24,165 [INFO] [0.0, 0.0, -0.0875, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:00:29,803 [INFO] Simulating with mode cropfollow
+2025-04-27 19:00:29,803 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:00:29,803 [INFO] [0.0, 0.05966977411253924, -0.1457090305907241, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:00:35,372 [INFO] Simulating with mode cropfollow
+2025-04-27 19:00:35,372 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:00:35,372 [INFO] [0.0, -0.040374738189717645, -0.10701947781716835, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:00:41,035 [INFO] Simulating with mode cropfollow
+2025-04-27 19:00:41,035 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:00:41,035 [INFO] [0.0, -0.028141279572816355, -0.042197332891025896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:00:46,964 [INFO] Simulating with mode cropfollow
+2025-04-27 19:00:46,964 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:00:46,964 [INFO] [0.0, 0.008147474740590965, -0.1625225484967979, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:00:52,671 [INFO] Simulating with mode cropfollow
+2025-04-27 19:00:52,671 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:00:52,671 [INFO] [0.0, 0.0862990262710654, -0.13542112204449308, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:00:58,271 [INFO] Simulating with mode cropfollow
+2025-04-27 19:00:58,271 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:00:58,271 [INFO] [0.0, -0.08119207340046344, -0.0373182207413533, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:01:03,657 [INFO] Simulating with mode cropfollow
+2025-04-27 19:01:03,657 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:01:03,657 [INFO] [0.0, -0.049631608153551256, -0.123307122449803, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:01:09,121 [INFO] Simulating with mode cropfollow
+2025-04-27 19:01:09,122 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:01:09,122 [INFO] [0.0, -0.021590907391710074, -0.015570883353865306, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:01:14,530 [INFO] Simulating with mode cropfollow
+2025-04-27 19:01:14,530 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:01:14,530 [INFO] [0.0, 0.00444310428027081, -0.16087504994483862, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:01:20,093 [INFO] Simulating with mode cropfollow
+2025-04-27 19:01:20,093 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:01:20,093 [INFO] [0.0, 0.010257683591062383, -0.037881279984765204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:01:25,651 [INFO] 0 check bloated tube unknown
+2025-04-27 19:01:25,652 [INFO] ===============================================
+Mode: 0
+stack size: 3
+remainTime: 15
+
+2025-04-27 19:01:25,652 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.05, 0.0875, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:01:25,652 [INFO] Simulating with mode cropfollow
+2025-04-27 19:01:25,652 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:01:25,652 [INFO] [0.0, -0.05, -0.0875, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:01:31,332 [INFO] Simulating with mode cropfollow
+2025-04-27 19:01:31,332 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:01:31,332 [INFO] [0.0, -0.020165112943730384, -0.1457090305907241, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:01:37,012 [INFO] Simulating with mode cropfollow
+2025-04-27 19:01:37,012 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:01:37,012 [INFO] [0.0, -0.07018736909485883, -0.10701947781716835, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:01:42,737 [INFO] Simulating with mode cropfollow
+2025-04-27 19:01:42,737 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:01:42,737 [INFO] [0.0, -0.06407063978640817, -0.042197332891025896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:01:48,554 [INFO] Simulating with mode cropfollow
+2025-04-27 19:01:48,554 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:01:48,554 [INFO] [0.0, -0.04592626262970452, -0.1625225484967979, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:01:54,151 [INFO] Simulating with mode cropfollow
+2025-04-27 19:01:54,151 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:01:54,151 [INFO] [0.0, -0.006850486864467306, -0.13542112204449308, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:01:59,925 [INFO] Simulating with mode cropfollow
+2025-04-27 19:01:59,925 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:01:59,925 [INFO] [0.0, -0.09059603670023172, -0.0373182207413533, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:02:05,501 [INFO] Simulating with mode cropfollow
+2025-04-27 19:02:05,501 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:02:05,501 [INFO] [0.0, -0.07481580407677563, -0.123307122449803, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:02:11,158 [INFO] Simulating with mode cropfollow
+2025-04-27 19:02:11,158 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:02:11,158 [INFO] [0.0, -0.06079545369585504, -0.015570883353865306, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:02:16,814 [INFO] Simulating with mode cropfollow
+2025-04-27 19:02:16,814 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:02:16,814 [INFO] [0.0, -0.0477784478598646, -0.16087504994483862, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:02:22,437 [INFO] Simulating with mode cropfollow
+2025-04-27 19:02:22,437 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:02:22,437 [INFO] [0.0, -0.04487115820446881, -0.037881279984765204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:02:28,179 [INFO] 0 check bloated tube unknown
+2025-04-27 19:02:28,179 [INFO] ===============================================
+Mode: 0
+stack size: 4
+remainTime: 15
+
+2025-04-27 19:02:28,179 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, 0.0, -0.0875, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.05, 0.04375, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:02:28,179 [INFO] Simulating with mode cropfollow
+2025-04-27 19:02:28,179 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:02:28,179 [INFO] [0.0, -0.05, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:02:34,016 [INFO] Simulating with mode cropfollow
+2025-04-27 19:02:34,016 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:02:34,016 [INFO] [0.0, -0.020165112943730384, -0.16035451529536204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:02:39,692 [INFO] Simulating with mode cropfollow
+2025-04-27 19:02:39,692 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:02:39,692 [INFO] [0.0, -0.07018736909485883, -0.14100973890858418, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:02:45,446 [INFO] Simulating with mode cropfollow
+2025-04-27 19:02:45,446 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:02:45,446 [INFO] [0.0, -0.06407063978640817, -0.10859866644551294, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:02:51,271 [INFO] Simulating with mode cropfollow
+2025-04-27 19:02:51,271 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:02:51,271 [INFO] [0.0, -0.04592626262970452, -0.16876127424839896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:02:56,871 [INFO] Simulating with mode cropfollow
+2025-04-27 19:02:56,871 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:02:56,871 [INFO] [0.0, -0.006850486864467306, -0.15521056102224653, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:03:02,486 [INFO] Simulating with mode cropfollow
+2025-04-27 19:03:02,486 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:03:02,486 [INFO] [0.0, -0.09059603670023172, -0.10615911037067664, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:03:07,984 [INFO] Simulating with mode cropfollow
+2025-04-27 19:03:07,984 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:03:07,984 [INFO] [0.0, -0.07481580407677563, -0.1491535612249015, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:03:13,564 [INFO] Simulating with mode cropfollow
+2025-04-27 19:03:13,564 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:03:13,564 [INFO] [0.0, -0.06079545369585504, -0.09528544167693265, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:03:19,016 [INFO] Simulating with mode cropfollow
+2025-04-27 19:03:19,016 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:03:19,016 [INFO] [0.0, -0.0477784478598646, -0.1679375249724193, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:03:24,624 [INFO] Simulating with mode cropfollow
+2025-04-27 19:03:24,625 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:03:24,625 [INFO] [0.0, -0.04487115820446881, -0.1064406399923826, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:03:30,236 [INFO] 0 check bloated tube unknown
+2025-04-27 19:03:30,237 [INFO] ===============================================
+Mode: 0
+stack size: 5
+remainTime: 15
+
+2025-04-27 19:03:30,237 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.05, -0.0875, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.025, 0.04375, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:03:30,237 [INFO] Simulating with mode cropfollow
+2025-04-27 19:03:30,237 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:03:30,237 [INFO] [0.0, -0.07500000000000001, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:03:36,001 [INFO] Simulating with mode cropfollow
+2025-04-27 19:03:36,001 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:03:36,001 [INFO] [0.0, -0.060082556471865195, -0.16035451529536204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:03:41,745 [INFO] Simulating with mode cropfollow
+2025-04-27 19:03:41,745 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:03:41,745 [INFO] [0.0, -0.08509368454742941, -0.14100973890858418, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:03:47,635 [INFO] Simulating with mode cropfollow
+2025-04-27 19:03:47,635 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:03:47,635 [INFO] [0.0, -0.08203531989320409, -0.10859866644551294, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:03:53,618 [INFO] Simulating with mode cropfollow
+2025-04-27 19:03:53,618 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:03:53,618 [INFO] [0.0, -0.07296313131485227, -0.16876127424839896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:03:59,412 [INFO] Simulating with mode cropfollow
+2025-04-27 19:03:59,412 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:03:59,412 [INFO] [0.0, -0.053425243432233656, -0.15521056102224653, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:04:05,281 [INFO] Simulating with mode cropfollow
+2025-04-27 19:04:05,281 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:04:05,281 [INFO] [0.0, -0.09529801835011587, -0.10615911037067664, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:04:10,995 [INFO] Simulating with mode cropfollow
+2025-04-27 19:04:10,995 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:04:10,995 [INFO] [0.0, -0.08740790203838782, -0.1491535612249015, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:04:16,751 [INFO] Simulating with mode cropfollow
+2025-04-27 19:04:16,751 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:04:16,751 [INFO] [0.0, -0.08039772684792752, -0.09528544167693265, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:04:22,349 [INFO] Simulating with mode cropfollow
+2025-04-27 19:04:22,349 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:04:22,349 [INFO] [0.0, -0.0738892239299323, -0.1679375249724193, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:04:28,150 [INFO] Simulating with mode cropfollow
+2025-04-27 19:04:28,150 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:04:28,150 [INFO] [0.0, -0.07243557910223442, -0.1064406399923826, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:04:33,830 [INFO] 0 check bloated tube unknown
+2025-04-27 19:04:33,830 [INFO] ===============================================
+Mode: 0
+stack size: 6
+remainTime: 15
+
+2025-04-27 19:04:33,830 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.05, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.025, 0.021875000000000006, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:04:33,830 [INFO] Simulating with mode cropfollow
+2025-04-27 19:04:33,830 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:04:33,830 [INFO] [0.0, -0.07500000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:04:39,643 [INFO] Simulating with mode cropfollow
+2025-04-27 19:04:39,643 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:04:39,643 [INFO] [0.0, -0.060082556471865195, -0.16767725764768102, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:04:45,361 [INFO] Simulating with mode cropfollow
+2025-04-27 19:04:45,361 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:04:45,361 [INFO] [0.0, -0.08509368454742941, -0.15800486945429207, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:04:51,092 [INFO] Simulating with mode cropfollow
+2025-04-27 19:04:51,092 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:04:51,092 [INFO] [0.0, -0.08203531989320409, -0.14179933322275645, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:04:56,921 [INFO] Simulating with mode cropfollow
+2025-04-27 19:04:56,921 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:04:56,921 [INFO] [0.0, -0.07296313131485227, -0.17188063712419946, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:05:02,574 [INFO] Simulating with mode cropfollow
+2025-04-27 19:05:02,575 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:05:02,575 [INFO] [0.0, -0.053425243432233656, -0.16510528051112325, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:05:08,126 [INFO] Simulating with mode cropfollow
+2025-04-27 19:05:08,126 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:05:08,126 [INFO] [0.0, -0.09529801835011587, -0.1405795551853383, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:05:13,688 [INFO] Simulating with mode cropfollow
+2025-04-27 19:05:13,688 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:05:13,688 [INFO] [0.0, -0.08740790203838782, -0.16207678061245073, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:05:19,286 [INFO] Simulating with mode cropfollow
+2025-04-27 19:05:19,286 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:05:19,286 [INFO] [0.0, -0.08039772684792752, -0.1351427208384663, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:05:24,717 [INFO] Simulating with mode cropfollow
+2025-04-27 19:05:24,717 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:05:24,717 [INFO] [0.0, -0.0738892239299323, -0.17146876248620965, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:05:30,351 [INFO] Simulating with mode cropfollow
+2025-04-27 19:05:30,351 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:05:30,351 [INFO] [0.0, -0.07243557910223442, -0.14072031999619128, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:05:35,961 [INFO] 0 check bloated tube unknown
+2025-04-27 19:05:35,961 [INFO] ===============================================
+Mode: 0
+stack size: 7
+remainTime: 15
+
+2025-04-27 19:05:35,961 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.07500000000000001, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.012499999999999997, 0.021875000000000006, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:05:35,961 [INFO] Simulating with mode cropfollow
+2025-04-27 19:05:35,961 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:05:35,961 [INFO] [0.0, -0.08750000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:05:41,682 [INFO] Simulating with mode cropfollow
+2025-04-27 19:05:41,682 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:05:41,682 [INFO] [0.0, -0.0800412782359326, -0.16767725764768102, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:05:47,368 [INFO] Simulating with mode cropfollow
+2025-04-27 19:05:47,368 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:05:47,368 [INFO] [0.0, -0.09254684227371471, -0.15800486945429207, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:05:53,090 [INFO] Simulating with mode cropfollow
+2025-04-27 19:05:53,090 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:05:53,090 [INFO] [0.0, -0.09101765994660205, -0.14179933322275645, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:05:58,895 [INFO] Simulating with mode cropfollow
+2025-04-27 19:05:58,895 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:05:58,895 [INFO] [0.0, -0.08648156565742614, -0.17188063712419946, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:06:04,496 [INFO] Simulating with mode cropfollow
+2025-04-27 19:06:04,496 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:06:04,496 [INFO] [0.0, -0.07671262171611684, -0.16510528051112325, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:06:10,120 [INFO] Simulating with mode cropfollow
+2025-04-27 19:06:10,120 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:06:10,120 [INFO] [0.0, -0.09764900917505794, -0.1405795551853383, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:06:15,675 [INFO] Simulating with mode cropfollow
+2025-04-27 19:06:15,675 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:06:15,675 [INFO] [0.0, -0.09370395101919392, -0.16207678061245073, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:06:21,325 [INFO] Simulating with mode cropfollow
+2025-04-27 19:06:21,326 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:06:21,326 [INFO] [0.0, -0.09019886342396377, -0.1351427208384663, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:06:26,851 [INFO] Simulating with mode cropfollow
+2025-04-27 19:06:26,852 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:06:26,852 [INFO] [0.0, -0.08694461196496615, -0.17146876248620965, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:06:32,830 [INFO] Simulating with mode cropfollow
+2025-04-27 19:06:32,830 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:06:32,830 [INFO] [0.0, -0.08621778955111721, -0.14072031999619128, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:06:38,531 [INFO] 0 check bloated tube unknown
+2025-04-27 19:06:38,531 [INFO] ===============================================
+Mode: 0
+stack size: 8
+remainTime: 15
+
+2025-04-27 19:06:38,531 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.07500000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.012499999999999997, 0.010937500000000003, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:06:38,531 [INFO] Simulating with mode cropfollow
+2025-04-27 19:06:38,531 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:06:38,531 [INFO] [0.0, -0.08750000000000001, -0.1640625, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:06:44,315 [INFO] Simulating with mode cropfollow
+2025-04-27 19:06:44,315 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:06:44,315 [INFO] [0.0, -0.0800412782359326, -0.1713386288238405, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:06:50,062 [INFO] Simulating with mode cropfollow
+2025-04-27 19:06:50,062 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:06:50,062 [INFO] [0.0, -0.09254684227371471, -0.16650243472714604, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:06:55,860 [INFO] Simulating with mode cropfollow
+2025-04-27 19:06:55,860 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:06:55,860 [INFO] [0.0, -0.09101765994660205, -0.15839966661137822, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:07:01,736 [INFO] Simulating with mode cropfollow
+2025-04-27 19:07:01,736 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:07:01,736 [INFO] [0.0, -0.08648156565742614, -0.17344031856209974, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:07:07,284 [INFO] Simulating with mode cropfollow
+2025-04-27 19:07:07,284 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:07:07,284 [INFO] [0.0, -0.07671262171611684, -0.17005264025556163, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:07:12,942 [INFO] Simulating with mode cropfollow
+2025-04-27 19:07:12,942 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:07:12,942 [INFO] [0.0, -0.09764900917505794, -0.15778977759266916, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:07:18,427 [INFO] Simulating with mode cropfollow
+2025-04-27 19:07:18,427 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:07:18,427 [INFO] [0.0, -0.09370395101919392, -0.16853839030622536, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:07:24,030 [INFO] Simulating with mode cropfollow
+2025-04-27 19:07:24,030 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:07:24,030 [INFO] [0.0, -0.09019886342396377, -0.15507136041923314, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:07:29,542 [INFO] Simulating with mode cropfollow
+2025-04-27 19:07:29,542 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:07:29,543 [INFO] [0.0, -0.08694461196496615, -0.1732343812431048, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:07:35,199 [INFO] Simulating with mode cropfollow
+2025-04-27 19:07:35,199 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:07:35,199 [INFO] [0.0, -0.08621778955111721, -0.15786015999809563, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:07:40,803 [INFO] 0 check bloated tube unknown
+2025-04-27 19:07:40,803 [INFO] ===============================================
+Mode: 0
+stack size: 9
+remainTime: 15
+
+2025-04-27 19:07:40,803 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.08750000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.006249999999999999, 0.010937500000000003, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:07:40,803 [INFO] Simulating with mode cropfollow
+2025-04-27 19:07:40,803 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:07:40,803 [INFO] [0.0, -0.09375, -0.1640625, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:07:46,518 [INFO] Simulating with mode cropfollow
+2025-04-27 19:07:46,518 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:07:46,518 [INFO] [0.0, -0.0900206391179663, -0.1713386288238405, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:07:52,268 [INFO] Simulating with mode cropfollow
+2025-04-27 19:07:52,268 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:07:52,269 [INFO] [0.0, -0.09627342113685736, -0.16650243472714604, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:07:57,877 [INFO] Simulating with mode cropfollow
+2025-04-27 19:07:57,878 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:07:57,878 [INFO] [0.0, -0.09550882997330103, -0.15839966661137822, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:08:03,712 [INFO] Simulating with mode cropfollow
+2025-04-27 19:08:03,712 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:08:03,712 [INFO] [0.0, -0.09324078282871306, -0.17344031856209974, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:08:09,283 [INFO] Simulating with mode cropfollow
+2025-04-27 19:08:09,283 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:08:09,283 [INFO] [0.0, -0.08835631085805842, -0.17005264025556163, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:08:14,902 [INFO] Simulating with mode cropfollow
+2025-04-27 19:08:14,902 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:08:14,902 [INFO] [0.0, -0.09882450458752898, -0.15778977759266916, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:08:20,396 [INFO] Simulating with mode cropfollow
+2025-04-27 19:08:20,396 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:08:20,396 [INFO] [0.0, -0.09685197550959695, -0.16853839030622536, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:08:25,933 [INFO] Simulating with mode cropfollow
+2025-04-27 19:08:25,933 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:08:25,933 [INFO] [0.0, -0.09509943171198189, -0.15507136041923314, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:08:31,463 [INFO] Simulating with mode cropfollow
+2025-04-27 19:08:31,463 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:08:31,463 [INFO] [0.0, -0.09347230598248309, -0.1732343812431048, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:08:37,130 [INFO] Simulating with mode cropfollow
+2025-04-27 19:08:37,130 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:08:37,130 [INFO] [0.0, -0.09310889477555861, -0.15786015999809563, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:08:42,731 [INFO] 0 check bloated tube unknown
+2025-04-27 19:08:42,731 [INFO] ===============================================
+Mode: 0
+stack size: 10
+remainTime: 15
+
+2025-04-27 19:08:42,731 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.08750000000000001, -0.1640625, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.006249999999999999, 0.0054687499999999944, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:08:42,731 [INFO] Simulating with mode cropfollow
+2025-04-27 19:08:42,731 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:08:42,731 [INFO] [0.0, -0.09375, -0.16953125, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:08:48,465 [INFO] Simulating with mode cropfollow
+2025-04-27 19:08:48,465 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:08:48,465 [INFO] [0.0, -0.0900206391179663, -0.17316931441192024, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:08:54,234 [INFO] Simulating with mode cropfollow
+2025-04-27 19:08:54,234 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:08:54,234 [INFO] [0.0, -0.09627342113685736, -0.17075121736357302, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:08:59,996 [INFO] Simulating with mode cropfollow
+2025-04-27 19:08:59,996 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:08:59,996 [INFO] [0.0, -0.09550882997330103, -0.1666998333056891, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:09:05,927 [INFO] Simulating with mode cropfollow
+2025-04-27 19:09:05,927 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:09:05,927 [INFO] [0.0, -0.09324078282871306, -0.17422015928104986, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:09:11,521 [INFO] Simulating with mode cropfollow
+2025-04-27 19:09:11,521 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:09:11,521 [INFO] [0.0, -0.08835631085805842, -0.1725263201277808, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:09:17,205 [INFO] Simulating with mode cropfollow
+2025-04-27 19:09:17,205 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:09:17,205 [INFO] [0.0, -0.09882450458752898, -0.16639488879633457, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:09:22,812 [INFO] Simulating with mode cropfollow
+2025-04-27 19:09:22,812 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:09:22,812 [INFO] [0.0, -0.09685197550959695, -0.17176919515311267, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:09:28,413 [INFO] Simulating with mode cropfollow
+2025-04-27 19:09:28,413 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:09:28,413 [INFO] [0.0, -0.09509943171198189, -0.1650356802096166, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:09:33,960 [INFO] Simulating with mode cropfollow
+2025-04-27 19:09:33,960 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:09:33,960 [INFO] [0.0, -0.09347230598248309, -0.1741171906215524, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:09:39,656 [INFO] Simulating with mode cropfollow
+2025-04-27 19:09:39,656 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.087}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:09:39,656 [INFO] [0.0, -0.09310889477555861, -0.16643007999904783, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:09:45,325 [INFO] 0 check bloated tube unknown
+2025-04-27 19:09:45,325 [INFO] ===============================================
+Mode: 0
+stack size: 11
+remainTime: 15
+
+2025-04-27 19:09:45,325 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.09375, -0.1640625, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.0031250000000000028, 0.0054687499999999944, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:09:45,325 [INFO] 0 is not valid anymore
+2025-04-27 19:09:45,325 [INFO] Hit refine threshold, system halt, result unknown
+2025-04-27 19:09:45,325 [INFO] simulation time: 5.530649662017822
+2025-04-27 19:09:45,325 [INFO] verification time: 622.3146340847015
diff --git a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg05_0/results.json b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg05_0/results.json
new file mode 100644
index 0000000000000000000000000000000000000000..e301953d5a8872285f2c670cc45615c172517b33
--- /dev/null
+++ b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg05_0/results.json
@@ -0,0 +1,7 @@
+{
+ "safety": "UNKNOWN",
+ "sim_time": 5.530649662017822,
+ "verification_time": 622.3146340847015,
+ "refine_time": null,
+ "total_time": 628.3983600139618
+}
\ No newline at end of file
diff --git a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg1/Traj.txt b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg1/Traj.txt
deleted file mode 100644
index 2dde0ffde1a6ffcbabc90978a267c2605084fa2f..0000000000000000000000000000000000000000
--- a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg1/Traj.txt
+++ /dev/null
@@ -1,47 +0,0 @@
-cropfollow/pn=[0.00:0.02]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]
-0.0 0.0 0.03661482781171799 0.06015415117144585 0.20137301087379456 -0.09808439761400223 -0.1281433403491974 0.1713140606880188
-0.3333333432674408 0.1996382772922516 0.04863840341567993 0.038421645760536194 0.20813076198101044 -0.09164784848690033 -0.11085395514965057 0.1889246553182602
-0.6666666865348816 0.39949068427085876 0.05632084235548973 0.020703162997961044 0.21146413683891296 -0.08847159147262573 -0.0988224446773529 0.2011132836341858
-1.0 0.5994478464126587 0.06046117842197418 0.007754816673696041 0.21239537000656128 -0.08759564161300659 -0.09147301316261292 0.20851799845695496
-1.3333333730697632 0.7994418740272522 0.06201212480664253 -0.002549072727560997 0.21137438714504242 -0.08862467110157013 -0.08735014498233795 0.2126489132642746
-1.6666666269302368 0.9994412660598755 0.06150231137871742 -0.010043825954198837 0.20898382365703583 -0.09100104868412018 -0.08597920835018158 0.21400566399097443
-2.0 1.1994311809539795 0.05949357897043228 -0.015161017887294292 0.20568624138832092 -0.09427929669618607 -0.08669907599687576 0.21326646208763123
-2.3333332538604736 1.399408221244812 0.05646149069070816 -0.018293209373950958 0.2018633484840393 -0.09808646887540817 -0.08894037455320358 0.2110094428062439
-2.6666667461395264 1.599374771118164 0.052803054451942444 -0.020627036690711975 0.19761475920677185 -0.10232144594192505 -0.09200865030288696 0.20792755484580994
-3.0 1.7993322610855103 0.04867793992161751 -0.02245466783642769 0.19302694499492645 -0.10689745843410492 -0.09567107260227203 0.20425333082675934
-3.3333332538604736 1.999281883239746 0.044187381863594055 -0.022930961102247238 0.18841570615768433 -0.1115054190158844 -0.10004094243049622 0.1998801827430725
-3.6666667461395264 2.1992292404174805 0.03960159048438072 -0.022756218910217285 0.1838742047548294 -0.11604814231395721 -0.10467101633548737 0.19525133073329926
-4.0 2.3991775512695312 0.03505073860287666 -0.02157539688050747 0.17962239682674408 -0.1203077882528305 -0.10952092707157135 0.19040925800800323
-4.333333492279053 2.5991311073303223 0.03073599375784397 -0.02076156996190548 0.17551365494728088 -0.12442169338464737 -0.11404166370630264 0.1858936846256256
-4.666666507720947 2.7990880012512207 0.026583977043628693 -0.018933935090899467 0.1718238890171051 -0.12812235951423645 -0.11865594238042831 0.18129029870033264
-5.0 2.999052047729492 0.022797416895627975 -0.017982419580221176 0.1682778000831604 -0.1316736936569214 -0.12268295884132385 0.17726853489875793
-5.333333492279053 3.19901967048645 0.0192011259496212 -0.01593046635389328 0.1651996523141861 -0.13476230204105377 -0.1267973929643631 0.17316456139087677
-5.666666507720947 3.398994207382202 0.01601516827940941 -0.0144869489595294 0.16237783432006836 -0.1375907063484192 -0.13034749031066895 0.1696210503578186
-6.0 3.598973274230957 0.013117879629135132 -0.012986000627279282 0.1598588228225708 -0.140115886926651 -0.13362306356430054 0.16635164618492126
-6.333333492279053 3.7989563941955566 0.010520752519369125 -0.01113551389425993 0.15772764384746552 -0.14225377142429352 -0.13668613135814667 0.16329528391361237
-6.666666507720947 3.998944044113159 0.008293695747852325 -0.008994413539767265 0.1560390591621399 -0.14394882321357727 -0.13945168256759644 0.16053619980812073
-7.0 4.1989359855651855 0.0064948368817567825 -0.007654293440282345 0.15457689762115479 -0.1454143226146698 -0.14158722758293152 0.15840399265289307
-7.333333492279053 4.398930072784424 0.004963993094861507 -0.006471235770732164 0.1533430516719818 -0.14665067195892334 -0.14341506361961365 0.1565786600112915
-7.666666507720947 4.598926067352295 0.003669754834845662 -0.005107562988996506 0.15239092707633972 -0.14760518074035645 -0.14505141973495483 0.15494468808174133
-8.0 4.798923492431641 0.0026482464745640755 -0.004515143111348152 0.15151794254779816 -0.14847899973392487 -0.14622144401073456 0.15377549827098846
-8.333333015441895 4.9989213943481445 0.0017452208558097482 -0.0034384755417704582 0.1508847326040268 -0.1491135209798813 -0.14739428460597992 0.15260396897792816
-8.666666984558105 5.198920249938965 0.0010575270280241966 -0.0022924502845853567 0.15048402547836304 -0.14951521158218384 -0.1483689844608307 0.1516302525997162
-9.0 5.398919582366943 0.0005990373902022839 -0.0022611382883042097 0.1500333696603775 -0.14996586740016937 -0.14883528649806976 0.1511639505624771
-9.333333015441895 5.598918914794922 0.0001468100817874074 -0.0018438949482515454 0.1496855914592743 -0.15031391382217407 -0.14939197897911072 0.15060752630233765
-9.666666984558105 5.798918724060059 -0.00022196871577762067 -0.001979147782549262 0.14928294718265533 -0.15071646869182587 -0.14972688257694244 0.15027253329753876
-10.0 5.998918533325195 -0.000617798010352999 -0.0011895782081410289 0.14908470213413239 -0.15091510117053986 -0.15032030642032623 0.149679496884346
-10.333333015441895 6.198918342590332 -0.0008557136170566082 -0.0013256785459816456 0.14881274104118347 -0.151187002658844 -0.15052416920661926 0.1494755744934082
-10.666666984558105 6.398918151855469 -0.0011208492796868086 -0.000622210674919188 0.1487235724925995 -0.1512763798236847 -0.15096527338027954 0.14903467893600464
-11.0 6.5989179611206055 -0.0012452914379537106 4.52490639872849e-05 0.14876602590084076 -0.1512339860200882 -0.15125660598278046 0.1487434059381485
-11.333333015441895 6.798917770385742 -0.0012362416600808501 0.00031315782689489424 0.14884203672409058 -0.151157945394516 -0.15131452679634094 0.14868545532226562
-11.666666984558105 6.998917579650879 -0.0011736101005226374 0.0007204283028841019 0.14900647103786469 -0.1509934812784195 -0.15135370194911957 0.1486462503671646
-12.0 7.198917388916016 -0.0010295244865119457 0.0011926299193874002 0.14926853775978088 -0.15073126554489136 -0.15132758021354675 0.1486722230911255
-12.333333015441895 7.398917198181152 -0.0007909985142759979 0.0018507386557757854 0.14967143535614014 -0.15032806992530823 -0.15125343203544617 0.1487460732460022
-12.666666984558105 7.598917007446289 -0.0004208509926684201 0.0011130392085760832 0.1498573273420334 -0.15014250576496124 -0.15069903433322906 0.14930079877376556
-13.0 7.798916816711426 -0.0001982431858778 0.0006869052303954959 0.14997345209121704 -0.15002650022506714 -0.15036994218826294 0.14963001012802124
-13.333333015441895 7.9989166259765625 -6.086213397793472e-05 -3.36411758325994e-05 0.14993074536323547 -0.15006926655769348 -0.15005245804786682 0.14994755387306213
-13.666666984558105 8.1989164352417 -6.759037205483764e-05 0.00010031319106929004 0.14995749294757843 -0.15004251897335052 -0.15009267628192902 0.14990733563899994
-14.0 8.398916244506836 -4.7527733840979636e-05 -0.0003450442454777658 0.14986619353294373 -0.15013378858566284 -0.14996126294136047 0.1500387191772461
-14.333333015441895 8.598916053771973 -0.00011653659021249041 -0.0009771313052624464 0.1496390998363495 -0.15036076307296753 -0.14987218379974365 0.15012767910957336
-14.666666984558105 8.79891586303711 -0.0003119628527201712 -0.0003815194359049201 0.14959265291690826 -0.1504073292016983 -0.15021656453609467 0.1497834175825119
-15.0 8.998915672302246 -0.0003882667515426874 0.0005996293621137738 0.1497616171836853 -0.15023833513259888 -0.1505381464958191 0.1494618058204651
diff --git a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg1/log.txt b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg1/log.txt
deleted file mode 100644
index 04226f101ddc6f0d2c0adb357ef3cf1786d702de..0000000000000000000000000000000000000000
--- a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg1/log.txt
+++ /dev/null
@@ -1,139 +0,0 @@
-2025-04-27 17:31:14,153 [INFO] Simulating with mode cropfollow
-2025-04-27 17:31:14,153 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.02}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:31:14,153 [INFO] [0.0, 0.03661482728875426, 0.06015415293646589, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:31:31,254 [INFO] Verification Begin
-2025-04-27 17:31:31,254 [INFO] ===============================================
-Mode: 0
-stack size: 1
-remainTime: 15
-
-2025-04-27 17:31:31,254 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 17:31:31,254 [INFO] Simulating with mode cropfollow
-2025-04-27 17:31:31,254 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.02}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:31:31,254 [INFO] [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:31:49,331 [INFO] Simulating with mode cropfollow
-2025-04-27 17:31:49,332 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.02}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:31:49,332 [INFO] [0.0, -0.01940758680886745, 0.14033325522049223, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:32:06,606 [INFO] Simulating with mode cropfollow
-2025-04-27 17:32:06,606 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.02}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:32:06,606 [INFO] [0.0, -0.034665496387149705, -0.06979694992937524, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:32:25,894 [INFO] Simulating with mode cropfollow
-2025-04-27 17:32:25,894 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.02}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:32:25,894 [INFO] [0.0, 0.07665289804869688, 0.05541825921424964, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:32:44,241 [INFO] Simulating with mode cropfollow
-2025-04-27 17:32:44,241 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.02}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:32:44,241 [INFO] [0.0, 0.046257448675656454, 0.15345175705380004, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:33:01,130 [INFO] Simulating with mode cropfollow
-2025-04-27 17:33:01,131 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.02}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:33:01,131 [INFO] [0.0, -0.03345710164017601, -0.06858806493749396, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:33:18,377 [INFO] Simulating with mode cropfollow
-2025-04-27 17:33:18,377 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.02}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:33:18,377 [INFO] [0.0, 0.027648412052970667, -0.09632342595171799, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:33:36,046 [INFO] Simulating with mode cropfollow
-2025-04-27 17:33:36,046 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.02}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:33:36,047 [INFO] [0.0, -0.012766788591394379, 0.06847911459459036, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:33:54,047 [INFO] Simulating with mode cropfollow
-2025-04-27 17:33:54,047 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.02}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:33:54,047 [INFO] [0.0, -0.02733756141935624, -0.04965555460798679, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:34:12,349 [INFO] Simulating with mode cropfollow
-2025-04-27 17:34:12,349 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.02}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:34:12,349 [INFO] [0.0, -0.02887357625434564, -0.10760399590836674, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:34:30,723 [INFO] Simulating with mode cropfollow
-2025-04-27 17:34:30,723 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.02}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:34:30,723 [INFO] [0.0, -0.06804166442991832, -0.025575941156179977, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:34:48,679 [INFO] 0 check bloated tube unknown
-2025-04-27 17:34:48,679 [INFO] ===============================================
-Mode: 0
-stack size: 2
-remainTime: 15
-
-2025-04-27 17:34:48,679 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.1, 0.0875, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 17:34:48,679 [INFO] Simulating with mode cropfollow
-2025-04-27 17:34:48,679 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.02}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:34:48,679 [INFO] [0.0, 0.0, -0.0875, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:35:07,412 [INFO] Simulating with mode cropfollow
-2025-04-27 17:35:07,412 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.02}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:35:07,412 [INFO] [0.0, -0.01940758680886745, -0.01733337238975388, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:35:25,870 [INFO] Simulating with mode cropfollow
-2025-04-27 17:35:25,870 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.02}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:35:25,870 [INFO] [0.0, -0.034665496387149705, -0.12239847496468761, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:35:44,173 [INFO] Simulating with mode cropfollow
-2025-04-27 17:35:44,174 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.02}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:35:44,174 [INFO] [0.0, 0.07665289804869688, -0.05979087039287517, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:36:04,016 [INFO] Simulating with mode cropfollow
-2025-04-27 17:36:04,016 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.02}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:36:04,016 [INFO] [0.0, 0.046257448675656454, -0.010774121473099973, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:36:22,442 [INFO] Simulating with mode cropfollow
-2025-04-27 17:36:22,442 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.02}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:36:22,442 [INFO] [0.0, -0.03345710164017601, -0.12179403246874698, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:36:40,970 [INFO] Simulating with mode cropfollow
-2025-04-27 17:36:40,970 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.02}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:36:40,970 [INFO] [0.0, 0.027648412052970667, -0.135661712975859, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:36:58,435 [INFO] Simulating with mode cropfollow
-2025-04-27 17:36:58,435 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.02}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:36:58,435 [INFO] [0.0, -0.012766788591394379, -0.053260442702704816, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:37:16,850 [INFO] Simulating with mode cropfollow
-2025-04-27 17:37:16,850 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.02}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:37:16,850 [INFO] [0.0, -0.02733756141935624, -0.11232777730399339, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:37:35,368 [INFO] Simulating with mode cropfollow
-2025-04-27 17:37:35,368 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.02}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:37:35,368 [INFO] [0.0, -0.02887357625434564, -0.14130199795418336, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:37:54,204 [INFO] Simulating with mode cropfollow
-2025-04-27 17:37:54,204 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.02}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:37:54,204 [INFO] [0.0, -0.06804166442991832, -0.10028797057808998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:38:13,632 [INFO] Mode 0 check bloated tube safe
-2025-04-27 17:38:13,632 [INFO] No child exist in current initial, pop
-2025-04-27 17:38:13,632 [INFO] ===============================================
-Mode: 0
-stack size: 1
-remainTime: 15
-
-2025-04-27 17:38:13,632 [INFO] Lower Bound: [0.0, -0.1, 0.0, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.1, 0.0875, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 17:38:13,632 [INFO] Simulating with mode cropfollow
-2025-04-27 17:38:13,632 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.02}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:38:13,632 [INFO] [0.0, 0.0, 0.0875, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:38:32,957 [INFO] Simulating with mode cropfollow
-2025-04-27 17:38:32,957 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.02}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:38:32,957 [INFO] [0.0, -0.01940758680886745, 0.1576666276102461, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:38:51,694 [INFO] Simulating with mode cropfollow
-2025-04-27 17:38:51,694 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.02}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:38:51,694 [INFO] [0.0, -0.034665496387149705, 0.052601525035312374, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:39:10,031 [INFO] Simulating with mode cropfollow
-2025-04-27 17:39:10,031 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.02}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:39:10,031 [INFO] [0.0, 0.07665289804869688, 0.11520912960712482, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:39:28,176 [INFO] Simulating with mode cropfollow
-2025-04-27 17:39:28,177 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.02}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:39:28,177 [INFO] [0.0, 0.046257448675656454, 0.16422587852690002, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:39:46,583 [INFO] Simulating with mode cropfollow
-2025-04-27 17:39:46,583 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.02}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:39:46,583 [INFO] [0.0, -0.03345710164017601, 0.053205967531253014, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:40:05,705 [INFO] Simulating with mode cropfollow
-2025-04-27 17:40:05,705 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.02}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:40:05,705 [INFO] [0.0, 0.027648412052970667, 0.039338287024141, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:40:24,735 [INFO] Simulating with mode cropfollow
-2025-04-27 17:40:24,735 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.02}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:40:24,735 [INFO] [0.0, -0.012766788591394379, 0.12173955729729517, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:40:42,996 [INFO] Simulating with mode cropfollow
-2025-04-27 17:40:42,996 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.02}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:40:42,996 [INFO] [0.0, -0.02733756141935624, 0.0626722226960066, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:41:01,619 [INFO] Simulating with mode cropfollow
-2025-04-27 17:41:01,619 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.02}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:41:01,619 [INFO] [0.0, -0.02887357625434564, 0.033698002045816626, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:41:19,895 [INFO] Simulating with mode cropfollow
-2025-04-27 17:41:19,895 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.02}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:41:19,895 [INFO] [0.0, -0.06804166442991832, 0.07471202942191, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:41:38,546 [INFO] Mode 0 check bloated tube safe
-2025-04-27 17:41:38,546 [INFO] No child exist in current initial, pop
-2025-04-27 17:41:38,546 [INFO] System is Safe!
-2025-04-27 17:41:38,546 [INFO] refine time 1
-2025-04-27 17:41:38,547 [INFO] simulation time: 17.100579500198364
-2025-04-27 17:41:38,547 [INFO] verification time: 607.2933528423309
diff --git a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg1/reachtube.txt b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg1/reachtube.txt
deleted file mode 100644
index 13f37c0d75a7f839a28cbd4f99d8b1c391aa00c0..0000000000000000000000000000000000000000
--- a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg1/reachtube.txt
+++ /dev/null
@@ -1,182 +0,0 @@
-cropfollow/pn=[0.00:0.02]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]],0
-0.0 0.0 -0.13444186533436703 -0.17499999850988388 -0.013789936936442398 -0.31239024181078545 -0.271374929606777 0.02901279974771115
-0.3333333432674408 0.20153558372651173 0.1 0.035837764683334175 0.24574567381197646 -0.05438863854695683 -0.03049151235832616 0.26785537552046207
-0.3333333432674408 0.19693419218863414 -0.15736045769240625 -0.16575404519137554 -0.024404318238150452 -0.3239024039962648 -0.30093795244923915 0.0006647232397182234
-0.6666666865348816 0.40238664009454433 0.09948650533900188 0.07115241141556275 0.24574567381197646 -0.05438863854695683 -0.03049151235832616 0.26785537552046207
-0.6666666865348816 0.3952395572435599 -0.17079478319917704 -0.16107191891907227 -0.028890719397531572 -0.32857208030850704 -0.31599133916007505 -0.015145416992449534
-1.0 0.6027491595502117 0.09644010743882425 0.09307978592160943 0.24070853104675946 -0.05918710859032883 -0.03720697576769505 0.2605840739385502
-1.0 0.5944728348498127 -0.17626608972926125 -0.15072770706657174 -0.03097354697206492 -0.33074678363336846 -0.3270282130629595 -0.02706555198408428
-1.3333333730697632 0.8028746956467131 0.09189659174715067 0.1081551845572365 0.23545794723795516 -0.06461150867312138 -0.0483722715844013 0.2505326230700252
-1.3333333730697632 0.7941812163711092 -0.17894775500537932 -0.1397437836430443 -0.031075990969059858 -0.33088734441605794 -0.3325089242843298 -0.032512622402360275
-1.6666666269302368 1.00294914266575 0.08583991294283852 0.12087462161246068 0.2326131396196174 -0.06753878412709907 -0.055463733157438494 0.24449876617170635
-1.6666666269302368 0.9940569160271823 -0.1795034087569577 -0.13118448172274358 -0.031075990969059858 -0.33088734441605794 -0.3352895909106756 -0.035290673501641084
-2.0 1.2030481537059645 0.08220411917211592 0.13139749313715715 0.23244431360106219 -0.06773413044672255 -0.06165328355754335 0.2383424513799451
-2.0 1.1939526359363695 -0.1795034087569577 -0.1248915604782464 -0.029624996021792777 -0.32944341676969285 -0.335628745926826 -0.03563925418339273
-2.3333332538604736 1.4031510978211315 0.08087480467797598 0.13893665401258856 0.23405953481738254 -0.06610465493156673 -0.06514093939900151 0.23485700798764877
-2.3333332538604736 1.3938476414214223 -0.17837921929599126 -0.12165333358564764 -0.027254365235015593 -0.3270677879814887 -0.335628745926826 -0.03563925418339273
-2.6666667461395264 1.6032499816226684 0.0821312422168975 0.145073830874269 0.23639254564118314 -0.06375446443211799 -0.06578989453366155 0.23418545020382525
-2.6666667461395264 1.5937338326168335 -0.17617903447277594 -0.12046910105414518 -0.024168121755837685 -0.3239735710178637 -0.3345300989622796 -0.034552984364439265
-3.0 1.8033429519499777 0.08417947601850143 0.14894049829013475 0.23894290287544911 -0.06119291294074258 -0.06402974455936353 0.23593878567434168
-3.0 1.7936092479859354 -0.17319048952634444 -0.12046910105414518 -0.020866703582312518 -0.32067011487030783 -0.33206848174945913 -0.0320977848789773
-3.3333332538604736 2.0034339983672607 0.08655807758476006 0.1536439952684837 0.24202050257057645 -0.058099435067100774 -0.062137519077312325 0.23781948892767113
-3.3333332538604736 1.9934777657776368 -0.16987499977256523 -0.12106727167658896 -0.01704020786613919 -0.3168368475676343 -0.32947662000273525 -0.029517050668546374
-3.6666667461395264 2.2035200783684594 0.08942691118541124 0.15746043726496786 0.24535815606894312 -0.05474930324070271 -0.05952630869040554 0.2404225532366348
-3.6666667461395264 2.193336229614939 -0.16607268781485918 -0.12322664960281976 -0.012955816491268257 -0.31274903498180096 -0.3261675990473264 -0.026215783174188212
-4.0 2.4036033957109195 0.09260098826555432 0.15997519298451074 0.2486689240335338 -0.05143307768277941 -0.056279129651914644 0.24366858332633765
-4.0 2.3931867272749203 -0.16196853112844647 -0.12646402747840083 -0.008900463640581835 -0.30869723237581437 -0.32222443136798284 -0.02227337389468939
-4.333333492279053 2.6036886592059263 0.09581228968978708 0.16149039150685465 0.25175941555959613 -0.048342718676128604 -0.052738622137295466 0.24721350850550952
-4.333333492279053 2.5930338482708803 -0.15783053514839 -0.1293748974554026 -0.005067532949275061 -0.30487339298387506 -0.3179897513902314 -0.01803388776271167
-4.666666507720947 2.8037797441345886 0.09885308810108984 0.16341184673232673 0.254769356537783 -0.04533088574266986 -0.049459975237461234 0.2504945251862366
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diff --git a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg1/results.json b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg1/results.json
deleted file mode 100644
index 18425b495b3b0371cf778bf1411f026ecc4a6d21..0000000000000000000000000000000000000000
--- a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg1/results.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
- "safety": "SAFE",
- "sim_time": 17.100579500198364,
- "verification_time": 607.2933528423309,
- "refine_time": 1,
- "total_time": 624.9373662471771
-}
\ No newline at end of file
diff --git a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg10_0/Traj.txt b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg10_0/Traj.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c74a48a4f085d194792d1cd5379b81b865742bb4
--- /dev/null
+++ b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg10_0/Traj.txt
@@ -0,0 +1,47 @@
+cropfollow/pn=[0.000:0.175]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]
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diff --git a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg10_0/log.txt b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg10_0/log.txt
new file mode 100644
index 0000000000000000000000000000000000000000..42cf7435307f546fe2379ab34154e770e9e1d1b2
--- /dev/null
+++ b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg10_0/log.txt
@@ -0,0 +1,447 @@
+2025-04-27 19:09:46,478 [INFO] Simulating with mode cropfollow
+2025-04-27 19:09:46,478 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:09:46,478 [INFO] [0.0, 0.019212470161139555, -0.16989554395684311, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:09:52,816 [INFO] Verification Begin
+2025-04-27 19:09:52,817 [INFO] ===============================================
+Mode: 0
+stack size: 1
+remainTime: 15
+
+2025-04-27 19:09:52,817 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:09:52,817 [INFO] Simulating with mode cropfollow
+2025-04-27 19:09:52,817 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:09:52,817 [INFO] [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:09:59,085 [INFO] Simulating with mode cropfollow
+2025-04-27 19:09:59,085 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:09:59,085 [INFO] [0.0, 0.05966977411253924, -0.11641806118144818, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:10:05,486 [INFO] Simulating with mode cropfollow
+2025-04-27 19:10:05,486 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:10:05,486 [INFO] [0.0, -0.040374738189717645, -0.03903895563433671, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:10:11,773 [INFO] Simulating with mode cropfollow
+2025-04-27 19:10:11,773 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:10:11,773 [INFO] [0.0, -0.028141279572816355, 0.0906053342179482, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:10:18,013 [INFO] Simulating with mode cropfollow
+2025-04-27 19:10:18,013 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:10:18,013 [INFO] [0.0, 0.008147474740590965, -0.1500450969935958, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:10:24,182 [INFO] Simulating with mode cropfollow
+2025-04-27 19:10:24,182 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:10:24,182 [INFO] [0.0, 0.0862990262710654, -0.09584224408898614, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:10:30,410 [INFO] Simulating with mode cropfollow
+2025-04-27 19:10:30,410 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:10:30,410 [INFO] [0.0, -0.08119207340046344, 0.1003635585172934, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:10:36,402 [INFO] Simulating with mode cropfollow
+2025-04-27 19:10:36,402 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:10:36,402 [INFO] [0.0, -0.049631608153551256, -0.07161424489960602, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:10:42,482 [INFO] Simulating with mode cropfollow
+2025-04-27 19:10:42,482 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:10:42,482 [INFO] [0.0, -0.021590907391710074, 0.14385823329226938, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:10:48,687 [INFO] Simulating with mode cropfollow
+2025-04-27 19:10:48,687 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:10:48,687 [INFO] [0.0, 0.00444310428027081, -0.14675009988967722, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:10:55,047 [INFO] Simulating with mode cropfollow
+2025-04-27 19:10:55,047 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:10:55,047 [INFO] [0.0, 0.010257683591062383, 0.09923744003046958, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:11:01,167 [INFO] 0 check bloated tube unknown
+2025-04-27 19:11:01,167 [INFO] ===============================================
+Mode: 0
+stack size: 2
+remainTime: 15
+
+2025-04-27 19:11:01,167 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.1, 0.0875, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:11:01,167 [INFO] Simulating with mode cropfollow
+2025-04-27 19:11:01,167 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:11:01,167 [INFO] [0.0, 0.0, -0.0875, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:11:07,547 [INFO] Simulating with mode cropfollow
+2025-04-27 19:11:07,547 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:11:07,547 [INFO] [0.0, 0.05966977411253924, -0.1457090305907241, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:11:14,028 [INFO] Simulating with mode cropfollow
+2025-04-27 19:11:14,029 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:11:14,029 [INFO] [0.0, -0.040374738189717645, -0.10701947781716835, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:11:20,407 [INFO] Simulating with mode cropfollow
+2025-04-27 19:11:20,407 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:11:20,407 [INFO] [0.0, -0.028141279572816355, -0.042197332891025896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:11:26,685 [INFO] Simulating with mode cropfollow
+2025-04-27 19:11:26,685 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:11:26,685 [INFO] [0.0, 0.008147474740590965, -0.1625225484967979, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:11:32,956 [INFO] Simulating with mode cropfollow
+2025-04-27 19:11:32,956 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:11:32,956 [INFO] [0.0, 0.0862990262710654, -0.13542112204449308, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:11:39,243 [INFO] Simulating with mode cropfollow
+2025-04-27 19:11:39,243 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:11:39,243 [INFO] [0.0, -0.08119207340046344, -0.0373182207413533, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:11:45,205 [INFO] Simulating with mode cropfollow
+2025-04-27 19:11:45,205 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:11:45,205 [INFO] [0.0, -0.049631608153551256, -0.123307122449803, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:11:51,109 [INFO] Simulating with mode cropfollow
+2025-04-27 19:11:51,109 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:11:51,109 [INFO] [0.0, -0.021590907391710074, -0.015570883353865306, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:11:57,122 [INFO] Simulating with mode cropfollow
+2025-04-27 19:11:57,122 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:11:57,122 [INFO] [0.0, 0.00444310428027081, -0.16087504994483862, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:12:03,281 [INFO] Simulating with mode cropfollow
+2025-04-27 19:12:03,281 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:12:03,281 [INFO] [0.0, 0.010257683591062383, -0.037881279984765204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:12:09,174 [INFO] 0 check bloated tube unknown
+2025-04-27 19:12:09,174 [INFO] ===============================================
+Mode: 0
+stack size: 3
+remainTime: 15
+
+2025-04-27 19:12:09,174 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.05, 0.0875, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:12:09,174 [INFO] Simulating with mode cropfollow
+2025-04-27 19:12:09,174 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:12:09,174 [INFO] [0.0, -0.05, -0.0875, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:12:15,372 [INFO] Simulating with mode cropfollow
+2025-04-27 19:12:15,372 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:12:15,372 [INFO] [0.0, -0.020165112943730384, -0.1457090305907241, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:12:21,712 [INFO] Simulating with mode cropfollow
+2025-04-27 19:12:21,712 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:12:21,712 [INFO] [0.0, -0.07018736909485883, -0.10701947781716835, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:12:27,965 [INFO] Simulating with mode cropfollow
+2025-04-27 19:12:27,965 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:12:27,965 [INFO] [0.0, -0.06407063978640817, -0.042197332891025896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:12:34,211 [INFO] Simulating with mode cropfollow
+2025-04-27 19:12:34,211 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:12:34,211 [INFO] [0.0, -0.04592626262970452, -0.1625225484967979, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:12:40,277 [INFO] Simulating with mode cropfollow
+2025-04-27 19:12:40,277 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:12:40,277 [INFO] [0.0, -0.006850486864467306, -0.13542112204449308, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:12:46,376 [INFO] Simulating with mode cropfollow
+2025-04-27 19:12:46,376 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:12:46,376 [INFO] [0.0, -0.09059603670023172, -0.0373182207413533, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:12:52,205 [INFO] Simulating with mode cropfollow
+2025-04-27 19:12:52,205 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:12:52,205 [INFO] [0.0, -0.07481580407677563, -0.123307122449803, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:12:58,116 [INFO] Simulating with mode cropfollow
+2025-04-27 19:12:58,116 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:12:58,116 [INFO] [0.0, -0.06079545369585504, -0.015570883353865306, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:13:04,164 [INFO] Simulating with mode cropfollow
+2025-04-27 19:13:04,164 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:13:04,164 [INFO] [0.0, -0.0477784478598646, -0.16087504994483862, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:13:10,429 [INFO] Simulating with mode cropfollow
+2025-04-27 19:13:10,429 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:13:10,429 [INFO] [0.0, -0.04487115820446881, -0.037881279984765204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:13:16,347 [INFO] 0 check bloated tube unknown
+2025-04-27 19:13:16,347 [INFO] ===============================================
+Mode: 0
+stack size: 4
+remainTime: 15
+
+2025-04-27 19:13:16,347 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, 0.0, -0.0875, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.05, 0.04375, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:13:16,347 [INFO] Simulating with mode cropfollow
+2025-04-27 19:13:16,347 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:13:16,347 [INFO] [0.0, -0.05, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:13:22,567 [INFO] Simulating with mode cropfollow
+2025-04-27 19:13:22,567 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:13:22,567 [INFO] [0.0, -0.020165112943730384, -0.16035451529536204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:13:28,970 [INFO] Simulating with mode cropfollow
+2025-04-27 19:13:28,970 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:13:28,970 [INFO] [0.0, -0.07018736909485883, -0.14100973890858418, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:13:35,196 [INFO] Simulating with mode cropfollow
+2025-04-27 19:13:35,196 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:13:35,196 [INFO] [0.0, -0.06407063978640817, -0.10859866644551294, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:13:41,488 [INFO] Simulating with mode cropfollow
+2025-04-27 19:13:41,488 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:13:41,488 [INFO] [0.0, -0.04592626262970452, -0.16876127424839896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:13:47,494 [INFO] Simulating with mode cropfollow
+2025-04-27 19:13:47,495 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:13:47,495 [INFO] [0.0, -0.006850486864467306, -0.15521056102224653, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:13:53,644 [INFO] Simulating with mode cropfollow
+2025-04-27 19:13:53,644 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:13:53,644 [INFO] [0.0, -0.09059603670023172, -0.10615911037067664, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:13:59,439 [INFO] Simulating with mode cropfollow
+2025-04-27 19:13:59,439 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:13:59,439 [INFO] [0.0, -0.07481580407677563, -0.1491535612249015, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:14:05,349 [INFO] Simulating with mode cropfollow
+2025-04-27 19:14:05,349 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:14:05,349 [INFO] [0.0, -0.06079545369585504, -0.09528544167693265, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:14:11,411 [INFO] Simulating with mode cropfollow
+2025-04-27 19:14:11,411 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:14:11,411 [INFO] [0.0, -0.0477784478598646, -0.1679375249724193, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:14:17,547 [INFO] Simulating with mode cropfollow
+2025-04-27 19:14:17,547 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:14:17,547 [INFO] [0.0, -0.04487115820446881, -0.1064406399923826, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:14:23,497 [INFO] 0 check bloated tube unknown
+2025-04-27 19:14:23,497 [INFO] ===============================================
+Mode: 0
+stack size: 5
+remainTime: 15
+
+2025-04-27 19:14:23,497 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.05, -0.0875, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.025, 0.04375, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:14:23,498 [INFO] Simulating with mode cropfollow
+2025-04-27 19:14:23,498 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:14:23,498 [INFO] [0.0, -0.07500000000000001, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:14:29,690 [INFO] Simulating with mode cropfollow
+2025-04-27 19:14:29,690 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:14:29,690 [INFO] [0.0, -0.060082556471865195, -0.16035451529536204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:14:35,976 [INFO] Simulating with mode cropfollow
+2025-04-27 19:14:35,976 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:14:35,976 [INFO] [0.0, -0.08509368454742941, -0.14100973890858418, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:14:42,277 [INFO] Simulating with mode cropfollow
+2025-04-27 19:14:42,278 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:14:42,278 [INFO] [0.0, -0.08203531989320409, -0.10859866644551294, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:14:48,535 [INFO] Simulating with mode cropfollow
+2025-04-27 19:14:48,535 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:14:48,535 [INFO] [0.0, -0.07296313131485227, -0.16876127424839896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:14:54,559 [INFO] Simulating with mode cropfollow
+2025-04-27 19:14:54,559 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:14:54,559 [INFO] [0.0, -0.053425243432233656, -0.15521056102224653, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:15:00,706 [INFO] Simulating with mode cropfollow
+2025-04-27 19:15:00,706 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:15:00,706 [INFO] [0.0, -0.09529801835011587, -0.10615911037067664, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:15:06,519 [INFO] Simulating with mode cropfollow
+2025-04-27 19:15:06,520 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:15:06,520 [INFO] [0.0, -0.08740790203838782, -0.1491535612249015, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:15:12,395 [INFO] Simulating with mode cropfollow
+2025-04-27 19:15:12,395 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:15:12,396 [INFO] [0.0, -0.08039772684792752, -0.09528544167693265, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:15:18,434 [INFO] Simulating with mode cropfollow
+2025-04-27 19:15:18,434 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:15:18,434 [INFO] [0.0, -0.0738892239299323, -0.1679375249724193, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:15:24,615 [INFO] Simulating with mode cropfollow
+2025-04-27 19:15:24,615 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:15:24,615 [INFO] [0.0, -0.07243557910223442, -0.1064406399923826, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:15:30,539 [INFO] 0 check bloated tube unknown
+2025-04-27 19:15:30,539 [INFO] ===============================================
+Mode: 0
+stack size: 6
+remainTime: 15
+
+2025-04-27 19:15:30,539 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.05, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.025, 0.021875000000000006, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:15:30,539 [INFO] Simulating with mode cropfollow
+2025-04-27 19:15:30,539 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:15:30,539 [INFO] [0.0, -0.07500000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:15:36,700 [INFO] Simulating with mode cropfollow
+2025-04-27 19:15:36,700 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:15:36,700 [INFO] [0.0, -0.060082556471865195, -0.16767725764768102, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:15:42,943 [INFO] Simulating with mode cropfollow
+2025-04-27 19:15:42,943 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:15:42,943 [INFO] [0.0, -0.08509368454742941, -0.15800486945429207, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:15:49,040 [INFO] Simulating with mode cropfollow
+2025-04-27 19:15:49,040 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:15:49,040 [INFO] [0.0, -0.08203531989320409, -0.14179933322275645, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:15:55,279 [INFO] Simulating with mode cropfollow
+2025-04-27 19:15:55,280 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:15:55,280 [INFO] [0.0, -0.07296313131485227, -0.17188063712419946, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:16:01,260 [INFO] Simulating with mode cropfollow
+2025-04-27 19:16:01,264 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:16:01,264 [INFO] [0.0, -0.053425243432233656, -0.16510528051112325, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:16:07,362 [INFO] Simulating with mode cropfollow
+2025-04-27 19:16:07,362 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:16:07,362 [INFO] [0.0, -0.09529801835011587, -0.1405795551853383, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:16:13,145 [INFO] Simulating with mode cropfollow
+2025-04-27 19:16:13,145 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:16:13,145 [INFO] [0.0, -0.08740790203838782, -0.16207678061245073, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:16:19,037 [INFO] Simulating with mode cropfollow
+2025-04-27 19:16:19,037 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:16:19,037 [INFO] [0.0, -0.08039772684792752, -0.1351427208384663, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:16:25,039 [INFO] Simulating with mode cropfollow
+2025-04-27 19:16:25,039 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:16:25,039 [INFO] [0.0, -0.0738892239299323, -0.17146876248620965, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:16:31,187 [INFO] Simulating with mode cropfollow
+2025-04-27 19:16:31,188 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:16:31,188 [INFO] [0.0, -0.07243557910223442, -0.14072031999619128, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:16:37,076 [INFO] 0 check bloated tube unknown
+2025-04-27 19:16:37,076 [INFO] ===============================================
+Mode: 0
+stack size: 7
+remainTime: 15
+
+2025-04-27 19:16:37,076 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.07500000000000001, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.012499999999999997, 0.021875000000000006, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:16:37,076 [INFO] Simulating with mode cropfollow
+2025-04-27 19:16:37,076 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:16:37,076 [INFO] [0.0, -0.08750000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:16:43,285 [INFO] Simulating with mode cropfollow
+2025-04-27 19:16:43,285 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:16:43,285 [INFO] [0.0, -0.0800412782359326, -0.16767725764768102, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:16:49,674 [INFO] Simulating with mode cropfollow
+2025-04-27 19:16:49,674 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:16:49,674 [INFO] [0.0, -0.09254684227371471, -0.15800486945429207, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:16:55,833 [INFO] Simulating with mode cropfollow
+2025-04-27 19:16:55,833 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:16:55,833 [INFO] [0.0, -0.09101765994660205, -0.14179933322275645, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:17:02,139 [INFO] Simulating with mode cropfollow
+2025-04-27 19:17:02,139 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:17:02,139 [INFO] [0.0, -0.08648156565742614, -0.17188063712419946, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:17:08,139 [INFO] Simulating with mode cropfollow
+2025-04-27 19:17:08,139 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:17:08,139 [INFO] [0.0, -0.07671262171611684, -0.16510528051112325, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:17:14,249 [INFO] Simulating with mode cropfollow
+2025-04-27 19:17:14,249 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:17:14,249 [INFO] [0.0, -0.09764900917505794, -0.1405795551853383, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:17:20,048 [INFO] Simulating with mode cropfollow
+2025-04-27 19:17:20,048 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:17:20,048 [INFO] [0.0, -0.09370395101919392, -0.16207678061245073, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:17:25,999 [INFO] Simulating with mode cropfollow
+2025-04-27 19:17:25,999 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:17:25,999 [INFO] [0.0, -0.09019886342396377, -0.1351427208384663, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:17:32,013 [INFO] Simulating with mode cropfollow
+2025-04-27 19:17:32,013 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:17:32,013 [INFO] [0.0, -0.08694461196496615, -0.17146876248620965, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:17:38,177 [INFO] Simulating with mode cropfollow
+2025-04-27 19:17:38,177 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:17:38,177 [INFO] [0.0, -0.08621778955111721, -0.14072031999619128, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:17:44,077 [INFO] 0 check bloated tube unknown
+2025-04-27 19:17:44,077 [INFO] ===============================================
+Mode: 0
+stack size: 8
+remainTime: 15
+
+2025-04-27 19:17:44,077 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.07500000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.012499999999999997, 0.010937500000000003, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:17:44,077 [INFO] Simulating with mode cropfollow
+2025-04-27 19:17:44,077 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:17:44,077 [INFO] [0.0, -0.08750000000000001, -0.1640625, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:17:50,285 [INFO] Simulating with mode cropfollow
+2025-04-27 19:17:50,285 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:17:50,285 [INFO] [0.0, -0.0800412782359326, -0.1713386288238405, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:17:56,637 [INFO] Simulating with mode cropfollow
+2025-04-27 19:17:56,637 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:17:56,638 [INFO] [0.0, -0.09254684227371471, -0.16650243472714604, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:18:02,825 [INFO] Simulating with mode cropfollow
+2025-04-27 19:18:02,825 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:18:02,825 [INFO] [0.0, -0.09101765994660205, -0.15839966661137822, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:18:09,042 [INFO] Simulating with mode cropfollow
+2025-04-27 19:18:09,042 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:18:09,042 [INFO] [0.0, -0.08648156565742614, -0.17344031856209974, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:18:15,108 [INFO] Simulating with mode cropfollow
+2025-04-27 19:18:15,108 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:18:15,108 [INFO] [0.0, -0.07671262171611684, -0.17005264025556163, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:18:21,257 [INFO] Simulating with mode cropfollow
+2025-04-27 19:18:21,257 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:18:21,257 [INFO] [0.0, -0.09764900917505794, -0.15778977759266916, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:18:27,062 [INFO] Simulating with mode cropfollow
+2025-04-27 19:18:27,063 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:18:27,063 [INFO] [0.0, -0.09370395101919392, -0.16853839030622536, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:18:32,993 [INFO] Simulating with mode cropfollow
+2025-04-27 19:18:32,993 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:18:32,994 [INFO] [0.0, -0.09019886342396377, -0.15507136041923314, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:18:39,000 [INFO] Simulating with mode cropfollow
+2025-04-27 19:18:39,000 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:18:39,000 [INFO] [0.0, -0.08694461196496615, -0.1732343812431048, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:18:45,171 [INFO] Simulating with mode cropfollow
+2025-04-27 19:18:45,171 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:18:45,171 [INFO] [0.0, -0.08621778955111721, -0.15786015999809563, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:18:51,046 [INFO] 0 check bloated tube unknown
+2025-04-27 19:18:51,046 [INFO] ===============================================
+Mode: 0
+stack size: 9
+remainTime: 15
+
+2025-04-27 19:18:51,046 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.08750000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.006249999999999999, 0.010937500000000003, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:18:51,046 [INFO] Simulating with mode cropfollow
+2025-04-27 19:18:51,046 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:18:51,046 [INFO] [0.0, -0.09375, -0.1640625, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:18:57,266 [INFO] Simulating with mode cropfollow
+2025-04-27 19:18:57,266 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:18:57,266 [INFO] [0.0, -0.0900206391179663, -0.1713386288238405, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:19:03,596 [INFO] Simulating with mode cropfollow
+2025-04-27 19:19:03,596 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:19:03,596 [INFO] [0.0, -0.09627342113685736, -0.16650243472714604, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:19:09,813 [INFO] Simulating with mode cropfollow
+2025-04-27 19:19:09,813 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:19:09,813 [INFO] [0.0, -0.09550882997330103, -0.15839966661137822, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:19:16,039 [INFO] Simulating with mode cropfollow
+2025-04-27 19:19:16,039 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:19:16,039 [INFO] [0.0, -0.09324078282871306, -0.17344031856209974, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:19:22,056 [INFO] Simulating with mode cropfollow
+2025-04-27 19:19:22,056 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:19:22,056 [INFO] [0.0, -0.08835631085805842, -0.17005264025556163, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:19:28,160 [INFO] Simulating with mode cropfollow
+2025-04-27 19:19:28,160 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:19:28,160 [INFO] [0.0, -0.09882450458752898, -0.15778977759266916, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:19:33,975 [INFO] Simulating with mode cropfollow
+2025-04-27 19:19:33,975 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:19:33,975 [INFO] [0.0, -0.09685197550959695, -0.16853839030622536, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:19:39,932 [INFO] Simulating with mode cropfollow
+2025-04-27 19:19:39,932 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:19:39,932 [INFO] [0.0, -0.09509943171198189, -0.15507136041923314, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:19:45,972 [INFO] Simulating with mode cropfollow
+2025-04-27 19:19:45,973 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:19:45,973 [INFO] [0.0, -0.09347230598248309, -0.1732343812431048, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:19:52,180 [INFO] Simulating with mode cropfollow
+2025-04-27 19:19:52,180 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:19:52,180 [INFO] [0.0, -0.09310889477555861, -0.15786015999809563, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:19:58,093 [INFO] 0 check bloated tube unknown
+2025-04-27 19:19:58,093 [INFO] ===============================================
+Mode: 0
+stack size: 10
+remainTime: 15
+
+2025-04-27 19:19:58,093 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.08750000000000001, -0.1640625, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.006249999999999999, 0.0054687499999999944, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:19:58,093 [INFO] Simulating with mode cropfollow
+2025-04-27 19:19:58,093 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:19:58,093 [INFO] [0.0, -0.09375, -0.16953125, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:20:04,326 [INFO] Simulating with mode cropfollow
+2025-04-27 19:20:04,326 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:20:04,326 [INFO] [0.0, -0.0900206391179663, -0.17316931441192024, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:20:10,663 [INFO] Simulating with mode cropfollow
+2025-04-27 19:20:10,664 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:20:10,664 [INFO] [0.0, -0.09627342113685736, -0.17075121736357302, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:20:16,894 [INFO] Simulating with mode cropfollow
+2025-04-27 19:20:16,894 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:20:16,894 [INFO] [0.0, -0.09550882997330103, -0.1666998333056891, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:20:23,145 [INFO] Simulating with mode cropfollow
+2025-04-27 19:20:23,145 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:20:23,145 [INFO] [0.0, -0.09324078282871306, -0.17422015928104986, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:20:29,108 [INFO] Simulating with mode cropfollow
+2025-04-27 19:20:29,108 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:20:29,108 [INFO] [0.0, -0.08835631085805842, -0.1725263201277808, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:20:35,261 [INFO] Simulating with mode cropfollow
+2025-04-27 19:20:35,261 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:20:35,261 [INFO] [0.0, -0.09882450458752898, -0.16639488879633457, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:20:41,104 [INFO] Simulating with mode cropfollow
+2025-04-27 19:20:41,104 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:20:41,104 [INFO] [0.0, -0.09685197550959695, -0.17176919515311267, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:20:47,040 [INFO] Simulating with mode cropfollow
+2025-04-27 19:20:47,040 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:20:47,040 [INFO] [0.0, -0.09509943171198189, -0.1650356802096166, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:20:53,137 [INFO] Simulating with mode cropfollow
+2025-04-27 19:20:53,137 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:20:53,137 [INFO] [0.0, -0.09347230598248309, -0.1741171906215524, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:20:59,429 [INFO] Simulating with mode cropfollow
+2025-04-27 19:20:59,429 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.175}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:20:59,429 [INFO] [0.0, -0.09310889477555861, -0.16643007999904783, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:21:05,389 [INFO] 0 check bloated tube unknown
+2025-04-27 19:21:05,389 [INFO] ===============================================
+Mode: 0
+stack size: 11
+remainTime: 15
+
+2025-04-27 19:21:05,389 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.09375, -0.1640625, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.0031250000000000028, 0.0054687499999999944, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:21:05,389 [INFO] 0 is not valid anymore
+2025-04-27 19:21:05,389 [INFO] Hit refine threshold, system halt, result unknown
+2025-04-27 19:21:05,389 [INFO] simulation time: 6.338154315948486
+2025-04-27 19:21:05,389 [INFO] verification time: 672.5724496841431
diff --git a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg10_0/results.json b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg10_0/results.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc6d9b706a887f47eb430a537cf48050b27a16e6
--- /dev/null
+++ b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg10_0/results.json
@@ -0,0 +1,7 @@
+{
+ "safety": "UNKNOWN",
+ "sim_time": 6.338154315948486,
+ "verification_time": 672.5724496841431,
+ "refine_time": null,
+ "total_time": 679.471321105957
+}
\ No newline at end of file
diff --git a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg25_0/Traj.txt b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg25_0/Traj.txt
new file mode 100644
index 0000000000000000000000000000000000000000..94b35ee3729b8582c5f2c2d9524d9077f6d4d293
--- /dev/null
+++ b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg25_0/Traj.txt
@@ -0,0 +1,47 @@
+cropfollow/pn=[0.000:0.436]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]
+0.0 0.0 -0.033189184963703156 0.14962536096572876 0.15240180492401123 -0.14424630999565125 -0.21878015995025635 0.07786794751882553
+0.3333333432674408 0.19776540994644165 -0.003375645726919174 0.09764024615287781 0.17028120160102844 -0.12828990817070007 -0.1770325005054474 0.12153860926628113
+0.6666666865348816 0.3968128263950348 0.01612139120697975 -0.0179225355386734 0.16161692142486572 -0.13833492994308472 -0.12937414646148682 0.17057770490646362
+1.0 0.5967807173728943 0.012537075206637383 -0.008729704655706882 0.16034898161888123 -0.13963961601257324 -0.13527482748031616 0.1647137701511383
+1.3333333730697632 0.7967731356620789 0.010791156440973282 -0.13152921199798584 0.12670795619487762 -0.170700803399086 -0.10512565076351166 0.19228310883045197
+1.6666666269302368 0.9950456619262695 -0.015438906848430634 0.001067429780960083 0.1348278820514679 -0.16517198085784912 -0.16570568084716797 0.13429418206214905
+2.0 1.1950455904006958 -0.015225420705974102 0.04122476279735565 0.14495041966438293 -0.15479472279548645 -0.17540127038955688 0.1243438795208931
+2.3333332538604736 1.3948756456375122 -0.006982802413403988 0.2088734209537506 0.19159646332263947 -0.10188309848308563 -0.2055620700120926 0.08791749179363251
+2.6666667461395264 1.5905287265777588 0.03448878973722458 0.07694792747497559 0.20326295495033264 -0.09584937244653702 -0.1342853605747223 0.16482695937156677
+3.0 1.789936900138855 0.049863193184137344 0.24997112154960632 0.25704512000083923 -0.03363075479865074 -0.15731874108314514 0.13335713744163513
+3.3333332538604736 1.9837207794189453 0.09933839738368988 0.1277487576007843 0.27996647357940674 -0.017588898539543152 -0.08128969371318817 0.2162656933069229
+3.6666667461395264 2.182090997695923 0.12481871247291565 0.06753124296665192 0.29134678840637207 -0.007969409227371216 -0.04170936346054077 0.2576068341732025
+4.0 2.3816351890563965 0.13831469416618347 -0.024659790098667145 0.2821047604084015 -0.01780402660369873 -0.005475372076034546 0.2944334149360657
+4.333333492279053 2.5815744400024414 0.13338322937488556 -0.014990034513175488 0.2796190083026886 -0.020347297191619873 -0.01285254955291748 0.287113755941391
+4.666666507720947 2.7815520763397217 0.13038533926010132 -0.17970608174800873 0.23328468203544617 -0.06188419461250305 0.02748599648475647 0.3226548731327057
+5.0 2.9783313274383545 0.09463725984096527 0.010082945227622986 0.24715033173561096 -0.05283442139625549 -0.05787581205368042 0.24210894107818604
+5.333333492279053 3.178321123123169 0.09665381163358688 -0.04367106407880783 0.23559650778770447 -0.06411746889352798 -0.042288877069950104 0.25742509961128235
+5.666666507720947 3.3781304359436035 0.08792237192392349 -0.11329921334981918 0.2086964249610901 -0.08938015252351761 -0.032851673662662506 0.2652249038219452
+6.0 3.576848030090332 0.06531097739934921 -0.0809612050652504 0.19460144639015198 -0.1044158861041069 -0.06397949904203415 0.23503783345222473
+6.333333492279053 3.7761929035186768 0.04913641884922981 -0.058963872492313385 0.1841433197259903 -0.11533533036708832 -0.08587048947811127 0.21360816061496735
+6.666666507720947 3.9758453369140625 0.037350475788116455 -0.15799249708652496 0.14614823460578918 -0.15011531114578247 -0.07144729048013687 0.22481626272201538
+7.0 4.173354148864746 0.005883269011974335 -0.20870354771614075 0.10083038359880447 -0.19265973567962646 -0.0890638455748558 0.20442625880241394
+7.333333492279053 4.369014263153076 -0.03555508330464363 -0.017148971557617188 0.11013583838939667 -0.1898200660943985 -0.18124599754810333 0.11870990693569183
+7.666666507720947 4.5689849853515625 -0.03898470848798752 0.0919400006532669 0.13333439826965332 -0.16539856791496277 -0.21130383014678955 0.08742914348840714
+8.0 4.7681403160095215 -0.020622601732611656 -0.07490868866443634 0.11024709790945053 -0.18891161680221558 -0.15149229764938354 0.14766642451286316
+8.333333015441895 4.967579364776611 -0.03559033200144768 -0.06210742145776749 0.09860359132289886 -0.2008180171251297 -0.16978426277637482 0.12963734567165375
+8.666666984558105 5.16719388961792 -0.04800383374094963 0.20225876569747925 0.14915910363197327 -0.144725501537323 -0.24516677856445312 0.04871783033013344
+9.0 5.36311674118042 -0.007827315479516983 0.06029614806175232 0.15696501731872559 -0.14248982071876526 -0.17261964082717896 0.1268351972103119
+9.333333015441895 5.562753200531006 0.004224608652293682 0.013560235500335693 0.1576007902622223 -0.14237165451049805 -0.14915156364440918 0.15082088112831116
+9.666666984558105 5.762734889984131 0.0069365729577839375 0.04323909431695938 0.1676027923822403 -0.13211680948734283 -0.1537296324968338 0.14598996937274933
+10.0 5.962547779083252 0.015581699088215828 -0.05122790485620499 0.1525835543870926 -0.14702291786670685 -0.12142015993595123 0.1781863123178482
+10.333333015441895 6.162285327911377 0.005340598523616791 0.04722634702920914 0.16697555780410767 -0.1326899528503418 -0.1562943458557129 0.14337116479873657
+10.666666984558105 6.362062454223633 0.014782357960939407 0.07372206449508667 0.18278874456882477 -0.11639638245105743 -0.15322403609752655 0.14596109092235565
+11.0 6.561519145965576 0.029513418674468994 0.17900824546813965 0.22162997722625732 -0.07357627153396606 -0.16260313987731934 0.13260310888290405
+11.333333015441895 6.7583231925964355 0.06512416899204254 -0.048230260610580444 0.202896848320961 -0.0967542976140976 -0.07264851033687592 0.22700263559818268
+11.666666984558105 6.958090782165527 0.05548185482621193 -0.15087394416332245 0.16620232164859772 -0.1303897202014923 -0.05523860827088356 0.24135342240333557
+12.0 7.155818939208984 0.025421414524316788 -0.14087286591529846 0.1388336420059204 -0.15819451212882996 -0.08799082040786743 0.20903733372688293
+12.333333015441895 7.353837490081787 -0.002660062164068222 -0.03785315155982971 0.13777145743370056 -0.16201364994049072 -0.1430915892124176 0.15669351816177368
+12.666666984558105 7.553694248199463 -0.01022888533771038 0.03039593994617462 0.1472996473312378 -0.15256178379058838 -0.16775742173194885 0.13210400938987732
+13.0 7.753602027893066 -0.004150633234530687 0.08786758780479431 0.16720934212207794 -0.13163332641124725 -0.17551060020923615 0.12333206087350845
+13.333333015441895 7.9528303146362305 0.013400280848145485 0.2781462073326111 0.22627860307693481 -0.062191255390644073 -0.19947803020477295 0.08899181336164474
+13.666666984558105 8.145143508911133 0.06831499189138412 0.1251789927482605 0.24835437536239624 -0.049298226833343506 -0.1117243841290474 0.18592821061611176
+14.0 8.343578338623047 0.0932854562997818 -0.09965786337852478 0.21766796708106995 -0.08084353804588318 -0.031097054481506348 0.2674144506454468
+14.333333015441895 8.542586326599121 0.07338686287403107 -0.06571284681558609 0.20664672553539276 -0.09270577132701874 -0.05987299978733063 0.23947949707508087
+14.666666984558105 8.742155075073242 0.060253746807575226 0.009163931012153625 0.21253842115402222 -0.08744902163743973 -0.09203092008829117 0.20795652270317078
+15.0 8.942146301269531 0.06208650767803192 0.10568052530288696 0.23762063682079315 -0.06070566922426224 -0.11344762146472931 0.18487867712974548
diff --git a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg25_0/log.txt b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg25_0/log.txt
new file mode 100644
index 0000000000000000000000000000000000000000..97d1298e6961c20aea8f3c34a757fe8cbed814dc
--- /dev/null
+++ b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg25_0/log.txt
@@ -0,0 +1,447 @@
+2025-04-27 19:21:06,526 [INFO] Simulating with mode cropfollow
+2025-04-27 19:21:06,526 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:21:06,526 [INFO] [0.0, -0.03318918367271184, 0.14962535596232163, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:21:15,115 [INFO] Verification Begin
+2025-04-27 19:21:15,115 [INFO] ===============================================
+Mode: 0
+stack size: 1
+remainTime: 15
+
+2025-04-27 19:21:15,115 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:21:15,115 [INFO] Simulating with mode cropfollow
+2025-04-27 19:21:15,115 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:21:15,115 [INFO] [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:21:24,585 [INFO] Simulating with mode cropfollow
+2025-04-27 19:21:24,585 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:21:24,585 [INFO] [0.0, 0.05966977411253924, -0.11641806118144818, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:21:33,817 [INFO] Simulating with mode cropfollow
+2025-04-27 19:21:33,818 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:21:33,818 [INFO] [0.0, -0.040374738189717645, -0.03903895563433671, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:21:43,337 [INFO] Simulating with mode cropfollow
+2025-04-27 19:21:43,338 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:21:43,338 [INFO] [0.0, -0.028141279572816355, 0.0906053342179482, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:21:52,742 [INFO] Simulating with mode cropfollow
+2025-04-27 19:21:52,742 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:21:52,742 [INFO] [0.0, 0.008147474740590965, -0.1500450969935958, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:22:01,351 [INFO] Simulating with mode cropfollow
+2025-04-27 19:22:01,351 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:22:01,351 [INFO] [0.0, 0.0862990262710654, -0.09584224408898614, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:22:10,289 [INFO] Simulating with mode cropfollow
+2025-04-27 19:22:10,289 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:22:10,289 [INFO] [0.0, -0.08119207340046344, 0.1003635585172934, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:22:18,090 [INFO] Simulating with mode cropfollow
+2025-04-27 19:22:18,090 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:22:18,090 [INFO] [0.0, -0.049631608153551256, -0.07161424489960602, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:22:26,030 [INFO] Simulating with mode cropfollow
+2025-04-27 19:22:26,030 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:22:26,030 [INFO] [0.0, -0.021590907391710074, 0.14385823329226938, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:22:34,101 [INFO] Simulating with mode cropfollow
+2025-04-27 19:22:34,101 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:22:34,101 [INFO] [0.0, 0.00444310428027081, -0.14675009988967722, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:22:42,796 [INFO] Simulating with mode cropfollow
+2025-04-27 19:22:42,796 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:22:42,796 [INFO] [0.0, 0.010257683591062383, 0.09923744003046958, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:22:50,888 [INFO] 0 check bloated tube unknown
+2025-04-27 19:22:50,888 [INFO] ===============================================
+Mode: 0
+stack size: 2
+remainTime: 15
+
+2025-04-27 19:22:50,888 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.1, 0.0875, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:22:50,888 [INFO] Simulating with mode cropfollow
+2025-04-27 19:22:50,888 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:22:50,888 [INFO] [0.0, 0.0, -0.0875, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:23:00,588 [INFO] Simulating with mode cropfollow
+2025-04-27 19:23:00,588 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:23:00,588 [INFO] [0.0, 0.05966977411253924, -0.1457090305907241, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:23:10,262 [INFO] Simulating with mode cropfollow
+2025-04-27 19:23:10,262 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:23:10,262 [INFO] [0.0, -0.040374738189717645, -0.10701947781716835, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:23:20,011 [INFO] Simulating with mode cropfollow
+2025-04-27 19:23:20,011 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:23:20,011 [INFO] [0.0, -0.028141279572816355, -0.042197332891025896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:23:30,074 [INFO] Simulating with mode cropfollow
+2025-04-27 19:23:30,075 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:23:30,075 [INFO] [0.0, 0.008147474740590965, -0.1625225484967979, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:23:38,621 [INFO] Simulating with mode cropfollow
+2025-04-27 19:23:38,622 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:23:38,622 [INFO] [0.0, 0.0862990262710654, -0.13542112204449308, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:23:47,985 [INFO] Simulating with mode cropfollow
+2025-04-27 19:23:47,985 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:23:47,985 [INFO] [0.0, -0.08119207340046344, -0.0373182207413533, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:23:55,795 [INFO] Simulating with mode cropfollow
+2025-04-27 19:23:55,796 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:23:55,796 [INFO] [0.0, -0.049631608153551256, -0.123307122449803, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:24:04,050 [INFO] Simulating with mode cropfollow
+2025-04-27 19:24:04,050 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:24:04,050 [INFO] [0.0, -0.021590907391710074, -0.015570883353865306, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:24:12,384 [INFO] Simulating with mode cropfollow
+2025-04-27 19:24:12,384 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:24:12,384 [INFO] [0.0, 0.00444310428027081, -0.16087504994483862, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:24:21,403 [INFO] Simulating with mode cropfollow
+2025-04-27 19:24:21,403 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:24:21,403 [INFO] [0.0, 0.010257683591062383, -0.037881279984765204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:24:29,904 [INFO] 0 check bloated tube unknown
+2025-04-27 19:24:29,904 [INFO] ===============================================
+Mode: 0
+stack size: 3
+remainTime: 15
+
+2025-04-27 19:24:29,904 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.05, 0.0875, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:24:29,904 [INFO] Simulating with mode cropfollow
+2025-04-27 19:24:29,904 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:24:29,904 [INFO] [0.0, -0.05, -0.0875, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:24:39,583 [INFO] Simulating with mode cropfollow
+2025-04-27 19:24:39,583 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:24:39,583 [INFO] [0.0, -0.020165112943730384, -0.1457090305907241, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:24:49,352 [INFO] Simulating with mode cropfollow
+2025-04-27 19:24:49,352 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:24:49,352 [INFO] [0.0, -0.07018736909485883, -0.10701947781716835, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:24:59,105 [INFO] Simulating with mode cropfollow
+2025-04-27 19:24:59,105 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:24:59,105 [INFO] [0.0, -0.06407063978640817, -0.042197332891025896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:25:09,141 [INFO] Simulating with mode cropfollow
+2025-04-27 19:25:09,141 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:25:09,141 [INFO] [0.0, -0.04592626262970452, -0.1625225484967979, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:25:18,173 [INFO] Simulating with mode cropfollow
+2025-04-27 19:25:18,174 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:25:18,174 [INFO] [0.0, -0.006850486864467306, -0.13542112204449308, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:25:27,601 [INFO] Simulating with mode cropfollow
+2025-04-27 19:25:27,601 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:25:27,601 [INFO] [0.0, -0.09059603670023172, -0.0373182207413533, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:25:35,738 [INFO] Simulating with mode cropfollow
+2025-04-27 19:25:35,738 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:25:35,738 [INFO] [0.0, -0.07481580407677563, -0.123307122449803, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:25:43,925 [INFO] Simulating with mode cropfollow
+2025-04-27 19:25:43,925 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:25:43,925 [INFO] [0.0, -0.06079545369585504, -0.015570883353865306, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:25:52,267 [INFO] Simulating with mode cropfollow
+2025-04-27 19:25:52,267 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:25:52,267 [INFO] [0.0, -0.0477784478598646, -0.16087504994483862, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:26:00,972 [INFO] Simulating with mode cropfollow
+2025-04-27 19:26:00,972 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:26:00,972 [INFO] [0.0, -0.04487115820446881, -0.037881279984765204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:26:09,230 [INFO] 0 check bloated tube unknown
+2025-04-27 19:26:09,230 [INFO] ===============================================
+Mode: 0
+stack size: 4
+remainTime: 15
+
+2025-04-27 19:26:09,230 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, 0.0, -0.0875, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.05, 0.04375, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:26:09,230 [INFO] Simulating with mode cropfollow
+2025-04-27 19:26:09,230 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:26:09,230 [INFO] [0.0, -0.05, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:26:18,652 [INFO] Simulating with mode cropfollow
+2025-04-27 19:26:18,653 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:26:18,653 [INFO] [0.0, -0.020165112943730384, -0.16035451529536204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:26:28,301 [INFO] Simulating with mode cropfollow
+2025-04-27 19:26:28,301 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:26:28,301 [INFO] [0.0, -0.07018736909485883, -0.14100973890858418, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:26:38,022 [INFO] Simulating with mode cropfollow
+2025-04-27 19:26:38,023 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:26:38,023 [INFO] [0.0, -0.06407063978640817, -0.10859866644551294, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:26:47,886 [INFO] Simulating with mode cropfollow
+2025-04-27 19:26:47,886 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:26:47,886 [INFO] [0.0, -0.04592626262970452, -0.16876127424839896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:26:56,604 [INFO] Simulating with mode cropfollow
+2025-04-27 19:26:56,604 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:26:56,604 [INFO] [0.0, -0.006850486864467306, -0.15521056102224653, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:27:06,014 [INFO] Simulating with mode cropfollow
+2025-04-27 19:27:06,014 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:27:06,014 [INFO] [0.0, -0.09059603670023172, -0.10615911037067664, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:27:13,712 [INFO] Simulating with mode cropfollow
+2025-04-27 19:27:13,712 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:27:13,712 [INFO] [0.0, -0.07481580407677563, -0.1491535612249015, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:27:21,926 [INFO] Simulating with mode cropfollow
+2025-04-27 19:27:21,926 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:27:21,926 [INFO] [0.0, -0.06079545369585504, -0.09528544167693265, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:27:29,958 [INFO] Simulating with mode cropfollow
+2025-04-27 19:27:29,958 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:27:29,958 [INFO] [0.0, -0.0477784478598646, -0.1679375249724193, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:27:38,910 [INFO] Simulating with mode cropfollow
+2025-04-27 19:27:38,910 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:27:38,910 [INFO] [0.0, -0.04487115820446881, -0.1064406399923826, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:27:47,084 [INFO] 0 check bloated tube unknown
+2025-04-27 19:27:47,084 [INFO] ===============================================
+Mode: 0
+stack size: 5
+remainTime: 15
+
+2025-04-27 19:27:47,084 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.05, -0.0875, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.025, 0.04375, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:27:47,084 [INFO] Simulating with mode cropfollow
+2025-04-27 19:27:47,084 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:27:47,084 [INFO] [0.0, -0.07500000000000001, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:27:56,798 [INFO] Simulating with mode cropfollow
+2025-04-27 19:27:56,798 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:27:56,798 [INFO] [0.0, -0.060082556471865195, -0.16035451529536204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:28:06,331 [INFO] Simulating with mode cropfollow
+2025-04-27 19:28:06,331 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:28:06,331 [INFO] [0.0, -0.08509368454742941, -0.14100973890858418, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:28:16,092 [INFO] Simulating with mode cropfollow
+2025-04-27 19:28:16,092 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:28:16,092 [INFO] [0.0, -0.08203531989320409, -0.10859866644551294, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:28:25,908 [INFO] Simulating with mode cropfollow
+2025-04-27 19:28:25,908 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:28:25,908 [INFO] [0.0, -0.07296313131485227, -0.16876127424839896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:28:34,495 [INFO] Simulating with mode cropfollow
+2025-04-27 19:28:34,495 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:28:34,495 [INFO] [0.0, -0.053425243432233656, -0.15521056102224653, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:28:43,756 [INFO] Simulating with mode cropfollow
+2025-04-27 19:28:43,756 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:28:43,756 [INFO] [0.0, -0.09529801835011587, -0.10615911037067664, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:28:51,533 [INFO] Simulating with mode cropfollow
+2025-04-27 19:28:51,533 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:28:51,533 [INFO] [0.0, -0.08740790203838782, -0.1491535612249015, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:28:59,620 [INFO] Simulating with mode cropfollow
+2025-04-27 19:28:59,620 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:28:59,620 [INFO] [0.0, -0.08039772684792752, -0.09528544167693265, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:29:07,733 [INFO] Simulating with mode cropfollow
+2025-04-27 19:29:07,734 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:29:07,734 [INFO] [0.0, -0.0738892239299323, -0.1679375249724193, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:29:16,551 [INFO] Simulating with mode cropfollow
+2025-04-27 19:29:16,551 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:29:16,551 [INFO] [0.0, -0.07243557910223442, -0.1064406399923826, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:29:24,745 [INFO] 0 check bloated tube unknown
+2025-04-27 19:29:24,745 [INFO] ===============================================
+Mode: 0
+stack size: 6
+remainTime: 15
+
+2025-04-27 19:29:24,745 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.05, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.025, 0.021875000000000006, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:29:24,745 [INFO] Simulating with mode cropfollow
+2025-04-27 19:29:24,745 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:29:24,745 [INFO] [0.0, -0.07500000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:29:34,088 [INFO] Simulating with mode cropfollow
+2025-04-27 19:29:34,088 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:29:34,088 [INFO] [0.0, -0.060082556471865195, -0.16767725764768102, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:29:43,474 [INFO] Simulating with mode cropfollow
+2025-04-27 19:29:43,475 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:29:43,475 [INFO] [0.0, -0.08509368454742941, -0.15800486945429207, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:29:53,054 [INFO] Simulating with mode cropfollow
+2025-04-27 19:29:53,054 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:29:53,054 [INFO] [0.0, -0.08203531989320409, -0.14179933322275645, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:30:02,755 [INFO] Simulating with mode cropfollow
+2025-04-27 19:30:02,755 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:30:02,755 [INFO] [0.0, -0.07296313131485227, -0.17188063712419946, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:30:11,295 [INFO] Simulating with mode cropfollow
+2025-04-27 19:30:11,295 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:30:11,295 [INFO] [0.0, -0.053425243432233656, -0.16510528051112325, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:30:20,734 [INFO] Simulating with mode cropfollow
+2025-04-27 19:30:20,734 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:30:20,734 [INFO] [0.0, -0.09529801835011587, -0.1405795551853383, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:30:28,400 [INFO] Simulating with mode cropfollow
+2025-04-27 19:30:28,400 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:30:28,400 [INFO] [0.0, -0.08740790203838782, -0.16207678061245073, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:30:36,674 [INFO] Simulating with mode cropfollow
+2025-04-27 19:30:36,674 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:30:36,674 [INFO] [0.0, -0.08039772684792752, -0.1351427208384663, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:30:44,876 [INFO] Simulating with mode cropfollow
+2025-04-27 19:30:44,876 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:30:44,876 [INFO] [0.0, -0.0738892239299323, -0.17146876248620965, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:30:53,847 [INFO] Simulating with mode cropfollow
+2025-04-27 19:30:53,847 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:30:53,847 [INFO] [0.0, -0.07243557910223442, -0.14072031999619128, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:31:02,258 [INFO] 0 check bloated tube unknown
+2025-04-27 19:31:02,258 [INFO] ===============================================
+Mode: 0
+stack size: 7
+remainTime: 15
+
+2025-04-27 19:31:02,258 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.07500000000000001, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.012499999999999997, 0.021875000000000006, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:31:02,258 [INFO] Simulating with mode cropfollow
+2025-04-27 19:31:02,258 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:31:02,258 [INFO] [0.0, -0.08750000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:31:11,998 [INFO] Simulating with mode cropfollow
+2025-04-27 19:31:11,998 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:31:11,998 [INFO] [0.0, -0.0800412782359326, -0.16767725764768102, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:31:21,578 [INFO] Simulating with mode cropfollow
+2025-04-27 19:31:21,578 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:31:21,578 [INFO] [0.0, -0.09254684227371471, -0.15800486945429207, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:31:31,192 [INFO] Simulating with mode cropfollow
+2025-04-27 19:31:31,192 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:31:31,192 [INFO] [0.0, -0.09101765994660205, -0.14179933322275645, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:31:41,108 [INFO] Simulating with mode cropfollow
+2025-04-27 19:31:41,108 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:31:41,108 [INFO] [0.0, -0.08648156565742614, -0.17188063712419946, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:31:49,693 [INFO] Simulating with mode cropfollow
+2025-04-27 19:31:49,693 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:31:49,693 [INFO] [0.0, -0.07671262171611684, -0.16510528051112325, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:31:59,304 [INFO] Simulating with mode cropfollow
+2025-04-27 19:31:59,304 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:31:59,304 [INFO] [0.0, -0.09764900917505794, -0.1405795551853383, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:32:07,053 [INFO] Simulating with mode cropfollow
+2025-04-27 19:32:07,053 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:32:07,053 [INFO] [0.0, -0.09370395101919392, -0.16207678061245073, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:32:15,456 [INFO] Simulating with mode cropfollow
+2025-04-27 19:32:15,456 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:32:15,456 [INFO] [0.0, -0.09019886342396377, -0.1351427208384663, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:32:23,693 [INFO] Simulating with mode cropfollow
+2025-04-27 19:32:23,694 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:32:23,694 [INFO] [0.0, -0.08694461196496615, -0.17146876248620965, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:32:32,446 [INFO] Simulating with mode cropfollow
+2025-04-27 19:32:32,446 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:32:32,446 [INFO] [0.0, -0.08621778955111721, -0.14072031999619128, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:32:40,827 [INFO] 0 check bloated tube unknown
+2025-04-27 19:32:40,827 [INFO] ===============================================
+Mode: 0
+stack size: 8
+remainTime: 15
+
+2025-04-27 19:32:40,827 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.07500000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.012499999999999997, 0.010937500000000003, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:32:40,827 [INFO] Simulating with mode cropfollow
+2025-04-27 19:32:40,827 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:32:40,827 [INFO] [0.0, -0.08750000000000001, -0.1640625, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:32:50,489 [INFO] Simulating with mode cropfollow
+2025-04-27 19:32:50,489 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:32:50,489 [INFO] [0.0, -0.0800412782359326, -0.1713386288238405, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:33:00,249 [INFO] Simulating with mode cropfollow
+2025-04-27 19:33:00,249 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:33:00,249 [INFO] [0.0, -0.09254684227371471, -0.16650243472714604, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:33:09,918 [INFO] Simulating with mode cropfollow
+2025-04-27 19:33:09,918 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:33:09,918 [INFO] [0.0, -0.09101765994660205, -0.15839966661137822, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:33:19,905 [INFO] Simulating with mode cropfollow
+2025-04-27 19:33:19,905 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:33:19,906 [INFO] [0.0, -0.08648156565742614, -0.17344031856209974, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:33:28,522 [INFO] Simulating with mode cropfollow
+2025-04-27 19:33:28,523 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:33:28,523 [INFO] [0.0, -0.07671262171611684, -0.17005264025556163, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:33:38,646 [INFO] Simulating with mode cropfollow
+2025-04-27 19:33:38,646 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:33:38,646 [INFO] [0.0, -0.09764900917505794, -0.15778977759266916, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:33:47,122 [INFO] Simulating with mode cropfollow
+2025-04-27 19:33:47,122 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:33:47,122 [INFO] [0.0, -0.09370395101919392, -0.16853839030622536, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:33:55,770 [INFO] Simulating with mode cropfollow
+2025-04-27 19:33:55,770 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:33:55,770 [INFO] [0.0, -0.09019886342396377, -0.15507136041923314, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:34:04,401 [INFO] Simulating with mode cropfollow
+2025-04-27 19:34:04,401 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:34:04,401 [INFO] [0.0, -0.08694461196496615, -0.1732343812431048, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:34:13,797 [INFO] Simulating with mode cropfollow
+2025-04-27 19:34:13,797 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:34:13,797 [INFO] [0.0, -0.08621778955111721, -0.15786015999809563, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:34:22,499 [INFO] 0 check bloated tube unknown
+2025-04-27 19:34:22,499 [INFO] ===============================================
+Mode: 0
+stack size: 9
+remainTime: 15
+
+2025-04-27 19:34:22,499 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.08750000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.006249999999999999, 0.010937500000000003, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:34:22,499 [INFO] Simulating with mode cropfollow
+2025-04-27 19:34:22,499 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:34:22,499 [INFO] [0.0, -0.09375, -0.1640625, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:34:32,116 [INFO] Simulating with mode cropfollow
+2025-04-27 19:34:32,116 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:34:32,116 [INFO] [0.0, -0.0900206391179663, -0.1713386288238405, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:34:41,730 [INFO] Simulating with mode cropfollow
+2025-04-27 19:34:41,730 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:34:41,730 [INFO] [0.0, -0.09627342113685736, -0.16650243472714604, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:34:51,526 [INFO] Simulating with mode cropfollow
+2025-04-27 19:34:51,527 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:34:51,527 [INFO] [0.0, -0.09550882997330103, -0.15839966661137822, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:35:01,387 [INFO] Simulating with mode cropfollow
+2025-04-27 19:35:01,388 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:35:01,388 [INFO] [0.0, -0.09324078282871306, -0.17344031856209974, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:35:09,968 [INFO] Simulating with mode cropfollow
+2025-04-27 19:35:09,969 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:35:09,969 [INFO] [0.0, -0.08835631085805842, -0.17005264025556163, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:35:19,686 [INFO] Simulating with mode cropfollow
+2025-04-27 19:35:19,686 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:35:19,686 [INFO] [0.0, -0.09882450458752898, -0.15778977759266916, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:35:27,648 [INFO] Simulating with mode cropfollow
+2025-04-27 19:35:27,648 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:35:27,648 [INFO] [0.0, -0.09685197550959695, -0.16853839030622536, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:35:35,662 [INFO] Simulating with mode cropfollow
+2025-04-27 19:35:35,662 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:35:35,662 [INFO] [0.0, -0.09509943171198189, -0.15507136041923314, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:35:43,692 [INFO] Simulating with mode cropfollow
+2025-04-27 19:35:43,692 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:35:43,692 [INFO] [0.0, -0.09347230598248309, -0.1732343812431048, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:35:52,388 [INFO] Simulating with mode cropfollow
+2025-04-27 19:35:52,388 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:35:52,388 [INFO] [0.0, -0.09310889477555861, -0.15786015999809563, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:36:00,634 [INFO] 0 check bloated tube unknown
+2025-04-27 19:36:00,634 [INFO] ===============================================
+Mode: 0
+stack size: 10
+remainTime: 15
+
+2025-04-27 19:36:00,634 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.08750000000000001, -0.1640625, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.006249999999999999, 0.0054687499999999944, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:36:00,634 [INFO] Simulating with mode cropfollow
+2025-04-27 19:36:00,634 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:36:00,634 [INFO] [0.0, -0.09375, -0.16953125, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:36:10,098 [INFO] Simulating with mode cropfollow
+2025-04-27 19:36:10,098 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:36:10,098 [INFO] [0.0, -0.0900206391179663, -0.17316931441192024, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:36:19,596 [INFO] Simulating with mode cropfollow
+2025-04-27 19:36:19,596 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:36:19,596 [INFO] [0.0, -0.09627342113685736, -0.17075121736357302, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:36:29,309 [INFO] Simulating with mode cropfollow
+2025-04-27 19:36:29,310 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:36:29,310 [INFO] [0.0, -0.09550882997330103, -0.1666998333056891, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:36:38,961 [INFO] Simulating with mode cropfollow
+2025-04-27 19:36:38,961 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:36:38,961 [INFO] [0.0, -0.09324078282871306, -0.17422015928104986, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:36:47,476 [INFO] Simulating with mode cropfollow
+2025-04-27 19:36:47,476 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:36:47,476 [INFO] [0.0, -0.08835631085805842, -0.1725263201277808, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:36:56,823 [INFO] Simulating with mode cropfollow
+2025-04-27 19:36:56,824 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:36:56,824 [INFO] [0.0, -0.09882450458752898, -0.16639488879633457, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:37:04,534 [INFO] Simulating with mode cropfollow
+2025-04-27 19:37:04,534 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:37:04,534 [INFO] [0.0, -0.09685197550959695, -0.17176919515311267, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:37:12,407 [INFO] Simulating with mode cropfollow
+2025-04-27 19:37:12,407 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:37:12,407 [INFO] [0.0, -0.09509943171198189, -0.1650356802096166, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:37:20,319 [INFO] Simulating with mode cropfollow
+2025-04-27 19:37:20,319 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:37:20,319 [INFO] [0.0, -0.09347230598248309, -0.1741171906215524, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:37:28,995 [INFO] Simulating with mode cropfollow
+2025-04-27 19:37:28,996 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.436}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:37:28,996 [INFO] [0.0, -0.09310889477555861, -0.16643007999904783, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:37:37,227 [INFO] 0 check bloated tube unknown
+2025-04-27 19:37:37,227 [INFO] ===============================================
+Mode: 0
+stack size: 11
+remainTime: 15
+
+2025-04-27 19:37:37,227 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.09375, -0.1640625, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.0031250000000000028, 0.0054687499999999944, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:37:37,227 [INFO] 0 is not valid anymore
+2025-04-27 19:37:37,227 [INFO] Hit refine threshold, system halt, result unknown
+2025-04-27 19:37:37,227 [INFO] simulation time: 8.588528633117676
+2025-04-27 19:37:37,227 [INFO] verification time: 982.1128797531128
diff --git a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg25_0/results.json b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg25_0/results.json
new file mode 100644
index 0000000000000000000000000000000000000000..6246f2efd799915cccaabc4df6426874d3480b29
--- /dev/null
+++ b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg25_0/results.json
@@ -0,0 +1,7 @@
+{
+ "safety": "UNKNOWN",
+ "sim_time": 8.588528633117676,
+ "verification_time": 982.1128797531128,
+ "refine_time": null,
+ "total_time": 991.2536163330078
+}
\ No newline at end of file
diff --git a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg45_0/Traj.txt b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg45_0/Traj.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3e85229ba35d6b70e4ec4b261ae729c1db7e6af8
--- /dev/null
+++ b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg45_0/Traj.txt
@@ -0,0 +1,47 @@
+cropfollow/pn=[0.000:0.785]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]
+0.0 0.0 -0.017819222062826157 -0.08619927614927292 0.11010070145130157 -0.18878544867038727 -0.14573915302753448 0.15314699709415436
+0.3333333432674408 0.19925743341445923 -0.03503773733973503 -0.019849717617034912 0.10997061431407928 -0.18997029960155487 -0.18004609644412994 0.11989481747150421
+0.6666666865348816 0.39921805262565613 -0.03900742158293724 -0.21909348666667938 0.05307059362530708 -0.23975788056850433 -0.13108544051647186 0.16174302995204926
+1.0 0.5944370031356812 -0.08247639983892441 -0.2747980058193207 -0.005942530930042267 -0.29468652606010437 -0.15901026129722595 0.12973374128341675
+1.3333333730697632 0.7869330048561096 -0.13674691319465637 -0.16478276252746582 -0.029788315296173096 -0.3257245421409607 -0.24370551109313965 0.05223071575164795
+1.6666666269302368 0.9842238426208496 -0.16955453157424927 -0.1169283390045166 -0.049744293093681335 -0.34769582748413086 -0.289364755153656 0.00858674943447113
+2.0 1.1828582286834717 -0.19288694858551025 0.05027000606060028 -0.03051421046257019 -0.3301352560520172 -0.3552596867084503 -0.055638641119003296
+2.3333332538604736 1.3826055526733398 -0.18283718824386597 0.18804456293582916 0.011253148317337036 -0.2834583818912506 -0.37692752480506897 -0.08221599459648132
+2.6666667461395264 1.5790798664093018 -0.14544951915740967 0.46282386779785156 0.10038894414901733 -0.1680496633052826 -0.39128798246383667 -0.12284938246011734
+3.0 1.7580389976501465 -0.05615417659282684 0.3965708017349243 0.17876885831356049 -0.09794843941926956 -0.291077196598053 -0.014359913766384125
+3.3333332538604736 1.9425171613693237 0.021097339689731598 0.20593586564064026 0.21904867887496948 -0.0746123418211937 -0.17685401439666748 0.11680702120065689
+3.6666667461395264 2.138291120529175 0.06199401244521141 0.13125763833522797 0.24342399835586548 -0.05399543419480324 -0.11943596601486206 0.17798346281051636
+4.0 2.3365707397460938 0.08817023038864136 -0.1076619029045105 0.21043825149536133 -0.08782480657100677 -0.034097783267498016 0.2641652822494507
+4.333333492279053 2.5354127883911133 0.06667941808700562 -0.11780085414648056 0.18625769019126892 -0.11166316270828247 -0.05289886146783829 0.2450219988822937
+4.666666507720947 2.7340266704559326 0.04317370057106018 -0.08446584641933441 0.17154757678508759 -0.12738288938999176 -0.08520017564296722 0.21373029053211212
+5.0 2.9333136081695557 0.026300610974431038 -0.05262329801917076 0.16294321417808533 -0.1366415023803711 -0.11034199595451355 0.18924272060394287
+5.333333492279053 3.1330368518829346 0.01578080840408802 -0.0050902701914310455 0.16450631618499756 -0.135489821434021 -0.13294470310211182 0.16705143451690674
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+12.0 7.054211139678955 -0.3431878685951233 -0.05279485881328583 -0.2065894454717636 -0.506171464920044 -0.4797862768173218 -0.18020428717136383
+12.333333015441895 7.253932476043701 -0.35374194383621216 0.13095586001873016 -0.17238083481788635 -0.4698121249675751 -0.5351030826568604 -0.23767176270484924
+12.666666984558105 7.4522199630737305 -0.327625572681427 -0.14512987434864044 -0.2153577357530594 -0.5122038722038269 -0.4398934245109558 -0.1430472582578659
+13.0 7.65011739730835 -0.35654976963996887 -0.4308204650878906 -0.32466036081314087 -0.5972473621368408 -0.3884391784667969 -0.11585214734077454
+13.333333015441895 7.831841945648193 -0.44007307291030884 -0.3461490869522095 -0.383789598941803 -0.6659954786300659 -0.4963565468788147 -0.21415066719055176
+13.666666984558105 8.019979476928711 -0.5079286694526672 -0.060451626777648926 -0.37330636382102966 -0.6727583408355713 -0.6425509452819824 -0.3430989682674408
+14.0 8.219614028930664 -0.5200116038322449 0.22522881627082825 -0.3179677724838257 -0.6103907227516174 -0.7220554351806641 -0.4296324849128723
+14.333333015441895 8.414562225341797 -0.4753457307815552 0.5108811855316162 -0.22226211428642273 -0.48395630717277527 -0.7284293174743652 -0.4667351543903351
+14.666666984558105 8.589025497436523 -0.3775565028190613 0.3110012412071228 -0.15824934840202332 -0.44385766983032227 -0.5968636274337769 -0.3112553358078003
+15.0 8.779431343078613 -0.31635409593582153 0.2663305699825287 -0.10584431886672974 -0.3952672779560089 -0.5268638730049133 -0.23744091391563416
diff --git a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg45_0/log.txt b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg45_0/log.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bf70598db803aed0da9d5469bed4a1a7105c10a2
--- /dev/null
+++ b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg45_0/log.txt
@@ -0,0 +1,5 @@
+2025-04-27 19:38:41,327 [INFO] Simulating with mode cropfollow
+2025-04-27 19:38:41,327 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.785}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:38:41,327 [INFO] [0.0, -0.017819221171114147, -0.08619927790805128, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:38:53,306 [INFO] Current simulation is not safe. Program halt
+2025-04-27 19:38:53,306 [INFO] simulation time 11.979533910751343
diff --git a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading2_00/results.json b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg45_0/results.json
similarity index 53%
rename from output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading2_00/results.json
rename to output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg45_0/results.json
index 156fd62ac387cd97350f6a3baa1b02aa345aab01..03aea536a73f30f379caa112967c02419f9d8bef 100644
--- a/output/noise/perception/p01_a10/heading/perceptnoise_pose0_00__heading2_00/results.json
+++ b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg45_0/results.json
@@ -1,7 +1,7 @@
{
"safety": "UNSAFE",
- "sim_time": 9.791455745697021,
+ "sim_time": 11.979533910751343,
"verification_time": null,
"refine_time": null,
- "total_time": 10.342357635498047
+ "total_time": 12.53059434890747
}
\ No newline at end of file
diff --git a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg5/Traj.txt b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg5/Traj.txt
deleted file mode 100644
index 6e5e1932a57614df09ab764ad31d1341e3b73f86..0000000000000000000000000000000000000000
--- a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg5/Traj.txt
+++ /dev/null
@@ -1,47 +0,0 @@
-cropfollow/pn=[0.00:0.09]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]
-0.0 0.0 -0.08261318504810333 0.12018808722496033 0.09627947211265564 -0.20155638456344604 -0.2615058422088623 0.03633000701665878
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-8.0 4.795743465423584 0.004860352724790573 -0.00025067245587706566 0.15479768812656403 -0.14520232379436493 -0.14507697522640228 0.15492303669452667
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-11.666666984558105 6.995709419250488 -0.004407246597111225 -0.0029350940603762865 0.14485834538936615 -0.15514038503170013 -0.15367282927036285 0.14632590115070343
-12.0 7.195708751678467 -0.004994264803826809 -0.0030044293962419033 0.1442539542913437 -0.15574468672275543 -0.15424247086048126 0.14575617015361786
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-12.666666984558105 7.595707416534424 -0.0061360434629023075 -0.001637129345908761 0.14345449209213257 -0.15654513239860535 -0.1557265818119049 0.144273042678833
-13.0 7.7957072257995605 -0.006463469006121159 -0.001770276459865272 0.14309373497962952 -0.15690580010414124 -0.15602067112922668 0.14397886395454407
-13.333333015441895 7.995707035064697 -0.006817524321377277 -0.0024739813525229692 0.14256353676319122 -0.1574355512857437 -0.15619857609272003 0.1438005119562149
-13.666666984558105 8.195706367492676 -0.007312320172786713 -0.0029597000684589148 0.14194712042808533 -0.15805158019065857 -0.15657174587249756 0.14342695474624634
-14.0 8.395705223083496 -0.007904259487986565 -0.0005579977296292782 0.14195621013641357 -0.1580437421798706 -0.157764732837677 0.14223521947860718
-14.333333015441895 8.595705032348633 -0.008015858940780163 -0.0004544811381492764 0.14187051355838776 -0.1581294685602188 -0.15790222585201263 0.14209775626659393
-14.666666984558105 8.79570484161377 -0.008106755092740059 -0.0006189891719259322 0.14173847436904907 -0.1582614779472351 -0.1579519808292389 0.1420479714870453
-15.0 8.995704650878906 -0.00823055300861597 0.001108708092942834 0.14204654097557068 -0.15795329213142395 -0.15850764513015747 0.14149218797683716
diff --git a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg5/log.txt b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg5/log.txt
deleted file mode 100644
index 66d450990b8b27c0553cda0f81410f3c3be3f8aa..0000000000000000000000000000000000000000
--- a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg5/log.txt
+++ /dev/null
@@ -1,447 +0,0 @@
-2025-04-27 17:41:39,674 [INFO] Simulating with mode cropfollow
-2025-04-27 17:41:39,675 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:41:39,675 [INFO] [0.0, -0.0826131852213356, 0.12018808836137884, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:41:55,278 [INFO] Verification Begin
-2025-04-27 17:41:55,278 [INFO] ===============================================
-Mode: 0
-stack size: 1
-remainTime: 15
-
-2025-04-27 17:41:55,278 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 17:41:55,278 [INFO] Simulating with mode cropfollow
-2025-04-27 17:41:55,278 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:41:55,278 [INFO] [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:42:10,605 [INFO] Simulating with mode cropfollow
-2025-04-27 17:42:10,605 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:42:10,605 [INFO] [0.0, -0.01940758680886745, 0.14033325522049223, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:42:26,789 [INFO] Simulating with mode cropfollow
-2025-04-27 17:42:26,789 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:42:26,789 [INFO] [0.0, -0.034665496387149705, -0.06979694992937524, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:42:41,053 [INFO] Simulating with mode cropfollow
-2025-04-27 17:42:41,053 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:42:41,053 [INFO] [0.0, 0.07665289804869688, 0.05541825921424964, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:42:56,041 [INFO] Simulating with mode cropfollow
-2025-04-27 17:42:56,041 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:42:56,041 [INFO] [0.0, 0.046257448675656454, 0.15345175705380004, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:43:09,631 [INFO] Simulating with mode cropfollow
-2025-04-27 17:43:09,631 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:43:09,632 [INFO] [0.0, -0.03345710164017601, -0.06858806493749396, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:43:23,729 [INFO] Simulating with mode cropfollow
-2025-04-27 17:43:23,729 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:43:23,729 [INFO] [0.0, 0.027648412052970667, -0.09632342595171799, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:43:37,903 [INFO] Simulating with mode cropfollow
-2025-04-27 17:43:37,903 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:43:37,903 [INFO] [0.0, -0.012766788591394379, 0.06847911459459036, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:43:51,798 [INFO] Simulating with mode cropfollow
-2025-04-27 17:43:51,798 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:43:51,798 [INFO] [0.0, -0.02733756141935624, -0.04965555460798679, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:44:07,581 [INFO] Simulating with mode cropfollow
-2025-04-27 17:44:07,581 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:44:07,581 [INFO] [0.0, -0.02887357625434564, -0.10760399590836674, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:44:22,546 [INFO] Simulating with mode cropfollow
-2025-04-27 17:44:22,546 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:44:22,546 [INFO] [0.0, -0.06804166442991832, -0.025575941156179977, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:44:38,655 [INFO] 0 check bloated tube unknown
-2025-04-27 17:44:38,655 [INFO] ===============================================
-Mode: 0
-stack size: 2
-remainTime: 15
-
-2025-04-27 17:44:38,655 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.1, 0.0875, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 17:44:38,655 [INFO] Simulating with mode cropfollow
-2025-04-27 17:44:38,655 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:44:38,655 [INFO] [0.0, 0.0, -0.0875, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:44:53,903 [INFO] Simulating with mode cropfollow
-2025-04-27 17:44:53,903 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:44:53,903 [INFO] [0.0, -0.01940758680886745, -0.01733337238975388, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:45:08,295 [INFO] Simulating with mode cropfollow
-2025-04-27 17:45:08,295 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:45:08,295 [INFO] [0.0, -0.034665496387149705, -0.12239847496468761, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:45:23,006 [INFO] Simulating with mode cropfollow
-2025-04-27 17:45:23,006 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:45:23,006 [INFO] [0.0, 0.07665289804869688, -0.05979087039287517, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:45:38,805 [INFO] Simulating with mode cropfollow
-2025-04-27 17:45:38,805 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:45:38,805 [INFO] [0.0, 0.046257448675656454, -0.010774121473099973, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:45:54,017 [INFO] Simulating with mode cropfollow
-2025-04-27 17:45:54,017 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:45:54,017 [INFO] [0.0, -0.03345710164017601, -0.12179403246874698, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:46:09,243 [INFO] Simulating with mode cropfollow
-2025-04-27 17:46:09,243 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:46:09,243 [INFO] [0.0, 0.027648412052970667, -0.135661712975859, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:46:24,737 [INFO] Simulating with mode cropfollow
-2025-04-27 17:46:24,737 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:46:24,737 [INFO] [0.0, -0.012766788591394379, -0.053260442702704816, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:46:40,185 [INFO] Simulating with mode cropfollow
-2025-04-27 17:46:40,185 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:46:40,185 [INFO] [0.0, -0.02733756141935624, -0.11232777730399339, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:46:56,032 [INFO] Simulating with mode cropfollow
-2025-04-27 17:46:56,033 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:46:56,033 [INFO] [0.0, -0.02887357625434564, -0.14130199795418336, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:47:11,005 [INFO] Simulating with mode cropfollow
-2025-04-27 17:47:11,005 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:47:11,005 [INFO] [0.0, -0.06804166442991832, -0.10028797057808998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:47:26,506 [INFO] 0 check bloated tube unknown
-2025-04-27 17:47:26,506 [INFO] ===============================================
-Mode: 0
-stack size: 3
-remainTime: 15
-
-2025-04-27 17:47:26,506 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.05, 0.0875, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 17:47:26,506 [INFO] Simulating with mode cropfollow
-2025-04-27 17:47:26,506 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:47:26,506 [INFO] [0.0, -0.05, -0.0875, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:47:43,387 [INFO] Simulating with mode cropfollow
-2025-04-27 17:47:43,387 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:47:43,387 [INFO] [0.0, -0.05970379340443373, -0.01733337238975388, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:47:58,877 [INFO] Simulating with mode cropfollow
-2025-04-27 17:47:58,877 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:47:58,877 [INFO] [0.0, -0.06733274819357485, -0.12239847496468761, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:48:13,927 [INFO] Simulating with mode cropfollow
-2025-04-27 17:48:13,927 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:48:13,927 [INFO] [0.0, -0.011673550975651564, -0.05979087039287517, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:48:29,293 [INFO] Simulating with mode cropfollow
-2025-04-27 17:48:29,293 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:48:29,293 [INFO] [0.0, -0.026871275662171776, -0.010774121473099973, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:48:45,000 [INFO] Simulating with mode cropfollow
-2025-04-27 17:48:45,000 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:48:45,000 [INFO] [0.0, -0.06672855082008801, -0.12179403246874698, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:49:00,670 [INFO] Simulating with mode cropfollow
-2025-04-27 17:49:00,670 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:49:00,670 [INFO] [0.0, -0.03617579397351467, -0.135661712975859, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:49:15,228 [INFO] Simulating with mode cropfollow
-2025-04-27 17:49:15,228 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:49:15,228 [INFO] [0.0, -0.05638339429569719, -0.053260442702704816, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:49:30,800 [INFO] Simulating with mode cropfollow
-2025-04-27 17:49:30,800 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:49:30,800 [INFO] [0.0, -0.06366878070967813, -0.11232777730399339, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:49:46,016 [INFO] Simulating with mode cropfollow
-2025-04-27 17:49:46,016 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:49:46,016 [INFO] [0.0, -0.06443678812717282, -0.14130199795418336, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:50:00,667 [INFO] Simulating with mode cropfollow
-2025-04-27 17:50:00,668 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:50:00,668 [INFO] [0.0, -0.08402083221495917, -0.10028797057808998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:50:14,135 [INFO] 0 check bloated tube unknown
-2025-04-27 17:50:14,135 [INFO] ===============================================
-Mode: 0
-stack size: 4
-remainTime: 15
-
-2025-04-27 17:50:14,135 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, 0.0, -0.0875, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.05, 0.04375, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 17:50:14,136 [INFO] Simulating with mode cropfollow
-2025-04-27 17:50:14,136 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:50:14,136 [INFO] [0.0, -0.05, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:50:30,132 [INFO] Simulating with mode cropfollow
-2025-04-27 17:50:30,132 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:50:30,132 [INFO] [0.0, -0.05970379340443373, -0.09616668619487694, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:50:45,889 [INFO] Simulating with mode cropfollow
-2025-04-27 17:50:45,889 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:50:45,889 [INFO] [0.0, -0.06733274819357485, -0.14869923748234382, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:50:59,235 [INFO] Simulating with mode cropfollow
-2025-04-27 17:50:59,235 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:50:59,235 [INFO] [0.0, -0.011673550975651564, -0.11739543519643758, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:51:14,033 [INFO] Simulating with mode cropfollow
-2025-04-27 17:51:14,033 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:51:14,033 [INFO] [0.0, -0.026871275662171776, -0.09288706073654998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:51:28,591 [INFO] Simulating with mode cropfollow
-2025-04-27 17:51:28,591 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:51:28,591 [INFO] [0.0, -0.06672855082008801, -0.14839701623437349, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:51:44,283 [INFO] Simulating with mode cropfollow
-2025-04-27 17:51:44,283 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:51:44,283 [INFO] [0.0, -0.03617579397351467, -0.1553308564879295, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:52:00,125 [INFO] Simulating with mode cropfollow
-2025-04-27 17:52:00,126 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:52:00,126 [INFO] [0.0, -0.05638339429569719, -0.1141302213513524, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:52:16,269 [INFO] Simulating with mode cropfollow
-2025-04-27 17:52:16,269 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:52:16,269 [INFO] [0.0, -0.06366878070967813, -0.1436638886519967, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:52:31,388 [INFO] Simulating with mode cropfollow
-2025-04-27 17:52:31,388 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:52:31,388 [INFO] [0.0, -0.06443678812717282, -0.15815099897709167, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:52:45,792 [INFO] Simulating with mode cropfollow
-2025-04-27 17:52:45,792 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:52:45,792 [INFO] [0.0, -0.08402083221495917, -0.13764398528904498, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:52:59,646 [INFO] 0 check bloated tube unknown
-2025-04-27 17:52:59,646 [INFO] ===============================================
-Mode: 0
-stack size: 5
-remainTime: 15
-
-2025-04-27 17:52:59,646 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, -0.05, -0.0875, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.025, 0.04375, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 17:52:59,646 [INFO] Simulating with mode cropfollow
-2025-04-27 17:52:59,646 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:52:59,646 [INFO] [0.0, -0.07500000000000001, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:53:13,941 [INFO] Simulating with mode cropfollow
-2025-04-27 17:53:13,941 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:53:13,941 [INFO] [0.0, -0.07985189670221687, -0.09616668619487694, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:53:28,047 [INFO] Simulating with mode cropfollow
-2025-04-27 17:53:28,047 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:53:28,047 [INFO] [0.0, -0.08366637409678743, -0.14869923748234382, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:53:43,786 [INFO] Simulating with mode cropfollow
-2025-04-27 17:53:43,786 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:53:43,786 [INFO] [0.0, -0.055836775487825785, -0.11739543519643758, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:53:58,881 [INFO] Simulating with mode cropfollow
-2025-04-27 17:53:58,881 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:53:58,881 [INFO] [0.0, -0.06343563783108588, -0.09288706073654998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:54:14,922 [INFO] Simulating with mode cropfollow
-2025-04-27 17:54:14,922 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:54:14,922 [INFO] [0.0, -0.08336427541004401, -0.14839701623437349, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:54:30,083 [INFO] Simulating with mode cropfollow
-2025-04-27 17:54:30,083 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:54:30,084 [INFO] [0.0, -0.06808789698675734, -0.1553308564879295, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:54:44,136 [INFO] Simulating with mode cropfollow
-2025-04-27 17:54:44,136 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:54:44,136 [INFO] [0.0, -0.0781916971478486, -0.1141302213513524, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:54:59,587 [INFO] Simulating with mode cropfollow
-2025-04-27 17:54:59,587 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:54:59,587 [INFO] [0.0, -0.08183439035483907, -0.1436638886519967, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:55:14,623 [INFO] Simulating with mode cropfollow
-2025-04-27 17:55:14,623 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:55:14,623 [INFO] [0.0, -0.08221839406358641, -0.15815099897709167, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:55:29,859 [INFO] Simulating with mode cropfollow
-2025-04-27 17:55:29,859 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:55:29,860 [INFO] [0.0, -0.09201041610747959, -0.13764398528904498, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:55:45,646 [INFO] 0 check bloated tube unknown
-2025-04-27 17:55:45,646 [INFO] ===============================================
-Mode: 0
-stack size: 6
-remainTime: 15
-
-2025-04-27 17:55:45,646 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, -0.05, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.025, 0.021875000000000006, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 17:55:45,646 [INFO] Simulating with mode cropfollow
-2025-04-27 17:55:45,646 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:55:45,646 [INFO] [0.0, -0.07500000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:56:00,580 [INFO] Simulating with mode cropfollow
-2025-04-27 17:56:00,581 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:56:00,581 [INFO] [0.0, -0.07985189670221687, -0.13558334309743844, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:56:16,240 [INFO] Simulating with mode cropfollow
-2025-04-27 17:56:16,240 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:56:16,240 [INFO] [0.0, -0.08366637409678743, -0.1618496187411719, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:56:31,662 [INFO] Simulating with mode cropfollow
-2025-04-27 17:56:31,662 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:56:31,662 [INFO] [0.0, -0.055836775487825785, -0.14619771759821878, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:56:46,496 [INFO] Simulating with mode cropfollow
-2025-04-27 17:56:46,497 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:56:46,497 [INFO] [0.0, -0.06343563783108588, -0.13394353036827497, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:57:01,169 [INFO] Simulating with mode cropfollow
-2025-04-27 17:57:01,169 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:57:01,169 [INFO] [0.0, -0.08336427541004401, -0.16169850811718672, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:57:15,773 [INFO] Simulating with mode cropfollow
-2025-04-27 17:57:15,774 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:57:15,774 [INFO] [0.0, -0.06808789698675734, -0.16516542824396474, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:57:31,183 [INFO] Simulating with mode cropfollow
-2025-04-27 17:57:31,183 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:57:31,183 [INFO] [0.0, -0.0781916971478486, -0.14456511067567618, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:57:46,183 [INFO] Simulating with mode cropfollow
-2025-04-27 17:57:46,183 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:57:46,183 [INFO] [0.0, -0.08183439035483907, -0.15933194432599834, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:58:01,170 [INFO] Simulating with mode cropfollow
-2025-04-27 17:58:01,171 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:58:01,171 [INFO] [0.0, -0.08221839406358641, -0.16657549948854583, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:58:15,970 [INFO] Simulating with mode cropfollow
-2025-04-27 17:58:15,970 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:58:15,970 [INFO] [0.0, -0.09201041610747959, -0.15632199264452248, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:58:30,779 [INFO] 0 check bloated tube unknown
-2025-04-27 17:58:30,779 [INFO] ===============================================
-Mode: 0
-stack size: 7
-remainTime: 15
-
-2025-04-27 17:58:30,779 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, -0.07500000000000001, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.012499999999999997, 0.021875000000000006, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 17:58:30,779 [INFO] Simulating with mode cropfollow
-2025-04-27 17:58:30,779 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:58:30,779 [INFO] [0.0, -0.08750000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:58:47,261 [INFO] Simulating with mode cropfollow
-2025-04-27 17:58:47,261 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:58:47,261 [INFO] [0.0, -0.08992594835110844, -0.13558334309743844, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:59:02,142 [INFO] Simulating with mode cropfollow
-2025-04-27 17:59:02,164 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:59:02,164 [INFO] [0.0, -0.09183318704839372, -0.1618496187411719, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:59:17,937 [INFO] Simulating with mode cropfollow
-2025-04-27 17:59:17,937 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:59:17,937 [INFO] [0.0, -0.0779183877439129, -0.14619771759821878, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:59:32,901 [INFO] Simulating with mode cropfollow
-2025-04-27 17:59:32,901 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:59:32,901 [INFO] [0.0, -0.08171781891554296, -0.13394353036827497, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:59:48,297 [INFO] Simulating with mode cropfollow
-2025-04-27 17:59:48,297 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:59:48,297 [INFO] [0.0, -0.09168213770502201, -0.16169850811718672, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:00:03,786 [INFO] Simulating with mode cropfollow
-2025-04-27 18:00:03,786 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:00:03,786 [INFO] [0.0, -0.08404394849337868, -0.16516542824396474, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:00:18,412 [INFO] Simulating with mode cropfollow
-2025-04-27 18:00:18,412 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:00:18,412 [INFO] [0.0, -0.0890958485739243, -0.14456511067567618, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:00:32,833 [INFO] Simulating with mode cropfollow
-2025-04-27 18:00:32,833 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:00:32,834 [INFO] [0.0, -0.09091719517741953, -0.15933194432599834, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:00:48,922 [INFO] Simulating with mode cropfollow
-2025-04-27 18:00:48,923 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:00:48,923 [INFO] [0.0, -0.09110919703179321, -0.16657549948854583, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:01:04,137 [INFO] Simulating with mode cropfollow
-2025-04-27 18:01:04,137 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:01:04,137 [INFO] [0.0, -0.0960052080537398, -0.15632199264452248, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:01:18,847 [INFO] 0 check bloated tube unknown
-2025-04-27 18:01:18,847 [INFO] ===============================================
-Mode: 0
-stack size: 8
-remainTime: 15
-
-2025-04-27 18:01:18,847 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, -0.07500000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.012499999999999997, 0.010937500000000003, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 18:01:18,848 [INFO] Simulating with mode cropfollow
-2025-04-27 18:01:18,848 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:01:18,848 [INFO] [0.0, -0.08750000000000001, -0.1640625, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:01:34,665 [INFO] Simulating with mode cropfollow
-2025-04-27 18:01:34,665 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:01:34,665 [INFO] [0.0, -0.08992594835110844, -0.15529167154871923, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:01:49,032 [INFO] Simulating with mode cropfollow
-2025-04-27 18:01:49,032 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:01:49,032 [INFO] [0.0, -0.09183318704839372, -0.16842480937058593, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:02:04,396 [INFO] Simulating with mode cropfollow
-2025-04-27 18:02:04,396 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:02:04,396 [INFO] [0.0, -0.0779183877439129, -0.16059885879910937, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:02:18,594 [INFO] Simulating with mode cropfollow
-2025-04-27 18:02:18,594 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:02:18,594 [INFO] [0.0, -0.08171781891554296, -0.15447176518413747, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:02:33,421 [INFO] Simulating with mode cropfollow
-2025-04-27 18:02:33,421 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:02:33,421 [INFO] [0.0, -0.09168213770502201, -0.16834925405859336, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:02:49,632 [INFO] Simulating with mode cropfollow
-2025-04-27 18:02:49,632 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:02:49,632 [INFO] [0.0, -0.08404394849337868, -0.17008271412198236, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:03:04,984 [INFO] Simulating with mode cropfollow
-2025-04-27 18:03:04,984 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:03:04,984 [INFO] [0.0, -0.0890958485739243, -0.15978255533783808, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:03:19,013 [INFO] Simulating with mode cropfollow
-2025-04-27 18:03:19,013 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:03:19,013 [INFO] [0.0, -0.09091719517741953, -0.16716597216299917, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:03:33,525 [INFO] Simulating with mode cropfollow
-2025-04-27 18:03:33,526 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:03:33,526 [INFO] [0.0, -0.09110919703179321, -0.1707877497442729, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:03:47,273 [INFO] Simulating with mode cropfollow
-2025-04-27 18:03:47,273 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:03:47,273 [INFO] [0.0, -0.0960052080537398, -0.16566099632226122, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:04:02,748 [INFO] 0 check bloated tube unknown
-2025-04-27 18:04:02,748 [INFO] ===============================================
-Mode: 0
-stack size: 9
-remainTime: 15
-
-2025-04-27 18:04:02,748 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, -0.08750000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.006249999999999999, 0.010937500000000003, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 18:04:02,748 [INFO] Simulating with mode cropfollow
-2025-04-27 18:04:02,748 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:04:02,748 [INFO] [0.0, -0.09375, -0.1640625, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:04:17,613 [INFO] Simulating with mode cropfollow
-2025-04-27 18:04:17,613 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:04:17,613 [INFO] [0.0, -0.09496297417555422, -0.15529167154871923, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:04:32,719 [INFO] Simulating with mode cropfollow
-2025-04-27 18:04:32,719 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:04:32,719 [INFO] [0.0, -0.09591659352419686, -0.16842480937058593, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:04:49,350 [INFO] Simulating with mode cropfollow
-2025-04-27 18:04:49,350 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:04:49,350 [INFO] [0.0, -0.08895919387195646, -0.16059885879910937, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:05:03,870 [INFO] Simulating with mode cropfollow
-2025-04-27 18:05:03,871 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:05:03,871 [INFO] [0.0, -0.09085890945777148, -0.15447176518413747, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:05:18,516 [INFO] Simulating with mode cropfollow
-2025-04-27 18:05:18,516 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:05:18,516 [INFO] [0.0, -0.09584106885251101, -0.16834925405859336, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:05:33,695 [INFO] Simulating with mode cropfollow
-2025-04-27 18:05:33,695 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:05:33,695 [INFO] [0.0, -0.09202197424668934, -0.17008271412198236, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:05:49,097 [INFO] Simulating with mode cropfollow
-2025-04-27 18:05:49,097 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:05:49,097 [INFO] [0.0, -0.09454792428696215, -0.15978255533783808, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:06:04,551 [INFO] Simulating with mode cropfollow
-2025-04-27 18:06:04,551 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:06:04,551 [INFO] [0.0, -0.09545859758870977, -0.16716597216299917, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:06:20,175 [INFO] Simulating with mode cropfollow
-2025-04-27 18:06:20,175 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:06:20,175 [INFO] [0.0, -0.09555459851589661, -0.1707877497442729, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:06:35,174 [INFO] Simulating with mode cropfollow
-2025-04-27 18:06:35,174 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:06:35,174 [INFO] [0.0, -0.0980026040268699, -0.16566099632226122, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:06:51,044 [INFO] 0 check bloated tube unknown
-2025-04-27 18:06:51,044 [INFO] ===============================================
-Mode: 0
-stack size: 10
-remainTime: 15
-
-2025-04-27 18:06:51,044 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, -0.08750000000000001, -0.1640625, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.006249999999999999, 0.0054687499999999944, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 18:06:51,044 [INFO] Simulating with mode cropfollow
-2025-04-27 18:06:51,044 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:06:51,044 [INFO] [0.0, -0.09375, -0.16953125, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:07:04,950 [INFO] Simulating with mode cropfollow
-2025-04-27 18:07:04,950 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:07:04,950 [INFO] [0.0, -0.09496297417555422, -0.16514583577435962, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:07:19,756 [INFO] Simulating with mode cropfollow
-2025-04-27 18:07:19,756 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:07:19,756 [INFO] [0.0, -0.09591659352419686, -0.17171240468529297, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:07:35,274 [INFO] Simulating with mode cropfollow
-2025-04-27 18:07:35,274 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:07:35,274 [INFO] [0.0, -0.08895919387195646, -0.1677994293995547, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:07:51,593 [INFO] Simulating with mode cropfollow
-2025-04-27 18:07:51,593 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:07:51,593 [INFO] [0.0, -0.09085890945777148, -0.16473588259206876, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:08:06,823 [INFO] Simulating with mode cropfollow
-2025-04-27 18:08:06,824 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:08:06,824 [INFO] [0.0, -0.09584106885251101, -0.17167462702929667, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:08:22,553 [INFO] Simulating with mode cropfollow
-2025-04-27 18:08:22,553 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:08:22,553 [INFO] [0.0, -0.09202197424668934, -0.1725413570609912, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:08:38,084 [INFO] Simulating with mode cropfollow
-2025-04-27 18:08:38,084 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:08:38,084 [INFO] [0.0, -0.09454792428696215, -0.16739127766891904, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:08:52,821 [INFO] Simulating with mode cropfollow
-2025-04-27 18:08:52,821 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:08:52,821 [INFO] [0.0, -0.09545859758870977, -0.17108298608149958, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:09:07,943 [INFO] Simulating with mode cropfollow
-2025-04-27 18:09:07,943 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:09:07,943 [INFO] [0.0, -0.09555459851589661, -0.17289387487213645, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:09:23,345 [INFO] Simulating with mode cropfollow
-2025-04-27 18:09:23,345 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.09}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:09:23,345 [INFO] [0.0, -0.0980026040268699, -0.1703304981611306, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:09:38,897 [INFO] 0 check bloated tube unknown
-2025-04-27 18:09:38,898 [INFO] ===============================================
-Mode: 0
-stack size: 11
-remainTime: 15
-
-2025-04-27 18:09:38,898 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, -0.09375, -0.1640625, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.0031250000000000028, 0.0054687499999999944, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 18:09:38,898 [INFO] 0 is not valid anymore
-2025-04-27 18:09:38,898 [INFO] Hit refine threshold, system halt, result unknown
-2025-04-27 18:09:38,898 [INFO] simulation time: 15.603289365768433
-2025-04-27 18:09:38,898 [INFO] verification time: 1663.6198847293854
diff --git a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg5/results.json b/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg5/results.json
deleted file mode 100644
index 568b5e41bfc607d1ae44723cf2ea9b8b71e3e1e4..0000000000000000000000000000000000000000
--- a/output/noise/perception/p01_a10/heading_degrees/perceptnoise_pose0_00__headingdeg5/results.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
- "safety": "UNKNOWN",
- "sim_time": 15.603289365768433,
- "verification_time": 1663.6198847293854,
- "refine_time": null,
- "total_time": 1679.786702632904
-}
\ No newline at end of file
diff --git a/output/noise/perception/p01_a10/pose/perceptnoise_pose0_00__heading0_00/Traj.txt b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_00__heading0_00/Traj.txt
index c49a3ad9e5f7967322ab2a05cfca19475abab3ff..0faa44981c3c87bff2ed19150bd976b085a071be 100644
--- a/output/noise/perception/p01_a10/pose/perceptnoise_pose0_00__heading0_00/Traj.txt
+++ b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_00__heading0_00/Traj.txt
@@ -1,47 +1,47 @@
-cropfollow/pn=[0.00:0.00]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]
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diff --git a/output/noise/perception/p01_a10/pose/perceptnoise_pose0_00__heading0_00/log.txt b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_00__heading0_00/log.txt
index 89478efba35bbba7ca782ffff86c1b17f7c02a70..420c234ea53739abd18af0a72cbc58fbc60181f4 100644
--- a/output/noise/perception/p01_a10/pose/perceptnoise_pose0_00__heading0_00/log.txt
+++ b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_00__heading0_00/log.txt
@@ -1,52 +1,52 @@
-2025-04-27 15:52:01,773 [INFO] Simulating with mode cropfollow
-2025-04-27 15:52:01,773 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:52:01,773 [INFO] [0.0, 0.00428951407861991, 0.11611990691823448, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:52:05,013 [INFO] Verification Begin
-2025-04-27 15:52:05,013 [INFO] ===============================================
+2025-04-27 19:38:54,434 [INFO] Simulating with mode cropfollow
+2025-04-27 19:38:54,434 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:38:54,434 [INFO] [0.0, -0.09998370301149387, -0.13868820477718063, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:38:58,093 [INFO] Verification Begin
+2025-04-27 19:38:58,093 [INFO] ===============================================
Mode: 0
stack size: 1
remainTime: 15
-2025-04-27 15:52:05,013 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:38:58,093 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
Upper Bound: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
Delta: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:52:05,013 [INFO] Simulating with mode cropfollow
-2025-04-27 15:52:05,013 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:52:05,013 [INFO] [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:52:05,524 [INFO] Simulating with mode cropfollow
-2025-04-27 15:52:05,524 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:52:05,524 [INFO] [0.0, -0.01940758680886745, 0.14033325522049223, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:52:08,821 [INFO] Simulating with mode cropfollow
-2025-04-27 15:52:08,821 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:52:08,821 [INFO] [0.0, -0.034665496387149705, -0.06979694992937524, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:52:11,778 [INFO] Simulating with mode cropfollow
-2025-04-27 15:52:11,778 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:52:11,778 [INFO] [0.0, 0.07665289804869688, 0.05541825921424964, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:52:14,803 [INFO] Simulating with mode cropfollow
-2025-04-27 15:52:14,803 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:52:14,803 [INFO] [0.0, 0.046257448675656454, 0.15345175705380004, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:52:18,377 [INFO] Simulating with mode cropfollow
-2025-04-27 15:52:18,377 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:52:18,377 [INFO] [0.0, -0.03345710164017601, -0.06858806493749396, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:52:21,274 [INFO] Simulating with mode cropfollow
-2025-04-27 15:52:21,274 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:52:21,274 [INFO] [0.0, 0.027648412052970667, -0.09632342595171799, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:52:23,983 [INFO] Simulating with mode cropfollow
-2025-04-27 15:52:23,983 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:52:23,983 [INFO] [0.0, -0.012766788591394379, 0.06847911459459036, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:52:26,548 [INFO] Simulating with mode cropfollow
-2025-04-27 15:52:26,548 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:52:26,548 [INFO] [0.0, -0.02733756141935624, -0.04965555460798679, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:52:29,349 [INFO] Simulating with mode cropfollow
-2025-04-27 15:52:29,349 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:52:29,349 [INFO] [0.0, -0.02887357625434564, -0.10760399590836674, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:52:32,550 [INFO] Simulating with mode cropfollow
-2025-04-27 15:52:32,550 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:52:32,550 [INFO] [0.0, -0.06804166442991832, -0.025575941156179977, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:52:35,477 [INFO] Mode 0 check bloated tube safe
-2025-04-27 15:52:35,477 [INFO] No child exist in current initial, pop
-2025-04-27 15:52:35,477 [INFO] System is Safe!
-2025-04-27 15:52:35,477 [INFO] refine time 0
-2025-04-27 15:52:35,477 [INFO] simulation time: 3.2400190830230713
-2025-04-27 15:52:35,477 [INFO] verification time: 30.46440100669861
+2025-04-27 19:38:58,093 [INFO] Simulating with mode cropfollow
+2025-04-27 19:38:58,093 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:38:58,093 [INFO] [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:38:58,602 [INFO] Simulating with mode cropfollow
+2025-04-27 19:38:58,602 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:38:58,602 [INFO] [0.0, 0.05966977411253924, -0.11641806118144818, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:39:01,398 [INFO] Simulating with mode cropfollow
+2025-04-27 19:39:01,398 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:39:01,398 [INFO] [0.0, -0.040374738189717645, -0.03903895563433671, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:39:04,098 [INFO] Simulating with mode cropfollow
+2025-04-27 19:39:04,098 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:39:04,098 [INFO] [0.0, -0.028141279572816355, 0.0906053342179482, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:39:06,925 [INFO] Simulating with mode cropfollow
+2025-04-27 19:39:06,925 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:39:06,926 [INFO] [0.0, 0.008147474740590965, -0.1500450969935958, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:39:10,360 [INFO] Simulating with mode cropfollow
+2025-04-27 19:39:10,360 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:39:10,360 [INFO] [0.0, 0.0862990262710654, -0.09584224408898614, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:39:12,659 [INFO] Simulating with mode cropfollow
+2025-04-27 19:39:12,659 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:39:12,659 [INFO] [0.0, -0.08119207340046344, 0.1003635585172934, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:39:14,988 [INFO] Simulating with mode cropfollow
+2025-04-27 19:39:14,988 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:39:14,988 [INFO] [0.0, -0.049631608153551256, -0.07161424489960602, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:39:18,056 [INFO] Simulating with mode cropfollow
+2025-04-27 19:39:18,056 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:39:18,056 [INFO] [0.0, -0.021590907391710074, 0.14385823329226938, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:39:21,359 [INFO] Simulating with mode cropfollow
+2025-04-27 19:39:21,359 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:39:21,359 [INFO] [0.0, 0.00444310428027081, -0.14675009988967722, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:39:24,617 [INFO] Simulating with mode cropfollow
+2025-04-27 19:39:24,617 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:39:24,617 [INFO] [0.0, 0.010257683591062383, 0.09923744003046958, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:39:27,912 [INFO] Mode 0 check bloated tube safe
+2025-04-27 19:39:27,912 [INFO] No child exist in current initial, pop
+2025-04-27 19:39:27,912 [INFO] System is Safe!
+2025-04-27 19:39:27,912 [INFO] refine time 0
+2025-04-27 19:39:27,912 [INFO] simulation time: 3.6590917110443115
+2025-04-27 19:39:27,912 [INFO] verification time: 29.819809198379517
diff --git a/output/noise/perception/p01_a10/pose/perceptnoise_pose0_00__heading0_00/reachtube.txt b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_00__heading0_00/reachtube.txt
index c14b5722043b6bf5a4cbf51aee01287b06318335..d0683a75da6d4f9f687bbe616db399eeea240ae6 100644
--- a/output/noise/perception/p01_a10/pose/perceptnoise_pose0_00__heading0_00/reachtube.txt
+++ b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_00__heading0_00/reachtube.txt
@@ -1,91 +1,91 @@
-cropfollow/pn=[0.00:0.00]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]],0
-0.0 0.0 -0.13401138368589632 -0.175 -0.011400183247411183 -0.3120961503415679 -0.25677446222559025 0.04369564085800749
-0.3333333432674408 0.20364713439301305 0.13401138368589632 0.175 0.31140019516834017 0.012096138420638919 -0.04322554969533869 0.2563043710629215
-0.3333333432674408 0.19635290136977382 -0.15620082836961557 -0.1607625278988049 -0.021861225747130564 -0.3222407968895291 -0.2905404377316727 0.00983913341072587
-0.6666666865348816 0.4056744486847894 0.15620082836961557 0.1607625278988049 0.3218612376680595 0.022240784968600158 -0.009459574189256276 0.2901608785102031
-0.6666666865348816 0.3943256228407843 -0.16888097607650143 -0.14768337357950873 -0.0252709370217285 -0.3254160654090924 -0.3124910083917022 -0.012345893483482473
-1.0 0.6067135384982536 0.16888097607650143 0.14768337357950873 0.32527094894265746 0.025416053488163476 0.012490996470773258 0.31234590540441143
-1.0 0.5932865091854622 -0.17405100292720072 -0.135668300830814 -0.0252709370217285 -0.3254160654090924 -0.3248396298074677 -0.024856102879892872
-1.3333333730697632 0.8071855224404931 0.17405100292720072 0.135668300830814 0.32527094894265746 0.025416053488163476 0.024839617886538795 0.3248561148008218
-1.3333333730697632 0.7928146206106543 -0.17405100292720072 -0.12463073618185563 -0.02326238278650586 -0.32324590971408074 -0.32960706831883524 -0.029725255013378055
-1.6666666269302368 1.0073602054115063 0.17405100292720072 0.12463073618185563 0.3232623947074348 0.023245897793151782 0.029607056397906284 0.32972526693430704
-1.6666666269302368 0.9926400330070728 -0.17341350680235942 -0.11449115804865435 -0.017282436411400842 -0.3172590262664864 -0.32960706831883524 -0.029725255013378055
-2.0 1.207425000832347 0.17341350680235942 0.11449115804865435 0.31728244833232977 0.017259014345557405 0.029607056397906284 0.32972526693430704
-2.0 1.1925753329536637 -0.16844279304524593 -0.10517650200182999 -0.008556824115385664 -0.30848982582103157 -0.3285360424791558 -0.028709911518380177
-2.3333332538604736 1.4074903658248838 0.16844279304524593 0.10517650200182999 0.3085568360363146 0.008489813900102589 0.028536030558226816 0.32870992343930916
-2.3333332538604736 1.3925100633285585 -0.16050722908678464 -0.09661966126979543 0.0021491080929413597 -0.2977408306216919 -0.3231635400085892 -0.023274230954255848
-2.6666667461395264 1.6075563054703128 0.16050722908678464 0.09661966126979543 0.2978509038279876 -0.002259181299237051 0.023163528087660257 0.3232742428751848
-2.6666667461395264 1.5924442190505612 -0.15033812695148077 -0.08875897372132172 0.01409039672698284 -0.2857664832646718 -0.31476667688786564 -0.014909796896211025
-3.0 1.8076228247292634 0.15033812695148077 0.08875897372132172 0.2859096151939461 -0.014233528656257183 0.01476666496693671 0.31490980881714
-3.0 1.7923777951590423 -0.13873803374745036 -0.08153781322238275 0.026650899662280514 -0.2731861030829128 -0.30412696715718124 -0.004289964411987979
-3.3333332538604736 2.007689809538724 0.13873803374745036 0.08153781322238275 0.27334911225864844 -0.02681390883801618 0.004126955236252283 0.30428997633291693
-3.3333332538604736 1.992310667298434 -0.12636167761457442 -0.07490414440755402 0.03935091093370632 -0.26047915972025076 -0.29207426616285526 0.007755804491101859
-3.6666667461395264 2.207757503510085 0.12636167761457442 0.07490414440755402 0.2606491009872226 -0.03952085220067819 -0.007925745758073727 0.2922442074298271
-3.6666667461395264 2.1922430686945047 -0.11372364816649333 -0.06881016656147766 0.05182589181916977 -0.24800764488040544 -0.2792731618942351 0.020560374805340148
-4.0 2.407825792526759 0.11372364816649333 0.06881016656147766 0.24817412010175918 -0.05199236704052353 -0.02072685002669386 0.27943963711558883
-4.0 2.3921748750452623 -0.1012174203546244 -0.06321198041909112 0.06380906183776316 -0.23603560822046404 -0.26624387628909063 0.03360079376913659
-4.333333492279053 2.6078946819214965 0.1012174203546244 0.06321198041909112 0.2361909500831658 -0.0639644037004649 -0.0337561356318383 0.26639921815179235
-4.333333492279053 2.5921060810179566 -0.0891340960595249 -0.05806924217239797 0.07470547047838036 -0.22516294679430227 -0.25337040518923215 0.04649022968517534
-4.666666507720947 2.8079641768271055 0.0891340960595249 0.05806924217239797 0.2252945414425486 -0.0748370651266267 -0.04662960673169678 0.2535097822357536
-4.666666507720947 2.7920366814797792 -0.07768927907339288 -0.053344908250800044 0.08422432352319056 -0.2156643195497298 -0.24096070149624282 0.05891818263350243
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diff --git a/output/noise/perception/p01_a10/pose/perceptnoise_pose0_00__heading0_00/results.json b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_00__heading0_00/results.json
index 8bc41f04ad613e62f8faca79becefa4cb5f9525b..4fd41c99b88cf8261112d1848e32ba6624ccecc4 100644
--- a/output/noise/perception/p01_a10/pose/perceptnoise_pose0_00__heading0_00/results.json
+++ b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_00__heading0_00/results.json
@@ -1,7 +1,7 @@
{
"safety": "SAFE",
- "sim_time": 3.2400190830230713,
- "verification_time": 30.46440100669861,
+ "sim_time": 3.6590917110443115,
+ "verification_time": 29.819809198379517,
"refine_time": 0,
- "total_time": 34.260690212249756
+ "total_time": 34.03526973724365
}
\ No newline at end of file
diff --git a/output/noise/perception/p01_a10/pose/perceptnoise_pose0_01__heading0_00/Traj.txt b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_01__heading0_00/Traj.txt
index 5a762a31d3a691f4066775df395174f8843d6270..5b1d208e12ef43fbb7a579b584d495307864f47d 100644
--- a/output/noise/perception/p01_a10/pose/perceptnoise_pose0_01__heading0_00/Traj.txt
+++ b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_01__heading0_00/Traj.txt
@@ -1,47 +1,47 @@
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+2.0 1.1991212368011475 0.012456622906029224 0.011182631365954876 0.16524286568164825 -0.13473840057849884 -0.14032961428165436 0.15965165197849274
+2.3333332538604736 1.3991087675094604 0.014693102799355984 0.007970219478011131 0.16668087244033813 -0.13330960273742676 -0.1372946798801422 0.16269579529762268
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+3.0 1.7991008758544922 0.017076311632990837 0.0011909171007573605 0.16737394034862518 -0.13262586295604706 -0.1332213133573532 0.16677848994731903
+3.3333332538604736 1.999100685119629 0.017314495518803596 0.0005711957928724587 0.16745726764202118 -0.132542684674263 -0.13282828032970428 0.1671716719865799
+3.6666667461395264 2.1991007328033447 0.01742873527109623 -0.0007182638510130346 0.1672491580247879 -0.13275079429149628 -0.13239167630672455 0.16760827600955963
+4.0 2.3991007804870605 0.01728508248925209 -0.002814588602632284 0.16658084094524384 -0.1334179788827896 -0.13201068341732025 0.1679881364107132
+4.333333492279053 2.599100112915039 0.016722165048122406 -0.003409059252589941 0.16586905717849731 -0.13412922620773315 -0.1324247121810913 0.16757357120513916
+4.666666507720947 2.7990989685058594 0.01604035496711731 -0.004679573699831963 0.16486883163452148 -0.13512790203094482 -0.13278812170028687 0.16720861196517944
+5.0 2.9990968704223633 0.0151044437661767 -0.0058049969375133514 0.16365067660808563 -0.13634426891803741 -0.13344179093837738 0.16655315458774567
+5.333333492279053 3.1990935802459717 0.013943450525403023 -0.006627506576478481 0.1622833013534546 -0.13771012425422668 -0.13439640402793884 0.16559702157974243
+5.666666507720947 3.3990890979766846 0.012617958709597588 -0.006698588375002146 0.16093996167182922 -0.1390533149242401 -0.13570404052734375 0.16428923606872559
+6.0 3.5990846157073975 0.011278251186013222 -0.009305967949330807 0.15894530713558197 -0.14104171097278595 -0.13638879358768463 0.1635982245206833
+6.333333492279053 3.7990760803222656 0.00941708404570818 -0.010151030495762825 0.15687166154384613 -0.143112912774086 -0.13803748786449432 0.1619470864534378
+6.666666507720947 3.99906587600708 0.00738691259175539 -0.010200334712862968 0.15482906997203827 -0.14515532553195953 -0.14005525410175323 0.15992914140224457
+7.0 4.1990556716918945 0.0053468807600438595 -0.00559298787266016 0.15394631028175354 -0.14604902267456055 -0.14325255155563354 0.15674278140068054
+7.333333492279053 4.399052619934082 0.0042282892391085625 -0.0016280477866530418 0.15382109582424164 -0.14617852866649628 -0.14536450803279877 0.15463511645793915
+7.666666507720947 4.599052429199219 0.0039026797749102116 -0.0030328966677188873 0.1531437784433365 -0.14685486257076263 -0.14533843100070953 0.1546602100133896
+8.0 4.799051284790039 0.003296101465821266 -0.0031743082217872143 0.15250179171562195 -0.14749673008918762 -0.14590957760810852 0.15408894419670105
+8.333333015441895 4.999050140380859 0.002661240752786398 -0.0025578802451491356 0.15202128887176514 -0.14797773957252502 -0.14669880270957947 0.1533002257347107
+8.666666984558105 5.199049472808838 0.0021496652625501156 -0.002553193597123027 0.15151089429855347 -0.1484881341457367 -0.14721155166625977 0.1527874767780304
+9.0 5.399048805236816 0.0016390270320698619 -0.0018941302550956607 0.15116523206233978 -0.1488342434167862 -0.14788718521595 0.15211229026317596
+9.333333015441895 5.599048614501953 0.0012602012138813734 -0.0020178246777504683 0.15075546503067017 -0.14924395084381104 -0.14823505282402039 0.15176436305046082
+9.666666984558105 5.79904842376709 0.0008566365577280521 -0.0007897698087617755 0.15065915882587433 -0.14934076368808746 -0.1489458829164505 0.1510540395975113
+10.0 5.999048233032227 0.0006986826192587614 -0.0012110795360058546 0.15039581060409546 -0.14960399270057678 -0.1489984393119812 0.15100136399269104
+10.333333015441895 6.199048042297363 0.00045646674698218703 0.0019025050569325686 0.15093183517456055 -0.14906764030456543 -0.15001890063285828 0.1499805748462677
+10.666666984558105 6.3990478515625 0.0008369675488211215 -0.0008646748028695583 0.1506207436323166 -0.14937914907932281 -0.14894680678844452 0.15105308592319489
+11.0 6.599047660827637 0.0006640325882472098 2.3984466679394245e-06 0.15066462755203247 -0.14933538436889648 -0.149336576461792 0.15066343545913696
+11.333333015441895 6.799047470092773 0.0006645122775807977 0.0007315062102861702 0.15084737539291382 -0.14915257692337036 -0.14951834082603455 0.15048161149024963
+11.666666984558105 6.99904727935791 0.0008108135079964995 0.0001610661274753511 0.1508510857820511 -0.14914892613887787 -0.14922945201396942 0.15077055990695953
+12.0 7.199047088623047 0.0008430267334915698 0.0001327296340605244 0.1508762240409851 -0.14912378787994385 -0.14919015765190125 0.1508098542690277
+12.333333015441895 7.399046897888184 0.000869572686497122 -0.000665851985104382 0.1507030874490738 -0.1492968648672104 -0.14896394312381744 0.15103600919246674
+12.666666984558105 7.59904670715332 0.0007364022894762456 0.0006251398008316755 0.15089266002178192 -0.14910729229450226 -0.1494198590517044 0.15058009326457977
+13.0 7.799046516418457 0.0008614302496425807 -0.0005425337003543973 0.15072579681873322 -0.14927418529987335 -0.14900292456150055 0.15099705755710602
+13.333333015441895 7.999046325683594 0.0007529234862886369 0.0007482820656150579 0.1509399563074112 -0.1490599662065506 -0.14943410456180573 0.15056581795215607
+13.666666984558105 8.19904613494873 0.000902579864487052 0.0003534935531206429 0.15099094808101654 -0.14900903403759003 -0.14918579161167145 0.15081419050693512
+14.0 8.399045944213867 0.0009732785983942449 -0.0005463078268803656 0.15083669126033783 -0.14916329085826874 -0.14889012277126312 0.15110985934734344
+14.333333015441895 8.599045753479004 0.0008640170563012362 -0.0012010911013931036 0.15056364238262177 -0.14943616092205048 -0.14883561432361603 0.1511641889810562
+14.666666984558105 8.79904556274414 0.000623798870947212 0.0004551949677988887 0.15073758363723755 -0.14926239848136902 -0.14948999881744385 0.15050998330116272
+15.0 8.999045372009277 0.0007148378645069897 0.000805745308753103 0.1509162336587906 -0.1490836888551712 -0.14948655664920807 0.15051336586475372
diff --git a/output/noise/perception/p01_a10/pose/perceptnoise_pose0_01__heading0_00/log.txt b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_01__heading0_00/log.txt
index 3658c5adf1b52c14011e484a3e98cdfb4a8a6129..785a4af9dc6b3996d019de30739e27441d15cde4 100644
--- a/output/noise/perception/p01_a10/pose/perceptnoise_pose0_01__heading0_00/log.txt
+++ b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_01__heading0_00/log.txt
@@ -1,52 +1,52 @@
-2025-04-27 15:52:36,585 [INFO] Simulating with mode cropfollow
-2025-04-27 15:52:36,585 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.01, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:52:36,585 [INFO] [0.0, 0.008355003207390216, 0.08649517119480166, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:52:51,546 [INFO] Verification Begin
-2025-04-27 15:52:51,546 [INFO] ===============================================
+2025-04-27 19:39:29,034 [INFO] Simulating with mode cropfollow
+2025-04-27 19:39:29,034 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.01, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:39:29,035 [INFO] [0.0, -0.029555542829272516, 0.06034869387672598, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:39:32,944 [INFO] Verification Begin
+2025-04-27 19:39:32,944 [INFO] ===============================================
Mode: 0
stack size: 1
remainTime: 15
-2025-04-27 15:52:51,546 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:39:32,944 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
Upper Bound: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
Delta: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:52:51,546 [INFO] Simulating with mode cropfollow
-2025-04-27 15:52:51,546 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.01, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:52:51,546 [INFO] [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:53:07,341 [INFO] Simulating with mode cropfollow
-2025-04-27 15:53:07,341 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.01, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:53:07,341 [INFO] [0.0, -0.01940758680886745, 0.14033325522049223, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:53:22,391 [INFO] Simulating with mode cropfollow
-2025-04-27 15:53:22,391 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.01, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:53:22,391 [INFO] [0.0, -0.034665496387149705, -0.06979694992937524, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:53:37,010 [INFO] Simulating with mode cropfollow
-2025-04-27 15:53:37,010 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.01, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:53:37,010 [INFO] [0.0, 0.07665289804869688, 0.05541825921424964, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:53:51,538 [INFO] Simulating with mode cropfollow
-2025-04-27 15:53:51,538 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.01, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:53:51,538 [INFO] [0.0, 0.046257448675656454, 0.15345175705380004, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:54:06,430 [INFO] Simulating with mode cropfollow
-2025-04-27 15:54:06,430 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.01, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:54:06,430 [INFO] [0.0, -0.03345710164017601, -0.06858806493749396, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:54:21,399 [INFO] Simulating with mode cropfollow
-2025-04-27 15:54:21,399 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.01, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:54:21,399 [INFO] [0.0, 0.027648412052970667, -0.09632342595171799, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:54:36,529 [INFO] Simulating with mode cropfollow
-2025-04-27 15:54:36,529 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.01, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:54:36,529 [INFO] [0.0, -0.012766788591394379, 0.06847911459459036, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:54:51,624 [INFO] Simulating with mode cropfollow
-2025-04-27 15:54:51,624 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.01, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:54:51,624 [INFO] [0.0, -0.02733756141935624, -0.04965555460798679, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:55:06,528 [INFO] Simulating with mode cropfollow
-2025-04-27 15:55:06,528 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.01, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:55:06,528 [INFO] [0.0, -0.02887357625434564, -0.10760399590836674, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:55:20,981 [INFO] Simulating with mode cropfollow
-2025-04-27 15:55:20,981 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.01, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:55:20,981 [INFO] [0.0, -0.06804166442991832, -0.025575941156179977, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:55:36,282 [INFO] Mode 0 check bloated tube safe
-2025-04-27 15:55:36,282 [INFO] No child exist in current initial, pop
-2025-04-27 15:55:36,282 [INFO] System is Safe!
-2025-04-27 15:55:36,282 [INFO] refine time 0
-2025-04-27 15:55:36,283 [INFO] simulation time: 14.961038827896118
-2025-04-27 15:55:36,283 [INFO] verification time: 164.73723602294922
+2025-04-27 19:39:32,944 [INFO] Simulating with mode cropfollow
+2025-04-27 19:39:32,944 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.01, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:39:32,944 [INFO] [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:39:36,911 [INFO] Simulating with mode cropfollow
+2025-04-27 19:39:36,911 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.01, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:39:36,911 [INFO] [0.0, 0.05966977411253924, -0.11641806118144818, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:39:41,215 [INFO] Simulating with mode cropfollow
+2025-04-27 19:39:41,215 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.01, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:39:41,215 [INFO] [0.0, -0.040374738189717645, -0.03903895563433671, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:39:45,660 [INFO] Simulating with mode cropfollow
+2025-04-27 19:39:45,660 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.01, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:39:45,660 [INFO] [0.0, -0.028141279572816355, 0.0906053342179482, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:39:49,849 [INFO] Simulating with mode cropfollow
+2025-04-27 19:39:49,849 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.01, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:39:49,849 [INFO] [0.0, 0.008147474740590965, -0.1500450969935958, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:39:54,428 [INFO] Simulating with mode cropfollow
+2025-04-27 19:39:54,428 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.01, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:39:54,428 [INFO] [0.0, 0.0862990262710654, -0.09584224408898614, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:39:58,769 [INFO] Simulating with mode cropfollow
+2025-04-27 19:39:58,769 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.01, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:39:58,770 [INFO] [0.0, -0.08119207340046344, 0.1003635585172934, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:40:03,037 [INFO] Simulating with mode cropfollow
+2025-04-27 19:40:03,037 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.01, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:40:03,037 [INFO] [0.0, -0.049631608153551256, -0.07161424489960602, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:40:07,628 [INFO] Simulating with mode cropfollow
+2025-04-27 19:40:07,628 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.01, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:40:07,628 [INFO] [0.0, -0.021590907391710074, 0.14385823329226938, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:40:11,993 [INFO] Simulating with mode cropfollow
+2025-04-27 19:40:11,993 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.01, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:40:11,993 [INFO] [0.0, 0.00444310428027081, -0.14675009988967722, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:40:16,446 [INFO] Simulating with mode cropfollow
+2025-04-27 19:40:16,446 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.01, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:40:16,446 [INFO] [0.0, 0.010257683591062383, 0.09923744003046958, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:40:20,937 [INFO] Mode 0 check bloated tube safe
+2025-04-27 19:40:20,937 [INFO] No child exist in current initial, pop
+2025-04-27 19:40:20,937 [INFO] System is Safe!
+2025-04-27 19:40:20,937 [INFO] refine time 0
+2025-04-27 19:40:20,938 [INFO] simulation time: 3.9095568656921387
+2025-04-27 19:40:20,938 [INFO] verification time: 47.993730306625366
diff --git a/output/noise/perception/p01_a10/pose/perceptnoise_pose0_01__heading0_00/reachtube.txt b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_01__heading0_00/reachtube.txt
index 5afce33dcc9d620546c15beda6fd04f0a3b528b0..b9ba0a1f179c1f81caa6a1eac747e8b48986f2c4 100644
--- a/output/noise/perception/p01_a10/pose/perceptnoise_pose0_01__heading0_00/reachtube.txt
+++ b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_01__heading0_00/reachtube.txt
@@ -1,91 +1,91 @@
-cropfollow/pn=[0.01:0.00]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]],0
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diff --git a/output/noise/perception/p01_a10/pose/perceptnoise_pose0_01__heading0_00/results.json b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_01__heading0_00/results.json
index 21497ac0584a07c2a2ab79f8c7f98abb963e13df..db813dd2d7a266d06ef040125021729108fde2fd 100644
--- a/output/noise/perception/p01_a10/pose/perceptnoise_pose0_01__heading0_00/results.json
+++ b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_01__heading0_00/results.json
@@ -1,7 +1,7 @@
{
"safety": "SAFE",
- "sim_time": 14.961038827896118,
- "verification_time": 164.73723602294922,
+ "sim_time": 3.9095568656921387,
+ "verification_time": 47.993730306625366,
"refine_time": 0,
- "total_time": 180.2483172416687
+ "total_time": 52.46195721626282
}
\ No newline at end of file
diff --git a/output/noise/perception/p01_a10/pose/perceptnoise_pose0_05__heading0_00/Traj.txt b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_05__heading0_00/Traj.txt
new file mode 100644
index 0000000000000000000000000000000000000000..24d103e9222ea811f38aa9f0168c80603fafc051
--- /dev/null
+++ b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_05__heading0_00/Traj.txt
@@ -0,0 +1,47 @@
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+5.333333492279053 3.193990707397461 -0.02288251370191574 0.013394070789217949 0.1304524540901184 -0.16952064633369446 -0.17621749639511108 0.12375561147928238
+5.666666507720947 3.393972873687744 -0.020203780382871628 0.014510907232761383 0.13340802490711212 -0.16656039655208588 -0.17381559312343597 0.12615282833576202
+6.0 3.59395170211792 -0.01730170100927353 0.018364066258072853 0.13726377487182617 -0.16268566250801086 -0.17186719179153442 0.1280822455883026
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+6.666666507720947 3.9938697814941406 -0.00924655795097351 0.013280320912599564 0.14406020939350128 -0.1559133678674698 -0.1625533252954483 0.13742025196552277
+7.0 4.193851947784424 -0.006590571254491806 0.016488144174218178 0.14751090109348297 -0.15244834125041962 -0.16069205105304718 0.1392671912908554
+7.333333492279053 4.393824577331543 -0.0032930916640907526 0.015275605022907257 0.15050816535949707 -0.14945685863494873 -0.15709435939788818 0.14287066459655762
+7.666666507720947 4.593801498413086 -0.00023808935657143593 0.004953721538186073 0.15099848806858063 -0.14899782836437225 -0.15147466957569122 0.14852164685726166
+8.0 4.793798923492432 0.0007526508998125792 0.005096862092614174 0.15202492475509644 -0.14797118306159973 -0.15051960945129395 0.14947649836540222
+8.333333015441895 4.993796348571777 0.0017720190808176994 0.0012699686922132969 0.15208940207958221 -0.14791037142276764 -0.14854536950588226 0.1514544039964676
+8.666666984558105 5.193796157836914 0.0020260128658264875 -0.006891052704304457 0.15029969811439514 -0.14969319105148315 -0.14624768495559692 0.15374520421028137
+9.0 5.393791198730469 0.000647813081741333 -0.0010058926418423653 0.15039627254009247 -0.14960359036922455 -0.1491006463766098 0.15089921653270721
+9.333333015441895 5.5937910079956055 0.00044663454173132777 0.004603491630405188 0.15159590542316437 -0.1484009176492691 -0.15070264041423798 0.1492941826581955
+9.666666984558105 5.793788909912109 0.0013673296198248863 -0.007926605641841888 0.14938099682331085 -0.1506095975637436 -0.14664633572101593 0.1533442586660385
+10.0 5.9937825202941895 -0.0002179750008508563 -0.019622761756181717 0.1448477804660797 -0.1550944745540619 -0.14528372883796692 0.15465852618217468
+10.333333015441895 6.19374418258667 -0.004142276011407375 -0.016033649444580078 0.1418302208185196 -0.15813122689723969 -0.1501147598028183 0.14984668791294098
+10.666666984558105 6.393718719482422 -0.0073488689959049225 -0.02712942287325859 0.13581442832946777 -0.16407519578933716 -0.15051215887069702 0.1493774652481079
+11.0 6.593645095825195 -0.01277408841997385 -0.022911444306373596 0.13145917654037476 -0.1684620976448059 -0.1570073664188385 0.14291390776634216
+11.333333015441895 6.79359245300293 -0.01735597662627697 -0.019167466089129448 0.12782490253448486 -0.17212000489234924 -0.1625368595123291 0.137408047914505
+11.666666984558105 6.993555545806885 -0.021189235150814056 -0.014689726755023003 0.1251222789287567 -0.1748453676700592 -0.16750076413154602 0.1324668824672699
+12.0 7.193533897399902 -0.02412707544863224 -0.010506868362426758 0.1232379749417305 -0.1767454743385315 -0.17149212956428528 0.12849131226539612
+12.333333015441895 7.3935227394104 -0.026228411123156548 0.0014312025159597397 0.12412925064563751 -0.17587046325206757 -0.1765860766172409 0.12341363728046417
+12.666666984558105 7.593522548675537 -0.02594217099249363 0.010298613458871841 0.1266244798898697 -0.17335961759090424 -0.17850883305072784 0.12147527188062668
+13.0 7.793511867523193 -0.023882484063506126 0.007479068823158741 0.12798309326171875 -0.17200854420661926 -0.1757480502128601 0.12424357980489731
+13.333333015441895 7.99350643157959 -0.022386685013771057 0.009775590151548386 0.13005001842975616 -0.1699356585741043 -0.17482338845729828 0.1251622885465622
+13.666666984558105 8.193496704101562 -0.020431598648428917 0.004431870765984058 0.13067489862442017 -0.1693221628665924 -0.1715380847454071 0.12845897674560547
+14.0 8.393494606018066 -0.01954522728919983 0.007289798464626074 0.13227321207523346 -0.1677188128232956 -0.17136366665363312 0.12862835824489594
+14.333333015441895 8.593489646911621 -0.01808728091418743 -0.006651964504271746 0.13024641573429108 -0.16974695026874542 -0.16642098128795624 0.13357238471508026
+14.666666984558105 8.793485641479492 -0.019417664036154747 -0.015457605943083763 0.12670019268989563 -0.17326399683952332 -0.16553550958633423 0.13442867994308472
+15.0 8.993461608886719 -0.02250906266272068 -0.012933110818266869 0.12424520403146744 -0.17572972178459167 -0.1692633330821991 0.13071158528327942
diff --git a/output/noise/perception/p01_a10/pose/perceptnoise_pose0_05__heading0_00/log.txt b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_05__heading0_00/log.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dd9f245c33daffb3839f150f38fb62ab6462f28e
--- /dev/null
+++ b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_05__heading0_00/log.txt
@@ -0,0 +1,447 @@
+2025-04-27 19:40:22,056 [INFO] Simulating with mode cropfollow
+2025-04-27 19:40:22,056 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:40:22,056 [INFO] [0.0, 0.01508890152734324, -0.15835913956453046, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:40:27,283 [INFO] Verification Begin
+2025-04-27 19:40:27,283 [INFO] ===============================================
+Mode: 0
+stack size: 1
+remainTime: 15
+
+2025-04-27 19:40:27,283 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:40:27,283 [INFO] Simulating with mode cropfollow
+2025-04-27 19:40:27,283 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:40:27,283 [INFO] [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:40:32,429 [INFO] Simulating with mode cropfollow
+2025-04-27 19:40:32,429 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:40:32,429 [INFO] [0.0, 0.05966977411253924, -0.11641806118144818, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:40:37,582 [INFO] Simulating with mode cropfollow
+2025-04-27 19:40:37,582 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:40:37,582 [INFO] [0.0, -0.040374738189717645, -0.03903895563433671, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:40:42,989 [INFO] Simulating with mode cropfollow
+2025-04-27 19:40:42,989 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:40:42,989 [INFO] [0.0, -0.028141279572816355, 0.0906053342179482, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:40:48,048 [INFO] Simulating with mode cropfollow
+2025-04-27 19:40:48,048 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:40:48,048 [INFO] [0.0, 0.008147474740590965, -0.1500450969935958, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:40:53,179 [INFO] Simulating with mode cropfollow
+2025-04-27 19:40:53,179 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:40:53,179 [INFO] [0.0, 0.0862990262710654, -0.09584224408898614, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:40:58,360 [INFO] Simulating with mode cropfollow
+2025-04-27 19:40:58,360 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:40:58,360 [INFO] [0.0, -0.08119207340046344, 0.1003635585172934, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:41:03,496 [INFO] Simulating with mode cropfollow
+2025-04-27 19:41:03,497 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:41:03,497 [INFO] [0.0, -0.049631608153551256, -0.07161424489960602, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:41:08,791 [INFO] Simulating with mode cropfollow
+2025-04-27 19:41:08,791 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:41:08,791 [INFO] [0.0, -0.021590907391710074, 0.14385823329226938, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:41:13,858 [INFO] Simulating with mode cropfollow
+2025-04-27 19:41:13,858 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:41:13,858 [INFO] [0.0, 0.00444310428027081, -0.14675009988967722, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:41:18,906 [INFO] Simulating with mode cropfollow
+2025-04-27 19:41:18,906 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:41:18,906 [INFO] [0.0, 0.010257683591062383, 0.09923744003046958, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:41:24,078 [INFO] 0 check bloated tube unknown
+2025-04-27 19:41:24,078 [INFO] ===============================================
+Mode: 0
+stack size: 2
+remainTime: 15
+
+2025-04-27 19:41:24,078 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.1, 0.0875, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:41:24,078 [INFO] Simulating with mode cropfollow
+2025-04-27 19:41:24,078 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:41:24,078 [INFO] [0.0, 0.0, -0.0875, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:41:29,297 [INFO] Simulating with mode cropfollow
+2025-04-27 19:41:29,297 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:41:29,297 [INFO] [0.0, 0.05966977411253924, -0.1457090305907241, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:41:34,433 [INFO] Simulating with mode cropfollow
+2025-04-27 19:41:34,448 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:41:34,448 [INFO] [0.0, -0.040374738189717645, -0.10701947781716835, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:41:39,858 [INFO] Simulating with mode cropfollow
+2025-04-27 19:41:39,858 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:41:39,858 [INFO] [0.0, -0.028141279572816355, -0.042197332891025896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:41:44,975 [INFO] Simulating with mode cropfollow
+2025-04-27 19:41:44,975 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:41:44,975 [INFO] [0.0, 0.008147474740590965, -0.1625225484967979, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:41:50,177 [INFO] Simulating with mode cropfollow
+2025-04-27 19:41:50,177 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:41:50,177 [INFO] [0.0, 0.0862990262710654, -0.13542112204449308, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:41:55,503 [INFO] Simulating with mode cropfollow
+2025-04-27 19:41:55,503 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:41:55,503 [INFO] [0.0, -0.08119207340046344, -0.0373182207413533, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:42:00,825 [INFO] Simulating with mode cropfollow
+2025-04-27 19:42:00,825 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:42:00,826 [INFO] [0.0, -0.049631608153551256, -0.123307122449803, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:42:06,179 [INFO] Simulating with mode cropfollow
+2025-04-27 19:42:06,179 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:42:06,179 [INFO] [0.0, -0.021590907391710074, -0.015570883353865306, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:42:11,307 [INFO] Simulating with mode cropfollow
+2025-04-27 19:42:11,312 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:42:11,312 [INFO] [0.0, 0.00444310428027081, -0.16087504994483862, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:42:16,406 [INFO] Simulating with mode cropfollow
+2025-04-27 19:42:16,407 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:42:16,407 [INFO] [0.0, 0.010257683591062383, -0.037881279984765204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:42:21,464 [INFO] 0 check bloated tube unknown
+2025-04-27 19:42:21,464 [INFO] ===============================================
+Mode: 0
+stack size: 3
+remainTime: 15
+
+2025-04-27 19:42:21,464 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.05, 0.0875, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:42:21,464 [INFO] Simulating with mode cropfollow
+2025-04-27 19:42:21,464 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:42:21,464 [INFO] [0.0, -0.05, -0.0875, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:42:26,810 [INFO] Simulating with mode cropfollow
+2025-04-27 19:42:26,810 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:42:26,810 [INFO] [0.0, -0.020165112943730384, -0.1457090305907241, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:42:32,125 [INFO] Simulating with mode cropfollow
+2025-04-27 19:42:32,125 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:42:32,125 [INFO] [0.0, -0.07018736909485883, -0.10701947781716835, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:42:37,663 [INFO] Simulating with mode cropfollow
+2025-04-27 19:42:37,664 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:42:37,664 [INFO] [0.0, -0.06407063978640817, -0.042197332891025896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:42:42,838 [INFO] Simulating with mode cropfollow
+2025-04-27 19:42:42,838 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:42:42,838 [INFO] [0.0, -0.04592626262970452, -0.1625225484967979, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:42:48,044 [INFO] Simulating with mode cropfollow
+2025-04-27 19:42:48,044 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:42:48,044 [INFO] [0.0, -0.006850486864467306, -0.13542112204449308, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:42:53,411 [INFO] Simulating with mode cropfollow
+2025-04-27 19:42:53,411 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:42:53,411 [INFO] [0.0, -0.09059603670023172, -0.0373182207413533, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:42:58,752 [INFO] Simulating with mode cropfollow
+2025-04-27 19:42:58,752 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:42:58,752 [INFO] [0.0, -0.07481580407677563, -0.123307122449803, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:43:04,164 [INFO] Simulating with mode cropfollow
+2025-04-27 19:43:04,164 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:43:04,164 [INFO] [0.0, -0.06079545369585504, -0.015570883353865306, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:43:09,278 [INFO] Simulating with mode cropfollow
+2025-04-27 19:43:09,279 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:43:09,279 [INFO] [0.0, -0.0477784478598646, -0.16087504994483862, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:43:14,516 [INFO] Simulating with mode cropfollow
+2025-04-27 19:43:14,516 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:43:14,516 [INFO] [0.0, -0.04487115820446881, -0.037881279984765204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:43:19,689 [INFO] 0 check bloated tube unknown
+2025-04-27 19:43:19,689 [INFO] ===============================================
+Mode: 0
+stack size: 4
+remainTime: 15
+
+2025-04-27 19:43:19,689 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, 0.0, -0.0875, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.05, 0.04375, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:43:19,690 [INFO] Simulating with mode cropfollow
+2025-04-27 19:43:19,690 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:43:19,690 [INFO] [0.0, -0.05, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:43:25,066 [INFO] Simulating with mode cropfollow
+2025-04-27 19:43:25,066 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:43:25,066 [INFO] [0.0, -0.020165112943730384, -0.16035451529536204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:43:30,395 [INFO] Simulating with mode cropfollow
+2025-04-27 19:43:30,395 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:43:30,395 [INFO] [0.0, -0.07018736909485883, -0.14100973890858418, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:43:35,966 [INFO] Simulating with mode cropfollow
+2025-04-27 19:43:35,966 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:43:35,966 [INFO] [0.0, -0.06407063978640817, -0.10859866644551294, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:43:41,279 [INFO] Simulating with mode cropfollow
+2025-04-27 19:43:41,279 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:43:41,279 [INFO] [0.0, -0.04592626262970452, -0.16876127424839896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:43:46,578 [INFO] Simulating with mode cropfollow
+2025-04-27 19:43:46,578 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:43:46,578 [INFO] [0.0, -0.006850486864467306, -0.15521056102224653, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:43:51,906 [INFO] Simulating with mode cropfollow
+2025-04-27 19:43:51,906 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:43:51,906 [INFO] [0.0, -0.09059603670023172, -0.10615911037067664, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:43:57,297 [INFO] Simulating with mode cropfollow
+2025-04-27 19:43:57,297 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:43:57,297 [INFO] [0.0, -0.07481580407677563, -0.1491535612249015, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:44:02,750 [INFO] Simulating with mode cropfollow
+2025-04-27 19:44:02,750 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:44:02,750 [INFO] [0.0, -0.06079545369585504, -0.09528544167693265, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:44:07,913 [INFO] Simulating with mode cropfollow
+2025-04-27 19:44:07,913 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:44:07,913 [INFO] [0.0, -0.0477784478598646, -0.1679375249724193, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:44:13,135 [INFO] Simulating with mode cropfollow
+2025-04-27 19:44:13,135 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:44:13,135 [INFO] [0.0, -0.04487115820446881, -0.1064406399923826, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:44:18,501 [INFO] 0 check bloated tube unknown
+2025-04-27 19:44:18,501 [INFO] ===============================================
+Mode: 0
+stack size: 5
+remainTime: 15
+
+2025-04-27 19:44:18,501 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.05, -0.0875, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.025, 0.04375, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:44:18,501 [INFO] Simulating with mode cropfollow
+2025-04-27 19:44:18,501 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:44:18,501 [INFO] [0.0, -0.07500000000000001, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:44:23,869 [INFO] Simulating with mode cropfollow
+2025-04-27 19:44:23,869 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:44:23,869 [INFO] [0.0, -0.060082556471865195, -0.16035451529536204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:44:29,186 [INFO] Simulating with mode cropfollow
+2025-04-27 19:44:29,186 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:44:29,186 [INFO] [0.0, -0.08509368454742941, -0.14100973890858418, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:44:34,747 [INFO] Simulating with mode cropfollow
+2025-04-27 19:44:34,748 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:44:34,748 [INFO] [0.0, -0.08203531989320409, -0.10859866644551294, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:44:40,098 [INFO] Simulating with mode cropfollow
+2025-04-27 19:44:40,098 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:44:40,098 [INFO] [0.0, -0.07296313131485227, -0.16876127424839896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:44:45,424 [INFO] Simulating with mode cropfollow
+2025-04-27 19:44:45,424 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:44:45,424 [INFO] [0.0, -0.053425243432233656, -0.15521056102224653, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:44:50,812 [INFO] Simulating with mode cropfollow
+2025-04-27 19:44:50,812 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:44:50,812 [INFO] [0.0, -0.09529801835011587, -0.10615911037067664, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:44:56,226 [INFO] Simulating with mode cropfollow
+2025-04-27 19:44:56,226 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:44:56,226 [INFO] [0.0, -0.08740790203838782, -0.1491535612249015, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:45:01,744 [INFO] Simulating with mode cropfollow
+2025-04-27 19:45:01,745 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:45:01,745 [INFO] [0.0, -0.08039772684792752, -0.09528544167693265, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:45:06,958 [INFO] Simulating with mode cropfollow
+2025-04-27 19:45:06,959 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:45:06,959 [INFO] [0.0, -0.0738892239299323, -0.1679375249724193, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:45:12,290 [INFO] Simulating with mode cropfollow
+2025-04-27 19:45:12,290 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:45:12,290 [INFO] [0.0, -0.07243557910223442, -0.1064406399923826, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:45:17,756 [INFO] 0 check bloated tube unknown
+2025-04-27 19:45:17,756 [INFO] ===============================================
+Mode: 0
+stack size: 6
+remainTime: 15
+
+2025-04-27 19:45:17,756 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.05, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.025, 0.021875000000000006, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:45:17,756 [INFO] Simulating with mode cropfollow
+2025-04-27 19:45:17,756 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:45:17,756 [INFO] [0.0, -0.07500000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:45:23,177 [INFO] Simulating with mode cropfollow
+2025-04-27 19:45:23,177 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:45:23,177 [INFO] [0.0, -0.060082556471865195, -0.16767725764768102, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:45:28,626 [INFO] Simulating with mode cropfollow
+2025-04-27 19:45:28,626 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:45:28,626 [INFO] [0.0, -0.08509368454742941, -0.15800486945429207, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:45:34,208 [INFO] Simulating with mode cropfollow
+2025-04-27 19:45:34,208 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:45:34,208 [INFO] [0.0, -0.08203531989320409, -0.14179933322275645, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:45:39,566 [INFO] Simulating with mode cropfollow
+2025-04-27 19:45:39,566 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:45:39,566 [INFO] [0.0, -0.07296313131485227, -0.17188063712419946, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:45:44,859 [INFO] Simulating with mode cropfollow
+2025-04-27 19:45:44,859 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:45:44,859 [INFO] [0.0, -0.053425243432233656, -0.16510528051112325, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:45:50,132 [INFO] Simulating with mode cropfollow
+2025-04-27 19:45:50,133 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:45:50,133 [INFO] [0.0, -0.09529801835011587, -0.1405795551853383, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:45:55,457 [INFO] Simulating with mode cropfollow
+2025-04-27 19:45:55,458 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:45:55,458 [INFO] [0.0, -0.08740790203838782, -0.16207678061245073, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:46:00,773 [INFO] Simulating with mode cropfollow
+2025-04-27 19:46:00,773 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:46:00,773 [INFO] [0.0, -0.08039772684792752, -0.1351427208384663, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:46:05,934 [INFO] Simulating with mode cropfollow
+2025-04-27 19:46:05,934 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:46:05,934 [INFO] [0.0, -0.0738892239299323, -0.17146876248620965, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:46:11,159 [INFO] Simulating with mode cropfollow
+2025-04-27 19:46:11,159 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:46:11,159 [INFO] [0.0, -0.07243557910223442, -0.14072031999619128, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:46:16,444 [INFO] 0 check bloated tube unknown
+2025-04-27 19:46:16,444 [INFO] ===============================================
+Mode: 0
+stack size: 7
+remainTime: 15
+
+2025-04-27 19:46:16,444 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.07500000000000001, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.012499999999999997, 0.021875000000000006, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:46:16,444 [INFO] Simulating with mode cropfollow
+2025-04-27 19:46:16,444 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:46:16,444 [INFO] [0.0, -0.08750000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:46:21,746 [INFO] Simulating with mode cropfollow
+2025-04-27 19:46:21,746 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:46:21,746 [INFO] [0.0, -0.0800412782359326, -0.16767725764768102, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:46:27,019 [INFO] Simulating with mode cropfollow
+2025-04-27 19:46:27,020 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:46:27,020 [INFO] [0.0, -0.09254684227371471, -0.15800486945429207, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:46:32,464 [INFO] Simulating with mode cropfollow
+2025-04-27 19:46:32,464 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:46:32,464 [INFO] [0.0, -0.09101765994660205, -0.14179933322275645, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:46:37,679 [INFO] Simulating with mode cropfollow
+2025-04-27 19:46:37,679 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:46:37,679 [INFO] [0.0, -0.08648156565742614, -0.17188063712419946, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:46:42,869 [INFO] Simulating with mode cropfollow
+2025-04-27 19:46:42,869 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:46:42,869 [INFO] [0.0, -0.07671262171611684, -0.16510528051112325, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:46:48,183 [INFO] Simulating with mode cropfollow
+2025-04-27 19:46:48,183 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:46:48,183 [INFO] [0.0, -0.09764900917505794, -0.1405795551853383, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:46:53,476 [INFO] Simulating with mode cropfollow
+2025-04-27 19:46:53,476 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:46:53,476 [INFO] [0.0, -0.09370395101919392, -0.16207678061245073, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:46:58,817 [INFO] Simulating with mode cropfollow
+2025-04-27 19:46:58,817 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:46:58,817 [INFO] [0.0, -0.09019886342396377, -0.1351427208384663, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:47:03,989 [INFO] Simulating with mode cropfollow
+2025-04-27 19:47:03,989 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:47:03,989 [INFO] [0.0, -0.08694461196496615, -0.17146876248620965, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:47:09,247 [INFO] Simulating with mode cropfollow
+2025-04-27 19:47:09,247 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:47:09,247 [INFO] [0.0, -0.08621778955111721, -0.14072031999619128, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:47:14,542 [INFO] 0 check bloated tube unknown
+2025-04-27 19:47:14,542 [INFO] ===============================================
+Mode: 0
+stack size: 8
+remainTime: 15
+
+2025-04-27 19:47:14,542 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.07500000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.012499999999999997, 0.010937500000000003, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:47:14,542 [INFO] Simulating with mode cropfollow
+2025-04-27 19:47:14,542 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:47:14,542 [INFO] [0.0, -0.08750000000000001, -0.1640625, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:47:19,867 [INFO] Simulating with mode cropfollow
+2025-04-27 19:47:19,867 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:47:19,867 [INFO] [0.0, -0.0800412782359326, -0.1713386288238405, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:47:25,191 [INFO] Simulating with mode cropfollow
+2025-04-27 19:47:25,191 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:47:25,191 [INFO] [0.0, -0.09254684227371471, -0.16650243472714604, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:47:30,700 [INFO] Simulating with mode cropfollow
+2025-04-27 19:47:30,700 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:47:30,700 [INFO] [0.0, -0.09101765994660205, -0.15839966661137822, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:47:35,978 [INFO] Simulating with mode cropfollow
+2025-04-27 19:47:35,978 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:47:35,978 [INFO] [0.0, -0.08648156565742614, -0.17344031856209974, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:47:41,199 [INFO] Simulating with mode cropfollow
+2025-04-27 19:47:41,199 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:47:41,199 [INFO] [0.0, -0.07671262171611684, -0.17005264025556163, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:47:46,574 [INFO] Simulating with mode cropfollow
+2025-04-27 19:47:46,574 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:47:46,574 [INFO] [0.0, -0.09764900917505794, -0.15778977759266916, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:47:51,959 [INFO] Simulating with mode cropfollow
+2025-04-27 19:47:51,959 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:47:51,960 [INFO] [0.0, -0.09370395101919392, -0.16853839030622536, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:47:57,365 [INFO] Simulating with mode cropfollow
+2025-04-27 19:47:57,365 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:47:57,365 [INFO] [0.0, -0.09019886342396377, -0.15507136041923314, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:48:02,533 [INFO] Simulating with mode cropfollow
+2025-04-27 19:48:02,533 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:48:02,533 [INFO] [0.0, -0.08694461196496615, -0.1732343812431048, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:48:07,795 [INFO] Simulating with mode cropfollow
+2025-04-27 19:48:07,795 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:48:07,795 [INFO] [0.0, -0.08621778955111721, -0.15786015999809563, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:48:13,102 [INFO] 0 check bloated tube unknown
+2025-04-27 19:48:13,102 [INFO] ===============================================
+Mode: 0
+stack size: 9
+remainTime: 15
+
+2025-04-27 19:48:13,102 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.08750000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.006249999999999999, 0.010937500000000003, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:48:13,102 [INFO] Simulating with mode cropfollow
+2025-04-27 19:48:13,102 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:48:13,102 [INFO] [0.0, -0.09375, -0.1640625, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:48:18,492 [INFO] Simulating with mode cropfollow
+2025-04-27 19:48:18,492 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:48:18,492 [INFO] [0.0, -0.0900206391179663, -0.1713386288238405, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:48:23,858 [INFO] Simulating with mode cropfollow
+2025-04-27 19:48:23,859 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:48:23,859 [INFO] [0.0, -0.09627342113685736, -0.16650243472714604, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:48:29,373 [INFO] Simulating with mode cropfollow
+2025-04-27 19:48:29,373 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:48:29,373 [INFO] [0.0, -0.09550882997330103, -0.15839966661137822, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:48:34,693 [INFO] Simulating with mode cropfollow
+2025-04-27 19:48:34,693 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:48:34,693 [INFO] [0.0, -0.09324078282871306, -0.17344031856209974, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:48:39,988 [INFO] Simulating with mode cropfollow
+2025-04-27 19:48:39,988 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:48:39,988 [INFO] [0.0, -0.08835631085805842, -0.17005264025556163, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:48:45,384 [INFO] Simulating with mode cropfollow
+2025-04-27 19:48:45,384 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:48:45,384 [INFO] [0.0, -0.09882450458752898, -0.15778977759266916, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:48:50,809 [INFO] Simulating with mode cropfollow
+2025-04-27 19:48:50,809 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:48:50,809 [INFO] [0.0, -0.09685197550959695, -0.16853839030622536, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:48:56,237 [INFO] Simulating with mode cropfollow
+2025-04-27 19:48:56,237 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:48:56,237 [INFO] [0.0, -0.09509943171198189, -0.15507136041923314, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:49:01,440 [INFO] Simulating with mode cropfollow
+2025-04-27 19:49:01,440 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:49:01,440 [INFO] [0.0, -0.09347230598248309, -0.1732343812431048, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:49:06,729 [INFO] Simulating with mode cropfollow
+2025-04-27 19:49:06,729 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:49:06,729 [INFO] [0.0, -0.09310889477555861, -0.15786015999809563, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:49:12,098 [INFO] 0 check bloated tube unknown
+2025-04-27 19:49:12,098 [INFO] ===============================================
+Mode: 0
+stack size: 10
+remainTime: 15
+
+2025-04-27 19:49:12,098 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.08750000000000001, -0.1640625, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.006249999999999999, 0.0054687499999999944, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:49:12,098 [INFO] Simulating with mode cropfollow
+2025-04-27 19:49:12,098 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:49:12,098 [INFO] [0.0, -0.09375, -0.16953125, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:49:17,498 [INFO] Simulating with mode cropfollow
+2025-04-27 19:49:17,499 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:49:17,499 [INFO] [0.0, -0.0900206391179663, -0.17316931441192024, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:49:22,862 [INFO] Simulating with mode cropfollow
+2025-04-27 19:49:22,862 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:49:22,862 [INFO] [0.0, -0.09627342113685736, -0.17075121736357302, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:49:28,442 [INFO] Simulating with mode cropfollow
+2025-04-27 19:49:28,442 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:49:28,442 [INFO] [0.0, -0.09550882997330103, -0.1666998333056891, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:49:33,791 [INFO] Simulating with mode cropfollow
+2025-04-27 19:49:33,791 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:49:33,791 [INFO] [0.0, -0.09324078282871306, -0.17422015928104986, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:49:39,099 [INFO] Simulating with mode cropfollow
+2025-04-27 19:49:39,099 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:49:39,099 [INFO] [0.0, -0.08835631085805842, -0.1725263201277808, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:49:44,532 [INFO] Simulating with mode cropfollow
+2025-04-27 19:49:44,532 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:49:44,532 [INFO] [0.0, -0.09882450458752898, -0.16639488879633457, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:49:49,947 [INFO] Simulating with mode cropfollow
+2025-04-27 19:49:49,947 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:49:49,947 [INFO] [0.0, -0.09685197550959695, -0.17176919515311267, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:49:55,415 [INFO] Simulating with mode cropfollow
+2025-04-27 19:49:55,415 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:49:55,415 [INFO] [0.0, -0.09509943171198189, -0.1650356802096166, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:50:00,636 [INFO] Simulating with mode cropfollow
+2025-04-27 19:50:00,636 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:50:00,636 [INFO] [0.0, -0.09347230598248309, -0.1741171906215524, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:50:05,950 [INFO] Simulating with mode cropfollow
+2025-04-27 19:50:05,950 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.05, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:50:05,950 [INFO] [0.0, -0.09310889477555861, -0.16643007999904783, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:50:11,383 [INFO] 0 check bloated tube unknown
+2025-04-27 19:50:11,383 [INFO] ===============================================
+Mode: 0
+stack size: 11
+remainTime: 15
+
+2025-04-27 19:50:11,383 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.09375, -0.1640625, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.0031250000000000028, 0.0054687499999999944, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 19:50:11,383 [INFO] 0 is not valid anymore
+2025-04-27 19:50:11,383 [INFO] Hit refine threshold, system halt, result unknown
+2025-04-27 19:50:11,383 [INFO] simulation time: 5.227104902267456
+2025-04-27 19:50:11,383 [INFO] verification time: 584.100382566452
diff --git a/output/noise/perception/p01_a10/pose/perceptnoise_pose0_05__heading0_00/results.json b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_05__heading0_00/results.json
new file mode 100644
index 0000000000000000000000000000000000000000..23bd019960171fc94bf23704c0dd837fc44b41c6
--- /dev/null
+++ b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_05__heading0_00/results.json
@@ -0,0 +1,7 @@
+{
+ "safety": "UNKNOWN",
+ "sim_time": 5.227104902267456,
+ "verification_time": 584.100382566452,
+ "refine_time": null,
+ "total_time": 589.8858394622803
+}
\ No newline at end of file
diff --git a/output/noise/perception/p01_a10/pose/perceptnoise_pose0_10__heading0_00/Traj.txt b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_10__heading0_00/Traj.txt
index 64bc345df51b721446008712fd0c98f23e06c69d..024c3126687420efb34bc441e30e6ef40fa3466c 100644
--- a/output/noise/perception/p01_a10/pose/perceptnoise_pose0_10__heading0_00/Traj.txt
+++ b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_10__heading0_00/Traj.txt
@@ -1,47 +1,47 @@
-cropfollow/pn=[0.10:0.00]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]
-0.0 0.0 -0.08538203686475754 -0.1285170018672943 0.031340040266513824 -0.2661858797073364 -0.2021041214466095 0.09542179852724075
-0.3333333432674408 0.19835060834884644 -0.11101473867893219 -0.08278033137321472 0.01780015230178833 -0.2811725437641144 -0.2398296296596527 0.05914306640625
-0.6666666865348816 0.39766573905944824 -0.12755189836025238 -0.047587182372808456 0.010385990142822266 -0.2892743945121765 -0.265489786863327 0.03417059779167175
-1.0 0.5974393486976624 -0.13706573843955994 -0.018583666533231735 0.008262723684310913 -0.2916854918003082 -0.2823942005634308 0.017554014921188354
-1.3333333730697632 0.7974048256874084 -0.14078225195407867 0.005548818036913872 0.010602638125419617 -0.28939276933670044 -0.29216712713241577 0.007828250527381897
-1.6666666269302368 0.997401773929596 -0.13967248797416687 0.02942745015025139 0.017618373036384583 -0.28225177526474 -0.29696333408355713 0.002906784415245056
-2.0 1.1973152160644531 -0.1337878406047821 0.03755663335323334 0.025493338704109192 -0.2742950916290283 -0.2930690050125122 0.006719425320625305
-2.3333332538604736 1.3971741199493408 -0.12627828121185303 0.04705552011728287 0.03531521558761597 -0.2643527090549469 -0.287871778011322 0.011796146631240845
-2.6666667461395264 1.5969526767730713 -0.11687064915895462 0.04858700931072235 0.0450943186879158 -0.2545516788959503 -0.27883562445640564 0.02081037312746048
-3.0 1.7967166900634766 -0.10715706646442413 0.04964933544397354 0.0550653338432312 -0.24456501007080078 -0.26937946677207947 0.030250877141952515
-3.3333332538604736 1.9964702129364014 -0.09723127633333206 0.04695833474397659 0.06433866173028946 -0.23533067107200623 -0.2588012218475342 0.040868110954761505
-3.6666667461395264 2.1962497234344482 -0.08784306049346924 0.04564054310321808 0.07340690493583679 -0.22628068923950195 -0.24909302592277527 0.05059456825256348
-4.0 2.3960413932800293 -0.07871811836957932 0.04857636243104935 0.08324427157640457 -0.2164018750190735 -0.2406805157661438 0.05896563082933426
-4.333333492279053 2.5958054065704346 -0.06900666654109955 0.03927452117204666 0.09069377183914185 -0.20907488465309143 -0.22870710492134094 0.07106155157089233
-4.666666507720947 2.7956511974334717 -0.06115378066897392 0.0397154726088047 0.09865419566631317 -0.20110924541950226 -0.2209617644548416 0.07880167663097382
-5.0 2.9954934120178223 -0.05321277305483818 0.03761163353919983 0.10608184337615967 -0.19370600581169128 -0.21250739693641663 0.08728045225143433
-5.333333492279053 3.195352077484131 -0.04569222033023834 0.03189438581466675 0.11220373213291168 -0.18764369189739227 -0.20358817279338837 0.09625925123691559
-5.666666507720947 3.3952503204345703 -0.03931442275643349 0.030965983867645264 0.118353933095932 -0.18150225281715393 -0.19698277115821838 0.10287341475486755
-6.0 3.5951545238494873 -0.033122215420007706 0.02564091980457306 0.12323801219463348 -0.1766633838415146 -0.1894824355840683 0.11041896045207977
-6.333333492279053 3.795088768005371 -0.027994591742753983 0.02207951620221138 0.12748830020427704 -0.1724386066198349 -0.1834774762392044 0.11644943058490753
-6.666666507720947 3.995039939880371 -0.02357904613018036 0.020299285650253296 0.13146452605724335 -0.16847367584705353 -0.17862261831760406 0.12131558358669281
-7.0 4.194998741149902 -0.019519466906785965 0.01840560883283615 0.135056272149086 -0.16489292681217194 -0.17409519851207733 0.1258540004491806
-7.333333492279053 4.394964694976807 -0.01583855226635933 0.015881400555372238 0.13811270892620087 -0.16184945404529572 -0.16978980600833893 0.13017235696315765
-7.666666507720947 4.594939231872559 -0.012662405148148537 0.01857195794582367 0.1419544517993927 -0.15799382328987122 -0.16727927327156067 0.13266900181770325
-8.0 4.794904708862305 -0.00894822645932436 0.012377580627799034 0.14413461089134216 -0.15584242343902588 -0.16203105449676514 0.1379459798336029
-8.333333015441895 4.994889259338379 -0.0064727733843028545 0.013833554461598396 0.14697116613388062 -0.153000146150589 -0.1599166989326477 0.1400546133518219
-8.666666984558105 5.1948699951171875 -0.0037061504554003477 0.009455828927457333 0.14865106344223022 -0.15133553743362427 -0.15606337785720825 0.14392322301864624
-9.0 5.394861221313477 -0.0018150126561522484 0.006021011620759964 0.1496875286102295 -0.1503070592880249 -0.15331754088401794 0.14667704701423645
-9.333333015441895 5.594857692718506 -0.0006108174566179514 0.0025999522767961025 0.1500386744737625 -0.14996032416820526 -0.15126030147075653 0.14873869717121124
-9.666666984558105 5.794857025146484 -9.082758333534002e-05 0.0016323454910889268 0.15031707286834717 -0.14968255162239075 -0.15049871802330017 0.14950090646743774
-10.0 5.994856834411621 0.00023564137518405914 -0.0036138836294412613 0.1493312120437622 -0.15066686272621155 -0.1488599181175232 0.15113815665245056
-10.333333015441895 6.194855690002441 -0.0004871338023804128 -0.001608600141480565 0.14911052584648132 -0.1508890986442566 -0.15008479356765747 0.14991483092308044
-10.666666984558105 6.394855499267578 -0.000808853714261204 0.0013282776344567537 0.14952309429645538 -0.15047664940357208 -0.15114079415798187 0.1488589495420456
-11.0 6.594855308532715 -0.0005431981990113854 0.0010116162011399865 0.14970964193344116 -0.15029022097587585 -0.15079602599143982 0.1492038369178772
-11.333333015441895 6.794855117797852 -0.00034087494714185596 -0.002671530470252037 0.1489907056093216 -0.1510082334280014 -0.1496724635362625 0.15032647550106049
-11.666666984558105 6.99485445022583 -0.0008751804125495255 -0.00021042651496827602 0.14907222986221313 -0.15092778205871582 -0.15082257986068726 0.1491774320602417
-12.0 7.194854259490967 -0.0009172657155431807 0.004373769275844097 0.15017473697662354 -0.1498224139213562 -0.1520092785358429 0.14798787236213684
-12.333333015441895 7.394852161407471 -4.251458449289203e-05 0.003159251529723406 0.15074655413627625 -0.14925196766853333 -0.15083158016204834 0.14916694164276123
-12.666666984558105 7.594851016998291 0.0005893346969969571 -0.0009849430061876774 0.15034303069114685 -0.14965683221817017 -0.1491643488407135 0.15083551406860352
-13.0 7.794850826263428 0.00039234611904248595 -0.00470224441960454 0.14921514689922333 -0.1507815569639206 -0.1484304517507553 0.1515662521123886
-13.333333015441895 7.994848728179932 -0.0005480994004756212 -0.0061241090297698975 0.14791807532310486 -0.15207630395889282 -0.14901426434516907 0.1509801149368286
-13.666666984558105 8.194845199584961 -0.0017729136161506176 -0.006751771550625563 0.1465357542037964 -0.1534574329853058 -0.1500815749168396 0.14991161227226257
-14.0 8.394840240478516 -0.003123257774859667 -0.008179118856787682 0.1448269784450531 -0.1551629900932312 -0.15107348561286926 0.14891648292541504
-14.333333015441895 8.594833374023438 -0.004759063478559256 -0.005854445975273848 0.14377477765083313 -0.15622010827064514 -0.15329289436340332 0.14670199155807495
-14.666666984558105 8.794830322265625 -0.005929945968091488 -0.005630951374769211 0.14265994727611542 -0.1573352962732315 -0.15451984107494354 0.14547540247440338
-15.0 8.994827270507812 -0.007056130096316338 -0.0026774888392537832 0.14227396249771118 -0.15772497653961182 -0.15638622641563416 0.14361271262168884
+cropfollow/pn=[0.100:0.000]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]
+0.0 0.0 -0.0038530228193849325 -0.16252447664737701 0.10371778905391693 -0.1923287957906723 -0.11142383515834808 0.18462274968624115
+0.3333333432674408 0.19736438989639282 -0.03621501475572586 -0.1208563819527626 0.08255026489496231 -0.21526148915290833 -0.15498030185699463 0.1428314447402954
+0.6666666865348816 0.3959055542945862 -0.06032749265432358 -0.08927218616008759 0.06678678840398788 -0.2320185899734497 -0.18744176626205444 0.11136361211538315
+1.0 0.5951091647148132 -0.07815822958946228 -0.020332947373390198 0.06672787666320801 -0.23321011662483215 -0.22304433584213257 0.07689365744590759
+1.3333333730697632 0.7950678467750549 -0.082224540412426 -0.007436031475663185 0.06591232866048813 -0.23407939076423645 -0.23036140203475952 0.06963031738996506
+1.6666666269302368 0.9950623512268066 -0.08371173590421677 0.016015134751796722 0.07027264684438705 -0.2296888828277588 -0.23769611120224 0.06226541846990585
+2.0 1.1950366497039795 -0.08050884306430817 0.020191751420497894 0.0745081752538681 -0.2254306823015213 -0.23552586138248444 0.06441299617290497
+2.3333332538604736 1.394995927810669 -0.0764707699418068 0.039992012083530426 0.08340463787317276 -0.21635550260543823 -0.23634618520736694 0.06341395527124405
+2.6666667461395264 1.5948359966278076 -0.06847450137138367 0.057216159999370575 0.09557628631591797 -0.20393282175064087 -0.2325252890586853 0.06698381900787354
+3.0 1.794508695602417 -0.057037509977817535 0.05312656611204147 0.10602625459432602 -0.1935504674911499 -0.2201012670993805 0.07947545498609543
+3.3333332538604736 1.9942264556884766 -0.04641719162464142 0.055520474910736084 0.11722467839717865 -0.18231306970119476 -0.2100590616464615 0.08947868645191193
+3.6666667461395264 2.193918228149414 -0.03531879931688309 0.06603914499282837 0.13085201382637024 -0.16849404573440552 -0.2014896273612976 0.09785643965005875
+4.0 2.393482208251953 -0.02212056703865528 0.0641670748591423 0.14360149204730988 -0.1557811051607132 -0.18784262239933014 0.11153997480869293
+4.333333492279053 2.5930705070495605 -0.009295957162976265 0.05504678934812546 0.15423160791397095 -0.14531400799751282 -0.17282351851463318 0.12672209739685059
+4.666666507720947 2.7927675247192383 0.0017078425735235214 0.03209274262189865 0.15965241193771362 -0.1401931345462799 -0.15623673796653748 0.14360880851745605
+5.0 2.9926645755767822 0.008125290274620056 0.039602454751729965 0.16790570318698883 -0.13185907900333405 -0.15165512263774872 0.14810965955257416
+5.333333492279053 3.192507743835449 0.016043711453676224 0.030764944851398468 0.17366276681423187 -0.1261952966451645 -0.14157535135746002 0.15828271210193634
+5.666666507720947 3.3924131393432617 0.022195730358362198 0.014653919264674187 0.17584297060966492 -0.12412482500076294 -0.13145151734352112 0.16851627826690674
+6.0 3.5923917293548584 0.02512640878558159 -0.004556184634566307 0.1739858239889145 -0.12601108849048615 -0.12373299896717072 0.17626391351222992
+6.333333492279053 3.7923896312713623 0.024215174838900566 -0.014855255372822285 0.17048494517803192 -0.1294819563627243 -0.12205459177494049 0.17791230976581573
+6.666666507720947 3.9923675060272217 0.0212442334741354 -0.004239979200065136 0.17018288373947144 -0.12981441617012024 -0.12769442796707153 0.17230287194252014
+7.0 4.192365646362305 0.020396240055561066 -0.01689232513308525 0.1661519706249237 -0.13380524516105652 -0.12535947561264038 0.17459774017333984
+7.333333492279053 4.392337322235107 0.01701793447136879 -0.01222361158579588 0.16395090520381927 -0.13602669537067413 -0.1299150437116623 0.17006255686283112
+7.666666507720947 4.59232234954834 0.014573272317647934 -0.024036191403865814 0.15852147340774536 -0.14139187335968018 -0.1293749213218689 0.17053842544555664
+8.0 4.792264461517334 0.00976649671792984 -0.014328384771943092 0.15616914629936218 -0.14380007982254028 -0.1366361379623413 0.16333308815956116
+8.333333015441895 4.992243766784668 0.006900917738676071 -0.02289874665439129 0.15113741159439087 -0.14878395199775696 -0.13733556866645813 0.1625857949256897
+8.666666984558105 5.192191123962402 0.0023215683177113533 -0.021095482632517815 0.14701472222805023 -0.15291853249073029 -0.14237158000469208 0.15756167471408844
+9.0 5.392146587371826 -0.0018972158432006836 -0.022488348186016083 0.14244325459003448 -0.15748091042041779 -0.14623768627643585 0.15368647873401642
+9.333333015441895 5.592095851898193 -0.006394506432116032 -0.013108410872519016 0.14031560719013214 -0.15965862572193146 -0.15310461819171906 0.14686961472034454
+9.666666984558105 5.792078495025635 -0.009016113355755806 -0.028698697686195374 0.13374844193458557 -0.1661280393600464 -0.15178066492080688 0.14809581637382507
+10.0 5.9919962882995605 -0.0147550655528903 -0.017611650750041008 0.13081899285316467 -0.1691344976425171 -0.16032913327217102 0.13962435722351074
+10.333333015441895 6.191965103149414 -0.018277212977409363 0.004153843969106674 0.1327599585056305 -0.16723746061325073 -0.16931438446044922 0.130683034658432
+10.666666984558105 6.391963481903076 -0.017446447163820267 0.017384840175509453 0.1368768960237503 -0.16307778656482697 -0.17176978290081024 0.12818489968776703
+11.0 6.591933250427246 -0.013969654217362404 0.02745642513036728 0.1428370475769043 -0.15704989433288574 -0.1707763671875 0.12911057472229004
+11.333333015441895 6.791857719421387 -0.008479058742523193 0.03614526987075806 0.15045732259750366 -0.1493467390537262 -0.16741544008255005 0.1323886215686798
+11.666666984558105 6.991726875305176 -0.0012515787966549397 0.03804457187652588 0.15814873576164246 -0.14163419604301453 -0.16065189242362976 0.13913103938102722
+12.0 7.191582202911377 0.006355500780045986 0.029974283650517464 0.1637805700302124 -0.1360846757888794 -0.15106958150863647 0.14879566431045532
+12.333333015441895 7.3914923667907715 0.012349460273981094 0.025574464350938797 0.16869333386421204 -0.13120856881141663 -0.14399442076683044 0.15590748190879822
+12.666666984558105 7.591426849365234 0.017463795840740204 0.006228182464838028 0.1690179407596588 -0.13097625970840454 -0.1340903341770172 0.16590386629104614
+13.0 7.7914228439331055 0.018709424883127213 0.01136853639036417 0.17154181003570557 -0.1284388303756714 -0.13412296772003174 0.16585767269134521
+13.333333015441895 7.991409778594971 0.020983083173632622 0.02619878016412258 0.1774805635213852 -0.12241651117801666 -0.13551439344882965 0.1643826812505722
+13.666666984558105 8.191341400146484 0.026222240179777145 0.013619416393339634 0.17961308360099792 -0.12035909295082092 -0.12716859579086304 0.1728035807609558
+14.0 8.39132308959961 0.028946038335561752 -0.024863045662641525 0.17268456518650055 -0.12722273170948029 -0.11479248106479645 0.1851148158311844
+14.333333015441895 8.59126091003418 0.023973941802978516 -0.022531522437930107 0.1683034747838974 -0.131620392203331 -0.12035559117794037 0.17956827580928802
+14.666666984558105 8.791210174560547 0.019468016922473907 -0.01903158240020275 0.1646832525730133 -0.13526242971420288 -0.1257472038269043 0.1741984784603119
+15.0 8.99117374420166 0.015661930665373802 -0.005974326282739639 0.1641656905412674 -0.13582898676395416 -0.13284184038639069 0.16715283691883087
diff --git a/output/noise/perception/p01_a10/pose/perceptnoise_pose0_10__heading0_00/log.txt b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_10__heading0_00/log.txt
index 5043850f887c52ba2cecb8dd30e4937c91792af3..fb1ef0522e7a0474c4122d03a70af113fb4c9364 100644
--- a/output/noise/perception/p01_a10/pose/perceptnoise_pose0_10__heading0_00/log.txt
+++ b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_10__heading0_00/log.txt
@@ -1,447 +1,447 @@
-2025-04-27 15:55:37,407 [INFO] Simulating with mode cropfollow
-2025-04-27 15:55:37,407 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:55:37,407 [INFO] [0.0, -0.08538203458420153, -0.12851699789471413, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:55:49,534 [INFO] Verification Begin
-2025-04-27 15:55:49,534 [INFO] ===============================================
+2025-04-27 19:50:12,538 [INFO] Simulating with mode cropfollow
+2025-04-27 19:50:12,538 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:50:12,538 [INFO] [0.0, -0.003853022717595758, -0.16252447474087114, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:50:18,131 [INFO] Verification Begin
+2025-04-27 19:50:18,132 [INFO] ===============================================
Mode: 0
stack size: 1
remainTime: 15
-2025-04-27 15:55:49,534 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:50:18,132 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
Upper Bound: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
Delta: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:55:49,534 [INFO] Simulating with mode cropfollow
-2025-04-27 15:55:49,534 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:55:49,534 [INFO] [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:56:01,624 [INFO] Simulating with mode cropfollow
-2025-04-27 15:56:01,624 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:56:01,624 [INFO] [0.0, -0.01940758680886745, 0.14033325522049223, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:56:14,062 [INFO] Simulating with mode cropfollow
-2025-04-27 15:56:14,062 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:56:14,062 [INFO] [0.0, -0.034665496387149705, -0.06979694992937524, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:56:26,626 [INFO] Simulating with mode cropfollow
-2025-04-27 15:56:26,627 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:56:26,627 [INFO] [0.0, 0.07665289804869688, 0.05541825921424964, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:56:38,424 [INFO] Simulating with mode cropfollow
-2025-04-27 15:56:38,424 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:56:38,424 [INFO] [0.0, 0.046257448675656454, 0.15345175705380004, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:56:51,067 [INFO] Simulating with mode cropfollow
-2025-04-27 15:56:51,067 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:56:51,067 [INFO] [0.0, -0.03345710164017601, -0.06858806493749396, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:57:04,542 [INFO] Simulating with mode cropfollow
-2025-04-27 15:57:04,542 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:57:04,542 [INFO] [0.0, 0.027648412052970667, -0.09632342595171799, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:57:18,275 [INFO] Simulating with mode cropfollow
-2025-04-27 15:57:18,276 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:57:18,276 [INFO] [0.0, -0.012766788591394379, 0.06847911459459036, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:57:30,793 [INFO] Simulating with mode cropfollow
-2025-04-27 15:57:30,793 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:57:30,793 [INFO] [0.0, -0.02733756141935624, -0.04965555460798679, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:57:43,605 [INFO] Simulating with mode cropfollow
-2025-04-27 15:57:43,605 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:57:43,605 [INFO] [0.0, -0.02887357625434564, -0.10760399590836674, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:57:55,503 [INFO] Simulating with mode cropfollow
-2025-04-27 15:57:55,503 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:57:55,503 [INFO] [0.0, -0.06804166442991832, -0.025575941156179977, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:58:08,131 [INFO] 0 check bloated tube unknown
-2025-04-27 15:58:08,131 [INFO] ===============================================
+2025-04-27 19:50:18,132 [INFO] Simulating with mode cropfollow
+2025-04-27 19:50:18,132 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:50:18,132 [INFO] [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:50:23,645 [INFO] Simulating with mode cropfollow
+2025-04-27 19:50:23,645 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:50:23,645 [INFO] [0.0, 0.05966977411253924, -0.11641806118144818, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:50:29,110 [INFO] Simulating with mode cropfollow
+2025-04-27 19:50:29,110 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:50:29,110 [INFO] [0.0, -0.040374738189717645, -0.03903895563433671, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:50:34,725 [INFO] Simulating with mode cropfollow
+2025-04-27 19:50:34,725 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:50:34,725 [INFO] [0.0, -0.028141279572816355, 0.0906053342179482, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:50:40,049 [INFO] Simulating with mode cropfollow
+2025-04-27 19:50:40,049 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:50:40,049 [INFO] [0.0, 0.008147474740590965, -0.1500450969935958, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:50:45,483 [INFO] Simulating with mode cropfollow
+2025-04-27 19:50:45,483 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:50:45,483 [INFO] [0.0, 0.0862990262710654, -0.09584224408898614, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:50:50,952 [INFO] Simulating with mode cropfollow
+2025-04-27 19:50:50,953 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:50:50,953 [INFO] [0.0, -0.08119207340046344, 0.1003635585172934, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:50:56,479 [INFO] Simulating with mode cropfollow
+2025-04-27 19:50:56,479 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:50:56,479 [INFO] [0.0, -0.049631608153551256, -0.07161424489960602, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:51:01,996 [INFO] Simulating with mode cropfollow
+2025-04-27 19:51:01,996 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:51:01,996 [INFO] [0.0, -0.021590907391710074, 0.14385823329226938, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:51:07,419 [INFO] Simulating with mode cropfollow
+2025-04-27 19:51:07,419 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:51:07,419 [INFO] [0.0, 0.00444310428027081, -0.14675009988967722, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:51:12,944 [INFO] Simulating with mode cropfollow
+2025-04-27 19:51:12,944 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:51:12,944 [INFO] [0.0, 0.010257683591062383, 0.09923744003046958, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:51:18,342 [INFO] 0 check bloated tube unknown
+2025-04-27 19:51:18,342 [INFO] ===============================================
Mode: 0
stack size: 2
remainTime: 15
-2025-04-27 15:58:08,131 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:51:18,342 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
Upper Bound: [0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0]
Delta: [0.0, 0.1, 0.0875, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:58:08,131 [INFO] Simulating with mode cropfollow
-2025-04-27 15:58:08,131 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:58:08,131 [INFO] [0.0, 0.0, -0.0875, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:58:20,503 [INFO] Simulating with mode cropfollow
-2025-04-27 15:58:20,503 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:58:20,503 [INFO] [0.0, -0.01940758680886745, -0.01733337238975388, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:58:32,515 [INFO] Simulating with mode cropfollow
-2025-04-27 15:58:32,515 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:58:32,515 [INFO] [0.0, -0.034665496387149705, -0.12239847496468761, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:58:45,042 [INFO] Simulating with mode cropfollow
-2025-04-27 15:58:45,042 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:58:45,042 [INFO] [0.0, 0.07665289804869688, -0.05979087039287517, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:58:56,919 [INFO] Simulating with mode cropfollow
-2025-04-27 15:58:56,919 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:58:56,919 [INFO] [0.0, 0.046257448675656454, -0.010774121473099973, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:59:09,623 [INFO] Simulating with mode cropfollow
-2025-04-27 15:59:09,624 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:59:09,624 [INFO] [0.0, -0.03345710164017601, -0.12179403246874698, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:59:21,649 [INFO] Simulating with mode cropfollow
-2025-04-27 15:59:21,649 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:59:21,649 [INFO] [0.0, 0.027648412052970667, -0.135661712975859, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:59:34,375 [INFO] Simulating with mode cropfollow
-2025-04-27 15:59:34,375 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:59:34,375 [INFO] [0.0, -0.012766788591394379, -0.053260442702704816, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 15:59:48,349 [INFO] Simulating with mode cropfollow
-2025-04-27 15:59:48,349 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 15:59:48,349 [INFO] [0.0, -0.02733756141935624, -0.11232777730399339, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:00:01,857 [INFO] Simulating with mode cropfollow
-2025-04-27 16:00:01,858 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:00:01,858 [INFO] [0.0, -0.02887357625434564, -0.14130199795418336, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:00:14,768 [INFO] Simulating with mode cropfollow
-2025-04-27 16:00:14,768 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:00:14,768 [INFO] [0.0, -0.06804166442991832, -0.10028797057808998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:00:27,599 [INFO] 0 check bloated tube unknown
-2025-04-27 16:00:27,599 [INFO] ===============================================
+2025-04-27 19:51:18,342 [INFO] Simulating with mode cropfollow
+2025-04-27 19:51:18,342 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:51:18,342 [INFO] [0.0, 0.0, -0.0875, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:51:23,855 [INFO] Simulating with mode cropfollow
+2025-04-27 19:51:23,855 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:51:23,855 [INFO] [0.0, 0.05966977411253924, -0.1457090305907241, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:51:29,340 [INFO] Simulating with mode cropfollow
+2025-04-27 19:51:29,340 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:51:29,340 [INFO] [0.0, -0.040374738189717645, -0.10701947781716835, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:51:34,997 [INFO] Simulating with mode cropfollow
+2025-04-27 19:51:34,997 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:51:34,997 [INFO] [0.0, -0.028141279572816355, -0.042197332891025896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:51:40,449 [INFO] Simulating with mode cropfollow
+2025-04-27 19:51:40,449 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:51:40,449 [INFO] [0.0, 0.008147474740590965, -0.1625225484967979, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:51:45,870 [INFO] Simulating with mode cropfollow
+2025-04-27 19:51:45,870 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:51:45,870 [INFO] [0.0, 0.0862990262710654, -0.13542112204449308, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:51:51,446 [INFO] Simulating with mode cropfollow
+2025-04-27 19:51:51,446 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:51:51,447 [INFO] [0.0, -0.08119207340046344, -0.0373182207413533, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:51:57,011 [INFO] Simulating with mode cropfollow
+2025-04-27 19:51:57,011 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:51:57,011 [INFO] [0.0, -0.049631608153551256, -0.123307122449803, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:52:02,596 [INFO] Simulating with mode cropfollow
+2025-04-27 19:52:02,596 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:52:02,596 [INFO] [0.0, -0.021590907391710074, -0.015570883353865306, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:52:08,107 [INFO] Simulating with mode cropfollow
+2025-04-27 19:52:08,107 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:52:08,107 [INFO] [0.0, 0.00444310428027081, -0.16087504994483862, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:52:13,718 [INFO] Simulating with mode cropfollow
+2025-04-27 19:52:13,718 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:52:13,718 [INFO] [0.0, 0.010257683591062383, -0.037881279984765204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:52:19,101 [INFO] 0 check bloated tube unknown
+2025-04-27 19:52:19,101 [INFO] ===============================================
Mode: 0
stack size: 3
remainTime: 15
-2025-04-27 16:00:27,599 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:52:19,101 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
Upper Bound: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
Delta: [0.0, 0.05, 0.0875, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:00:27,599 [INFO] Simulating with mode cropfollow
-2025-04-27 16:00:27,599 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:00:27,599 [INFO] [0.0, -0.05, -0.0875, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:00:40,806 [INFO] Simulating with mode cropfollow
-2025-04-27 16:00:40,806 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:00:40,806 [INFO] [0.0, -0.05970379340443373, -0.01733337238975388, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:00:53,661 [INFO] Simulating with mode cropfollow
-2025-04-27 16:00:53,661 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:00:53,661 [INFO] [0.0, -0.06733274819357485, -0.12239847496468761, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:01:06,081 [INFO] Simulating with mode cropfollow
-2025-04-27 16:01:06,081 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:01:06,081 [INFO] [0.0, -0.011673550975651564, -0.05979087039287517, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:01:19,050 [INFO] Simulating with mode cropfollow
-2025-04-27 16:01:19,050 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:01:19,050 [INFO] [0.0, -0.026871275662171776, -0.010774121473099973, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:01:31,347 [INFO] Simulating with mode cropfollow
-2025-04-27 16:01:31,347 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:01:31,347 [INFO] [0.0, -0.06672855082008801, -0.12179403246874698, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:01:44,453 [INFO] Simulating with mode cropfollow
-2025-04-27 16:01:44,453 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:01:44,453 [INFO] [0.0, -0.03617579397351467, -0.135661712975859, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:01:57,963 [INFO] Simulating with mode cropfollow
-2025-04-27 16:01:57,963 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:01:57,963 [INFO] [0.0, -0.05638339429569719, -0.053260442702704816, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:02:10,265 [INFO] Simulating with mode cropfollow
-2025-04-27 16:02:10,265 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:02:10,265 [INFO] [0.0, -0.06366878070967813, -0.11232777730399339, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:02:23,508 [INFO] Simulating with mode cropfollow
-2025-04-27 16:02:23,508 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:02:23,508 [INFO] [0.0, -0.06443678812717282, -0.14130199795418336, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:02:36,135 [INFO] Simulating with mode cropfollow
-2025-04-27 16:02:36,135 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:02:36,156 [INFO] [0.0, -0.08402083221495917, -0.10028797057808998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:02:49,728 [INFO] 0 check bloated tube unknown
-2025-04-27 16:02:49,728 [INFO] ===============================================
+2025-04-27 19:52:19,101 [INFO] Simulating with mode cropfollow
+2025-04-27 19:52:19,101 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:52:19,101 [INFO] [0.0, -0.05, -0.0875, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:52:24,643 [INFO] Simulating with mode cropfollow
+2025-04-27 19:52:24,643 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:52:24,643 [INFO] [0.0, -0.020165112943730384, -0.1457090305907241, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:52:30,177 [INFO] Simulating with mode cropfollow
+2025-04-27 19:52:30,177 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:52:30,177 [INFO] [0.0, -0.07018736909485883, -0.10701947781716835, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:52:35,870 [INFO] Simulating with mode cropfollow
+2025-04-27 19:52:35,870 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:52:35,870 [INFO] [0.0, -0.06407063978640817, -0.042197332891025896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:52:41,374 [INFO] Simulating with mode cropfollow
+2025-04-27 19:52:41,374 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:52:41,374 [INFO] [0.0, -0.04592626262970452, -0.1625225484967979, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:52:46,817 [INFO] Simulating with mode cropfollow
+2025-04-27 19:52:46,817 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:52:46,817 [INFO] [0.0, -0.006850486864467306, -0.13542112204449308, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:52:52,355 [INFO] Simulating with mode cropfollow
+2025-04-27 19:52:52,355 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:52:52,355 [INFO] [0.0, -0.09059603670023172, -0.0373182207413533, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:52:57,914 [INFO] Simulating with mode cropfollow
+2025-04-27 19:52:57,914 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:52:57,914 [INFO] [0.0, -0.07481580407677563, -0.123307122449803, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:53:03,496 [INFO] Simulating with mode cropfollow
+2025-04-27 19:53:03,496 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:53:03,496 [INFO] [0.0, -0.06079545369585504, -0.015570883353865306, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:53:09,014 [INFO] Simulating with mode cropfollow
+2025-04-27 19:53:09,014 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:53:09,014 [INFO] [0.0, -0.0477784478598646, -0.16087504994483862, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:53:14,531 [INFO] Simulating with mode cropfollow
+2025-04-27 19:53:14,531 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:53:14,531 [INFO] [0.0, -0.04487115820446881, -0.037881279984765204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:53:19,948 [INFO] 0 check bloated tube unknown
+2025-04-27 19:53:19,948 [INFO] ===============================================
Mode: 0
stack size: 4
remainTime: 15
-2025-04-27 16:02:49,728 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:53:19,948 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
Upper Bound: [0.0, 0.0, -0.0875, 0.0, 0.0, 0.0, 0.0]
Delta: [0.0, 0.05, 0.04375, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:02:49,728 [INFO] Simulating with mode cropfollow
-2025-04-27 16:02:49,728 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:02:49,728 [INFO] [0.0, -0.05, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:03:02,268 [INFO] Simulating with mode cropfollow
-2025-04-27 16:03:02,268 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:03:02,268 [INFO] [0.0, -0.05970379340443373, -0.09616668619487694, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:03:15,036 [INFO] Simulating with mode cropfollow
-2025-04-27 16:03:15,036 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:03:15,036 [INFO] [0.0, -0.06733274819357485, -0.14869923748234382, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:03:27,823 [INFO] Simulating with mode cropfollow
-2025-04-27 16:03:27,823 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:03:27,823 [INFO] [0.0, -0.011673550975651564, -0.11739543519643758, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:03:40,431 [INFO] Simulating with mode cropfollow
-2025-04-27 16:03:40,431 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:03:40,431 [INFO] [0.0, -0.026871275662171776, -0.09288706073654998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:03:52,946 [INFO] Simulating with mode cropfollow
-2025-04-27 16:03:52,946 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:03:52,946 [INFO] [0.0, -0.06672855082008801, -0.14839701623437349, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:04:05,532 [INFO] Simulating with mode cropfollow
-2025-04-27 16:04:05,532 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:04:05,532 [INFO] [0.0, -0.03617579397351467, -0.1553308564879295, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:04:18,181 [INFO] Simulating with mode cropfollow
-2025-04-27 16:04:18,181 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:04:18,181 [INFO] [0.0, -0.05638339429569719, -0.1141302213513524, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:04:30,390 [INFO] Simulating with mode cropfollow
-2025-04-27 16:04:30,390 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:04:30,390 [INFO] [0.0, -0.06366878070967813, -0.1436638886519967, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:04:43,880 [INFO] Simulating with mode cropfollow
-2025-04-27 16:04:43,880 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:04:43,880 [INFO] [0.0, -0.06443678812717282, -0.15815099897709167, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:04:56,400 [INFO] Simulating with mode cropfollow
-2025-04-27 16:04:56,400 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:04:56,400 [INFO] [0.0, -0.08402083221495917, -0.13764398528904498, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:05:09,404 [INFO] 0 check bloated tube unknown
-2025-04-27 16:05:09,404 [INFO] ===============================================
+2025-04-27 19:53:19,948 [INFO] Simulating with mode cropfollow
+2025-04-27 19:53:19,948 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:53:19,948 [INFO] [0.0, -0.05, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:53:25,562 [INFO] Simulating with mode cropfollow
+2025-04-27 19:53:25,562 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:53:25,562 [INFO] [0.0, -0.020165112943730384, -0.16035451529536204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:53:31,153 [INFO] Simulating with mode cropfollow
+2025-04-27 19:53:31,153 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:53:31,153 [INFO] [0.0, -0.07018736909485883, -0.14100973890858418, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:53:36,874 [INFO] Simulating with mode cropfollow
+2025-04-27 19:53:36,874 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:53:36,874 [INFO] [0.0, -0.06407063978640817, -0.10859866644551294, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:53:42,371 [INFO] Simulating with mode cropfollow
+2025-04-27 19:53:42,371 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:53:42,371 [INFO] [0.0, -0.04592626262970452, -0.16876127424839896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:53:47,893 [INFO] Simulating with mode cropfollow
+2025-04-27 19:53:47,893 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:53:47,893 [INFO] [0.0, -0.006850486864467306, -0.15521056102224653, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:53:53,460 [INFO] Simulating with mode cropfollow
+2025-04-27 19:53:53,460 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:53:53,460 [INFO] [0.0, -0.09059603670023172, -0.10615911037067664, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:53:59,032 [INFO] Simulating with mode cropfollow
+2025-04-27 19:53:59,032 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:53:59,032 [INFO] [0.0, -0.07481580407677563, -0.1491535612249015, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:54:04,614 [INFO] Simulating with mode cropfollow
+2025-04-27 19:54:04,614 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:54:04,614 [INFO] [0.0, -0.06079545369585504, -0.09528544167693265, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:54:10,126 [INFO] Simulating with mode cropfollow
+2025-04-27 19:54:10,126 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:54:10,126 [INFO] [0.0, -0.0477784478598646, -0.1679375249724193, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:54:15,782 [INFO] Simulating with mode cropfollow
+2025-04-27 19:54:15,782 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:54:15,782 [INFO] [0.0, -0.04487115820446881, -0.1064406399923826, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:54:21,272 [INFO] 0 check bloated tube unknown
+2025-04-27 19:54:21,272 [INFO] ===============================================
Mode: 0
stack size: 5
remainTime: 15
-2025-04-27 16:05:09,404 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:54:21,272 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
Upper Bound: [0.0, -0.05, -0.0875, 0.0, 0.0, 0.0, 0.0]
Delta: [0.0, 0.025, 0.04375, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:05:09,404 [INFO] Simulating with mode cropfollow
-2025-04-27 16:05:09,404 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:05:09,404 [INFO] [0.0, -0.07500000000000001, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:05:21,653 [INFO] Simulating with mode cropfollow
-2025-04-27 16:05:21,653 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:05:21,653 [INFO] [0.0, -0.07985189670221687, -0.09616668619487694, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:05:33,889 [INFO] Simulating with mode cropfollow
-2025-04-27 16:05:33,889 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:05:33,889 [INFO] [0.0, -0.08366637409678743, -0.14869923748234382, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:05:46,795 [INFO] Simulating with mode cropfollow
-2025-04-27 16:05:46,795 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:05:46,795 [INFO] [0.0, -0.055836775487825785, -0.11739543519643758, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:05:59,407 [INFO] Simulating with mode cropfollow
-2025-04-27 16:05:59,407 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:05:59,407 [INFO] [0.0, -0.06343563783108588, -0.09288706073654998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:06:11,878 [INFO] Simulating with mode cropfollow
-2025-04-27 16:06:11,878 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:06:11,878 [INFO] [0.0, -0.08336427541004401, -0.14839701623437349, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:06:25,190 [INFO] Simulating with mode cropfollow
-2025-04-27 16:06:25,190 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:06:25,190 [INFO] [0.0, -0.06808789698675734, -0.1553308564879295, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:06:36,970 [INFO] Simulating with mode cropfollow
-2025-04-27 16:06:36,971 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:06:36,971 [INFO] [0.0, -0.0781916971478486, -0.1141302213513524, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:06:49,257 [INFO] Simulating with mode cropfollow
-2025-04-27 16:06:49,257 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:06:49,257 [INFO] [0.0, -0.08183439035483907, -0.1436638886519967, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:07:02,533 [INFO] Simulating with mode cropfollow
-2025-04-27 16:07:02,533 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:07:02,533 [INFO] [0.0, -0.08221839406358641, -0.15815099897709167, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:07:14,829 [INFO] Simulating with mode cropfollow
-2025-04-27 16:07:14,829 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:07:14,829 [INFO] [0.0, -0.09201041610747959, -0.13764398528904498, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:07:28,238 [INFO] 0 check bloated tube unknown
-2025-04-27 16:07:28,238 [INFO] ===============================================
+2025-04-27 19:54:21,272 [INFO] Simulating with mode cropfollow
+2025-04-27 19:54:21,272 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:54:21,272 [INFO] [0.0, -0.07500000000000001, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:54:26,899 [INFO] Simulating with mode cropfollow
+2025-04-27 19:54:26,899 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:54:26,899 [INFO] [0.0, -0.060082556471865195, -0.16035451529536204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:54:32,512 [INFO] Simulating with mode cropfollow
+2025-04-27 19:54:32,512 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:54:32,512 [INFO] [0.0, -0.08509368454742941, -0.14100973890858418, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:54:38,269 [INFO] Simulating with mode cropfollow
+2025-04-27 19:54:38,269 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:54:38,269 [INFO] [0.0, -0.08203531989320409, -0.10859866644551294, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:54:43,822 [INFO] Simulating with mode cropfollow
+2025-04-27 19:54:43,822 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:54:43,822 [INFO] [0.0, -0.07296313131485227, -0.16876127424839896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:54:49,395 [INFO] Simulating with mode cropfollow
+2025-04-27 19:54:49,395 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:54:49,395 [INFO] [0.0, -0.053425243432233656, -0.15521056102224653, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:54:55,002 [INFO] Simulating with mode cropfollow
+2025-04-27 19:54:55,002 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:54:55,002 [INFO] [0.0, -0.09529801835011587, -0.10615911037067664, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:55:00,600 [INFO] Simulating with mode cropfollow
+2025-04-27 19:55:00,600 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:55:00,600 [INFO] [0.0, -0.08740790203838782, -0.1491535612249015, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:55:06,238 [INFO] Simulating with mode cropfollow
+2025-04-27 19:55:06,238 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:55:06,238 [INFO] [0.0, -0.08039772684792752, -0.09528544167693265, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:55:11,756 [INFO] Simulating with mode cropfollow
+2025-04-27 19:55:11,756 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:55:11,756 [INFO] [0.0, -0.0738892239299323, -0.1679375249724193, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:55:17,360 [INFO] Simulating with mode cropfollow
+2025-04-27 19:55:17,360 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:55:17,360 [INFO] [0.0, -0.07243557910223442, -0.1064406399923826, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:55:22,921 [INFO] 0 check bloated tube unknown
+2025-04-27 19:55:22,921 [INFO] ===============================================
Mode: 0
stack size: 6
remainTime: 15
-2025-04-27 16:07:28,238 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:55:22,921 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
Upper Bound: [0.0, -0.05, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
Delta: [0.0, 0.025, 0.021875000000000006, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:07:28,238 [INFO] Simulating with mode cropfollow
-2025-04-27 16:07:28,238 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:07:28,238 [INFO] [0.0, -0.07500000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:07:40,598 [INFO] Simulating with mode cropfollow
-2025-04-27 16:07:40,598 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:07:40,598 [INFO] [0.0, -0.07985189670221687, -0.13558334309743844, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:07:54,149 [INFO] Simulating with mode cropfollow
-2025-04-27 16:07:54,149 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:07:54,149 [INFO] [0.0, -0.08366637409678743, -0.1618496187411719, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:08:07,152 [INFO] Simulating with mode cropfollow
-2025-04-27 16:08:07,152 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:08:07,152 [INFO] [0.0, -0.055836775487825785, -0.14619771759821878, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:08:20,323 [INFO] Simulating with mode cropfollow
-2025-04-27 16:08:20,324 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:08:20,324 [INFO] [0.0, -0.06343563783108588, -0.13394353036827497, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:08:32,828 [INFO] Simulating with mode cropfollow
-2025-04-27 16:08:32,828 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:08:32,828 [INFO] [0.0, -0.08336427541004401, -0.16169850811718672, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:08:46,503 [INFO] Simulating with mode cropfollow
-2025-04-27 16:08:46,504 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:08:46,504 [INFO] [0.0, -0.06808789698675734, -0.16516542824396474, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:08:59,557 [INFO] Simulating with mode cropfollow
-2025-04-27 16:08:59,557 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:08:59,557 [INFO] [0.0, -0.0781916971478486, -0.14456511067567618, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:09:11,841 [INFO] Simulating with mode cropfollow
-2025-04-27 16:09:11,841 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:09:11,841 [INFO] [0.0, -0.08183439035483907, -0.15933194432599834, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:09:24,467 [INFO] Simulating with mode cropfollow
-2025-04-27 16:09:24,467 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:09:24,467 [INFO] [0.0, -0.08221839406358641, -0.16657549948854583, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:09:36,126 [INFO] Simulating with mode cropfollow
-2025-04-27 16:09:36,126 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:09:36,126 [INFO] [0.0, -0.09201041610747959, -0.15632199264452248, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:09:48,133 [INFO] 0 check bloated tube unknown
-2025-04-27 16:09:48,133 [INFO] ===============================================
+2025-04-27 19:55:22,921 [INFO] Simulating with mode cropfollow
+2025-04-27 19:55:22,921 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:55:22,921 [INFO] [0.0, -0.07500000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:55:28,595 [INFO] Simulating with mode cropfollow
+2025-04-27 19:55:28,595 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:55:28,595 [INFO] [0.0, -0.060082556471865195, -0.16767725764768102, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:55:34,244 [INFO] Simulating with mode cropfollow
+2025-04-27 19:55:34,244 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:55:34,244 [INFO] [0.0, -0.08509368454742941, -0.15800486945429207, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:55:39,992 [INFO] Simulating with mode cropfollow
+2025-04-27 19:55:39,992 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:55:39,992 [INFO] [0.0, -0.08203531989320409, -0.14179933322275645, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:55:45,472 [INFO] Simulating with mode cropfollow
+2025-04-27 19:55:45,473 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:55:45,473 [INFO] [0.0, -0.07296313131485227, -0.17188063712419946, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:55:50,951 [INFO] Simulating with mode cropfollow
+2025-04-27 19:55:50,951 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:55:50,951 [INFO] [0.0, -0.053425243432233656, -0.16510528051112325, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:55:56,452 [INFO] Simulating with mode cropfollow
+2025-04-27 19:55:56,452 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:55:56,452 [INFO] [0.0, -0.09529801835011587, -0.1405795551853383, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:56:01,952 [INFO] Simulating with mode cropfollow
+2025-04-27 19:56:01,952 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:56:01,952 [INFO] [0.0, -0.08740790203838782, -0.16207678061245073, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:56:07,504 [INFO] Simulating with mode cropfollow
+2025-04-27 19:56:07,504 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:56:07,504 [INFO] [0.0, -0.08039772684792752, -0.1351427208384663, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:56:12,923 [INFO] Simulating with mode cropfollow
+2025-04-27 19:56:12,923 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:56:12,923 [INFO] [0.0, -0.0738892239299323, -0.17146876248620965, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:56:18,391 [INFO] Simulating with mode cropfollow
+2025-04-27 19:56:18,391 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:56:18,391 [INFO] [0.0, -0.07243557910223442, -0.14072031999619128, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:56:23,873 [INFO] 0 check bloated tube unknown
+2025-04-27 19:56:23,873 [INFO] ===============================================
Mode: 0
stack size: 7
remainTime: 15
-2025-04-27 16:09:48,133 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:56:23,873 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
Upper Bound: [0.0, -0.07500000000000001, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
Delta: [0.0, 0.012499999999999997, 0.021875000000000006, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:09:48,133 [INFO] Simulating with mode cropfollow
-2025-04-27 16:09:48,133 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:09:48,133 [INFO] [0.0, -0.08750000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:09:59,705 [INFO] Simulating with mode cropfollow
-2025-04-27 16:09:59,705 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:09:59,705 [INFO] [0.0, -0.08992594835110844, -0.13558334309743844, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:10:11,914 [INFO] Simulating with mode cropfollow
-2025-04-27 16:10:11,914 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:10:11,914 [INFO] [0.0, -0.09183318704839372, -0.1618496187411719, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:10:24,073 [INFO] Simulating with mode cropfollow
-2025-04-27 16:10:24,073 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:10:24,073 [INFO] [0.0, -0.0779183877439129, -0.14619771759821878, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:10:36,645 [INFO] Simulating with mode cropfollow
-2025-04-27 16:10:36,645 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:10:36,645 [INFO] [0.0, -0.08171781891554296, -0.13394353036827497, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:10:48,555 [INFO] Simulating with mode cropfollow
-2025-04-27 16:10:48,555 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:10:48,555 [INFO] [0.0, -0.09168213770502201, -0.16169850811718672, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:11:01,027 [INFO] Simulating with mode cropfollow
-2025-04-27 16:11:01,027 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:11:01,027 [INFO] [0.0, -0.08404394849337868, -0.16516542824396474, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:11:12,977 [INFO] Simulating with mode cropfollow
-2025-04-27 16:11:12,977 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:11:12,977 [INFO] [0.0, -0.0890958485739243, -0.14456511067567618, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:11:26,528 [INFO] Simulating with mode cropfollow
-2025-04-27 16:11:26,528 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:11:26,528 [INFO] [0.0, -0.09091719517741953, -0.15933194432599834, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:11:39,372 [INFO] Simulating with mode cropfollow
-2025-04-27 16:11:39,372 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:11:39,372 [INFO] [0.0, -0.09110919703179321, -0.16657549948854583, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:11:52,759 [INFO] Simulating with mode cropfollow
-2025-04-27 16:11:52,759 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:11:52,759 [INFO] [0.0, -0.0960052080537398, -0.15632199264452248, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:12:05,458 [INFO] 0 check bloated tube unknown
-2025-04-27 16:12:05,458 [INFO] ===============================================
+2025-04-27 19:56:23,873 [INFO] Simulating with mode cropfollow
+2025-04-27 19:56:23,874 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:56:23,874 [INFO] [0.0, -0.08750000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:56:29,439 [INFO] Simulating with mode cropfollow
+2025-04-27 19:56:29,439 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:56:29,439 [INFO] [0.0, -0.0800412782359326, -0.16767725764768102, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:56:34,961 [INFO] Simulating with mode cropfollow
+2025-04-27 19:56:34,962 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:56:34,962 [INFO] [0.0, -0.09254684227371471, -0.15800486945429207, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:56:40,647 [INFO] Simulating with mode cropfollow
+2025-04-27 19:56:40,647 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:56:40,647 [INFO] [0.0, -0.09101765994660205, -0.14179933322275645, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:56:46,125 [INFO] Simulating with mode cropfollow
+2025-04-27 19:56:46,125 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:56:46,125 [INFO] [0.0, -0.08648156565742614, -0.17188063712419946, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:56:51,641 [INFO] Simulating with mode cropfollow
+2025-04-27 19:56:51,641 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:56:51,641 [INFO] [0.0, -0.07671262171611684, -0.16510528051112325, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:56:57,220 [INFO] Simulating with mode cropfollow
+2025-04-27 19:56:57,220 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:56:57,220 [INFO] [0.0, -0.09764900917505794, -0.1405795551853383, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:57:02,765 [INFO] Simulating with mode cropfollow
+2025-04-27 19:57:02,765 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:57:02,765 [INFO] [0.0, -0.09370395101919392, -0.16207678061245073, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:57:08,353 [INFO] Simulating with mode cropfollow
+2025-04-27 19:57:08,354 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:57:08,354 [INFO] [0.0, -0.09019886342396377, -0.1351427208384663, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:57:13,806 [INFO] Simulating with mode cropfollow
+2025-04-27 19:57:13,806 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:57:13,806 [INFO] [0.0, -0.08694461196496615, -0.17146876248620965, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:57:19,322 [INFO] Simulating with mode cropfollow
+2025-04-27 19:57:19,322 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:57:19,322 [INFO] [0.0, -0.08621778955111721, -0.14072031999619128, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:57:24,855 [INFO] 0 check bloated tube unknown
+2025-04-27 19:57:24,855 [INFO] ===============================================
Mode: 0
stack size: 8
remainTime: 15
-2025-04-27 16:12:05,458 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:57:24,855 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
Upper Bound: [0.0, -0.07500000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
Delta: [0.0, 0.012499999999999997, 0.010937500000000003, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:12:05,458 [INFO] Simulating with mode cropfollow
-2025-04-27 16:12:05,458 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:12:05,458 [INFO] [0.0, -0.08750000000000001, -0.1640625, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:12:17,619 [INFO] Simulating with mode cropfollow
-2025-04-27 16:12:17,620 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:12:17,620 [INFO] [0.0, -0.08992594835110844, -0.15529167154871923, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:12:30,849 [INFO] Simulating with mode cropfollow
-2025-04-27 16:12:30,850 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:12:30,850 [INFO] [0.0, -0.09183318704839372, -0.16842480937058593, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:12:42,606 [INFO] Simulating with mode cropfollow
-2025-04-27 16:12:42,607 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:12:42,607 [INFO] [0.0, -0.0779183877439129, -0.16059885879910937, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:12:54,532 [INFO] Simulating with mode cropfollow
-2025-04-27 16:12:54,532 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:12:54,532 [INFO] [0.0, -0.08171781891554296, -0.15447176518413747, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:13:07,798 [INFO] Simulating with mode cropfollow
-2025-04-27 16:13:07,798 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:13:07,798 [INFO] [0.0, -0.09168213770502201, -0.16834925405859336, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:13:21,445 [INFO] Simulating with mode cropfollow
-2025-04-27 16:13:21,445 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:13:21,445 [INFO] [0.0, -0.08404394849337868, -0.17008271412198236, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:13:35,187 [INFO] Simulating with mode cropfollow
-2025-04-27 16:13:35,188 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:13:35,188 [INFO] [0.0, -0.0890958485739243, -0.15978255533783808, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:13:48,248 [INFO] Simulating with mode cropfollow
-2025-04-27 16:13:48,248 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:13:48,248 [INFO] [0.0, -0.09091719517741953, -0.16716597216299917, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:14:00,654 [INFO] Simulating with mode cropfollow
-2025-04-27 16:14:00,654 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:14:00,654 [INFO] [0.0, -0.09110919703179321, -0.1707877497442729, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:14:13,601 [INFO] Simulating with mode cropfollow
-2025-04-27 16:14:13,601 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:14:13,601 [INFO] [0.0, -0.0960052080537398, -0.16566099632226122, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:14:26,545 [INFO] 0 check bloated tube unknown
-2025-04-27 16:14:26,545 [INFO] ===============================================
+2025-04-27 19:57:24,855 [INFO] Simulating with mode cropfollow
+2025-04-27 19:57:24,855 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:57:24,855 [INFO] [0.0, -0.08750000000000001, -0.1640625, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:57:30,477 [INFO] Simulating with mode cropfollow
+2025-04-27 19:57:30,477 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:57:30,477 [INFO] [0.0, -0.0800412782359326, -0.1713386288238405, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:57:36,038 [INFO] Simulating with mode cropfollow
+2025-04-27 19:57:36,038 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:57:36,038 [INFO] [0.0, -0.09254684227371471, -0.16650243472714604, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:57:41,723 [INFO] Simulating with mode cropfollow
+2025-04-27 19:57:41,723 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:57:41,723 [INFO] [0.0, -0.09101765994660205, -0.15839966661137822, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:57:47,286 [INFO] Simulating with mode cropfollow
+2025-04-27 19:57:47,286 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:57:47,286 [INFO] [0.0, -0.08648156565742614, -0.17344031856209974, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:57:52,889 [INFO] Simulating with mode cropfollow
+2025-04-27 19:57:52,889 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:57:52,889 [INFO] [0.0, -0.07671262171611684, -0.17005264025556163, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:57:58,537 [INFO] Simulating with mode cropfollow
+2025-04-27 19:57:58,537 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:57:58,537 [INFO] [0.0, -0.09764900917505794, -0.15778977759266916, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:58:04,126 [INFO] Simulating with mode cropfollow
+2025-04-27 19:58:04,126 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:58:04,126 [INFO] [0.0, -0.09370395101919392, -0.16853839030622536, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:58:09,787 [INFO] Simulating with mode cropfollow
+2025-04-27 19:58:09,787 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:58:09,787 [INFO] [0.0, -0.09019886342396377, -0.15507136041923314, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:58:15,284 [INFO] Simulating with mode cropfollow
+2025-04-27 19:58:15,284 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:58:15,284 [INFO] [0.0, -0.08694461196496615, -0.1732343812431048, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:58:20,842 [INFO] Simulating with mode cropfollow
+2025-04-27 19:58:20,843 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:58:20,843 [INFO] [0.0, -0.08621778955111721, -0.15786015999809563, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:58:26,391 [INFO] 0 check bloated tube unknown
+2025-04-27 19:58:26,391 [INFO] ===============================================
Mode: 0
stack size: 9
remainTime: 15
-2025-04-27 16:14:26,545 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:58:26,391 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
Upper Bound: [0.0, -0.08750000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
Delta: [0.0, 0.006249999999999999, 0.010937500000000003, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:14:26,545 [INFO] Simulating with mode cropfollow
-2025-04-27 16:14:26,545 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:14:26,545 [INFO] [0.0, -0.09375, -0.1640625, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:14:39,314 [INFO] Simulating with mode cropfollow
-2025-04-27 16:14:39,315 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:14:39,315 [INFO] [0.0, -0.09496297417555422, -0.15529167154871923, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:14:52,141 [INFO] Simulating with mode cropfollow
-2025-04-27 16:14:52,141 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:14:52,141 [INFO] [0.0, -0.09591659352419686, -0.16842480937058593, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:15:05,190 [INFO] Simulating with mode cropfollow
-2025-04-27 16:15:05,190 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:15:05,190 [INFO] [0.0, -0.08895919387195646, -0.16059885879910937, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:15:18,258 [INFO] Simulating with mode cropfollow
-2025-04-27 16:15:18,258 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:15:18,258 [INFO] [0.0, -0.09085890945777148, -0.15447176518413747, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:15:30,188 [INFO] Simulating with mode cropfollow
-2025-04-27 16:15:30,188 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:15:30,188 [INFO] [0.0, -0.09584106885251101, -0.16834925405859336, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:15:43,102 [INFO] Simulating with mode cropfollow
-2025-04-27 16:15:43,102 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:15:43,102 [INFO] [0.0, -0.09202197424668934, -0.17008271412198236, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:15:56,319 [INFO] Simulating with mode cropfollow
-2025-04-27 16:15:56,319 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:15:56,319 [INFO] [0.0, -0.09454792428696215, -0.15978255533783808, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:16:08,392 [INFO] Simulating with mode cropfollow
-2025-04-27 16:16:08,392 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:16:08,392 [INFO] [0.0, -0.09545859758870977, -0.16716597216299917, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:16:20,486 [INFO] Simulating with mode cropfollow
-2025-04-27 16:16:20,486 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:16:20,487 [INFO] [0.0, -0.09555459851589661, -0.1707877497442729, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:16:33,789 [INFO] Simulating with mode cropfollow
-2025-04-27 16:16:33,789 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:16:33,789 [INFO] [0.0, -0.0980026040268699, -0.16566099632226122, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:16:47,105 [INFO] 0 check bloated tube unknown
-2025-04-27 16:16:47,105 [INFO] ===============================================
+2025-04-27 19:58:26,391 [INFO] Simulating with mode cropfollow
+2025-04-27 19:58:26,391 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:58:26,391 [INFO] [0.0, -0.09375, -0.1640625, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:58:32,022 [INFO] Simulating with mode cropfollow
+2025-04-27 19:58:32,022 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:58:32,022 [INFO] [0.0, -0.0900206391179663, -0.1713386288238405, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:58:37,593 [INFO] Simulating with mode cropfollow
+2025-04-27 19:58:37,593 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:58:37,593 [INFO] [0.0, -0.09627342113685736, -0.16650243472714604, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:58:43,269 [INFO] Simulating with mode cropfollow
+2025-04-27 19:58:43,269 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:58:43,269 [INFO] [0.0, -0.09550882997330103, -0.15839966661137822, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:58:48,803 [INFO] Simulating with mode cropfollow
+2025-04-27 19:58:48,803 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:58:48,803 [INFO] [0.0, -0.09324078282871306, -0.17344031856209974, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:58:54,365 [INFO] Simulating with mode cropfollow
+2025-04-27 19:58:54,365 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:58:54,365 [INFO] [0.0, -0.08835631085805842, -0.17005264025556163, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:58:59,992 [INFO] Simulating with mode cropfollow
+2025-04-27 19:58:59,992 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:58:59,992 [INFO] [0.0, -0.09882450458752898, -0.15778977759266916, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:59:05,612 [INFO] Simulating with mode cropfollow
+2025-04-27 19:59:05,612 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:59:05,612 [INFO] [0.0, -0.09685197550959695, -0.16853839030622536, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:59:11,267 [INFO] Simulating with mode cropfollow
+2025-04-27 19:59:11,267 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:59:11,267 [INFO] [0.0, -0.09509943171198189, -0.15507136041923314, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:59:16,813 [INFO] Simulating with mode cropfollow
+2025-04-27 19:59:16,813 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:59:16,813 [INFO] [0.0, -0.09347230598248309, -0.1732343812431048, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:59:22,440 [INFO] Simulating with mode cropfollow
+2025-04-27 19:59:22,441 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:59:22,441 [INFO] [0.0, -0.09310889477555861, -0.15786015999809563, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:59:28,024 [INFO] 0 check bloated tube unknown
+2025-04-27 19:59:28,024 [INFO] ===============================================
Mode: 0
stack size: 10
remainTime: 15
-2025-04-27 16:16:47,106 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:59:28,024 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
Upper Bound: [0.0, -0.08750000000000001, -0.1640625, 0.0, 0.0, 0.0, 0.0]
Delta: [0.0, 0.006249999999999999, 0.0054687499999999944, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:16:47,106 [INFO] Simulating with mode cropfollow
-2025-04-27 16:16:47,106 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:16:47,106 [INFO] [0.0, -0.09375, -0.16953125, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:16:59,712 [INFO] Simulating with mode cropfollow
-2025-04-27 16:16:59,712 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:16:59,712 [INFO] [0.0, -0.09496297417555422, -0.16514583577435962, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:17:12,494 [INFO] Simulating with mode cropfollow
-2025-04-27 16:17:12,494 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:17:12,494 [INFO] [0.0, -0.09591659352419686, -0.17171240468529297, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:17:25,080 [INFO] Simulating with mode cropfollow
-2025-04-27 16:17:25,080 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:17:25,080 [INFO] [0.0, -0.08895919387195646, -0.1677994293995547, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:17:36,676 [INFO] Simulating with mode cropfollow
-2025-04-27 16:17:36,677 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:17:36,677 [INFO] [0.0, -0.09085890945777148, -0.16473588259206876, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:17:48,684 [INFO] Simulating with mode cropfollow
-2025-04-27 16:17:48,684 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:17:48,684 [INFO] [0.0, -0.09584106885251101, -0.17167462702929667, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:18:01,673 [INFO] Simulating with mode cropfollow
-2025-04-27 16:18:01,673 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:18:01,673 [INFO] [0.0, -0.09202197424668934, -0.1725413570609912, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:18:14,897 [INFO] Simulating with mode cropfollow
-2025-04-27 16:18:14,897 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:18:14,897 [INFO] [0.0, -0.09454792428696215, -0.16739127766891904, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:18:27,674 [INFO] Simulating with mode cropfollow
-2025-04-27 16:18:27,674 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:18:27,674 [INFO] [0.0, -0.09545859758870977, -0.17108298608149958, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:18:41,155 [INFO] Simulating with mode cropfollow
-2025-04-27 16:18:41,155 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:18:41,155 [INFO] [0.0, -0.09555459851589661, -0.17289387487213645, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:18:53,575 [INFO] Simulating with mode cropfollow
-2025-04-27 16:18:53,575 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:18:53,575 [INFO] [0.0, -0.0980026040268699, -0.1703304981611306, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:19:06,365 [INFO] 0 check bloated tube unknown
-2025-04-27 16:19:06,365 [INFO] ===============================================
+2025-04-27 19:59:28,024 [INFO] Simulating with mode cropfollow
+2025-04-27 19:59:28,024 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:59:28,024 [INFO] [0.0, -0.09375, -0.16953125, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:59:33,673 [INFO] Simulating with mode cropfollow
+2025-04-27 19:59:33,673 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:59:33,673 [INFO] [0.0, -0.0900206391179663, -0.17316931441192024, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:59:39,278 [INFO] Simulating with mode cropfollow
+2025-04-27 19:59:39,278 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:59:39,278 [INFO] [0.0, -0.09627342113685736, -0.17075121736357302, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:59:44,966 [INFO] Simulating with mode cropfollow
+2025-04-27 19:59:44,966 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:59:44,966 [INFO] [0.0, -0.09550882997330103, -0.1666998333056891, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:59:50,511 [INFO] Simulating with mode cropfollow
+2025-04-27 19:59:50,511 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:59:50,511 [INFO] [0.0, -0.09324078282871306, -0.17422015928104986, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 19:59:56,091 [INFO] Simulating with mode cropfollow
+2025-04-27 19:59:56,091 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 19:59:56,091 [INFO] [0.0, -0.08835631085805842, -0.1725263201277808, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:00:01,710 [INFO] Simulating with mode cropfollow
+2025-04-27 20:00:01,710 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:00:01,710 [INFO] [0.0, -0.09882450458752898, -0.16639488879633457, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:00:07,349 [INFO] Simulating with mode cropfollow
+2025-04-27 20:00:07,349 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:00:07,349 [INFO] [0.0, -0.09685197550959695, -0.17176919515311267, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:00:13,048 [INFO] Simulating with mode cropfollow
+2025-04-27 20:00:13,048 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:00:13,048 [INFO] [0.0, -0.09509943171198189, -0.1650356802096166, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:00:18,645 [INFO] Simulating with mode cropfollow
+2025-04-27 20:00:18,645 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:00:18,645 [INFO] [0.0, -0.09347230598248309, -0.1741171906215524, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:00:24,290 [INFO] Simulating with mode cropfollow
+2025-04-27 20:00:24,290 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.1, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:00:24,290 [INFO] [0.0, -0.09310889477555861, -0.16643007999904783, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:00:29,935 [INFO] 0 check bloated tube unknown
+2025-04-27 20:00:29,935 [INFO] ===============================================
Mode: 0
stack size: 11
remainTime: 15
-2025-04-27 16:19:06,365 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:00:29,935 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
Upper Bound: [0.0, -0.09375, -0.1640625, 0.0, 0.0, 0.0, 0.0]
Delta: [0.0, 0.0031250000000000028, 0.0054687499999999944, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:19:06,365 [INFO] 0 is not valid anymore
-2025-04-27 16:19:06,365 [INFO] Hit refine threshold, system halt, result unknown
-2025-04-27 16:19:06,365 [INFO] simulation time: 12.126915454864502
-2025-04-27 16:19:06,365 [INFO] verification time: 1396.8307645320892
+2025-04-27 20:00:29,935 [INFO] 0 is not valid anymore
+2025-04-27 20:00:29,935 [INFO] Hit refine threshold, system halt, result unknown
+2025-04-27 20:00:29,935 [INFO] simulation time: 5.593801021575928
+2025-04-27 20:00:29,935 [INFO] verification time: 611.8032419681549
diff --git a/output/noise/perception/p01_a10/pose/perceptnoise_pose0_10__heading0_00/results.json b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_10__heading0_00/results.json
index afde9945aebaf7e58324de94f1f76ed605bb725e..8a746a75f6081768cb1ab47bbfc6ecc8e18a3e5d 100644
--- a/output/noise/perception/p01_a10/pose/perceptnoise_pose0_10__heading0_00/results.json
+++ b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_10__heading0_00/results.json
@@ -1,7 +1,7 @@
{
"safety": "UNKNOWN",
- "sim_time": 12.126915454864502,
- "verification_time": 1396.8307645320892,
+ "sim_time": 5.593801021575928,
+ "verification_time": 611.8032419681549,
"refine_time": null,
- "total_time": 1409.512356042862
+ "total_time": 617.9598338603973
}
\ No newline at end of file
diff --git a/output/noise/perception/p01_a10/pose/perceptnoise_pose0_25__heading0_00/Traj.txt b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_25__heading0_00/Traj.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fe6fd8c47b59e9ecf70c5724f99ef3ecfe84d1cc
--- /dev/null
+++ b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_25__heading0_00/Traj.txt
@@ -0,0 +1,47 @@
+cropfollow/pn=[0.250:0.000]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]
+0.0 0.0 0.054715391248464584 -0.01263133529573679 0.20154568552970886 -0.09843039512634277 -0.0921148955821991 0.20786118507385254
+0.3333333432674408 0.19998405873775482 0.052189189940690994 -0.018758120015263557 0.19747354090213776 -0.10247369110584259 -0.09309516847133636 0.20685206353664398
+0.6666666865348816 0.3999488949775696 0.04843778535723686 0.030604446306824684 0.20601746439933777 -0.09384205937385559 -0.10914188623428345 0.1907176375389099
+1.0 0.5998552441596985 0.054557718336582184 0.11528100073337555 0.23231855034828186 -0.06569021195173264 -0.12320312112569809 0.1748056411743164
+1.3333333730697632 0.7985277771949768 0.07756288349628448 0.09681354463100433 0.25102609395980835 -0.04756911098957062 -0.09590031206607819 0.2026948779821396
+1.6666666269302368 0.9975912570953369 0.09689535945653915 0.03508855402469635 0.2555733621120453 -0.04424198716878891 -0.06178265064954758 0.23803269863128662
+2.0 1.1974681615829468 0.1039116308093071 -0.031142890453338623 0.24605444073677063 -0.05380011349916458 -0.038231171667575836 0.2616233825683594
+2.3333332538604736 1.3973711729049683 0.09768405556678772 -0.07762709259986877 0.22784505784511566 -0.0712515264749527 -0.03247694671154022 0.26661962270736694
+2.6666667461395264 1.596768856048584 0.08217422664165497 -0.08242227137088776 0.21108277142047882 -0.08789880573749542 -0.046734318137168884 0.25224727392196655
+3.0 1.7960898876190186 0.06570842862129211 -0.05101582407951355 0.2027648538351059 -0.09684483706951141 -0.07134799659252167 0.22826169431209564
+3.3333332538604736 1.995829701423645 0.05550968647003174 -0.04066981375217438 0.19522100687026978 -0.104530930519104 -0.0842016339302063 0.21555030345916748
+3.6666667461395264 2.195664405822754 0.04737796634435654 -0.06291849911212921 0.18136191368103027 -0.11804448813199997 -0.0866059884428978 0.21280041337013245
+4.0 2.395268678665161 0.03480256721377373 -0.05481070280075073 0.1708814948797226 -0.12866799533367157 -0.10127635300159454 0.19827313721179962
+4.333333492279053 2.594968318939209 0.023845914751291275 -0.0607948824763298 0.1583794355392456 -0.14106634259223938 -0.11068761348724365 0.18875816464424133
+4.666666507720947 2.7945988178253174 0.011694425716996193 -0.0755632221698761 0.1423935741186142 -0.1567503660917282 -0.11900471895933151 0.1801392287015915
+5.0 2.994028091430664 -0.003403840586543083 -0.04405096918344498 0.13544146716594696 -0.16426752507686615 -0.14224915206432343 0.15745984017848969
+5.333333492279053 3.193834066390991 -0.01221118588000536 -0.06172803044319153 0.12208092212677002 -0.17734771966934204 -0.1465032994747162 0.15292534232139587
+5.666666507720947 3.3934531211853027 -0.024548955261707306 -0.09850500524044037 0.10013744235038757 -0.19840824604034424 -0.14923535287380219 0.14931032061576843
+6.0 3.5924835205078125 -0.04421811178326607 -0.062204424291849136 0.08995071053504944 -0.20946907997131348 -0.17838692665100098 0.12103286385536194
+6.333333492279053 3.7920966148376465 -0.056650977581739426 0.012663360685110092 0.09650275111198425 -0.20347321033477783 -0.2098047137260437 0.09017124772071838
+6.666666507720947 3.9920806884765625 -0.05411837249994278 -0.01964128389954567 0.09094268828630447 -0.20899945497512817 -0.19917944073677063 0.10076270252466202
+7.0 4.192042350769043 -0.0580463781952858 0.016338322311639786 0.09601800888776779 -0.2039419710636139 -0.2121107578277588 0.0878492221236229
+7.333333492279053 4.39201545715332 -0.05477885901927948 0.017147015780210495 0.09948563575744629 -0.20047026872634888 -0.20904335379600525 0.09091255068778992
+7.666666507720947 4.591986179351807 -0.05134962499141693 0.007830658927559853 0.10060343146324158 -0.19938740134239197 -0.20330268144607544 0.0966881513595581
+8.0 4.791980266571045 -0.049783509224653244 0.011538924649357796 0.10309118032455444 -0.19688886404037476 -0.20265820622444153 0.09732183814048767
+8.333333015441895 4.99196720123291 -0.047475773841142654 0.06419473141431808 0.11825293302536011 -0.18112915754318237 -0.21320447325706482 0.08617761731147766
+8.666666984558105 5.191555023193359 -0.03464564308524132 0.07903089374303818 0.13462331891059875 -0.1644403040409088 -0.203914612531662 0.09514901041984558
+9.0 5.390930652618408 -0.01885591261088848 0.055088628083467484 0.14468172192573547 -0.154863178730011 -0.18239355087280273 0.11715134978294373
+9.333333015441895 5.590627193450928 -0.00784375797957182 0.04207255691289902 0.15253853797912598 -0.1471959948539734 -0.16822606325149536 0.131508469581604
+9.666666984558105 5.790450096130371 0.0005682716146111488 0.009959906339645386 0.15305078029632568 -0.1469343602657318 -0.15191423892974854 0.14807090163230896
+10.0 5.990440368652344 0.002560220193117857 -0.007445339113473892 0.15069474279880524 -0.14929695427417755 -0.14557431638240814 0.15441738069057465
+10.333333015441895 6.19043493270874 0.0010711660142987967 -0.028238357976078987 0.14395272731781006 -0.15592768788337708 -0.14181038737297058 0.15807002782821655
+10.666666984558105 6.390355110168457 -0.004575755447149277 -0.054158419370651245 0.13167133927345276 -0.1678888201713562 -0.1408228576183319 0.15873730182647705
+11.0 6.590061664581299 -0.015402145683765411 0.009283319115638733 0.13691219687461853 -0.16307488083839417 -0.16771647334098816 0.13227060437202454
+11.333333015441895 6.790052890777588 -0.013545508496463299 0.01310618408024311 0.13971805572509766 -0.16025617718696594 -0.16680908203125 0.1331651508808136
+11.666666984558105 6.990035533905029 -0.01092434674501419 -0.01130690611898899 0.1362394094467163 -0.16374143958091736 -0.15808811783790588 0.14189273118972778
+12.0 7.190022945404053 -0.013185679912567139 0.005853597074747086 0.138275146484375 -0.16171973943710327 -0.16464650630950928 0.135348379611969
+12.333333015441895 7.390019416809082 -0.012014967389404774 0.03912511095404625 0.14764903485774994 -0.1521214097738266 -0.17167897522449493 0.1280914694070816
+12.666666984558105 7.5898661613464355 -0.004191940650343895 0.024249643087387085 0.15182578563690186 -0.14808601140975952 -0.16020965576171875 0.13970214128494263
+13.0 7.789807319641113 0.0006575128063559532 0.027501605451107025 0.1574753373861313 -0.1424112468957901 -0.15616030991077423 0.14372627437114716
+13.333333015441895 7.989731788635254 0.006157141178846359 0.013967017643153667 0.15963415801525116 -0.14033658802509308 -0.14731986820697784 0.1526508778333664
+13.666666984558105 8.189712524414062 0.00895045418292284 0.010025005787611008 0.161449134349823 -0.13853579759597778 -0.14354822039604187 0.1564367115497589
+14.0 8.389702796936035 0.010955422185361385 -0.011790856719017029 0.15799735486507416 -0.1419817954301834 -0.13608650863170624 0.16389264166355133
+14.333333015441895 8.589689254760742 0.008597305044531822 0.021602720022201538 0.16396255791187286 -0.1359674483537674 -0.14676795899868011 0.15316204726696014
+14.666666984558105 8.789642333984375 0.012917513027787209 -0.020783722400665283 0.15768957138061523 -0.14224565029144287 -0.13185453414916992 0.16808068752288818
+15.0 8.989599227905273 0.008761066943407059 -0.012986566871404648 0.15550187230110168 -0.14447283744812012 -0.13797974586486816 0.16199496388435364
diff --git a/output/noise/perception/p01_a10/pose/perceptnoise_pose0_25__heading0_00/log.txt b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_25__heading0_00/log.txt
new file mode 100644
index 0000000000000000000000000000000000000000..531a08b578abb7016dc5eac26e11353f9c4e4bed
--- /dev/null
+++ b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_25__heading0_00/log.txt
@@ -0,0 +1,447 @@
+2025-04-27 20:00:31,081 [INFO] Simulating with mode cropfollow
+2025-04-27 20:00:31,081 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:00:31,081 [INFO] [0.0, 0.054715389592070285, -0.01263133573559333, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:00:36,917 [INFO] Verification Begin
+2025-04-27 20:00:36,917 [INFO] ===============================================
+Mode: 0
+stack size: 1
+remainTime: 15
+
+2025-04-27 20:00:36,917 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 20:00:36,917 [INFO] Simulating with mode cropfollow
+2025-04-27 20:00:36,917 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:00:36,917 [INFO] [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:00:42,772 [INFO] Simulating with mode cropfollow
+2025-04-27 20:00:42,772 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:00:42,772 [INFO] [0.0, 0.05966977411253924, -0.11641806118144818, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:00:48,627 [INFO] Simulating with mode cropfollow
+2025-04-27 20:00:48,628 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:00:48,628 [INFO] [0.0, -0.040374738189717645, -0.03903895563433671, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:00:54,521 [INFO] Simulating with mode cropfollow
+2025-04-27 20:00:54,521 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:00:54,521 [INFO] [0.0, -0.028141279572816355, 0.0906053342179482, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:01:00,269 [INFO] Simulating with mode cropfollow
+2025-04-27 20:01:00,269 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:01:00,269 [INFO] [0.0, 0.008147474740590965, -0.1500450969935958, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:01:06,043 [INFO] Simulating with mode cropfollow
+2025-04-27 20:01:06,043 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:01:06,043 [INFO] [0.0, 0.0862990262710654, -0.09584224408898614, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:01:11,833 [INFO] Simulating with mode cropfollow
+2025-04-27 20:01:11,833 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:01:11,833 [INFO] [0.0, -0.08119207340046344, 0.1003635585172934, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:01:17,864 [INFO] Simulating with mode cropfollow
+2025-04-27 20:01:17,864 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:01:17,864 [INFO] [0.0, -0.049631608153551256, -0.07161424489960602, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:01:23,820 [INFO] Simulating with mode cropfollow
+2025-04-27 20:01:23,820 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:01:23,820 [INFO] [0.0, -0.021590907391710074, 0.14385823329226938, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:01:29,517 [INFO] Simulating with mode cropfollow
+2025-04-27 20:01:29,517 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:01:29,517 [INFO] [0.0, 0.00444310428027081, -0.14675009988967722, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:01:35,340 [INFO] Simulating with mode cropfollow
+2025-04-27 20:01:35,340 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:01:35,340 [INFO] [0.0, 0.010257683591062383, 0.09923744003046958, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:01:41,012 [INFO] 0 check bloated tube unknown
+2025-04-27 20:01:41,012 [INFO] ===============================================
+Mode: 0
+stack size: 2
+remainTime: 15
+
+2025-04-27 20:01:41,012 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.1, 0.0875, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 20:01:41,012 [INFO] Simulating with mode cropfollow
+2025-04-27 20:01:41,012 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:01:41,012 [INFO] [0.0, 0.0, -0.0875, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:01:46,896 [INFO] Simulating with mode cropfollow
+2025-04-27 20:01:46,896 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:01:46,896 [INFO] [0.0, 0.05966977411253924, -0.1457090305907241, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:01:52,886 [INFO] Simulating with mode cropfollow
+2025-04-27 20:01:52,886 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:01:52,886 [INFO] [0.0, -0.040374738189717645, -0.10701947781716835, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:01:58,943 [INFO] Simulating with mode cropfollow
+2025-04-27 20:01:58,943 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:01:58,943 [INFO] [0.0, -0.028141279572816355, -0.042197332891025896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:02:04,773 [INFO] Simulating with mode cropfollow
+2025-04-27 20:02:04,773 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:02:04,773 [INFO] [0.0, 0.008147474740590965, -0.1625225484967979, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:02:10,674 [INFO] Simulating with mode cropfollow
+2025-04-27 20:02:10,674 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:02:10,674 [INFO] [0.0, 0.0862990262710654, -0.13542112204449308, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:02:16,542 [INFO] Simulating with mode cropfollow
+2025-04-27 20:02:16,542 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:02:16,542 [INFO] [0.0, -0.08119207340046344, -0.0373182207413533, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:02:22,580 [INFO] Simulating with mode cropfollow
+2025-04-27 20:02:22,581 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:02:22,581 [INFO] [0.0, -0.049631608153551256, -0.123307122449803, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:02:28,465 [INFO] Simulating with mode cropfollow
+2025-04-27 20:02:28,465 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:02:28,465 [INFO] [0.0, -0.021590907391710074, -0.015570883353865306, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:02:34,211 [INFO] Simulating with mode cropfollow
+2025-04-27 20:02:34,211 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:02:34,211 [INFO] [0.0, 0.00444310428027081, -0.16087504994483862, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:02:40,225 [INFO] Simulating with mode cropfollow
+2025-04-27 20:02:40,225 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:02:40,225 [INFO] [0.0, 0.010257683591062383, -0.037881279984765204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:02:45,998 [INFO] 0 check bloated tube unknown
+2025-04-27 20:02:45,998 [INFO] ===============================================
+Mode: 0
+stack size: 3
+remainTime: 15
+
+2025-04-27 20:02:45,998 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.05, 0.0875, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 20:02:45,998 [INFO] Simulating with mode cropfollow
+2025-04-27 20:02:45,998 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:02:45,998 [INFO] [0.0, -0.05, -0.0875, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:02:51,962 [INFO] Simulating with mode cropfollow
+2025-04-27 20:02:51,963 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:02:51,963 [INFO] [0.0, -0.020165112943730384, -0.1457090305907241, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:02:57,999 [INFO] Simulating with mode cropfollow
+2025-04-27 20:02:57,999 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:02:57,999 [INFO] [0.0, -0.07018736909485883, -0.10701947781716835, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:03:04,025 [INFO] Simulating with mode cropfollow
+2025-04-27 20:03:04,025 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:03:04,025 [INFO] [0.0, -0.06407063978640817, -0.042197332891025896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:03:10,013 [INFO] Simulating with mode cropfollow
+2025-04-27 20:03:10,013 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:03:10,013 [INFO] [0.0, -0.04592626262970452, -0.1625225484967979, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:03:15,897 [INFO] Simulating with mode cropfollow
+2025-04-27 20:03:15,897 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:03:15,897 [INFO] [0.0, -0.006850486864467306, -0.13542112204449308, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:03:21,849 [INFO] Simulating with mode cropfollow
+2025-04-27 20:03:21,849 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:03:21,849 [INFO] [0.0, -0.09059603670023172, -0.0373182207413533, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:03:27,897 [INFO] Simulating with mode cropfollow
+2025-04-27 20:03:27,897 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:03:27,897 [INFO] [0.0, -0.07481580407677563, -0.123307122449803, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:03:33,872 [INFO] Simulating with mode cropfollow
+2025-04-27 20:03:33,873 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:03:33,873 [INFO] [0.0, -0.06079545369585504, -0.015570883353865306, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:03:39,640 [INFO] Simulating with mode cropfollow
+2025-04-27 20:03:39,640 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:03:39,640 [INFO] [0.0, -0.0477784478598646, -0.16087504994483862, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:03:45,578 [INFO] Simulating with mode cropfollow
+2025-04-27 20:03:45,578 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:03:45,578 [INFO] [0.0, -0.04487115820446881, -0.037881279984765204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:03:51,407 [INFO] 0 check bloated tube unknown
+2025-04-27 20:03:51,407 [INFO] ===============================================
+Mode: 0
+stack size: 4
+remainTime: 15
+
+2025-04-27 20:03:51,407 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, 0.0, -0.0875, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.05, 0.04375, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 20:03:51,407 [INFO] Simulating with mode cropfollow
+2025-04-27 20:03:51,407 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:03:51,407 [INFO] [0.0, -0.05, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:03:57,461 [INFO] Simulating with mode cropfollow
+2025-04-27 20:03:57,461 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:03:57,461 [INFO] [0.0, -0.020165112943730384, -0.16035451529536204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:04:03,526 [INFO] Simulating with mode cropfollow
+2025-04-27 20:04:03,526 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:04:03,526 [INFO] [0.0, -0.07018736909485883, -0.14100973890858418, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:04:09,733 [INFO] Simulating with mode cropfollow
+2025-04-27 20:04:09,733 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:04:09,733 [INFO] [0.0, -0.06407063978640817, -0.10859866644551294, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:04:15,631 [INFO] Simulating with mode cropfollow
+2025-04-27 20:04:15,631 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:04:15,631 [INFO] [0.0, -0.04592626262970452, -0.16876127424839896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:04:21,593 [INFO] Simulating with mode cropfollow
+2025-04-27 20:04:21,593 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:04:21,593 [INFO] [0.0, -0.006850486864467306, -0.15521056102224653, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:04:27,547 [INFO] Simulating with mode cropfollow
+2025-04-27 20:04:27,548 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:04:27,548 [INFO] [0.0, -0.09059603670023172, -0.10615911037067664, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:04:33,556 [INFO] Simulating with mode cropfollow
+2025-04-27 20:04:33,556 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:04:33,556 [INFO] [0.0, -0.07481580407677563, -0.1491535612249015, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:04:39,547 [INFO] Simulating with mode cropfollow
+2025-04-27 20:04:39,547 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:04:39,548 [INFO] [0.0, -0.06079545369585504, -0.09528544167693265, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:04:45,382 [INFO] Simulating with mode cropfollow
+2025-04-27 20:04:45,382 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:04:45,382 [INFO] [0.0, -0.0477784478598646, -0.1679375249724193, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:04:51,401 [INFO] Simulating with mode cropfollow
+2025-04-27 20:04:51,401 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:04:51,401 [INFO] [0.0, -0.04487115820446881, -0.1064406399923826, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:04:57,300 [INFO] 0 check bloated tube unknown
+2025-04-27 20:04:57,300 [INFO] ===============================================
+Mode: 0
+stack size: 5
+remainTime: 15
+
+2025-04-27 20:04:57,300 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.05, -0.0875, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.025, 0.04375, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 20:04:57,300 [INFO] Simulating with mode cropfollow
+2025-04-27 20:04:57,300 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:04:57,300 [INFO] [0.0, -0.07500000000000001, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:05:03,413 [INFO] Simulating with mode cropfollow
+2025-04-27 20:05:03,413 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:05:03,413 [INFO] [0.0, -0.060082556471865195, -0.16035451529536204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:05:09,429 [INFO] Simulating with mode cropfollow
+2025-04-27 20:05:09,429 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:05:09,429 [INFO] [0.0, -0.08509368454742941, -0.14100973890858418, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:05:15,807 [INFO] Simulating with mode cropfollow
+2025-04-27 20:05:15,807 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:05:15,807 [INFO] [0.0, -0.08203531989320409, -0.10859866644551294, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:05:22,115 [INFO] Simulating with mode cropfollow
+2025-04-27 20:05:22,115 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:05:22,115 [INFO] [0.0, -0.07296313131485227, -0.16876127424839896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:05:28,064 [INFO] Simulating with mode cropfollow
+2025-04-27 20:05:28,064 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:05:28,064 [INFO] [0.0, -0.053425243432233656, -0.15521056102224653, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:05:34,194 [INFO] Simulating with mode cropfollow
+2025-04-27 20:05:34,195 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:05:34,195 [INFO] [0.0, -0.09529801835011587, -0.10615911037067664, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:05:40,391 [INFO] Simulating with mode cropfollow
+2025-04-27 20:05:40,391 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:05:40,391 [INFO] [0.0, -0.08740790203838782, -0.1491535612249015, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:05:46,451 [INFO] Simulating with mode cropfollow
+2025-04-27 20:05:46,452 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:05:46,452 [INFO] [0.0, -0.08039772684792752, -0.09528544167693265, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:05:52,326 [INFO] Simulating with mode cropfollow
+2025-04-27 20:05:52,326 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:05:52,326 [INFO] [0.0, -0.0738892239299323, -0.1679375249724193, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:05:58,410 [INFO] Simulating with mode cropfollow
+2025-04-27 20:05:58,410 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:05:58,410 [INFO] [0.0, -0.07243557910223442, -0.1064406399923826, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:06:04,363 [INFO] 0 check bloated tube unknown
+2025-04-27 20:06:04,363 [INFO] ===============================================
+Mode: 0
+stack size: 6
+remainTime: 15
+
+2025-04-27 20:06:04,363 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.05, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.025, 0.021875000000000006, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 20:06:04,363 [INFO] Simulating with mode cropfollow
+2025-04-27 20:06:04,363 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:06:04,363 [INFO] [0.0, -0.07500000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:06:10,471 [INFO] Simulating with mode cropfollow
+2025-04-27 20:06:10,471 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:06:10,471 [INFO] [0.0, -0.060082556471865195, -0.16767725764768102, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:06:16,628 [INFO] Simulating with mode cropfollow
+2025-04-27 20:06:16,628 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:06:16,628 [INFO] [0.0, -0.08509368454742941, -0.15800486945429207, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:06:22,875 [INFO] Simulating with mode cropfollow
+2025-04-27 20:06:22,875 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:06:22,875 [INFO] [0.0, -0.08203531989320409, -0.14179933322275645, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:06:28,848 [INFO] Simulating with mode cropfollow
+2025-04-27 20:06:28,848 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:06:28,848 [INFO] [0.0, -0.07296313131485227, -0.17188063712419946, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:06:34,765 [INFO] Simulating with mode cropfollow
+2025-04-27 20:06:34,765 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:06:34,765 [INFO] [0.0, -0.053425243432233656, -0.16510528051112325, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:06:40,695 [INFO] Simulating with mode cropfollow
+2025-04-27 20:06:40,695 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:06:40,695 [INFO] [0.0, -0.09529801835011587, -0.1405795551853383, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:06:46,727 [INFO] Simulating with mode cropfollow
+2025-04-27 20:06:46,728 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:06:46,728 [INFO] [0.0, -0.08740790203838782, -0.16207678061245073, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:06:52,618 [INFO] Simulating with mode cropfollow
+2025-04-27 20:06:52,619 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:06:52,619 [INFO] [0.0, -0.08039772684792752, -0.1351427208384663, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:06:58,332 [INFO] Simulating with mode cropfollow
+2025-04-27 20:06:58,332 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:06:58,332 [INFO] [0.0, -0.0738892239299323, -0.17146876248620965, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:07:04,263 [INFO] Simulating with mode cropfollow
+2025-04-27 20:07:04,263 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:07:04,263 [INFO] [0.0, -0.07243557910223442, -0.14072031999619128, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:07:10,041 [INFO] 0 check bloated tube unknown
+2025-04-27 20:07:10,041 [INFO] ===============================================
+Mode: 0
+stack size: 7
+remainTime: 15
+
+2025-04-27 20:07:10,041 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.07500000000000001, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.012499999999999997, 0.021875000000000006, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 20:07:10,041 [INFO] Simulating with mode cropfollow
+2025-04-27 20:07:10,041 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:07:10,041 [INFO] [0.0, -0.08750000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:07:16,042 [INFO] Simulating with mode cropfollow
+2025-04-27 20:07:16,042 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:07:16,042 [INFO] [0.0, -0.0800412782359326, -0.16767725764768102, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:07:22,006 [INFO] Simulating with mode cropfollow
+2025-04-27 20:07:22,006 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:07:22,006 [INFO] [0.0, -0.09254684227371471, -0.15800486945429207, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:07:28,068 [INFO] Simulating with mode cropfollow
+2025-04-27 20:07:28,069 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:07:28,069 [INFO] [0.0, -0.09101765994660205, -0.14179933322275645, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:07:33,972 [INFO] Simulating with mode cropfollow
+2025-04-27 20:07:33,972 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:07:33,973 [INFO] [0.0, -0.08648156565742614, -0.17188063712419946, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:07:39,866 [INFO] Simulating with mode cropfollow
+2025-04-27 20:07:39,867 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:07:39,867 [INFO] [0.0, -0.07671262171611684, -0.16510528051112325, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:07:45,868 [INFO] Simulating with mode cropfollow
+2025-04-27 20:07:45,868 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:07:45,868 [INFO] [0.0, -0.09764900917505794, -0.1405795551853383, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:07:51,993 [INFO] Simulating with mode cropfollow
+2025-04-27 20:07:51,993 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:07:51,993 [INFO] [0.0, -0.09370395101919392, -0.16207678061245073, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:07:58,087 [INFO] Simulating with mode cropfollow
+2025-04-27 20:07:58,087 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:07:58,087 [INFO] [0.0, -0.09019886342396377, -0.1351427208384663, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:08:03,946 [INFO] Simulating with mode cropfollow
+2025-04-27 20:08:03,946 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:08:03,946 [INFO] [0.0, -0.08694461196496615, -0.17146876248620965, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:08:10,023 [INFO] Simulating with mode cropfollow
+2025-04-27 20:08:10,023 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:08:10,023 [INFO] [0.0, -0.08621778955111721, -0.14072031999619128, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:08:16,065 [INFO] 0 check bloated tube unknown
+2025-04-27 20:08:16,065 [INFO] ===============================================
+Mode: 0
+stack size: 8
+remainTime: 15
+
+2025-04-27 20:08:16,065 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.07500000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.012499999999999997, 0.010937500000000003, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 20:08:16,065 [INFO] Simulating with mode cropfollow
+2025-04-27 20:08:16,065 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:08:16,065 [INFO] [0.0, -0.08750000000000001, -0.1640625, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:08:22,132 [INFO] Simulating with mode cropfollow
+2025-04-27 20:08:22,132 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:08:22,132 [INFO] [0.0, -0.0800412782359326, -0.1713386288238405, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:08:28,097 [INFO] Simulating with mode cropfollow
+2025-04-27 20:08:28,097 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:08:28,097 [INFO] [0.0, -0.09254684227371471, -0.16650243472714604, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:08:34,281 [INFO] Simulating with mode cropfollow
+2025-04-27 20:08:34,281 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:08:34,281 [INFO] [0.0, -0.09101765994660205, -0.15839966661137822, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:08:40,335 [INFO] Simulating with mode cropfollow
+2025-04-27 20:08:40,335 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:08:40,335 [INFO] [0.0, -0.08648156565742614, -0.17344031856209974, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:08:46,246 [INFO] Simulating with mode cropfollow
+2025-04-27 20:08:46,246 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:08:46,246 [INFO] [0.0, -0.07671262171611684, -0.17005264025556163, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:08:52,265 [INFO] Simulating with mode cropfollow
+2025-04-27 20:08:52,265 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:08:52,265 [INFO] [0.0, -0.09764900917505794, -0.15778977759266916, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:08:58,393 [INFO] Simulating with mode cropfollow
+2025-04-27 20:08:58,393 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:08:58,393 [INFO] [0.0, -0.09370395101919392, -0.16853839030622536, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:09:04,467 [INFO] Simulating with mode cropfollow
+2025-04-27 20:09:04,467 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:09:04,467 [INFO] [0.0, -0.09019886342396377, -0.15507136041923314, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:09:10,318 [INFO] Simulating with mode cropfollow
+2025-04-27 20:09:10,319 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:09:10,319 [INFO] [0.0, -0.08694461196496615, -0.1732343812431048, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:09:16,575 [INFO] Simulating with mode cropfollow
+2025-04-27 20:09:16,575 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:09:16,575 [INFO] [0.0, -0.08621778955111721, -0.15786015999809563, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:09:22,654 [INFO] 0 check bloated tube unknown
+2025-04-27 20:09:22,654 [INFO] ===============================================
+Mode: 0
+stack size: 9
+remainTime: 15
+
+2025-04-27 20:09:22,654 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.08750000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.006249999999999999, 0.010937500000000003, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 20:09:22,654 [INFO] Simulating with mode cropfollow
+2025-04-27 20:09:22,654 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:09:22,654 [INFO] [0.0, -0.09375, -0.1640625, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:09:28,845 [INFO] Simulating with mode cropfollow
+2025-04-27 20:09:28,845 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:09:28,845 [INFO] [0.0, -0.0900206391179663, -0.1713386288238405, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:09:34,987 [INFO] Simulating with mode cropfollow
+2025-04-27 20:09:34,987 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:09:34,987 [INFO] [0.0, -0.09627342113685736, -0.16650243472714604, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:09:41,160 [INFO] Simulating with mode cropfollow
+2025-04-27 20:09:41,160 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:09:41,160 [INFO] [0.0, -0.09550882997330103, -0.15839966661137822, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:09:47,238 [INFO] Simulating with mode cropfollow
+2025-04-27 20:09:47,238 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:09:47,238 [INFO] [0.0, -0.09324078282871306, -0.17344031856209974, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:09:53,257 [INFO] Simulating with mode cropfollow
+2025-04-27 20:09:53,257 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:09:53,257 [INFO] [0.0, -0.08835631085805842, -0.17005264025556163, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:09:59,346 [INFO] Simulating with mode cropfollow
+2025-04-27 20:09:59,346 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:09:59,346 [INFO] [0.0, -0.09882450458752898, -0.15778977759266916, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:10:05,537 [INFO] Simulating with mode cropfollow
+2025-04-27 20:10:05,537 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:10:05,537 [INFO] [0.0, -0.09685197550959695, -0.16853839030622536, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:10:11,670 [INFO] Simulating with mode cropfollow
+2025-04-27 20:10:11,670 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:10:11,670 [INFO] [0.0, -0.09509943171198189, -0.15507136041923314, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:10:17,571 [INFO] Simulating with mode cropfollow
+2025-04-27 20:10:17,571 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:10:17,571 [INFO] [0.0, -0.09347230598248309, -0.1732343812431048, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:10:23,652 [INFO] Simulating with mode cropfollow
+2025-04-27 20:10:23,652 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:10:23,652 [INFO] [0.0, -0.09310889477555861, -0.15786015999809563, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:10:29,566 [INFO] 0 check bloated tube unknown
+2025-04-27 20:10:29,567 [INFO] ===============================================
+Mode: 0
+stack size: 10
+remainTime: 15
+
+2025-04-27 20:10:29,567 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.08750000000000001, -0.1640625, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.006249999999999999, 0.0054687499999999944, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 20:10:29,567 [INFO] Simulating with mode cropfollow
+2025-04-27 20:10:29,567 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:10:29,567 [INFO] [0.0, -0.09375, -0.16953125, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:10:35,724 [INFO] Simulating with mode cropfollow
+2025-04-27 20:10:35,724 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:10:35,724 [INFO] [0.0, -0.0900206391179663, -0.17316931441192024, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:10:41,862 [INFO] Simulating with mode cropfollow
+2025-04-27 20:10:41,862 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:10:41,862 [INFO] [0.0, -0.09627342113685736, -0.17075121736357302, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:10:48,031 [INFO] Simulating with mode cropfollow
+2025-04-27 20:10:48,031 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:10:48,031 [INFO] [0.0, -0.09550882997330103, -0.1666998333056891, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:10:54,030 [INFO] Simulating with mode cropfollow
+2025-04-27 20:10:54,030 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:10:54,030 [INFO] [0.0, -0.09324078282871306, -0.17422015928104986, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:11:00,050 [INFO] Simulating with mode cropfollow
+2025-04-27 20:11:00,051 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:11:00,051 [INFO] [0.0, -0.08835631085805842, -0.1725263201277808, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:11:06,124 [INFO] Simulating with mode cropfollow
+2025-04-27 20:11:06,125 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:11:06,125 [INFO] [0.0, -0.09882450458752898, -0.16639488879633457, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:11:12,403 [INFO] Simulating with mode cropfollow
+2025-04-27 20:11:12,404 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:11:12,404 [INFO] [0.0, -0.09685197550959695, -0.17176919515311267, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:11:18,484 [INFO] Simulating with mode cropfollow
+2025-04-27 20:11:18,485 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:11:18,485 [INFO] [0.0, -0.09509943171198189, -0.1650356802096166, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:11:24,390 [INFO] Simulating with mode cropfollow
+2025-04-27 20:11:24,391 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:11:24,391 [INFO] [0.0, -0.09347230598248309, -0.1741171906215524, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:11:30,519 [INFO] Simulating with mode cropfollow
+2025-04-27 20:11:30,519 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.25, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:11:30,520 [INFO] [0.0, -0.09310889477555861, -0.16643007999904783, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:11:36,746 [INFO] 0 check bloated tube unknown
+2025-04-27 20:11:36,746 [INFO] ===============================================
+Mode: 0
+stack size: 11
+remainTime: 15
+
+2025-04-27 20:11:36,746 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+Upper Bound: [0.0, -0.09375, -0.1640625, 0.0, 0.0, 0.0, 0.0]
+Delta: [0.0, 0.0031250000000000028, 0.0054687499999999944, 0.0, 0.0, 0.0, 0.0]
+
+2025-04-27 20:11:36,746 [INFO] 0 is not valid anymore
+2025-04-27 20:11:36,746 [INFO] Hit refine threshold, system halt, result unknown
+2025-04-27 20:11:36,746 [INFO] simulation time: 5.836513996124268
+2025-04-27 20:11:36,746 [INFO] verification time: 659.8285965919495
diff --git a/output/noise/perception/p01_a10/pose/perceptnoise_pose0_25__heading0_00/results.json b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_25__heading0_00/results.json
new file mode 100644
index 0000000000000000000000000000000000000000..37f530ed3ea8a45ef1bf3e67b54ce13ed969d4b1
--- /dev/null
+++ b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_25__heading0_00/results.json
@@ -0,0 +1,7 @@
+{
+ "safety": "UNKNOWN",
+ "sim_time": 5.836513996124268,
+ "verification_time": 659.8285965919495,
+ "refine_time": null,
+ "total_time": 666.2249643802643
+}
\ No newline at end of file
diff --git a/output/noise/perception/p01_a10/pose/perceptnoise_pose0_50__heading0_00/Traj.txt b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_50__heading0_00/Traj.txt
index 817ecce15bd7bb13702ef026b7ca271718da2d70..5acf09ad611daa599c3b4bc27e6104907b9fa318 100644
--- a/output/noise/perception/p01_a10/pose/perceptnoise_pose0_50__heading0_00/Traj.txt
+++ b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_50__heading0_00/Traj.txt
@@ -1,47 +1,47 @@
-cropfollow/pn=[0.50:0.00]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]
-0.0 0.0 -0.036716628819704056 0.07829242944717407 0.1323770135641098 -0.16670401394367218 -0.20581026375293732 0.09327076375484467
-0.3333333432674408 0.1993873566389084 -0.02107413299381733 0.0927562266588211 0.15143688023090363 -0.1472734957933426 -0.19358514249324799 0.10512523353099823
-0.6666666865348816 0.3985276222229004 -0.002549475058913231 0.07361041009426117 0.16543032228946686 -0.13375727832317352 -0.17052926123142242 0.12865833938121796
-1.0 0.5979860424995422 0.01215931586921215 0.06621429324150085 0.1783720999956131 -0.12097050249576569 -0.1540534645318985 0.14528913795948029
-1.3333333730697632 0.7975478172302246 0.025392498821020126 0.03984663262963295 0.185232475399971 -0.11452941596508026 -0.13444747030735016 0.1653144210577011
-1.6666666269302368 0.9973890781402588 0.03335971757769585 0.014281440526247025 0.18691466748714447 -0.11305473744869232 -0.12019522488117218 0.1797741800546646
-2.0 1.1973686218261719 0.03621590882539749 -0.0025701597332954407 0.18557289242744446 -0.1144261434674263 -0.11314106732606888 0.18685796856880188
-2.3333332538604736 1.3973679542541504 0.03570187836885452 -0.006085385102778673 0.18417775630950928 -0.11581667512655258 -0.11277400702238083 0.18722042441368103
-2.6666667461395264 1.5973641872406006 0.03448480740189552 0.003878991585224867 0.18545342981815338 -0.11454431712627411 -0.11648382246494293 0.18351392447948456
-3.0 1.7973626852035522 0.035260602831840515 0.0034058704040944576 0.1861112117767334 -0.11388707160949707 -0.11559000611305237 0.1844082772731781
-3.3333332538604736 1.9973615407943726 0.035941775888204575 -0.007104647811502218 0.18416185677051544 -0.11583058536052704 -0.1122782975435257 0.18771414458751678
-3.6666667461395264 2.1973564624786377 0.03452085703611374 -0.008344350382685661 0.18242958188056946 -0.1175599917769432 -0.11338787525892258 0.1866016983985901
-4.0 2.3973495960235596 0.03285200521349907 -0.02115575782954693 0.17752991616725922 -0.12240298092365265 -0.11182589828968048 0.18810699880123138
-4.333333492279053 2.5973048210144043 0.028621168807148933 -0.012402184307575226 0.17550916969776154 -0.12446777522563934 -0.11826683580875397 0.1817101091146469
-4.666666507720947 2.7972893714904785 0.026140796020627022 -0.02534983679652214 0.16975583136081696 -0.1301477998495102 -0.11747424304485321 0.18242938816547394
-5.0 2.997225046157837 0.02107137069106102 -0.023738743737339973 0.1650949865579605 -0.13482050597667694 -0.12295223772525787 0.17696325480937958
-5.333333492279053 3.1971688270568848 0.01632406748831272 0.004304243251681328 0.16739875078201294 -0.13259848952293396 -0.1347506046295166 0.1652466356754303
-5.666666507720947 3.3971669673919678 0.017184913158416748 0.005251992493867874 0.16849583387374878 -0.1315000355243683 -0.13412600755691528 0.16586986184120178
-6.0 3.5971641540527344 0.018235307186841965 0.00799384992569685 0.1702289581298828 -0.1297614574432373 -0.1337583363056183 0.16623207926750183
-6.333333492279053 3.7971577644348145 0.019834060221910477 -0.0008370941504836082 0.16962473094463348 -0.13037516176700592 -0.12995661795139313 0.17004327476024628
-6.666666507720947 3.997157573699951 0.0196666419506073 -0.009812276810407639 0.16720639169216156 -0.13277916610240936 -0.12787310779094696 0.17211245000362396
-7.0 4.197147846221924 0.01770421862602234 -0.028237350285053253 0.16058602929115295 -0.13929438591003418 -0.12517759203910828 0.17470282316207886
-7.333333492279053 4.397068023681641 0.012057498097419739 -0.0388411246240139 0.15223653614521027 -0.1475372165441513 -0.1281215399503708 0.17165221273899078
-7.666666507720947 4.596917152404785 0.00429122569039464 -0.03614703565835953 0.14515845477581024 -0.15464560687541962 -0.13657601177692413 0.16322804987430573
-8.0 4.796786308288574 -0.0029366076923906803 -0.016080312430858612 0.14302411675453186 -0.1569371223449707 -0.14889732003211975 0.1510639190673828
-8.333333015441895 4.996760368347168 -0.0061525315977633 -0.006964265368878841 0.14210279285907745 -0.1578899472951889 -0.15440784394741058 0.14558489620685577
-8.666666984558105 5.196755409240723 -0.007545373402535915 -0.011289344169199467 0.13962280750274658 -0.16035810112953186 -0.15471354126930237 0.14526736736297607
-9.0 5.396742820739746 -0.009803194552659988 -0.009276285767555237 0.13787132501602173 -0.16211578249931335 -0.1574777066707611 0.14250940084457397
-9.333333015441895 5.596734046936035 -0.011658425442874432 0.029080651700496674 0.1455473005771637 -0.15432587265968323 -0.1688641607761383 0.13100901246070862
-9.666666984558105 5.79664945602417 -0.005843114107847214 0.0612485371530056 0.15917819738388062 -0.1402592957019806 -0.17086443305015564 0.12857306003570557
-10.0 5.996274471282959 0.0063989367336034775 0.04273870587348938 0.16694338619709015 -0.1327826827764511 -0.1541455239057541 0.14558054506778717
-10.333333015441895 6.196091651916504 0.014944076538085938 0.024922175332903862 0.17112739384174347 -0.12877945601940155 -0.1412392407655716 0.15866760909557343
-10.666666984558105 6.396029472351074 0.019927997142076492 0.0256159957498312 0.1762820929288864 -0.12361951172351837 -0.13642610609531403 0.16347549855709076
-11.0 6.595963954925537 0.025050636380910873 0.01711447536945343 0.17930708825588226 -0.12064899504184723 -0.12920580804347992 0.17075027525424957
-11.333333015441895 6.795934677124023 0.02847336418926716 0.019546354189515114 0.18333099782466888 -0.11661170423030853 -0.12638427317142487 0.17355842888355255
-11.666666984558105 6.995896339416504 0.03238238766789436 0.030559735372662544 0.189951092004776 -0.10990884900093079 -0.12518632411956787 0.17467361688613892
-12.0 7.195803165435791 0.038493383675813675 0.008291872218251228 0.1905611753463745 -0.1094285249710083 -0.11357441544532776 0.18641528487205505
-12.333333015441895 7.395796298980713 0.04015173763036728 -0.008832728490233421 0.18793773651123047 -0.11205058544874191 -0.10763426870107651 0.19235405325889587
-12.666666984558105 7.595788478851318 0.038385216146707535 -0.0017523621208965778 0.1879468858242035 -0.11205264925956726 -0.11117646098136902 0.18882307410240173
-13.0 7.795788288116455 0.038034744560718536 0.0036854874342679977 0.18895509839057922 -0.11104287952184677 -0.11288561671972275 0.18711236119270325
-13.333333015441895 7.995787143707275 0.038771841675043106 -0.003030506893992424 0.18801353871822357 -0.11198510229587555 -0.11046986281871796 0.18952877819538116
-13.666666984558105 8.195786476135254 0.03816574066877365 0.004336253274232149 0.18924838304519653 -0.110748790204525 -0.11291690915822983 0.1870802640914917
-14.0 8.395784378051758 0.039032988250255585 0.010446329601109028 0.1916363537311554 -0.10834730416536331 -0.11357036978006363 0.18641328811645508
-14.333333015441895 8.595773696899414 0.04112221673130989 0.0003477567806839943 0.19120913743972778 -0.10879084467887878 -0.1089647114276886 0.19103527069091797
-14.666666984558105 8.79577350616455 0.041191767901182175 -0.007774309255182743 0.18924368917942047 -0.11074726283550262 -0.10686014592647552 0.19313080608844757
-15.0 8.995767593383789 0.039636921137571335 -0.015378465875983238 0.18577472865581512 -0.11418981850147247 -0.10650087893009186 0.19346366822719574
+cropfollow/pn=[0.500:0.000]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]
+0.0 0.0 -0.018994251266121864 -0.07625668495893478 0.11152414232492447 -0.18760403990745544 -0.1495126485824585 0.14961552619934082
+0.3333333432674408 0.1994187831878662 -0.03423081338405609 0.004254251718521118 0.11683139204978943 -0.18316590785980225 -0.1852930188179016 0.11470428109169006
+0.6666666865348816 0.399416983127594 -0.03337996453046799 -0.014323551207780838 0.11302388459444046 -0.1869453489780426 -0.17978382110595703 0.12018541246652603
+1.0 0.5993964672088623 -0.036244578659534454 -0.055910512804985046 0.09955068677663803 -0.19998052716255188 -0.17203983664512634 0.12749138474464417
+1.3333333730697632 0.799083948135376 -0.04742085933685303 -0.15166595578193665 0.06308596581220627 -0.23347026109695435 -0.15792769193649292 0.1386285424232483
+1.6666666269302368 0.9967881441116333 -0.07763789594173431 -0.19216707348823547 0.02185438573360443 -0.2726234197616577 -0.17713017761707306 0.11734764277935028
+2.0 1.1931066513061523 -0.11583520472049713 -0.2185627967119217 -0.023610398173332214 -0.31647342443466187 -0.20806001126766205 0.0848030298948288
+2.3333332538604736 1.3883486986160278 -0.15920057892799377 -0.049007758498191833 -0.02162770926952362 -0.3212675452232361 -0.29677343368530273 0.0028663724660873413
+2.6666667461395264 1.5881085395812988 -0.16899821162223816 -0.013620831072330475 -0.022417232394218445 -0.3223894238471985 -0.3155791759490967 -0.015607014298439026
+3.0 1.7880899906158447 -0.17172229290008545 0.02266930416226387 -0.01609399914741516 -0.31601691246032715 -0.32735058665275574 -0.02742767333984375
+3.3333332538604736 1.9880385398864746 -0.167188823223114 0.020251084119081497 -0.012157142162322998 -0.31209564208984375 -0.32222050428390503 -0.022282004356384277
+3.6666667461395264 2.187997579574585 -0.16313888132572174 0.013214359059929848 -0.009848475456237793 -0.30982229113578796 -0.3164292871952057 -0.016455471515655518
+4.0 2.3879802227020264 -0.1604960858821869 0.048649586737155914 0.0014840513467788696 -0.29816102981567383 -0.32247620820999146 -0.022831156849861145
+4.333333492279053 2.5877435207366943 -0.15077000856399536 0.05892211198806763 0.013691693544387817 -0.2857877016067505 -0.31523171067237854 -0.015752315521240234
+4.666666507720947 2.7873964309692383 -0.13899239897727966 0.01700367033481598 0.015236645936965942 -0.2847200036048889 -0.29322144389152527 0.00673520565032959
+5.0 2.987367630004883 -0.13559183478355408 0.11397579312324524 0.04186724126338959 -0.256186306476593 -0.31305092573165894 -0.014997348189353943
+5.333333492279053 3.186069965362549 -0.1128459945321083 0.06892508268356323 0.05401547998189926 -0.2452721893787384 -0.2797074615955353 0.019580207765102386
+5.666666507720947 3.3855950832366943 -0.09907189011573792 -0.06581385433673859 0.03416179120540619 -0.2651887536048889 -0.23230557143688202 0.06704495847225189
+6.0 3.5851621627807617 -0.11222516000270844 -0.041132308542728424 0.02736780047416687 -0.27237847447395325 -0.25181812047958374 0.04792815446853638
+6.333333492279053 3.7849929332733154 -0.12044930458068848 0.08921278268098831 0.05122780799865723 -0.2475791573524475 -0.2921264171600342 0.006680548191070557
+6.666666507720947 3.9841976165771484 -0.10263040661811829 0.13624830543994904 0.07993626594543457 -0.21728351712226868 -0.28519707918167114 0.012022696435451508
+7.0 4.18234395980835 -0.07546497136354446 0.024162307381629944 0.08053124696016312 -0.2193812131881714 -0.23146119713783264 0.06845126301050186
+7.333333492279053 4.3822855949401855 -0.07063297927379608 0.0461251363158226 0.09073469042778015 -0.20894625782966614 -0.23200064897537231 0.06768029928207397
+7.666666507720947 4.582072734832764 -0.06141122430562973 0.09986157715320587 0.11276539415121078 -0.18573999404907227 -0.23558783531188965 0.0629175528883934
+8.0 4.781076431274414 -0.04147208482027054 0.17823362350463867 0.15047454833984375 -0.1447729766368866 -0.23341870307922363 0.06182881444692612
+8.333333015441895 4.977908134460449 -0.006013792008161545 0.10910389572381973 0.1703162044286728 -0.12790001928806305 -0.18234379589557648 0.11587242782115936
+8.666666984558105 5.176718711853027 0.015763724222779274 0.14608335494995117 0.20055712759494781 -0.09624751657247543 -0.16902966797351837 0.12777496874332428
+9.0 5.374588489532471 0.0448765903711319 0.16392724215984344 0.23366419970989227 -0.0623139888048172 -0.14391101896762848 0.152067169547081
+9.333333015441895 5.571907043457031 0.07751540094614029 0.10529892891645432 0.2529606819152832 -0.045377664268016815 -0.09792988747358322 0.2004084587097168
+9.666666984558105 5.770799160003662 0.09853629022836685 0.11338676512241364 0.2758590877056122 -0.02221451699733734 -0.07878649979829788 0.21928709745407104
+10.0 5.969514846801758 0.12116508185863495 0.06791280955076218 0.2877844572067261 -0.011523991823196411 -0.04545429348945618 0.2538541555404663
+10.333333015441895 6.16905403137207 0.13473720848560333 -0.005486011505126953 0.2833634614944458 -0.016632050275802612 -0.013889044523239136 0.2861064672470093
+10.666666984558105 6.369050979614258 0.13364000618457794 0.01691530831158161 0.2878471612930298 -0.012109920382499695 -0.020567163825035095 0.2793899178504944
+11.0 6.569022178649902 0.13702291250228882 0.10677682608366013 0.3128121495246887 0.014520704746246338 -0.038766324520111084 0.2595251202583313
+11.333333015441895 6.76788330078125 0.15833772718906403 0.07654931396245956 0.3270171284675598 0.027895644307136536 -0.010341659188270569 0.2887797951698303
+11.666666984558105 6.967297554016113 0.1736326366662979 0.03433408588171005 0.33212608098983765 0.032302871346473694 0.015139207243919373 0.31496238708496094
+12.0 7.167179584503174 0.18049810826778412 -0.04918818920850754 0.318024605512619 0.018387436866760254 0.04297161102294922 0.342608779668808
+12.333333015441895 7.366937637329102 0.17066442966461182 0.0012531876564025879 0.3209776282310486 0.020977839827537537 0.020351245999336243 0.3203510046005249
+12.666666984558105 7.566937446594238 0.17091506719589233 -0.14515657722949982 0.2831757068634033 -0.013669267296791077 0.058654412627220154 0.35549938678741455
+13.0 7.764833927154541 0.14198559522628784 -0.1793719232082367 0.24497608840465546 -0.05021069943904877 0.03899510204792023 0.33418190479278564
+13.333333015441895 7.961625099182129 0.10630327463150024 -0.19659724831581116 0.20458050072193146 -0.08964057266712189 0.00802604854106903 0.3022471070289612
+13.666666984558105 8.157772064208984 0.06723661720752716 -0.28730863332748413 0.14024507999420166 -0.14745794236660004 -0.005771838128566742 0.28193116188049316
+14.0 8.349574089050293 0.010562174022197723 -0.25576525926589966 0.09243621677160263 -0.1978047788143158 -0.07131186872720718 0.21892914175987244
+14.333333015441895 8.543067932128906 -0.04003499820828438 -0.16948841512203217 0.06564615666866302 -0.23005519807338715 -0.14571614563465118 0.149985209107399
+14.666666984558105 8.740201950073242 -0.07377062737941742 -0.17257416248321533 0.031071573495864868 -0.26447224617004395 -0.1786128282546997 0.1169309914112091
+15.0 8.937231063842773 -0.10811439901590347 -0.2569345533847809 -0.026567593216896057 -0.316719651222229 -0.1896612048149109 0.10049086064100266
diff --git a/output/noise/perception/p01_a10/pose/perceptnoise_pose0_50__heading0_00/log.txt b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_50__heading0_00/log.txt
index 40f943914c774580c67716505296ebc43ceb1830..bc281516b03acd7fcf42e128825ba7c9934bd2df 100644
--- a/output/noise/perception/p01_a10/pose/perceptnoise_pose0_50__heading0_00/log.txt
+++ b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_50__heading0_00/log.txt
@@ -1,447 +1,447 @@
-2025-04-27 16:19:07,525 [INFO] Simulating with mode cropfollow
-2025-04-27 16:19:07,525 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:19:07,525 [INFO] [0.0, -0.03671662922841677, 0.07829243150255477, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:19:19,498 [INFO] Verification Begin
-2025-04-27 16:19:19,498 [INFO] ===============================================
+2025-04-27 20:11:37,929 [INFO] Simulating with mode cropfollow
+2025-04-27 20:11:37,929 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:11:37,929 [INFO] [0.0, -0.01899425152348802, -0.07625668676588368, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:11:44,724 [INFO] Verification Begin
+2025-04-27 20:11:44,724 [INFO] ===============================================
Mode: 0
stack size: 1
remainTime: 15
-2025-04-27 16:19:19,498 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:11:44,724 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
Upper Bound: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
Delta: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:19:19,498 [INFO] Simulating with mode cropfollow
-2025-04-27 16:19:19,498 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:19:19,498 [INFO] [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:19:31,826 [INFO] Simulating with mode cropfollow
-2025-04-27 16:19:31,827 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:19:31,827 [INFO] [0.0, -0.01940758680886745, 0.14033325522049223, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:19:44,288 [INFO] Simulating with mode cropfollow
-2025-04-27 16:19:44,288 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:19:44,288 [INFO] [0.0, -0.034665496387149705, -0.06979694992937524, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:19:56,710 [INFO] Simulating with mode cropfollow
-2025-04-27 16:19:56,710 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:19:56,710 [INFO] [0.0, 0.07665289804869688, 0.05541825921424964, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:20:08,636 [INFO] Simulating with mode cropfollow
-2025-04-27 16:20:08,636 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:20:08,636 [INFO] [0.0, 0.046257448675656454, 0.15345175705380004, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:20:20,889 [INFO] Simulating with mode cropfollow
-2025-04-27 16:20:20,889 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:20:20,889 [INFO] [0.0, -0.03345710164017601, -0.06858806493749396, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:20:31,976 [INFO] Simulating with mode cropfollow
-2025-04-27 16:20:31,976 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:20:31,976 [INFO] [0.0, 0.027648412052970667, -0.09632342595171799, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:20:43,880 [INFO] Simulating with mode cropfollow
-2025-04-27 16:20:43,880 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:20:43,880 [INFO] [0.0, -0.012766788591394379, 0.06847911459459036, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:20:57,080 [INFO] Simulating with mode cropfollow
-2025-04-27 16:20:57,080 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:20:57,080 [INFO] [0.0, -0.02733756141935624, -0.04965555460798679, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:21:08,713 [INFO] Simulating with mode cropfollow
-2025-04-27 16:21:08,713 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:21:08,713 [INFO] [0.0, -0.02887357625434564, -0.10760399590836674, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:21:20,824 [INFO] Simulating with mode cropfollow
-2025-04-27 16:21:20,824 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:21:20,824 [INFO] [0.0, -0.06804166442991832, -0.025575941156179977, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:21:32,614 [INFO] 0 check bloated tube unknown
-2025-04-27 16:21:32,614 [INFO] ===============================================
+2025-04-27 20:11:44,725 [INFO] Simulating with mode cropfollow
+2025-04-27 20:11:44,725 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:11:44,725 [INFO] [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:11:51,285 [INFO] Simulating with mode cropfollow
+2025-04-27 20:11:51,285 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:11:51,285 [INFO] [0.0, 0.05966977411253924, -0.11641806118144818, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:11:57,796 [INFO] Simulating with mode cropfollow
+2025-04-27 20:11:57,796 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:11:57,796 [INFO] [0.0, -0.040374738189717645, -0.03903895563433671, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:12:04,895 [INFO] Simulating with mode cropfollow
+2025-04-27 20:12:04,895 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:12:04,895 [INFO] [0.0, -0.028141279572816355, 0.0906053342179482, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:12:11,332 [INFO] Simulating with mode cropfollow
+2025-04-27 20:12:11,333 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:12:11,333 [INFO] [0.0, 0.008147474740590965, -0.1500450969935958, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:12:17,959 [INFO] Simulating with mode cropfollow
+2025-04-27 20:12:17,959 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:12:17,959 [INFO] [0.0, 0.0862990262710654, -0.09584224408898614, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:12:24,661 [INFO] Simulating with mode cropfollow
+2025-04-27 20:12:24,661 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:12:24,661 [INFO] [0.0, -0.08119207340046344, 0.1003635585172934, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:12:31,596 [INFO] Simulating with mode cropfollow
+2025-04-27 20:12:31,596 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:12:31,596 [INFO] [0.0, -0.049631608153551256, -0.07161424489960602, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:12:38,235 [INFO] Simulating with mode cropfollow
+2025-04-27 20:12:38,235 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:12:38,235 [INFO] [0.0, -0.021590907391710074, 0.14385823329226938, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:12:44,620 [INFO] Simulating with mode cropfollow
+2025-04-27 20:12:44,620 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:12:44,620 [INFO] [0.0, 0.00444310428027081, -0.14675009988967722, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:12:51,202 [INFO] Simulating with mode cropfollow
+2025-04-27 20:12:51,202 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:12:51,202 [INFO] [0.0, 0.010257683591062383, 0.09923744003046958, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:12:57,682 [INFO] 0 check bloated tube unknown
+2025-04-27 20:12:57,682 [INFO] ===============================================
Mode: 0
stack size: 2
remainTime: 15
-2025-04-27 16:21:32,614 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:12:57,682 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
Upper Bound: [0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0]
Delta: [0.0, 0.1, 0.0875, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:21:32,614 [INFO] Simulating with mode cropfollow
-2025-04-27 16:21:32,614 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:21:32,614 [INFO] [0.0, 0.0, -0.0875, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:21:44,023 [INFO] Simulating with mode cropfollow
-2025-04-27 16:21:44,023 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:21:44,023 [INFO] [0.0, -0.01940758680886745, -0.01733337238975388, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:21:56,237 [INFO] Simulating with mode cropfollow
-2025-04-27 16:21:56,237 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:21:56,237 [INFO] [0.0, -0.034665496387149705, -0.12239847496468761, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:22:06,877 [INFO] Simulating with mode cropfollow
-2025-04-27 16:22:06,877 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:22:06,877 [INFO] [0.0, 0.07665289804869688, -0.05979087039287517, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:22:18,956 [INFO] Simulating with mode cropfollow
-2025-04-27 16:22:18,956 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:22:18,956 [INFO] [0.0, 0.046257448675656454, -0.010774121473099973, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:22:31,256 [INFO] Simulating with mode cropfollow
-2025-04-27 16:22:31,256 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:22:31,256 [INFO] [0.0, -0.03345710164017601, -0.12179403246874698, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:22:42,091 [INFO] Simulating with mode cropfollow
-2025-04-27 16:22:42,091 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:22:42,091 [INFO] [0.0, 0.027648412052970667, -0.135661712975859, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:22:52,619 [INFO] Simulating with mode cropfollow
-2025-04-27 16:22:52,619 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:22:52,619 [INFO] [0.0, -0.012766788591394379, -0.053260442702704816, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:23:05,154 [INFO] Simulating with mode cropfollow
-2025-04-27 16:23:05,154 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:23:05,154 [INFO] [0.0, -0.02733756141935624, -0.11232777730399339, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:23:17,767 [INFO] Simulating with mode cropfollow
-2025-04-27 16:23:17,767 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:23:17,767 [INFO] [0.0, -0.02887357625434564, -0.14130199795418336, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:23:29,870 [INFO] Simulating with mode cropfollow
-2025-04-27 16:23:29,870 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:23:29,870 [INFO] [0.0, -0.06804166442991832, -0.10028797057808998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:23:40,193 [INFO] 0 check bloated tube unknown
-2025-04-27 16:23:40,193 [INFO] ===============================================
+2025-04-27 20:12:57,682 [INFO] Simulating with mode cropfollow
+2025-04-27 20:12:57,682 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:12:57,682 [INFO] [0.0, 0.0, -0.0875, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:13:04,470 [INFO] Simulating with mode cropfollow
+2025-04-27 20:13:04,470 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:13:04,470 [INFO] [0.0, 0.05966977411253924, -0.1457090305907241, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:13:11,094 [INFO] Simulating with mode cropfollow
+2025-04-27 20:13:11,094 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:13:11,094 [INFO] [0.0, -0.040374738189717645, -0.10701947781716835, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:13:18,090 [INFO] Simulating with mode cropfollow
+2025-04-27 20:13:18,090 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:13:18,090 [INFO] [0.0, -0.028141279572816355, -0.042197332891025896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:13:24,868 [INFO] Simulating with mode cropfollow
+2025-04-27 20:13:24,868 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:13:24,868 [INFO] [0.0, 0.008147474740590965, -0.1625225484967979, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:13:31,449 [INFO] Simulating with mode cropfollow
+2025-04-27 20:13:31,449 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:13:31,449 [INFO] [0.0, 0.0862990262710654, -0.13542112204449308, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:13:38,182 [INFO] Simulating with mode cropfollow
+2025-04-27 20:13:38,182 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:13:38,182 [INFO] [0.0, -0.08119207340046344, -0.0373182207413533, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:13:45,124 [INFO] Simulating with mode cropfollow
+2025-04-27 20:13:45,124 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:13:45,124 [INFO] [0.0, -0.049631608153551256, -0.123307122449803, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:13:52,008 [INFO] Simulating with mode cropfollow
+2025-04-27 20:13:52,008 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:13:52,008 [INFO] [0.0, -0.021590907391710074, -0.015570883353865306, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:13:58,556 [INFO] Simulating with mode cropfollow
+2025-04-27 20:13:58,556 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:13:58,556 [INFO] [0.0, 0.00444310428027081, -0.16087504994483862, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:14:05,188 [INFO] Simulating with mode cropfollow
+2025-04-27 20:14:05,188 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:14:05,188 [INFO] [0.0, 0.010257683591062383, -0.037881279984765204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:14:11,666 [INFO] 0 check bloated tube unknown
+2025-04-27 20:14:11,666 [INFO] ===============================================
Mode: 0
stack size: 3
remainTime: 15
-2025-04-27 16:23:40,193 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:14:11,666 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
Upper Bound: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
Delta: [0.0, 0.05, 0.0875, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:23:40,193 [INFO] Simulating with mode cropfollow
-2025-04-27 16:23:40,193 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:23:40,193 [INFO] [0.0, -0.05, -0.0875, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:23:51,787 [INFO] Simulating with mode cropfollow
-2025-04-27 16:23:51,787 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:23:51,787 [INFO] [0.0, -0.05970379340443373, -0.01733337238975388, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:24:03,652 [INFO] Simulating with mode cropfollow
-2025-04-27 16:24:03,653 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:24:03,653 [INFO] [0.0, -0.06733274819357485, -0.12239847496468761, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:24:16,842 [INFO] Simulating with mode cropfollow
-2025-04-27 16:24:16,842 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:24:16,842 [INFO] [0.0, -0.011673550975651564, -0.05979087039287517, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:24:29,265 [INFO] Simulating with mode cropfollow
-2025-04-27 16:24:29,265 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:24:29,265 [INFO] [0.0, -0.026871275662171776, -0.010774121473099973, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:24:42,418 [INFO] Simulating with mode cropfollow
-2025-04-27 16:24:42,418 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:24:42,418 [INFO] [0.0, -0.06672855082008801, -0.12179403246874698, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:24:54,215 [INFO] Simulating with mode cropfollow
-2025-04-27 16:24:54,215 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:24:54,215 [INFO] [0.0, -0.03617579397351467, -0.135661712975859, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:25:06,214 [INFO] Simulating with mode cropfollow
-2025-04-27 16:25:06,214 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:25:06,214 [INFO] [0.0, -0.05638339429569719, -0.053260442702704816, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:25:17,685 [INFO] Simulating with mode cropfollow
-2025-04-27 16:25:17,685 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:25:17,685 [INFO] [0.0, -0.06366878070967813, -0.11232777730399339, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:25:30,732 [INFO] Simulating with mode cropfollow
-2025-04-27 16:25:30,732 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:25:30,732 [INFO] [0.0, -0.06443678812717282, -0.14130199795418336, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:25:43,812 [INFO] Simulating with mode cropfollow
-2025-04-27 16:25:43,812 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:25:43,812 [INFO] [0.0, -0.08402083221495917, -0.10028797057808998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:25:57,021 [INFO] 0 check bloated tube unknown
-2025-04-27 16:25:57,021 [INFO] ===============================================
+2025-04-27 20:14:11,666 [INFO] Simulating with mode cropfollow
+2025-04-27 20:14:11,666 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:14:11,666 [INFO] [0.0, -0.05, -0.0875, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:14:18,196 [INFO] Simulating with mode cropfollow
+2025-04-27 20:14:18,196 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:14:18,196 [INFO] [0.0, -0.020165112943730384, -0.1457090305907241, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:14:24,794 [INFO] Simulating with mode cropfollow
+2025-04-27 20:14:24,794 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:14:24,794 [INFO] [0.0, -0.07018736909485883, -0.10701947781716835, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:14:31,803 [INFO] Simulating with mode cropfollow
+2025-04-27 20:14:31,803 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:14:31,803 [INFO] [0.0, -0.06407063978640817, -0.042197332891025896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:14:38,537 [INFO] Simulating with mode cropfollow
+2025-04-27 20:14:38,537 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:14:38,537 [INFO] [0.0, -0.04592626262970452, -0.1625225484967979, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:14:45,149 [INFO] Simulating with mode cropfollow
+2025-04-27 20:14:45,149 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:14:45,149 [INFO] [0.0, -0.006850486864467306, -0.13542112204449308, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:14:51,819 [INFO] Simulating with mode cropfollow
+2025-04-27 20:14:51,819 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:14:51,819 [INFO] [0.0, -0.09059603670023172, -0.0373182207413533, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:14:58,812 [INFO] Simulating with mode cropfollow
+2025-04-27 20:14:58,812 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:14:58,812 [INFO] [0.0, -0.07481580407677563, -0.123307122449803, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:15:05,741 [INFO] Simulating with mode cropfollow
+2025-04-27 20:15:05,741 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:15:05,741 [INFO] [0.0, -0.06079545369585504, -0.015570883353865306, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:15:12,137 [INFO] Simulating with mode cropfollow
+2025-04-27 20:15:12,137 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:15:12,137 [INFO] [0.0, -0.0477784478598646, -0.16087504994483862, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:15:18,717 [INFO] Simulating with mode cropfollow
+2025-04-27 20:15:18,717 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:15:18,717 [INFO] [0.0, -0.04487115820446881, -0.037881279984765204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:15:25,385 [INFO] 0 check bloated tube unknown
+2025-04-27 20:15:25,385 [INFO] ===============================================
Mode: 0
stack size: 4
remainTime: 15
-2025-04-27 16:25:57,021 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:15:25,385 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
Upper Bound: [0.0, 0.0, -0.0875, 0.0, 0.0, 0.0, 0.0]
Delta: [0.0, 0.05, 0.04375, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:25:57,021 [INFO] Simulating with mode cropfollow
-2025-04-27 16:25:57,021 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:25:57,021 [INFO] [0.0, -0.05, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:26:09,838 [INFO] Simulating with mode cropfollow
-2025-04-27 16:26:09,838 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:26:09,838 [INFO] [0.0, -0.05970379340443373, -0.09616668619487694, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:26:22,783 [INFO] Simulating with mode cropfollow
-2025-04-27 16:26:22,783 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:26:22,783 [INFO] [0.0, -0.06733274819357485, -0.14869923748234382, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:26:33,673 [INFO] Simulating with mode cropfollow
-2025-04-27 16:26:33,674 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:26:33,674 [INFO] [0.0, -0.011673550975651564, -0.11739543519643758, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:26:45,687 [INFO] Simulating with mode cropfollow
-2025-04-27 16:26:45,688 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:26:45,688 [INFO] [0.0, -0.026871275662171776, -0.09288706073654998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:26:57,358 [INFO] Simulating with mode cropfollow
-2025-04-27 16:26:57,358 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:26:57,358 [INFO] [0.0, -0.06672855082008801, -0.14839701623437349, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:27:08,008 [INFO] Simulating with mode cropfollow
-2025-04-27 16:27:08,008 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:27:08,008 [INFO] [0.0, -0.03617579397351467, -0.1553308564879295, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:27:19,699 [INFO] Simulating with mode cropfollow
-2025-04-27 16:27:19,699 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:27:19,699 [INFO] [0.0, -0.05638339429569719, -0.1141302213513524, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:27:31,590 [INFO] Simulating with mode cropfollow
-2025-04-27 16:27:31,590 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:27:31,590 [INFO] [0.0, -0.06366878070967813, -0.1436638886519967, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:27:43,778 [INFO] Simulating with mode cropfollow
-2025-04-27 16:27:43,778 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:27:43,778 [INFO] [0.0, -0.06443678812717282, -0.15815099897709167, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:27:56,851 [INFO] Simulating with mode cropfollow
-2025-04-27 16:27:56,851 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:27:56,851 [INFO] [0.0, -0.08402083221495917, -0.13764398528904498, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:28:07,849 [INFO] 0 check bloated tube unknown
-2025-04-27 16:28:07,849 [INFO] ===============================================
+2025-04-27 20:15:25,385 [INFO] Simulating with mode cropfollow
+2025-04-27 20:15:25,385 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:15:25,385 [INFO] [0.0, -0.05, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:15:31,962 [INFO] Simulating with mode cropfollow
+2025-04-27 20:15:31,962 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:15:31,962 [INFO] [0.0, -0.020165112943730384, -0.16035451529536204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:15:38,577 [INFO] Simulating with mode cropfollow
+2025-04-27 20:15:38,577 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:15:38,577 [INFO] [0.0, -0.07018736909485883, -0.14100973890858418, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:15:45,490 [INFO] Simulating with mode cropfollow
+2025-04-27 20:15:45,490 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:15:45,490 [INFO] [0.0, -0.06407063978640817, -0.10859866644551294, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:15:52,074 [INFO] Simulating with mode cropfollow
+2025-04-27 20:15:52,074 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:15:52,074 [INFO] [0.0, -0.04592626262970452, -0.16876127424839896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:15:58,682 [INFO] Simulating with mode cropfollow
+2025-04-27 20:15:58,682 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:15:58,682 [INFO] [0.0, -0.006850486864467306, -0.15521056102224653, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:16:05,288 [INFO] Simulating with mode cropfollow
+2025-04-27 20:16:05,288 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:16:05,288 [INFO] [0.0, -0.09059603670023172, -0.10615911037067664, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:16:12,191 [INFO] Simulating with mode cropfollow
+2025-04-27 20:16:12,191 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:16:12,191 [INFO] [0.0, -0.07481580407677563, -0.1491535612249015, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:16:19,037 [INFO] Simulating with mode cropfollow
+2025-04-27 20:16:19,038 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:16:19,038 [INFO] [0.0, -0.06079545369585504, -0.09528544167693265, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:16:25,443 [INFO] Simulating with mode cropfollow
+2025-04-27 20:16:25,443 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:16:25,443 [INFO] [0.0, -0.0477784478598646, -0.1679375249724193, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:16:32,255 [INFO] Simulating with mode cropfollow
+2025-04-27 20:16:32,255 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:16:32,255 [INFO] [0.0, -0.04487115820446881, -0.1064406399923826, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:16:38,776 [INFO] 0 check bloated tube unknown
+2025-04-27 20:16:38,776 [INFO] ===============================================
Mode: 0
stack size: 5
remainTime: 15
-2025-04-27 16:28:07,849 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:16:38,776 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
Upper Bound: [0.0, -0.05, -0.0875, 0.0, 0.0, 0.0, 0.0]
Delta: [0.0, 0.025, 0.04375, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:28:07,849 [INFO] Simulating with mode cropfollow
-2025-04-27 16:28:07,849 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:28:07,849 [INFO] [0.0, -0.07500000000000001, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:28:21,379 [INFO] Simulating with mode cropfollow
-2025-04-27 16:28:21,380 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:28:21,380 [INFO] [0.0, -0.07985189670221687, -0.09616668619487694, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:28:33,784 [INFO] Simulating with mode cropfollow
-2025-04-27 16:28:33,784 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:28:33,784 [INFO] [0.0, -0.08366637409678743, -0.14869923748234382, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:28:45,002 [INFO] Simulating with mode cropfollow
-2025-04-27 16:28:45,002 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:28:45,002 [INFO] [0.0, -0.055836775487825785, -0.11739543519643758, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:28:56,177 [INFO] Simulating with mode cropfollow
-2025-04-27 16:28:56,177 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:28:56,177 [INFO] [0.0, -0.06343563783108588, -0.09288706073654998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:29:08,817 [INFO] Simulating with mode cropfollow
-2025-04-27 16:29:08,817 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:29:08,817 [INFO] [0.0, -0.08336427541004401, -0.14839701623437349, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:29:21,184 [INFO] Simulating with mode cropfollow
-2025-04-27 16:29:21,184 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:29:21,184 [INFO] [0.0, -0.06808789698675734, -0.1553308564879295, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:29:32,631 [INFO] Simulating with mode cropfollow
-2025-04-27 16:29:32,631 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:29:32,631 [INFO] [0.0, -0.0781916971478486, -0.1141302213513524, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:29:44,586 [INFO] Simulating with mode cropfollow
-2025-04-27 16:29:44,586 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:29:44,586 [INFO] [0.0, -0.08183439035483907, -0.1436638886519967, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:29:57,196 [INFO] Simulating with mode cropfollow
-2025-04-27 16:29:57,196 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:29:57,196 [INFO] [0.0, -0.08221839406358641, -0.15815099897709167, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:30:08,064 [INFO] Simulating with mode cropfollow
-2025-04-27 16:30:08,064 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:30:08,064 [INFO] [0.0, -0.09201041610747959, -0.13764398528904498, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:30:20,964 [INFO] 0 check bloated tube unknown
-2025-04-27 16:30:20,964 [INFO] ===============================================
+2025-04-27 20:16:38,776 [INFO] Simulating with mode cropfollow
+2025-04-27 20:16:38,776 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:16:38,776 [INFO] [0.0, -0.07500000000000001, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:16:45,447 [INFO] Simulating with mode cropfollow
+2025-04-27 20:16:45,447 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:16:45,447 [INFO] [0.0, -0.060082556471865195, -0.16035451529536204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:16:52,104 [INFO] Simulating with mode cropfollow
+2025-04-27 20:16:52,105 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:16:52,105 [INFO] [0.0, -0.08509368454742941, -0.14100973890858418, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:16:59,342 [INFO] Simulating with mode cropfollow
+2025-04-27 20:16:59,342 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:16:59,342 [INFO] [0.0, -0.08203531989320409, -0.10859866644551294, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:17:05,918 [INFO] Simulating with mode cropfollow
+2025-04-27 20:17:05,918 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:17:05,918 [INFO] [0.0, -0.07296313131485227, -0.16876127424839896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:17:12,568 [INFO] Simulating with mode cropfollow
+2025-04-27 20:17:12,569 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:17:12,569 [INFO] [0.0, -0.053425243432233656, -0.15521056102224653, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:17:19,512 [INFO] Simulating with mode cropfollow
+2025-04-27 20:17:19,512 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:17:19,512 [INFO] [0.0, -0.09529801835011587, -0.10615911037067664, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:17:26,589 [INFO] Simulating with mode cropfollow
+2025-04-27 20:17:26,589 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:17:26,590 [INFO] [0.0, -0.08740790203838782, -0.1491535612249015, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:17:33,455 [INFO] Simulating with mode cropfollow
+2025-04-27 20:17:33,455 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:17:33,455 [INFO] [0.0, -0.08039772684792752, -0.09528544167693265, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:17:39,902 [INFO] Simulating with mode cropfollow
+2025-04-27 20:17:39,903 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:17:39,903 [INFO] [0.0, -0.0738892239299323, -0.1679375249724193, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:17:46,649 [INFO] Simulating with mode cropfollow
+2025-04-27 20:17:46,650 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:17:46,650 [INFO] [0.0, -0.07243557910223442, -0.1064406399923826, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:17:53,047 [INFO] 0 check bloated tube unknown
+2025-04-27 20:17:53,047 [INFO] ===============================================
Mode: 0
stack size: 6
remainTime: 15
-2025-04-27 16:30:20,964 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:17:53,047 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
Upper Bound: [0.0, -0.05, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
Delta: [0.0, 0.025, 0.021875000000000006, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:30:20,965 [INFO] Simulating with mode cropfollow
-2025-04-27 16:30:20,965 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:30:20,965 [INFO] [0.0, -0.07500000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:30:32,708 [INFO] Simulating with mode cropfollow
-2025-04-27 16:30:32,708 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:30:32,708 [INFO] [0.0, -0.07985189670221687, -0.13558334309743844, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:30:45,932 [INFO] Simulating with mode cropfollow
-2025-04-27 16:30:45,932 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:30:45,932 [INFO] [0.0, -0.08366637409678743, -0.1618496187411719, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:30:58,375 [INFO] Simulating with mode cropfollow
-2025-04-27 16:30:58,375 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:30:58,375 [INFO] [0.0, -0.055836775487825785, -0.14619771759821878, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:31:10,850 [INFO] Simulating with mode cropfollow
-2025-04-27 16:31:10,851 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:31:10,851 [INFO] [0.0, -0.06343563783108588, -0.13394353036827497, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:31:24,220 [INFO] Simulating with mode cropfollow
-2025-04-27 16:31:24,221 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:31:24,221 [INFO] [0.0, -0.08336427541004401, -0.16169850811718672, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:31:35,426 [INFO] Simulating with mode cropfollow
-2025-04-27 16:31:35,426 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:31:35,426 [INFO] [0.0, -0.06808789698675734, -0.16516542824396474, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:31:47,067 [INFO] Simulating with mode cropfollow
-2025-04-27 16:31:47,067 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:31:47,067 [INFO] [0.0, -0.0781916971478486, -0.14456511067567618, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:31:59,537 [INFO] Simulating with mode cropfollow
-2025-04-27 16:31:59,537 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:31:59,537 [INFO] [0.0, -0.08183439035483907, -0.15933194432599834, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:32:12,439 [INFO] Simulating with mode cropfollow
-2025-04-27 16:32:12,439 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:32:12,439 [INFO] [0.0, -0.08221839406358641, -0.16657549948854583, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:32:25,171 [INFO] Simulating with mode cropfollow
-2025-04-27 16:32:25,172 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:32:25,172 [INFO] [0.0, -0.09201041610747959, -0.15632199264452248, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:32:36,507 [INFO] 0 check bloated tube unknown
-2025-04-27 16:32:36,507 [INFO] ===============================================
+2025-04-27 20:17:53,047 [INFO] Simulating with mode cropfollow
+2025-04-27 20:17:53,047 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:17:53,047 [INFO] [0.0, -0.07500000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:17:59,621 [INFO] Simulating with mode cropfollow
+2025-04-27 20:17:59,622 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:17:59,622 [INFO] [0.0, -0.060082556471865195, -0.16767725764768102, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:18:06,193 [INFO] Simulating with mode cropfollow
+2025-04-27 20:18:06,193 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:18:06,193 [INFO] [0.0, -0.08509368454742941, -0.15800486945429207, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:18:13,177 [INFO] Simulating with mode cropfollow
+2025-04-27 20:18:13,177 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:18:13,177 [INFO] [0.0, -0.08203531989320409, -0.14179933322275645, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:18:19,719 [INFO] Simulating with mode cropfollow
+2025-04-27 20:18:19,720 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:18:19,720 [INFO] [0.0, -0.07296313131485227, -0.17188063712419946, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:18:26,099 [INFO] Simulating with mode cropfollow
+2025-04-27 20:18:26,099 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:18:26,099 [INFO] [0.0, -0.053425243432233656, -0.16510528051112325, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:18:32,965 [INFO] Simulating with mode cropfollow
+2025-04-27 20:18:32,965 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:18:32,965 [INFO] [0.0, -0.09529801835011587, -0.1405795551853383, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:18:39,832 [INFO] Simulating with mode cropfollow
+2025-04-27 20:18:39,833 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:18:39,833 [INFO] [0.0, -0.08740790203838782, -0.16207678061245073, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:18:46,822 [INFO] Simulating with mode cropfollow
+2025-04-27 20:18:46,822 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:18:46,822 [INFO] [0.0, -0.08039772684792752, -0.1351427208384663, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:18:53,374 [INFO] Simulating with mode cropfollow
+2025-04-27 20:18:53,374 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:18:53,374 [INFO] [0.0, -0.0738892239299323, -0.17146876248620965, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:19:00,183 [INFO] Simulating with mode cropfollow
+2025-04-27 20:19:00,183 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:19:00,183 [INFO] [0.0, -0.07243557910223442, -0.14072031999619128, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:19:06,909 [INFO] 0 check bloated tube unknown
+2025-04-27 20:19:06,909 [INFO] ===============================================
Mode: 0
stack size: 7
remainTime: 15
-2025-04-27 16:32:36,507 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:19:06,909 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
Upper Bound: [0.0, -0.07500000000000001, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
Delta: [0.0, 0.012499999999999997, 0.021875000000000006, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:32:36,508 [INFO] Simulating with mode cropfollow
-2025-04-27 16:32:36,508 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:32:36,508 [INFO] [0.0, -0.08750000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:32:47,741 [INFO] Simulating with mode cropfollow
-2025-04-27 16:32:47,741 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:32:47,741 [INFO] [0.0, -0.08992594835110844, -0.13558334309743844, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:32:59,081 [INFO] Simulating with mode cropfollow
-2025-04-27 16:32:59,081 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:32:59,081 [INFO] [0.0, -0.09183318704839372, -0.1618496187411719, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:33:10,719 [INFO] Simulating with mode cropfollow
-2025-04-27 16:33:10,719 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:33:10,719 [INFO] [0.0, -0.0779183877439129, -0.14619771759821878, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:33:23,357 [INFO] Simulating with mode cropfollow
-2025-04-27 16:33:23,358 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:33:23,358 [INFO] [0.0, -0.08171781891554296, -0.13394353036827497, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:33:35,500 [INFO] Simulating with mode cropfollow
-2025-04-27 16:33:35,500 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:33:35,500 [INFO] [0.0, -0.09168213770502201, -0.16169850811718672, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:33:47,858 [INFO] Simulating with mode cropfollow
-2025-04-27 16:33:47,858 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:33:47,858 [INFO] [0.0, -0.08404394849337868, -0.16516542824396474, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:34:01,412 [INFO] Simulating with mode cropfollow
-2025-04-27 16:34:01,412 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:34:01,412 [INFO] [0.0, -0.0890958485739243, -0.14456511067567618, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:34:14,012 [INFO] Simulating with mode cropfollow
-2025-04-27 16:34:14,012 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:34:14,012 [INFO] [0.0, -0.09091719517741953, -0.15933194432599834, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:34:26,326 [INFO] Simulating with mode cropfollow
-2025-04-27 16:34:26,326 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:34:26,326 [INFO] [0.0, -0.09110919703179321, -0.16657549948854583, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:34:38,022 [INFO] Simulating with mode cropfollow
-2025-04-27 16:34:38,022 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:34:38,022 [INFO] [0.0, -0.0960052080537398, -0.15632199264452248, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:34:49,846 [INFO] 0 check bloated tube unknown
-2025-04-27 16:34:49,846 [INFO] ===============================================
+2025-04-27 20:19:06,909 [INFO] Simulating with mode cropfollow
+2025-04-27 20:19:06,909 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:19:06,909 [INFO] [0.0, -0.08750000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:19:13,475 [INFO] Simulating with mode cropfollow
+2025-04-27 20:19:13,475 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:19:13,475 [INFO] [0.0, -0.0800412782359326, -0.16767725764768102, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:19:20,107 [INFO] Simulating with mode cropfollow
+2025-04-27 20:19:20,108 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:19:20,108 [INFO] [0.0, -0.09254684227371471, -0.15800486945429207, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:19:27,105 [INFO] Simulating with mode cropfollow
+2025-04-27 20:19:27,105 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:19:27,105 [INFO] [0.0, -0.09101765994660205, -0.14179933322275645, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:19:33,561 [INFO] Simulating with mode cropfollow
+2025-04-27 20:19:33,561 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:19:33,561 [INFO] [0.0, -0.08648156565742614, -0.17188063712419946, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:19:40,189 [INFO] Simulating with mode cropfollow
+2025-04-27 20:19:40,189 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:19:40,189 [INFO] [0.0, -0.07671262171611684, -0.16510528051112325, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:19:46,746 [INFO] Simulating with mode cropfollow
+2025-04-27 20:19:46,746 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:19:46,746 [INFO] [0.0, -0.09764900917505794, -0.1405795551853383, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:19:53,765 [INFO] Simulating with mode cropfollow
+2025-04-27 20:19:53,765 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:19:53,765 [INFO] [0.0, -0.09370395101919392, -0.16207678061245073, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:20:00,792 [INFO] Simulating with mode cropfollow
+2025-04-27 20:20:00,792 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:20:00,792 [INFO] [0.0, -0.09019886342396377, -0.1351427208384663, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:20:07,335 [INFO] Simulating with mode cropfollow
+2025-04-27 20:20:07,335 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:20:07,335 [INFO] [0.0, -0.08694461196496615, -0.17146876248620965, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:20:14,209 [INFO] Simulating with mode cropfollow
+2025-04-27 20:20:14,209 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:20:14,209 [INFO] [0.0, -0.08621778955111721, -0.14072031999619128, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:20:20,944 [INFO] 0 check bloated tube unknown
+2025-04-27 20:20:20,944 [INFO] ===============================================
Mode: 0
stack size: 8
remainTime: 15
-2025-04-27 16:34:49,846 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:20:20,944 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
Upper Bound: [0.0, -0.07500000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
Delta: [0.0, 0.012499999999999997, 0.010937500000000003, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:34:49,846 [INFO] Simulating with mode cropfollow
-2025-04-27 16:34:49,846 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:34:49,846 [INFO] [0.0, -0.08750000000000001, -0.1640625, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:35:01,815 [INFO] Simulating with mode cropfollow
-2025-04-27 16:35:01,815 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:35:01,815 [INFO] [0.0, -0.08992594835110844, -0.15529167154871923, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:35:13,530 [INFO] Simulating with mode cropfollow
-2025-04-27 16:35:13,530 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:35:13,530 [INFO] [0.0, -0.09183318704839372, -0.16842480937058593, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:35:24,949 [INFO] Simulating with mode cropfollow
-2025-04-27 16:35:24,949 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:35:24,949 [INFO] [0.0, -0.0779183877439129, -0.16059885879910937, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:35:36,413 [INFO] Simulating with mode cropfollow
-2025-04-27 16:35:36,413 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:35:36,413 [INFO] [0.0, -0.08171781891554296, -0.15447176518413747, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:35:49,280 [INFO] Simulating with mode cropfollow
-2025-04-27 16:35:49,281 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:35:49,281 [INFO] [0.0, -0.09168213770502201, -0.16834925405859336, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:36:00,451 [INFO] Simulating with mode cropfollow
-2025-04-27 16:36:00,451 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:36:00,451 [INFO] [0.0, -0.08404394849337868, -0.17008271412198236, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:36:11,417 [INFO] Simulating with mode cropfollow
-2025-04-27 16:36:11,417 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:36:11,417 [INFO] [0.0, -0.0890958485739243, -0.15978255533783808, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:36:23,093 [INFO] Simulating with mode cropfollow
-2025-04-27 16:36:23,093 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:36:23,093 [INFO] [0.0, -0.09091719517741953, -0.16716597216299917, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:36:34,939 [INFO] Simulating with mode cropfollow
-2025-04-27 16:36:34,939 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:36:34,939 [INFO] [0.0, -0.09110919703179321, -0.1707877497442729, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:36:46,842 [INFO] Simulating with mode cropfollow
-2025-04-27 16:36:46,842 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:36:46,842 [INFO] [0.0, -0.0960052080537398, -0.16566099632226122, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:36:58,878 [INFO] 0 check bloated tube unknown
-2025-04-27 16:36:58,878 [INFO] ===============================================
+2025-04-27 20:20:20,944 [INFO] Simulating with mode cropfollow
+2025-04-27 20:20:20,944 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:20:20,944 [INFO] [0.0, -0.08750000000000001, -0.1640625, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:20:27,580 [INFO] Simulating with mode cropfollow
+2025-04-27 20:20:27,580 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:20:27,580 [INFO] [0.0, -0.0800412782359326, -0.1713386288238405, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:20:34,270 [INFO] Simulating with mode cropfollow
+2025-04-27 20:20:34,270 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:20:34,270 [INFO] [0.0, -0.09254684227371471, -0.16650243472714604, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:20:41,663 [INFO] Simulating with mode cropfollow
+2025-04-27 20:20:41,663 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:20:41,663 [INFO] [0.0, -0.09101765994660205, -0.15839966661137822, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:20:48,453 [INFO] Simulating with mode cropfollow
+2025-04-27 20:20:48,453 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:20:48,453 [INFO] [0.0, -0.08648156565742614, -0.17344031856209974, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:20:55,065 [INFO] Simulating with mode cropfollow
+2025-04-27 20:20:55,065 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:20:55,065 [INFO] [0.0, -0.07671262171611684, -0.17005264025556163, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:21:01,790 [INFO] Simulating with mode cropfollow
+2025-04-27 20:21:01,790 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:21:01,791 [INFO] [0.0, -0.09764900917505794, -0.15778977759266916, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:21:08,709 [INFO] Simulating with mode cropfollow
+2025-04-27 20:21:08,709 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:21:08,709 [INFO] [0.0, -0.09370395101919392, -0.16853839030622536, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:21:15,498 [INFO] Simulating with mode cropfollow
+2025-04-27 20:21:15,498 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:21:15,498 [INFO] [0.0, -0.09019886342396377, -0.15507136041923314, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:21:21,921 [INFO] Simulating with mode cropfollow
+2025-04-27 20:21:21,921 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:21:21,921 [INFO] [0.0, -0.08694461196496615, -0.1732343812431048, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:21:28,601 [INFO] Simulating with mode cropfollow
+2025-04-27 20:21:28,601 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:21:28,601 [INFO] [0.0, -0.08621778955111721, -0.15786015999809563, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:21:35,059 [INFO] 0 check bloated tube unknown
+2025-04-27 20:21:35,059 [INFO] ===============================================
Mode: 0
stack size: 9
remainTime: 15
-2025-04-27 16:36:58,878 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:21:35,059 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
Upper Bound: [0.0, -0.08750000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
Delta: [0.0, 0.006249999999999999, 0.010937500000000003, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:36:58,878 [INFO] Simulating with mode cropfollow
-2025-04-27 16:36:58,878 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:36:58,878 [INFO] [0.0, -0.09375, -0.1640625, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:37:10,222 [INFO] Simulating with mode cropfollow
-2025-04-27 16:37:10,222 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:37:10,222 [INFO] [0.0, -0.09496297417555422, -0.15529167154871923, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:37:20,678 [INFO] Simulating with mode cropfollow
-2025-04-27 16:37:20,678 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:37:20,678 [INFO] [0.0, -0.09591659352419686, -0.16842480937058593, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:37:32,355 [INFO] Simulating with mode cropfollow
-2025-04-27 16:37:32,355 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:37:32,355 [INFO] [0.0, -0.08895919387195646, -0.16059885879910937, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:37:43,785 [INFO] Simulating with mode cropfollow
-2025-04-27 16:37:43,785 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:37:43,785 [INFO] [0.0, -0.09085890945777148, -0.15447176518413747, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:37:56,305 [INFO] Simulating with mode cropfollow
-2025-04-27 16:37:56,305 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:37:56,305 [INFO] [0.0, -0.09584106885251101, -0.16834925405859336, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:38:08,421 [INFO] Simulating with mode cropfollow
-2025-04-27 16:38:08,421 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:38:08,421 [INFO] [0.0, -0.09202197424668934, -0.17008271412198236, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:38:20,278 [INFO] Simulating with mode cropfollow
-2025-04-27 16:38:20,278 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:38:20,278 [INFO] [0.0, -0.09454792428696215, -0.15978255533783808, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:38:31,560 [INFO] Simulating with mode cropfollow
-2025-04-27 16:38:31,560 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:38:31,560 [INFO] [0.0, -0.09545859758870977, -0.16716597216299917, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:38:43,588 [INFO] Simulating with mode cropfollow
-2025-04-27 16:38:43,588 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:38:43,588 [INFO] [0.0, -0.09555459851589661, -0.1707877497442729, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:38:55,203 [INFO] Simulating with mode cropfollow
-2025-04-27 16:38:55,203 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:38:55,203 [INFO] [0.0, -0.0980026040268699, -0.16566099632226122, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:39:08,025 [INFO] 0 check bloated tube unknown
-2025-04-27 16:39:08,026 [INFO] ===============================================
+2025-04-27 20:21:35,059 [INFO] Simulating with mode cropfollow
+2025-04-27 20:21:35,059 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:21:35,059 [INFO] [0.0, -0.09375, -0.1640625, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:21:41,590 [INFO] Simulating with mode cropfollow
+2025-04-27 20:21:41,590 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:21:41,590 [INFO] [0.0, -0.0900206391179663, -0.1713386288238405, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:21:48,118 [INFO] Simulating with mode cropfollow
+2025-04-27 20:21:48,119 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:21:48,119 [INFO] [0.0, -0.09627342113685736, -0.16650243472714604, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:21:55,552 [INFO] Simulating with mode cropfollow
+2025-04-27 20:21:55,552 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:21:55,552 [INFO] [0.0, -0.09550882997330103, -0.15839966661137822, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:22:02,072 [INFO] Simulating with mode cropfollow
+2025-04-27 20:22:02,072 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:22:02,072 [INFO] [0.0, -0.09324078282871306, -0.17344031856209974, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:22:08,737 [INFO] Simulating with mode cropfollow
+2025-04-27 20:22:08,737 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:22:08,737 [INFO] [0.0, -0.08835631085805842, -0.17005264025556163, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:22:15,381 [INFO] Simulating with mode cropfollow
+2025-04-27 20:22:15,381 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:22:15,382 [INFO] [0.0, -0.09882450458752898, -0.15778977759266916, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:22:22,356 [INFO] Simulating with mode cropfollow
+2025-04-27 20:22:22,356 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:22:22,356 [INFO] [0.0, -0.09685197550959695, -0.16853839030622536, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:22:29,249 [INFO] Simulating with mode cropfollow
+2025-04-27 20:22:29,249 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:22:29,249 [INFO] [0.0, -0.09509943171198189, -0.15507136041923314, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:22:35,936 [INFO] Simulating with mode cropfollow
+2025-04-27 20:22:35,936 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:22:35,936 [INFO] [0.0, -0.09347230598248309, -0.1732343812431048, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:22:42,668 [INFO] Simulating with mode cropfollow
+2025-04-27 20:22:42,668 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:22:42,668 [INFO] [0.0, -0.09310889477555861, -0.15786015999809563, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:22:49,271 [INFO] 0 check bloated tube unknown
+2025-04-27 20:22:49,272 [INFO] ===============================================
Mode: 0
stack size: 10
remainTime: 15
-2025-04-27 16:39:08,026 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:22:49,272 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
Upper Bound: [0.0, -0.08750000000000001, -0.1640625, 0.0, 0.0, 0.0, 0.0]
Delta: [0.0, 0.006249999999999999, 0.0054687499999999944, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:39:08,026 [INFO] Simulating with mode cropfollow
-2025-04-27 16:39:08,026 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:39:08,026 [INFO] [0.0, -0.09375, -0.16953125, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:39:18,932 [INFO] Simulating with mode cropfollow
-2025-04-27 16:39:18,932 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:39:18,932 [INFO] [0.0, -0.09496297417555422, -0.16514583577435962, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:39:31,061 [INFO] Simulating with mode cropfollow
-2025-04-27 16:39:31,061 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:39:31,061 [INFO] [0.0, -0.09591659352419686, -0.17171240468529297, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:39:43,247 [INFO] Simulating with mode cropfollow
-2025-04-27 16:39:43,247 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:39:43,247 [INFO] [0.0, -0.08895919387195646, -0.1677994293995547, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:39:53,975 [INFO] Simulating with mode cropfollow
-2025-04-27 16:39:53,975 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:39:53,975 [INFO] [0.0, -0.09085890945777148, -0.16473588259206876, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:40:06,693 [INFO] Simulating with mode cropfollow
-2025-04-27 16:40:06,693 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:40:06,693 [INFO] [0.0, -0.09584106885251101, -0.17167462702929667, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:40:17,804 [INFO] Simulating with mode cropfollow
-2025-04-27 16:40:17,804 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:40:17,804 [INFO] [0.0, -0.09202197424668934, -0.1725413570609912, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:40:29,817 [INFO] Simulating with mode cropfollow
-2025-04-27 16:40:29,817 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:40:29,817 [INFO] [0.0, -0.09454792428696215, -0.16739127766891904, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:40:41,926 [INFO] Simulating with mode cropfollow
-2025-04-27 16:40:41,926 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:40:41,926 [INFO] [0.0, -0.09545859758870977, -0.17108298608149958, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:40:54,603 [INFO] Simulating with mode cropfollow
-2025-04-27 16:40:54,604 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:40:54,604 [INFO] [0.0, -0.09555459851589661, -0.17289387487213645, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:41:06,824 [INFO] Simulating with mode cropfollow
-2025-04-27 16:41:06,825 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:41:06,825 [INFO] [0.0, -0.0980026040268699, -0.1703304981611306, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:41:19,163 [INFO] 0 check bloated tube unknown
-2025-04-27 16:41:19,163 [INFO] ===============================================
+2025-04-27 20:22:49,272 [INFO] Simulating with mode cropfollow
+2025-04-27 20:22:49,272 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:22:49,272 [INFO] [0.0, -0.09375, -0.16953125, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:22:56,181 [INFO] Simulating with mode cropfollow
+2025-04-27 20:22:56,182 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:22:56,182 [INFO] [0.0, -0.0900206391179663, -0.17316931441192024, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:23:02,916 [INFO] Simulating with mode cropfollow
+2025-04-27 20:23:02,916 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:23:02,916 [INFO] [0.0, -0.09627342113685736, -0.17075121736357302, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:23:10,335 [INFO] Simulating with mode cropfollow
+2025-04-27 20:23:10,335 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:23:10,335 [INFO] [0.0, -0.09550882997330103, -0.1666998333056891, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:23:17,071 [INFO] Simulating with mode cropfollow
+2025-04-27 20:23:17,071 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:23:17,071 [INFO] [0.0, -0.09324078282871306, -0.17422015928104986, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:23:23,631 [INFO] Simulating with mode cropfollow
+2025-04-27 20:23:23,631 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:23:23,631 [INFO] [0.0, -0.08835631085805842, -0.1725263201277808, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:23:30,307 [INFO] Simulating with mode cropfollow
+2025-04-27 20:23:30,307 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:23:30,308 [INFO] [0.0, -0.09882450458752898, -0.16639488879633457, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:23:37,528 [INFO] Simulating with mode cropfollow
+2025-04-27 20:23:37,529 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:23:37,529 [INFO] [0.0, -0.09685197550959695, -0.17176919515311267, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:23:44,383 [INFO] Simulating with mode cropfollow
+2025-04-27 20:23:44,384 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:23:44,384 [INFO] [0.0, -0.09509943171198189, -0.1650356802096166, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:23:50,947 [INFO] Simulating with mode cropfollow
+2025-04-27 20:23:50,947 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:23:50,947 [INFO] [0.0, -0.09347230598248309, -0.1741171906215524, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:23:57,635 [INFO] Simulating with mode cropfollow
+2025-04-27 20:23:57,635 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.5, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:23:57,635 [INFO] [0.0, -0.09310889477555861, -0.16643007999904783, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:24:04,110 [INFO] 0 check bloated tube unknown
+2025-04-27 20:24:04,110 [INFO] ===============================================
Mode: 0
stack size: 11
remainTime: 15
-2025-04-27 16:41:19,163 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:24:04,110 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
Upper Bound: [0.0, -0.09375, -0.1640625, 0.0, 0.0, 0.0, 0.0]
Delta: [0.0, 0.0031250000000000028, 0.0054687499999999944, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:41:19,164 [INFO] 0 is not valid anymore
-2025-04-27 16:41:19,164 [INFO] Hit refine threshold, system halt, result unknown
-2025-04-27 16:41:19,164 [INFO] simulation time: 11.973114967346191
-2025-04-27 16:41:19,164 [INFO] verification time: 1319.6659407615662
+2025-04-27 20:24:04,110 [INFO] 0 is not valid anymore
+2025-04-27 20:24:04,111 [INFO] Hit refine threshold, system halt, result unknown
+2025-04-27 20:24:04,111 [INFO] simulation time: 6.795197010040283
+2025-04-27 20:24:04,111 [INFO] verification time: 739.3862135410309
diff --git a/output/noise/perception/p01_a10/pose/perceptnoise_pose0_50__heading0_00/results.json b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_50__heading0_00/results.json
index 29340c88f584a37d101d4166b9b6b3bd33381f79..e9d276dde7e3ad19c7d9bb46e9e864b84b05c654 100644
--- a/output/noise/perception/p01_a10/pose/perceptnoise_pose0_50__heading0_00/results.json
+++ b/output/noise/perception/p01_a10/pose/perceptnoise_pose0_50__heading0_00/results.json
@@ -1,7 +1,7 @@
{
"safety": "UNKNOWN",
- "sim_time": 11.973114967346191,
- "verification_time": 1319.6659407615662,
+ "sim_time": 6.795197010040283,
+ "verification_time": 739.3862135410309,
"refine_time": null,
- "total_time": 1332.204419374466
+ "total_time": 746.7529556751251
}
\ No newline at end of file
diff --git a/output/noise/perception/p01_a10/pose/perceptnoise_pose1_00__heading0_00/Traj.txt b/output/noise/perception/p01_a10/pose/perceptnoise_pose1_00__heading0_00/Traj.txt
index 16afb96e33840d041840c221b753fa9a74d6b45f..78bf38d39c2f2c0c3b88e7c477706b5c0af32699 100644
--- a/output/noise/perception/p01_a10/pose/perceptnoise_pose1_00__heading0_00/Traj.txt
+++ b/output/noise/perception/p01_a10/pose/perceptnoise_pose1_00__heading0_00/Traj.txt
@@ -1,47 +1,47 @@
-cropfollow/pn=[1.00:0.00]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]
-0.0 0.0 -0.024434780701994896 -0.022201906889677048 0.11997822672128677 -0.1799478381872177 -0.16884778439998627 0.13107828795909882
-0.3333333432674408 0.19995072484016418 -0.028874797746539116 -0.015007993206381798 0.11735646426677704 -0.18260978162288666 -0.17510606348514557 0.12486018240451813
-0.6666666865348816 0.3999282121658325 -0.03187628462910652 0.031465284526348114 0.12591449916362762 -0.17393700778484344 -0.18966706097126007 0.110184445977211
-1.0 0.5998291969299316 -0.02558426558971405 0.07415422797203064 0.1425250917673111 -0.15665046870708466 -0.1936936229467392 0.10548193752765656
-1.3333333730697632 0.7992795705795288 -0.010767007246613503 0.03982149809598923 0.14906680583953857 -0.15069535374641418 -0.17060083150863647 0.12916132807731628
-1.6666666269302368 0.9991210103034973 -0.002804812043905258 0.008583929389715195 0.14933562278747559 -0.15065333247184753 -0.1549452543258667 0.14504370093345642
-2.0 1.1991136074066162 -0.001088047050870955 0.006924225948750973 0.1506393998861313 -0.14935342967510223 -0.15281550586223602 0.1471773236989975
-2.3333332538604736 1.39910888671875 0.00029678712598979473 0.03065987303853035 0.15789006650447845 -0.14196895062923431 -0.15729649364948273 0.14256252348423004
-2.6666667461395264 1.5990148782730103 0.006427801214158535 -0.013694629073143005 0.1529901772737503 -0.14698170125484467 -0.14013458788394928 0.1598372906446457
-3.0 1.798996090888977 0.003688960801810026 -0.055515073239803314 0.13958624005317688 -0.1599515974521637 -0.13220831751823425 0.16732951998710632
-3.3333332538604736 1.998687982559204 -0.0074083530344069 -0.06612341105937958 0.12574505805969238 -0.17359936237335205 -0.1405617594718933 0.15878266096115112
-3.6666667461395264 2.1982510089874268 -0.020623400807380676 -0.04730872064828873 0.11738599836826324 -0.1822783499956131 -0.1586327999830246 0.14103154838085175
-4.0 2.398027181625366 -0.03008161671459675 -0.03809897601604462 0.11028710007667542 -0.18949520587921143 -0.1704503297805786 0.12933197617530823
-4.333333492279053 2.597882032394409 -0.03769956901669502 -0.029711388051509857 0.10480748116970062 -0.1950601190328598 -0.18020661175251007 0.11966098845005035
-4.666666507720947 2.7977938652038574 -0.043640971183776855 -0.00011083297431468964 0.10633133351802826 -0.1936686784029007 -0.19361327588558197 0.10638673603534698
-5.0 2.9977939128875732 -0.043663136661052704 0.007973230443894863 0.10832538455724716 -0.19166508316993713 -0.19565165042877197 0.10433881729841232
-5.333333492279053 3.1977875232696533 -0.04206850752234459 0.03058283030986786 0.1155058741569519 -0.18435385823249817 -0.19964289665222168 0.1002168357372284
-5.666666507720947 3.3976941108703613 -0.03595289587974548 0.04049443081021309 0.1240449845790863 -0.1757090985774994 -0.19595077633857727 0.10380330681800842
-6.0 3.5975301265716553 -0.02785622328519821 0.05069158971309662 0.1346185803413391 -0.16499605774879456 -0.19033101201057434 0.10928361862897873
-6.333333492279053 3.7972731590270996 -0.017722245305776596 0.018546096980571747 0.13688822090625763 -0.16306020319461823 -0.17233271896839142 0.12761570513248444
-6.666666507720947 3.997238874435425 -0.014013238251209259 0.05752228945493698 0.15011131763458252 -0.1493925154209137 -0.17813780903816223 0.12136603146791458
-7.0 4.196907997131348 -0.002515123225748539 0.007842153310775757 0.14944078028202057 -0.1505499929189682 -0.1544710248708725 0.14551974833011627
-7.333333492279053 4.396902084350586 -0.0009467084892094135 0.006963073275983334 0.15079040825366974 -0.14920233190059662 -0.15268383920192719 0.14730890095233917
-7.666666507720947 4.596897125244141 0.00044589489698410034 -0.0041420357301831245 0.14940911531448364 -0.15058833360671997 -0.14851731061935425 0.15148013830184937
-8.0 4.796895503997803 -0.0003825099556706846 0.006080036051571369 0.15113471448421478 -0.14885975420475006 -0.15189974009990692 0.14809472858905792
-8.333333015441895 4.996891975402832 0.0008334898739121854 0.022602204233407974 0.15644526481628418 -0.143478125333786 -0.15477827191352844 0.14514511823654175
-8.666666984558105 5.196840763092041 0.0053535462357103825 0.017653390765190125 0.1597432941198349 -0.14020998775959015 -0.1490362137556076 0.15091706812381744
-9.0 5.3968095779418945 0.008884040638804436 0.012503690086305141 0.16199816763401031 -0.13797838985919952 -0.14423008263111115 0.1557464748620987
-9.333333015441895 5.596794128417969 0.011384713463485241 -0.010184994898736477 0.15883073210716248 -0.1411537230014801 -0.13606131076812744 0.16392314434051514
-9.666666984558105 5.796783924102783 0.009347749873995781 -0.01087499875575304 0.15662018954753876 -0.14336208999156952 -0.1379246860742569 0.16205759346485138
-10.0 5.996772289276123 0.007172792684286833 -0.03916260227560997 0.14726963639259338 -0.15250036120414734 -0.13292405009269714 0.16684594750404358
-10.333333015441895 6.196619033813477 -0.0006577265448868275 -0.024393659085035324 0.1431998461484909 -0.1567109078168869 -0.1445152908563614 0.15539546310901642
-10.666666984558105 6.396559715270996 -0.005535974632948637 -0.20654746890068054 0.09000524878501892 -0.20361819863319397 -0.10107719898223877 0.19254624843597412
-11.0 6.592308521270752 -0.046552374958992004 -0.09808795154094696 0.07824394106864929 -0.22031405568122864 -0.1713486909866333 0.12720930576324463
-11.333333015441895 6.791347026824951 -0.06613852083683014 -0.0018236041069030762 0.08340533077716827 -0.2165941745042801 -0.21568237245082855 0.08431713283061981
-11.666666984558105 6.991346836090088 -0.06650324165821075 -0.03676251322031021 0.07420684397220612 -0.22559045255184174 -0.20721332728862762 0.09258396923542023
-12.0 7.191211700439453 -0.07385408878326416 -0.06393565237522125 0.05986641347408295 -0.23952065408229828 -0.20757459104061127 0.09181247651576996
-12.333333015441895 7.39080286026001 -0.08663251250982285 -0.07051125913858414 0.045381538569927216 -0.25387299060821533 -0.2186465561389923 0.08060797303915024
-12.666666984558105 7.590305805206299 -0.10072308033704758 -0.055581677705049515 0.03515701740980148 -0.26437970995903015 -0.23660317063331604 0.0629335567355156
-13.0 7.789997100830078 -0.11183369159698486 -0.027997970581054688 0.031108945608139038 -0.26877349615097046 -0.25477632880210876 0.04510611295700073
-13.333333015441895 7.9899187088012695 -0.11743255704641342 -0.03778352960944176 0.023016758263111115 -0.27676916122436523 -0.25788187980651855 0.041904039680957794
-13.666666984558105 8.189776420593262 -0.12498746812343597 -0.048389069736003876 0.012744411826133728 -0.2869044542312622 -0.2627193331718445 0.036929503083229065
-14.0 8.389542579650879 -0.1346615105867386 -0.058549508452415466 0.0004524439573287964 -0.299033522605896 -0.2697754502296448 0.02971048653125763
-14.333333015441895 8.589200019836426 -0.1463647186756134 -0.07400579750537872 -0.015259847044944763 -0.31443870067596436 -0.27746957540512085 0.021709278225898743
-14.666666984558105 8.788652420043945 -0.16115237772464752 -0.04044324904680252 -0.021383076906204224 -0.32113778591156006 -0.3009216785430908 -0.0011669695377349854
-15.0 8.988489151000977 -0.16923882067203522 -0.013830561190843582 -0.02271069586277008 -0.3226820230484009 -0.31576693058013916 -0.01579563319683075
+cropfollow/pn=[1.000:0.000]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]
+0.0 0.0 -0.08995449542999268 -0.05485446751117706 0.04611314833164215 -0.2534356117248535 -0.2260221391916275 0.07352663576602936
+0.3333333432674408 0.19969919323921204 -0.10091988742351532 0.05819547921419144 0.0633668452501297 -0.23612530529499054 -0.26520663499832153 0.0342855304479599
+0.6666666865348816 0.39936062693595886 -0.08928735554218292 -0.029680922627449036 0.053227439522743225 -0.2466404289007187 -0.23180215060710907 0.06806571781635284
+1.0 0.5992725491523743 -0.09522266685962677 0.16363415122032166 0.09349982440471649 -0.20249272882938385 -0.28394514322280884 0.01204739511013031
+1.3333333730697632 0.7966009378433228 -0.0626416876912117 0.020814836025238037 0.09252917021512985 -0.20740586519241333 -0.21781253814697266 0.08212249726057053
+1.6666666269302368 0.9965576529502869 -0.05847902223467827 -0.0042633358389139175 0.09045378863811493 -0.20954351127147675 -0.20741184055805206 0.09258545935153961
+2.0 1.1965558528900146 -0.059331685304641724 -0.1321738213300705 0.056412652134895325 -0.2409706860780716 -0.17507602274417877 0.12230731546878815
+2.3333332538604736 1.3948113918304443 -0.08568955212831497 -0.09474802017211914 0.039986081421375275 -0.25866836309432983 -0.21136519312858582 0.0872892513871193
+2.6666667461395264 1.5939143896102905 -0.10461081564426422 0.08600760996341705 0.06631013751029968 -0.23258095979690552 -0.2755317687988281 0.023359328508377075
+3.0 1.7931751012802124 -0.08743049204349518 -0.06206555664539337 0.04677426815032959 -0.25264811515808105 -0.22163525223731995 0.0777871310710907
+3.3333332538604736 1.9927899837493896 -0.09983563423156738 -0.08543431013822556 0.028284668922424316 -0.2706211507320404 -0.22795593738555908 0.07094988226890564
+3.6666667461395264 2.1920604705810547 -0.11690171808004379 0.012711435556411743 0.036263950169086456 -0.2637118399143219 -0.27006739377975464 0.029908396303653717
+4.0 2.3920443058013916 -0.11435949802398682 -0.052669718861579895 0.022271141409873962 -0.2773128151893616 -0.2509901523590088 0.04859383404254913
+4.333333492279053 2.591766834259033 -0.12488856911659241 -0.010659605264663696 0.022438064217567444 -0.27754491567611694 -0.27221518754959106 0.027767762541770935
+4.666666507720947 2.791755437850952 -0.1270204484462738 0.10029952228069305 0.04725855588912964 -0.2512337267398834 -0.30129945278167725 -0.0028071701526641846
+5.0 2.990750312805176 -0.1069941595196724 0.15425938367843628 0.07963677495718002 -0.21680092811584473 -0.2936250865459442 0.002812616527080536
+5.333333492279053 3.188375473022461 -0.07626449316740036 0.048317112028598785 0.08563502877950668 -0.21401485800743103 -0.2381640076637268 0.06148587912321091
+5.666666507720947 3.3881421089172363 -0.06660483032464981 0.03706446662545204 0.09255614131689072 -0.20723780989646912 -0.22576579451560974 0.07402815669775009
+6.0 3.5880048274993896 -0.05919363349676132 0.10640759766101837 0.11650969833135605 -0.18179351091384888 -0.2348969578742981 0.06340625137090683
+6.333333492279053 3.7868735790252686 -0.037952251732349396 0.27753162384033203 0.17480358481407166 -0.11371681094169617 -0.25070807337760925 0.037812307476997375
+6.666666507720947 3.979220390319824 0.016844261437654495 0.38256382942199707 0.24932590126991272 -0.028987284749746323 -0.21563738584518433 0.06267580389976501
+7.0 4.164762496948242 0.09150430560112 0.09686094522476196 0.2649785876274109 -0.03361520171165466 -0.0819699764251709 0.21662381291389465
+7.333333492279053 4.363824844360352 0.11084622144699097 0.004337921738624573 0.2619292736053467 -0.03806789219379425 -0.04023684561252594 0.259760320186615
+7.666666507720947 4.5638227462768555 0.11171380430459976 -0.0976140946149826 0.23663493990898132 -0.06193690747022629 -0.013207338750362396 0.2853645086288452
+8.0 4.762870788574219 0.09222197532653809 -0.029870159924030304 0.2346886396408081 -0.0651775598526001 -0.050244688987731934 0.24962151050567627
+8.333333015441895 4.9627814292907715 0.08624882996082306 -0.010633230209350586 0.23358209431171417 -0.06640096008777618 -0.061084434390068054 0.2388986200094223
+8.666666984558105 5.1627702713012695 0.08412222564220428 -0.05777660757303238 0.21943582594394684 -0.080063596367836 -0.05119137465953827 0.24830804765224457
+9.0 5.362436771392822 0.07257333397865295 -0.0562288798391819 0.20828646421432495 -0.09123942255973816 -0.06313979625701904 0.23638609051704407
+9.333333015441895 5.5621209144592285 0.06133348122239113 -0.26773762702941895 0.1398516744375229 -0.14945989847183228 -0.017184708267450333 0.27212685346603394
+9.666666984558105 5.754995346069336 0.00842340663075447 -0.23483936488628387 0.0961344838142395 -0.19563105702400208 -0.07928767800331116 0.21247786283493042
+10.0 5.949505805969238 -0.038113947957754135 -0.23151560127735138 0.05052078142762184 -0.2414751648902893 -0.1267486810684204 0.16524726152420044
+10.333333015441895 6.144169807434082 -0.08400454372167587 0.04223893582820892 0.07641827315092087 -0.22331416606903076 -0.24442735314369202 0.05530508607625961
+10.666666984558105 6.343991279602051 -0.07555926591157913 0.09613004326820374 0.09774372726678848 -0.20087122917175293 -0.24886226654052734 0.04975268989801407
+11.0 6.543067932128906 -0.056362852454185486 -0.046721190214157104 0.08179742097854614 -0.21787521243095398 -0.19452312588691711 0.10514950752258301
+11.333333015441895 6.742849826812744 -0.06570369005203247 0.010968245565891266 0.08702930808067322 -0.21295267343521118 -0.21843668818473816 0.08154529333114624
+11.666666984558105 6.942837715148926 -0.06351008266210556 0.09495572000741959 0.10951746255159378 -0.18913108110427856 -0.2365376353263855 0.06211090832948685
+12.0 7.141936779022217 -0.044547464698553085 0.16804498434066772 0.14515337347984314 -0.1506207138299942 -0.2342483103275299 0.06152578815817833
+12.333333015441895 7.3391194343566895 -0.011096421629190445 0.05392371118068695 0.1521599441766739 -0.1474040001630783 -0.17435277998447418 0.12521116435527802
+12.666666984558105 7.5388288497924805 -0.0003169039264321327 0.14187908172607422 0.18352679908275604 -0.11345882713794708 -0.18416060507297516 0.11282502114772797
+13.0 7.736819267272949 0.02796381339430809 0.11441384255886078 0.20552420616149902 -0.09251438081264496 -0.14959657192230225 0.14844200015068054
+13.333333015441895 7.935511589050293 0.050796691328287125 0.08675820380449295 0.22189487516880035 -0.07697679102420807 -0.1203014999628067 0.17857016623020172
+13.666666984558105 8.134758949279785 0.06812657415866852 0.11562353372573853 0.24596655368804932 -0.05203036218881607 -0.10971340537071228 0.1882835030555725
+14.0 8.333423614501953 0.09119979292154312 -0.03624929487705231 0.2320409119129181 -0.06776200979948044 -0.049641333520412445 0.2501615881919861
+14.333333015441895 8.533291816711426 0.08395151793956757 -0.10554971545934677 0.20677828788757324 -0.09155216813087463 -0.03887525200843811 0.25945520401000977
+14.666666984558105 8.732178688049316 0.0628807470202446 -0.2865380048751831 0.1361066997051239 -0.15166175365447998 -0.010345205664634705 0.27742326259613037
+15.0 8.92402458190918 0.00635412335395813 -0.19257546961307526 0.10573447495698929 -0.18871992826461792 -0.09302622824907303 0.20142817497253418
diff --git a/output/noise/perception/p01_a10/pose/perceptnoise_pose1_00__heading0_00/log.txt b/output/noise/perception/p01_a10/pose/perceptnoise_pose1_00__heading0_00/log.txt
index bce85baed36414a6a4d576c2aeb5aa7555f1ef46..a847a2f0d3e11fc899aa1c9ee467a5da1d5a4213 100644
--- a/output/noise/perception/p01_a10/pose/perceptnoise_pose1_00__heading0_00/log.txt
+++ b/output/noise/perception/p01_a10/pose/perceptnoise_pose1_00__heading0_00/log.txt
@@ -1,447 +1,447 @@
-2025-04-27 16:41:20,294 [INFO] Simulating with mode cropfollow
-2025-04-27 16:41:20,294 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:41:20,294 [INFO] [0.0, -0.024434780712721454, -0.022201906713023856, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:41:30,671 [INFO] Verification Begin
-2025-04-27 16:41:30,671 [INFO] ===============================================
+2025-04-27 20:24:12,201 [INFO] Simulating with mode cropfollow
+2025-04-27 20:24:12,201 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:24:12,201 [INFO] [0.0, -0.08995449913567762, -0.05485446738197279, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:24:20,126 [INFO] Verification Begin
+2025-04-27 20:24:20,126 [INFO] ===============================================
Mode: 0
stack size: 1
remainTime: 15
-2025-04-27 16:41:30,671 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:24:20,126 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
Upper Bound: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
Delta: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:41:30,671 [INFO] Simulating with mode cropfollow
-2025-04-27 16:41:30,671 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:41:30,671 [INFO] [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:41:41,904 [INFO] Simulating with mode cropfollow
-2025-04-27 16:41:41,904 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:41:41,904 [INFO] [0.0, -0.01940758680886745, 0.14033325522049223, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:41:51,977 [INFO] Simulating with mode cropfollow
-2025-04-27 16:41:51,977 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:41:51,977 [INFO] [0.0, -0.034665496387149705, -0.06979694992937524, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:42:02,347 [INFO] Simulating with mode cropfollow
-2025-04-27 16:42:02,347 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:42:02,347 [INFO] [0.0, 0.07665289804869688, 0.05541825921424964, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:42:12,941 [INFO] Simulating with mode cropfollow
-2025-04-27 16:42:12,942 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:42:12,942 [INFO] [0.0, 0.046257448675656454, 0.15345175705380004, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:42:22,338 [INFO] Simulating with mode cropfollow
-2025-04-27 16:42:22,338 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:42:22,338 [INFO] [0.0, -0.03345710164017601, -0.06858806493749396, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:42:32,529 [INFO] Simulating with mode cropfollow
-2025-04-27 16:42:32,529 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:42:32,529 [INFO] [0.0, 0.027648412052970667, -0.09632342595171799, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:42:43,614 [INFO] Simulating with mode cropfollow
-2025-04-27 16:42:43,614 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:42:43,614 [INFO] [0.0, -0.012766788591394379, 0.06847911459459036, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:42:54,580 [INFO] Simulating with mode cropfollow
-2025-04-27 16:42:54,580 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:42:54,580 [INFO] [0.0, -0.02733756141935624, -0.04965555460798679, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:43:04,280 [INFO] Simulating with mode cropfollow
-2025-04-27 16:43:04,280 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:43:04,280 [INFO] [0.0, -0.02887357625434564, -0.10760399590836674, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:43:14,898 [INFO] Simulating with mode cropfollow
-2025-04-27 16:43:14,898 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:43:14,898 [INFO] [0.0, -0.06804166442991832, -0.025575941156179977, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:43:25,870 [INFO] 0 check bloated tube unknown
-2025-04-27 16:43:25,870 [INFO] ===============================================
+2025-04-27 20:24:20,126 [INFO] Simulating with mode cropfollow
+2025-04-27 20:24:20,126 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:24:20,126 [INFO] [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:24:28,890 [INFO] Simulating with mode cropfollow
+2025-04-27 20:24:28,890 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:24:28,890 [INFO] [0.0, 0.05966977411253924, -0.11641806118144818, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:24:37,150 [INFO] Simulating with mode cropfollow
+2025-04-27 20:24:37,150 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:24:37,150 [INFO] [0.0, -0.040374738189717645, -0.03903895563433671, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:24:47,091 [INFO] Simulating with mode cropfollow
+2025-04-27 20:24:47,091 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:24:47,091 [INFO] [0.0, -0.028141279572816355, 0.0906053342179482, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:24:55,281 [INFO] Simulating with mode cropfollow
+2025-04-27 20:24:55,281 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:24:55,281 [INFO] [0.0, 0.008147474740590965, -0.1500450969935958, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:25:03,128 [INFO] Simulating with mode cropfollow
+2025-04-27 20:25:03,128 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:25:03,128 [INFO] [0.0, 0.0862990262710654, -0.09584224408898614, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:25:11,529 [INFO] Simulating with mode cropfollow
+2025-04-27 20:25:11,530 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:25:11,530 [INFO] [0.0, -0.08119207340046344, 0.1003635585172934, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:25:20,643 [INFO] Simulating with mode cropfollow
+2025-04-27 20:25:20,644 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:25:20,644 [INFO] [0.0, -0.049631608153551256, -0.07161424489960602, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:25:29,498 [INFO] Simulating with mode cropfollow
+2025-04-27 20:25:29,498 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:25:29,498 [INFO] [0.0, -0.021590907391710074, 0.14385823329226938, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:25:37,279 [INFO] Simulating with mode cropfollow
+2025-04-27 20:25:37,279 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:25:37,279 [INFO] [0.0, 0.00444310428027081, -0.14675009988967722, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:25:45,835 [INFO] Simulating with mode cropfollow
+2025-04-27 20:25:45,835 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:25:45,835 [INFO] [0.0, 0.010257683591062383, 0.09923744003046958, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:25:53,529 [INFO] 0 check bloated tube unknown
+2025-04-27 20:25:53,529 [INFO] ===============================================
Mode: 0
stack size: 2
remainTime: 15
-2025-04-27 16:43:25,870 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:25:53,529 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
Upper Bound: [0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0]
Delta: [0.0, 0.1, 0.0875, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:43:25,870 [INFO] Simulating with mode cropfollow
-2025-04-27 16:43:25,870 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:43:25,870 [INFO] [0.0, 0.0, -0.0875, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:43:36,615 [INFO] Simulating with mode cropfollow
-2025-04-27 16:43:36,615 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:43:36,615 [INFO] [0.0, -0.01940758680886745, -0.01733337238975388, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:43:47,227 [INFO] Simulating with mode cropfollow
-2025-04-27 16:43:47,227 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:43:47,227 [INFO] [0.0, -0.034665496387149705, -0.12239847496468761, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:43:58,171 [INFO] Simulating with mode cropfollow
-2025-04-27 16:43:58,171 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:43:58,171 [INFO] [0.0, 0.07665289804869688, -0.05979087039287517, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:44:08,483 [INFO] Simulating with mode cropfollow
-2025-04-27 16:44:08,483 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:44:08,483 [INFO] [0.0, 0.046257448675656454, -0.010774121473099973, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:44:18,344 [INFO] Simulating with mode cropfollow
-2025-04-27 16:44:18,344 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:44:18,344 [INFO] [0.0, -0.03345710164017601, -0.12179403246874698, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:44:30,114 [INFO] Simulating with mode cropfollow
-2025-04-27 16:44:30,114 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:44:30,114 [INFO] [0.0, 0.027648412052970667, -0.135661712975859, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:44:40,927 [INFO] Simulating with mode cropfollow
-2025-04-27 16:44:40,928 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:44:40,928 [INFO] [0.0, -0.012766788591394379, -0.053260442702704816, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:44:51,319 [INFO] Simulating with mode cropfollow
-2025-04-27 16:44:51,319 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:44:51,319 [INFO] [0.0, -0.02733756141935624, -0.11232777730399339, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:45:02,900 [INFO] Simulating with mode cropfollow
-2025-04-27 16:45:02,900 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:45:02,900 [INFO] [0.0, -0.02887357625434564, -0.14130199795418336, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:45:14,118 [INFO] Simulating with mode cropfollow
-2025-04-27 16:45:14,118 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:45:14,118 [INFO] [0.0, -0.06804166442991832, -0.10028797057808998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:45:24,082 [INFO] 0 check bloated tube unknown
-2025-04-27 16:45:24,082 [INFO] ===============================================
+2025-04-27 20:25:53,529 [INFO] Simulating with mode cropfollow
+2025-04-27 20:25:53,529 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:25:53,529 [INFO] [0.0, 0.0, -0.0875, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:26:02,210 [INFO] Simulating with mode cropfollow
+2025-04-27 20:26:02,210 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:26:02,210 [INFO] [0.0, 0.05966977411253924, -0.1457090305907241, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:26:10,620 [INFO] Simulating with mode cropfollow
+2025-04-27 20:26:10,620 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:26:10,620 [INFO] [0.0, -0.040374738189717645, -0.10701947781716835, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:26:20,369 [INFO] Simulating with mode cropfollow
+2025-04-27 20:26:20,369 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:26:20,369 [INFO] [0.0, -0.028141279572816355, -0.042197332891025896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:26:28,970 [INFO] Simulating with mode cropfollow
+2025-04-27 20:26:28,970 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:26:28,970 [INFO] [0.0, 0.008147474740590965, -0.1625225484967979, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:26:37,248 [INFO] Simulating with mode cropfollow
+2025-04-27 20:26:37,248 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:26:37,248 [INFO] [0.0, 0.0862990262710654, -0.13542112204449308, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:26:45,642 [INFO] Simulating with mode cropfollow
+2025-04-27 20:26:45,642 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:26:45,642 [INFO] [0.0, -0.08119207340046344, -0.0373182207413533, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:26:55,045 [INFO] Simulating with mode cropfollow
+2025-04-27 20:26:55,045 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:26:55,045 [INFO] [0.0, -0.049631608153551256, -0.123307122449803, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:27:03,820 [INFO] Simulating with mode cropfollow
+2025-04-27 20:27:03,821 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:27:03,821 [INFO] [0.0, -0.021590907391710074, -0.015570883353865306, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:27:11,393 [INFO] Simulating with mode cropfollow
+2025-04-27 20:27:11,393 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:27:11,393 [INFO] [0.0, 0.00444310428027081, -0.16087504994483862, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:27:19,767 [INFO] Simulating with mode cropfollow
+2025-04-27 20:27:19,767 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:27:19,767 [INFO] [0.0, 0.010257683591062383, -0.037881279984765204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:27:27,448 [INFO] 0 check bloated tube unknown
+2025-04-27 20:27:27,448 [INFO] ===============================================
Mode: 0
stack size: 3
remainTime: 15
-2025-04-27 16:45:24,082 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:27:27,448 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
Upper Bound: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
Delta: [0.0, 0.05, 0.0875, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:45:24,082 [INFO] Simulating with mode cropfollow
-2025-04-27 16:45:24,082 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:45:24,082 [INFO] [0.0, -0.05, -0.0875, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:45:34,575 [INFO] Simulating with mode cropfollow
-2025-04-27 16:45:34,575 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:45:34,575 [INFO] [0.0, -0.05970379340443373, -0.01733337238975388, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:45:45,999 [INFO] Simulating with mode cropfollow
-2025-04-27 16:45:45,999 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:45:45,999 [INFO] [0.0, -0.06733274819357485, -0.12239847496468761, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:45:58,486 [INFO] Simulating with mode cropfollow
-2025-04-27 16:45:58,486 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:45:58,486 [INFO] [0.0, -0.011673550975651564, -0.05979087039287517, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:46:07,562 [INFO] Simulating with mode cropfollow
-2025-04-27 16:46:07,562 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:46:07,562 [INFO] [0.0, -0.026871275662171776, -0.010774121473099973, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:46:18,722 [INFO] Simulating with mode cropfollow
-2025-04-27 16:46:18,722 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:46:18,722 [INFO] [0.0, -0.06672855082008801, -0.12179403246874698, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:46:27,959 [INFO] Simulating with mode cropfollow
-2025-04-27 16:46:27,959 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:46:27,959 [INFO] [0.0, -0.03617579397351467, -0.135661712975859, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:46:37,963 [INFO] Simulating with mode cropfollow
-2025-04-27 16:46:37,963 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:46:37,963 [INFO] [0.0, -0.05638339429569719, -0.053260442702704816, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:46:49,107 [INFO] Simulating with mode cropfollow
-2025-04-27 16:46:49,107 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:46:49,107 [INFO] [0.0, -0.06366878070967813, -0.11232777730399339, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:47:00,271 [INFO] Simulating with mode cropfollow
-2025-04-27 16:47:00,271 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:47:00,271 [INFO] [0.0, -0.06443678812717282, -0.14130199795418336, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:47:10,749 [INFO] Simulating with mode cropfollow
-2025-04-27 16:47:10,749 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:47:10,749 [INFO] [0.0, -0.08402083221495917, -0.10028797057808998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:47:21,792 [INFO] 0 check bloated tube unknown
-2025-04-27 16:47:21,792 [INFO] ===============================================
+2025-04-27 20:27:27,448 [INFO] Simulating with mode cropfollow
+2025-04-27 20:27:27,448 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:27:27,448 [INFO] [0.0, -0.05, -0.0875, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:27:36,133 [INFO] Simulating with mode cropfollow
+2025-04-27 20:27:36,133 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:27:36,133 [INFO] [0.0, -0.020165112943730384, -0.1457090305907241, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:27:44,631 [INFO] Simulating with mode cropfollow
+2025-04-27 20:27:44,631 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:27:44,631 [INFO] [0.0, -0.07018736909485883, -0.10701947781716835, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:27:54,313 [INFO] Simulating with mode cropfollow
+2025-04-27 20:27:54,313 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:27:54,313 [INFO] [0.0, -0.06407063978640817, -0.042197332891025896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:28:02,939 [INFO] Simulating with mode cropfollow
+2025-04-27 20:28:02,939 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:28:02,939 [INFO] [0.0, -0.04592626262970452, -0.1625225484967979, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:28:10,995 [INFO] Simulating with mode cropfollow
+2025-04-27 20:28:10,995 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:28:10,995 [INFO] [0.0, -0.006850486864467306, -0.13542112204449308, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:28:19,391 [INFO] Simulating with mode cropfollow
+2025-04-27 20:28:19,391 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:28:19,391 [INFO] [0.0, -0.09059603670023172, -0.0373182207413533, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:28:28,738 [INFO] Simulating with mode cropfollow
+2025-04-27 20:28:28,738 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:28:28,738 [INFO] [0.0, -0.07481580407677563, -0.123307122449803, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:28:37,637 [INFO] Simulating with mode cropfollow
+2025-04-27 20:28:37,637 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:28:37,637 [INFO] [0.0, -0.06079545369585504, -0.015570883353865306, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:28:45,211 [INFO] Simulating with mode cropfollow
+2025-04-27 20:28:45,211 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:28:45,211 [INFO] [0.0, -0.0477784478598646, -0.16087504994483862, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:28:53,575 [INFO] Simulating with mode cropfollow
+2025-04-27 20:28:53,575 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:28:53,575 [INFO] [0.0, -0.04487115820446881, -0.037881279984765204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:29:01,350 [INFO] 0 check bloated tube unknown
+2025-04-27 20:29:01,350 [INFO] ===============================================
Mode: 0
stack size: 4
remainTime: 15
-2025-04-27 16:47:21,792 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:29:01,350 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
Upper Bound: [0.0, 0.0, -0.0875, 0.0, 0.0, 0.0, 0.0]
Delta: [0.0, 0.05, 0.04375, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:47:21,792 [INFO] Simulating with mode cropfollow
-2025-04-27 16:47:21,792 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:47:21,792 [INFO] [0.0, -0.05, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:47:31,196 [INFO] Simulating with mode cropfollow
-2025-04-27 16:47:31,197 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:47:31,197 [INFO] [0.0, -0.05970379340443373, -0.09616668619487694, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:47:41,639 [INFO] Simulating with mode cropfollow
-2025-04-27 16:47:41,639 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:47:41,639 [INFO] [0.0, -0.06733274819357485, -0.14869923748234382, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:47:53,358 [INFO] Simulating with mode cropfollow
-2025-04-27 16:47:53,358 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:47:53,358 [INFO] [0.0, -0.011673550975651564, -0.11739543519643758, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:48:03,802 [INFO] Simulating with mode cropfollow
-2025-04-27 16:48:03,802 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:48:03,802 [INFO] [0.0, -0.026871275662171776, -0.09288706073654998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:48:13,204 [INFO] Simulating with mode cropfollow
-2025-04-27 16:48:13,204 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:48:13,204 [INFO] [0.0, -0.06672855082008801, -0.14839701623437349, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:48:23,934 [INFO] Simulating with mode cropfollow
-2025-04-27 16:48:23,934 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:48:23,934 [INFO] [0.0, -0.03617579397351467, -0.1553308564879295, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:48:34,447 [INFO] Simulating with mode cropfollow
-2025-04-27 16:48:34,447 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:48:34,447 [INFO] [0.0, -0.05638339429569719, -0.1141302213513524, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:48:44,636 [INFO] Simulating with mode cropfollow
-2025-04-27 16:48:44,636 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:48:44,636 [INFO] [0.0, -0.06366878070967813, -0.1436638886519967, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:48:56,640 [INFO] Simulating with mode cropfollow
-2025-04-27 16:48:56,640 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:48:56,640 [INFO] [0.0, -0.06443678812717282, -0.15815099897709167, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:49:08,639 [INFO] Simulating with mode cropfollow
-2025-04-27 16:49:08,640 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:49:08,640 [INFO] [0.0, -0.08402083221495917, -0.13764398528904498, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:49:19,805 [INFO] 0 check bloated tube unknown
-2025-04-27 16:49:19,805 [INFO] ===============================================
+2025-04-27 20:29:01,350 [INFO] Simulating with mode cropfollow
+2025-04-27 20:29:01,350 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:29:01,350 [INFO] [0.0, -0.05, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:29:10,181 [INFO] Simulating with mode cropfollow
+2025-04-27 20:29:10,182 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:29:10,182 [INFO] [0.0, -0.020165112943730384, -0.16035451529536204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:29:18,499 [INFO] Simulating with mode cropfollow
+2025-04-27 20:29:18,499 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:29:18,499 [INFO] [0.0, -0.07018736909485883, -0.14100973890858418, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:29:28,449 [INFO] Simulating with mode cropfollow
+2025-04-27 20:29:28,449 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:29:28,449 [INFO] [0.0, -0.06407063978640817, -0.10859866644551294, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:29:37,199 [INFO] Simulating with mode cropfollow
+2025-04-27 20:29:37,199 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:29:37,199 [INFO] [0.0, -0.04592626262970452, -0.16876127424839896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:29:45,210 [INFO] Simulating with mode cropfollow
+2025-04-27 20:29:45,210 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:29:45,210 [INFO] [0.0, -0.006850486864467306, -0.15521056102224653, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:29:53,461 [INFO] Simulating with mode cropfollow
+2025-04-27 20:29:53,461 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:29:53,461 [INFO] [0.0, -0.09059603670023172, -0.10615911037067664, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:30:02,911 [INFO] Simulating with mode cropfollow
+2025-04-27 20:30:02,911 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:30:02,911 [INFO] [0.0, -0.07481580407677563, -0.1491535612249015, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:30:11,502 [INFO] Simulating with mode cropfollow
+2025-04-27 20:30:11,502 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:30:11,502 [INFO] [0.0, -0.06079545369585504, -0.09528544167693265, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:30:19,173 [INFO] Simulating with mode cropfollow
+2025-04-27 20:30:19,173 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:30:19,173 [INFO] [0.0, -0.0477784478598646, -0.1679375249724193, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:30:27,596 [INFO] Simulating with mode cropfollow
+2025-04-27 20:30:27,596 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:30:27,596 [INFO] [0.0, -0.04487115820446881, -0.1064406399923826, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:30:35,240 [INFO] 0 check bloated tube unknown
+2025-04-27 20:30:35,240 [INFO] ===============================================
Mode: 0
stack size: 5
remainTime: 15
-2025-04-27 16:49:19,805 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:30:35,240 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
Upper Bound: [0.0, -0.05, -0.0875, 0.0, 0.0, 0.0, 0.0]
Delta: [0.0, 0.025, 0.04375, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:49:19,805 [INFO] Simulating with mode cropfollow
-2025-04-27 16:49:19,805 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:49:19,805 [INFO] [0.0, -0.07500000000000001, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:49:29,905 [INFO] Simulating with mode cropfollow
-2025-04-27 16:49:29,905 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:49:29,905 [INFO] [0.0, -0.07985189670221687, -0.09616668619487694, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:49:40,156 [INFO] Simulating with mode cropfollow
-2025-04-27 16:49:40,156 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:49:40,156 [INFO] [0.0, -0.08366637409678743, -0.14869923748234382, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:49:51,107 [INFO] Simulating with mode cropfollow
-2025-04-27 16:49:51,107 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:49:51,107 [INFO] [0.0, -0.055836775487825785, -0.11739543519643758, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:50:01,808 [INFO] Simulating with mode cropfollow
-2025-04-27 16:50:01,809 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:50:01,809 [INFO] [0.0, -0.06343563783108588, -0.09288706073654998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:50:11,781 [INFO] Simulating with mode cropfollow
-2025-04-27 16:50:11,782 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:50:11,782 [INFO] [0.0, -0.08336427541004401, -0.14839701623437349, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:50:21,936 [INFO] Simulating with mode cropfollow
-2025-04-27 16:50:21,936 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:50:21,936 [INFO] [0.0, -0.06808789698675734, -0.1553308564879295, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:50:33,302 [INFO] Simulating with mode cropfollow
-2025-04-27 16:50:33,303 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:50:33,303 [INFO] [0.0, -0.0781916971478486, -0.1141302213513524, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:50:44,125 [INFO] Simulating with mode cropfollow
-2025-04-27 16:50:44,126 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:50:44,126 [INFO] [0.0, -0.08183439035483907, -0.1436638886519967, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:50:55,101 [INFO] Simulating with mode cropfollow
-2025-04-27 16:50:55,101 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:50:55,101 [INFO] [0.0, -0.08221839406358641, -0.15815099897709167, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:51:05,710 [INFO] Simulating with mode cropfollow
-2025-04-27 16:51:05,710 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:51:05,710 [INFO] [0.0, -0.09201041610747959, -0.13764398528904498, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:51:16,274 [INFO] 0 check bloated tube unknown
-2025-04-27 16:51:16,274 [INFO] ===============================================
+2025-04-27 20:30:35,240 [INFO] Simulating with mode cropfollow
+2025-04-27 20:30:35,240 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:30:35,240 [INFO] [0.0, -0.07500000000000001, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:30:44,213 [INFO] Simulating with mode cropfollow
+2025-04-27 20:30:44,213 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:30:44,213 [INFO] [0.0, -0.060082556471865195, -0.16035451529536204, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:30:52,747 [INFO] Simulating with mode cropfollow
+2025-04-27 20:30:52,748 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:30:52,748 [INFO] [0.0, -0.08509368454742941, -0.14100973890858418, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:31:02,674 [INFO] Simulating with mode cropfollow
+2025-04-27 20:31:02,674 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:31:02,674 [INFO] [0.0, -0.08203531989320409, -0.10859866644551294, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:31:11,135 [INFO] Simulating with mode cropfollow
+2025-04-27 20:31:11,135 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:31:11,135 [INFO] [0.0, -0.07296313131485227, -0.16876127424839896, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:31:19,274 [INFO] Simulating with mode cropfollow
+2025-04-27 20:31:19,274 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:31:19,274 [INFO] [0.0, -0.053425243432233656, -0.15521056102224653, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:31:27,672 [INFO] Simulating with mode cropfollow
+2025-04-27 20:31:27,672 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:31:27,672 [INFO] [0.0, -0.09529801835011587, -0.10615911037067664, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:31:37,152 [INFO] Simulating with mode cropfollow
+2025-04-27 20:31:37,152 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:31:37,152 [INFO] [0.0, -0.08740790203838782, -0.1491535612249015, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:31:46,226 [INFO] Simulating with mode cropfollow
+2025-04-27 20:31:46,226 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:31:46,226 [INFO] [0.0, -0.08039772684792752, -0.09528544167693265, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:31:54,292 [INFO] Simulating with mode cropfollow
+2025-04-27 20:31:54,292 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:31:54,292 [INFO] [0.0, -0.0738892239299323, -0.1679375249724193, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:32:02,848 [INFO] Simulating with mode cropfollow
+2025-04-27 20:32:02,848 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:32:02,848 [INFO] [0.0, -0.07243557910223442, -0.1064406399923826, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:32:10,593 [INFO] 0 check bloated tube unknown
+2025-04-27 20:32:10,593 [INFO] ===============================================
Mode: 0
stack size: 6
remainTime: 15
-2025-04-27 16:51:16,274 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:32:10,593 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
Upper Bound: [0.0, -0.05, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
Delta: [0.0, 0.025, 0.021875000000000006, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:51:16,274 [INFO] Simulating with mode cropfollow
-2025-04-27 16:51:16,274 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:51:16,274 [INFO] [0.0, -0.07500000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:51:28,439 [INFO] Simulating with mode cropfollow
-2025-04-27 16:51:28,439 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:51:28,439 [INFO] [0.0, -0.07985189670221687, -0.13558334309743844, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:51:38,290 [INFO] Simulating with mode cropfollow
-2025-04-27 16:51:38,290 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:51:38,290 [INFO] [0.0, -0.08366637409678743, -0.1618496187411719, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:51:49,654 [INFO] Simulating with mode cropfollow
-2025-04-27 16:51:49,654 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:51:49,654 [INFO] [0.0, -0.055836775487825785, -0.14619771759821878, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:52:00,915 [INFO] Simulating with mode cropfollow
-2025-04-27 16:52:00,915 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:52:00,915 [INFO] [0.0, -0.06343563783108588, -0.13394353036827497, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:52:12,335 [INFO] Simulating with mode cropfollow
-2025-04-27 16:52:12,335 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:52:12,335 [INFO] [0.0, -0.08336427541004401, -0.16169850811718672, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:52:24,038 [INFO] Simulating with mode cropfollow
-2025-04-27 16:52:24,038 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:52:24,038 [INFO] [0.0, -0.06808789698675734, -0.16516542824396474, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:52:34,843 [INFO] Simulating with mode cropfollow
-2025-04-27 16:52:34,843 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:52:34,843 [INFO] [0.0, -0.0781916971478486, -0.14456511067567618, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:52:45,324 [INFO] Simulating with mode cropfollow
-2025-04-27 16:52:45,324 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:52:45,324 [INFO] [0.0, -0.08183439035483907, -0.15933194432599834, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:52:55,779 [INFO] Simulating with mode cropfollow
-2025-04-27 16:52:55,779 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:52:55,779 [INFO] [0.0, -0.08221839406358641, -0.16657549948854583, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:53:06,493 [INFO] Simulating with mode cropfollow
-2025-04-27 16:53:06,493 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:53:06,493 [INFO] [0.0, -0.09201041610747959, -0.15632199264452248, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:53:16,046 [INFO] 0 check bloated tube unknown
-2025-04-27 16:53:16,046 [INFO] ===============================================
+2025-04-27 20:32:10,593 [INFO] Simulating with mode cropfollow
+2025-04-27 20:32:10,593 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:32:10,593 [INFO] [0.0, -0.07500000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:32:19,439 [INFO] Simulating with mode cropfollow
+2025-04-27 20:32:19,439 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:32:19,439 [INFO] [0.0, -0.060082556471865195, -0.16767725764768102, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:32:27,787 [INFO] Simulating with mode cropfollow
+2025-04-27 20:32:27,787 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:32:27,787 [INFO] [0.0, -0.08509368454742941, -0.15800486945429207, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:32:37,529 [INFO] Simulating with mode cropfollow
+2025-04-27 20:32:37,529 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:32:37,529 [INFO] [0.0, -0.08203531989320409, -0.14179933322275645, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:32:45,791 [INFO] Simulating with mode cropfollow
+2025-04-27 20:32:45,791 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:32:45,791 [INFO] [0.0, -0.07296313131485227, -0.17188063712419946, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:32:53,921 [INFO] Simulating with mode cropfollow
+2025-04-27 20:32:53,921 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:32:53,921 [INFO] [0.0, -0.053425243432233656, -0.16510528051112325, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:33:02,391 [INFO] Simulating with mode cropfollow
+2025-04-27 20:33:02,392 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:33:02,392 [INFO] [0.0, -0.09529801835011587, -0.1405795551853383, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:33:12,109 [INFO] Simulating with mode cropfollow
+2025-04-27 20:33:12,109 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:33:12,109 [INFO] [0.0, -0.08740790203838782, -0.16207678061245073, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:33:20,894 [INFO] Simulating with mode cropfollow
+2025-04-27 20:33:20,894 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:33:20,894 [INFO] [0.0, -0.08039772684792752, -0.1351427208384663, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:33:28,761 [INFO] Simulating with mode cropfollow
+2025-04-27 20:33:28,761 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:33:28,761 [INFO] [0.0, -0.0738892239299323, -0.17146876248620965, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:33:36,831 [INFO] Simulating with mode cropfollow
+2025-04-27 20:33:36,831 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:33:36,831 [INFO] [0.0, -0.07243557910223442, -0.14072031999619128, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:33:44,684 [INFO] 0 check bloated tube unknown
+2025-04-27 20:33:44,684 [INFO] ===============================================
Mode: 0
stack size: 7
remainTime: 15
-2025-04-27 16:53:16,046 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:33:44,684 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
Upper Bound: [0.0, -0.07500000000000001, -0.13124999999999998, 0.0, 0.0, 0.0, 0.0]
Delta: [0.0, 0.012499999999999997, 0.021875000000000006, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:53:16,046 [INFO] Simulating with mode cropfollow
-2025-04-27 16:53:16,046 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:53:16,046 [INFO] [0.0, -0.08750000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:53:27,238 [INFO] Simulating with mode cropfollow
-2025-04-27 16:53:27,238 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:53:27,238 [INFO] [0.0, -0.08992594835110844, -0.13558334309743844, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:53:38,049 [INFO] Simulating with mode cropfollow
-2025-04-27 16:53:38,049 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:53:38,049 [INFO] [0.0, -0.09183318704839372, -0.1618496187411719, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:53:50,008 [INFO] Simulating with mode cropfollow
-2025-04-27 16:53:50,008 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:53:50,008 [INFO] [0.0, -0.0779183877439129, -0.14619771759821878, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:54:01,128 [INFO] Simulating with mode cropfollow
-2025-04-27 16:54:01,128 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:54:01,128 [INFO] [0.0, -0.08171781891554296, -0.13394353036827497, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:54:12,093 [INFO] Simulating with mode cropfollow
-2025-04-27 16:54:12,093 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:54:12,093 [INFO] [0.0, -0.09168213770502201, -0.16169850811718672, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:54:22,654 [INFO] Simulating with mode cropfollow
-2025-04-27 16:54:22,655 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:54:22,655 [INFO] [0.0, -0.08404394849337868, -0.16516542824396474, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:54:33,296 [INFO] Simulating with mode cropfollow
-2025-04-27 16:54:33,296 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:54:33,297 [INFO] [0.0, -0.0890958485739243, -0.14456511067567618, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:54:45,066 [INFO] Simulating with mode cropfollow
-2025-04-27 16:54:45,066 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:54:45,066 [INFO] [0.0, -0.09091719517741953, -0.15933194432599834, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:54:56,400 [INFO] Simulating with mode cropfollow
-2025-04-27 16:54:56,400 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:54:56,400 [INFO] [0.0, -0.09110919703179321, -0.16657549948854583, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:55:07,748 [INFO] Simulating with mode cropfollow
-2025-04-27 16:55:07,748 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:55:07,748 [INFO] [0.0, -0.0960052080537398, -0.15632199264452248, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:55:19,686 [INFO] 0 check bloated tube unknown
-2025-04-27 16:55:19,686 [INFO] ===============================================
+2025-04-27 20:33:44,684 [INFO] Simulating with mode cropfollow
+2025-04-27 20:33:44,684 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:33:44,684 [INFO] [0.0, -0.08750000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:33:53,682 [INFO] Simulating with mode cropfollow
+2025-04-27 20:33:53,682 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:33:53,682 [INFO] [0.0, -0.0800412782359326, -0.16767725764768102, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:34:02,321 [INFO] Simulating with mode cropfollow
+2025-04-27 20:34:02,321 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:34:02,321 [INFO] [0.0, -0.09254684227371471, -0.15800486945429207, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:34:12,610 [INFO] Simulating with mode cropfollow
+2025-04-27 20:34:12,610 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:34:12,610 [INFO] [0.0, -0.09101765994660205, -0.14179933322275645, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:34:21,111 [INFO] Simulating with mode cropfollow
+2025-04-27 20:34:21,112 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:34:21,112 [INFO] [0.0, -0.08648156565742614, -0.17188063712419946, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:34:29,207 [INFO] Simulating with mode cropfollow
+2025-04-27 20:34:29,207 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:34:29,207 [INFO] [0.0, -0.07671262171611684, -0.16510528051112325, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:34:37,477 [INFO] Simulating with mode cropfollow
+2025-04-27 20:34:37,477 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:34:37,477 [INFO] [0.0, -0.09764900917505794, -0.1405795551853383, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:34:46,821 [INFO] Simulating with mode cropfollow
+2025-04-27 20:34:46,821 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:34:46,821 [INFO] [0.0, -0.09370395101919392, -0.16207678061245073, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:34:55,553 [INFO] Simulating with mode cropfollow
+2025-04-27 20:34:55,553 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:34:55,553 [INFO] [0.0, -0.09019886342396377, -0.1351427208384663, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:35:03,423 [INFO] Simulating with mode cropfollow
+2025-04-27 20:35:03,423 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:35:03,423 [INFO] [0.0, -0.08694461196496615, -0.17146876248620965, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:35:11,627 [INFO] Simulating with mode cropfollow
+2025-04-27 20:35:11,627 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:35:11,627 [INFO] [0.0, -0.08621778955111721, -0.14072031999619128, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:35:19,556 [INFO] 0 check bloated tube unknown
+2025-04-27 20:35:19,556 [INFO] ===============================================
Mode: 0
stack size: 8
remainTime: 15
-2025-04-27 16:55:19,686 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:35:19,556 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
Upper Bound: [0.0, -0.07500000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
Delta: [0.0, 0.012499999999999997, 0.010937500000000003, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:55:19,686 [INFO] Simulating with mode cropfollow
-2025-04-27 16:55:19,686 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:55:19,686 [INFO] [0.0, -0.08750000000000001, -0.1640625, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:55:30,630 [INFO] Simulating with mode cropfollow
-2025-04-27 16:55:30,630 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:55:30,630 [INFO] [0.0, -0.08992594835110844, -0.15529167154871923, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:55:41,842 [INFO] Simulating with mode cropfollow
-2025-04-27 16:55:41,842 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:55:41,843 [INFO] [0.0, -0.09183318704839372, -0.16842480937058593, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:55:53,468 [INFO] Simulating with mode cropfollow
-2025-04-27 16:55:53,468 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:55:53,468 [INFO] [0.0, -0.0779183877439129, -0.16059885879910937, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:56:04,918 [INFO] Simulating with mode cropfollow
-2025-04-27 16:56:04,918 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:56:04,918 [INFO] [0.0, -0.08171781891554296, -0.15447176518413747, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:56:16,775 [INFO] Simulating with mode cropfollow
-2025-04-27 16:56:16,775 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:56:16,775 [INFO] [0.0, -0.09168213770502201, -0.16834925405859336, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:56:26,812 [INFO] Simulating with mode cropfollow
-2025-04-27 16:56:26,812 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:56:26,812 [INFO] [0.0, -0.08404394849337868, -0.17008271412198236, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:56:38,418 [INFO] Simulating with mode cropfollow
-2025-04-27 16:56:38,418 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:56:38,418 [INFO] [0.0, -0.0890958485739243, -0.15978255533783808, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:56:50,040 [INFO] Simulating with mode cropfollow
-2025-04-27 16:56:50,040 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:56:50,040 [INFO] [0.0, -0.09091719517741953, -0.16716597216299917, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:57:01,158 [INFO] Simulating with mode cropfollow
-2025-04-27 16:57:01,158 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:57:01,158 [INFO] [0.0, -0.09110919703179321, -0.1707877497442729, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:57:11,508 [INFO] Simulating with mode cropfollow
-2025-04-27 16:57:11,508 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:57:11,508 [INFO] [0.0, -0.0960052080537398, -0.16566099632226122, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:57:22,293 [INFO] 0 check bloated tube unknown
-2025-04-27 16:57:22,293 [INFO] ===============================================
+2025-04-27 20:35:19,556 [INFO] Simulating with mode cropfollow
+2025-04-27 20:35:19,556 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:35:19,556 [INFO] [0.0, -0.08750000000000001, -0.1640625, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:35:28,224 [INFO] Simulating with mode cropfollow
+2025-04-27 20:35:28,224 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:35:28,224 [INFO] [0.0, -0.0800412782359326, -0.1713386288238405, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:35:36,764 [INFO] Simulating with mode cropfollow
+2025-04-27 20:35:36,765 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:35:36,765 [INFO] [0.0, -0.09254684227371471, -0.16650243472714604, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:35:46,349 [INFO] Simulating with mode cropfollow
+2025-04-27 20:35:46,349 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:35:46,349 [INFO] [0.0, -0.09101765994660205, -0.15839966661137822, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:35:54,625 [INFO] Simulating with mode cropfollow
+2025-04-27 20:35:54,625 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:35:54,625 [INFO] [0.0, -0.08648156565742614, -0.17344031856209974, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:36:02,809 [INFO] Simulating with mode cropfollow
+2025-04-27 20:36:02,809 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:36:02,809 [INFO] [0.0, -0.07671262171611684, -0.17005264025556163, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:36:11,026 [INFO] Simulating with mode cropfollow
+2025-04-27 20:36:11,026 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:36:11,026 [INFO] [0.0, -0.09764900917505794, -0.15778977759266916, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:36:20,299 [INFO] Simulating with mode cropfollow
+2025-04-27 20:36:20,299 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:36:20,299 [INFO] [0.0, -0.09370395101919392, -0.16853839030622536, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:36:28,885 [INFO] Simulating with mode cropfollow
+2025-04-27 20:36:28,885 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:36:28,885 [INFO] [0.0, -0.09019886342396377, -0.15507136041923314, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:36:36,693 [INFO] Simulating with mode cropfollow
+2025-04-27 20:36:36,693 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:36:36,693 [INFO] [0.0, -0.08694461196496615, -0.1732343812431048, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:36:44,921 [INFO] Simulating with mode cropfollow
+2025-04-27 20:36:44,921 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:36:44,921 [INFO] [0.0, -0.08621778955111721, -0.15786015999809563, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:36:52,673 [INFO] 0 check bloated tube unknown
+2025-04-27 20:36:52,673 [INFO] ===============================================
Mode: 0
stack size: 9
remainTime: 15
-2025-04-27 16:57:22,293 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:36:52,673 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
Upper Bound: [0.0, -0.08750000000000001, -0.15312499999999998, 0.0, 0.0, 0.0, 0.0]
Delta: [0.0, 0.006249999999999999, 0.010937500000000003, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:57:22,293 [INFO] Simulating with mode cropfollow
-2025-04-27 16:57:22,293 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:57:22,293 [INFO] [0.0, -0.09375, -0.1640625, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:57:31,274 [INFO] Simulating with mode cropfollow
-2025-04-27 16:57:31,274 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:57:31,274 [INFO] [0.0, -0.09496297417555422, -0.15529167154871923, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:57:41,143 [INFO] Simulating with mode cropfollow
-2025-04-27 16:57:41,143 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:57:41,143 [INFO] [0.0, -0.09591659352419686, -0.16842480937058593, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:57:50,693 [INFO] Simulating with mode cropfollow
-2025-04-27 16:57:50,693 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:57:50,693 [INFO] [0.0, -0.08895919387195646, -0.16059885879910937, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:58:01,412 [INFO] Simulating with mode cropfollow
-2025-04-27 16:58:01,412 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:58:01,412 [INFO] [0.0, -0.09085890945777148, -0.15447176518413747, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:58:11,285 [INFO] Simulating with mode cropfollow
-2025-04-27 16:58:11,286 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:58:11,286 [INFO] [0.0, -0.09584106885251101, -0.16834925405859336, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:58:23,104 [INFO] Simulating with mode cropfollow
-2025-04-27 16:58:23,104 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:58:23,104 [INFO] [0.0, -0.09202197424668934, -0.17008271412198236, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:58:33,088 [INFO] Simulating with mode cropfollow
-2025-04-27 16:58:33,088 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:58:33,088 [INFO] [0.0, -0.09454792428696215, -0.15978255533783808, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:58:43,138 [INFO] Simulating with mode cropfollow
-2025-04-27 16:58:43,138 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:58:43,138 [INFO] [0.0, -0.09545859758870977, -0.16716597216299917, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:58:53,189 [INFO] Simulating with mode cropfollow
-2025-04-27 16:58:53,189 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:58:53,189 [INFO] [0.0, -0.09555459851589661, -0.1707877497442729, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:59:03,854 [INFO] Simulating with mode cropfollow
-2025-04-27 16:59:03,855 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:59:03,855 [INFO] [0.0, -0.0980026040268699, -0.16566099632226122, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:59:14,583 [INFO] 0 check bloated tube unknown
-2025-04-27 16:59:14,583 [INFO] ===============================================
+2025-04-27 20:36:52,673 [INFO] Simulating with mode cropfollow
+2025-04-27 20:36:52,673 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:36:52,674 [INFO] [0.0, -0.09375, -0.1640625, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:37:01,354 [INFO] Simulating with mode cropfollow
+2025-04-27 20:37:01,354 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:37:01,354 [INFO] [0.0, -0.0900206391179663, -0.1713386288238405, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:37:10,030 [INFO] Simulating with mode cropfollow
+2025-04-27 20:37:10,030 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:37:10,030 [INFO] [0.0, -0.09627342113685736, -0.16650243472714604, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:37:20,153 [INFO] Simulating with mode cropfollow
+2025-04-27 20:37:20,153 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:37:20,153 [INFO] [0.0, -0.09550882997330103, -0.15839966661137822, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:37:28,783 [INFO] Simulating with mode cropfollow
+2025-04-27 20:37:28,783 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:37:28,783 [INFO] [0.0, -0.09324078282871306, -0.17344031856209974, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:37:37,180 [INFO] Simulating with mode cropfollow
+2025-04-27 20:37:37,180 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:37:37,180 [INFO] [0.0, -0.08835631085805842, -0.17005264025556163, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:37:45,702 [INFO] Simulating with mode cropfollow
+2025-04-27 20:37:45,702 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:37:45,702 [INFO] [0.0, -0.09882450458752898, -0.15778977759266916, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:37:55,277 [INFO] Simulating with mode cropfollow
+2025-04-27 20:37:55,277 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:37:55,277 [INFO] [0.0, -0.09685197550959695, -0.16853839030622536, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:38:04,178 [INFO] Simulating with mode cropfollow
+2025-04-27 20:38:04,178 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:38:04,178 [INFO] [0.0, -0.09509943171198189, -0.15507136041923314, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:38:12,322 [INFO] Simulating with mode cropfollow
+2025-04-27 20:38:12,322 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:38:12,322 [INFO] [0.0, -0.09347230598248309, -0.1732343812431048, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:38:21,143 [INFO] Simulating with mode cropfollow
+2025-04-27 20:38:21,143 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:38:21,143 [INFO] [0.0, -0.09310889477555861, -0.15786015999809563, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:38:29,401 [INFO] 0 check bloated tube unknown
+2025-04-27 20:38:29,401 [INFO] ===============================================
Mode: 0
stack size: 10
remainTime: 15
-2025-04-27 16:59:14,583 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:38:29,401 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
Upper Bound: [0.0, -0.08750000000000001, -0.1640625, 0.0, 0.0, 0.0, 0.0]
Delta: [0.0, 0.006249999999999999, 0.0054687499999999944, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:59:14,583 [INFO] Simulating with mode cropfollow
-2025-04-27 16:59:14,583 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:59:14,583 [INFO] [0.0, -0.09375, -0.16953125, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:59:25,879 [INFO] Simulating with mode cropfollow
-2025-04-27 16:59:25,880 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:59:25,880 [INFO] [0.0, -0.09496297417555422, -0.16514583577435962, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:59:37,053 [INFO] Simulating with mode cropfollow
-2025-04-27 16:59:37,053 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:59:37,053 [INFO] [0.0, -0.09591659352419686, -0.17171240468529297, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:59:47,119 [INFO] Simulating with mode cropfollow
-2025-04-27 16:59:47,119 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:59:47,119 [INFO] [0.0, -0.08895919387195646, -0.1677994293995547, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 16:59:59,039 [INFO] Simulating with mode cropfollow
-2025-04-27 16:59:59,039 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 16:59:59,039 [INFO] [0.0, -0.09085890945777148, -0.16473588259206876, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:00:08,964 [INFO] Simulating with mode cropfollow
-2025-04-27 17:00:08,965 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:00:08,965 [INFO] [0.0, -0.09584106885251101, -0.17167462702929667, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:00:18,927 [INFO] Simulating with mode cropfollow
-2025-04-27 17:00:18,927 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:00:18,927 [INFO] [0.0, -0.09202197424668934, -0.1725413570609912, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:00:29,746 [INFO] Simulating with mode cropfollow
-2025-04-27 17:00:29,746 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:00:29,746 [INFO] [0.0, -0.09454792428696215, -0.16739127766891904, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:00:40,352 [INFO] Simulating with mode cropfollow
-2025-04-27 17:00:40,352 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:00:40,352 [INFO] [0.0, -0.09545859758870977, -0.17108298608149958, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:00:50,766 [INFO] Simulating with mode cropfollow
-2025-04-27 17:00:50,766 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:00:50,766 [INFO] [0.0, -0.09555459851589661, -0.17289387487213645, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:01:02,263 [INFO] Simulating with mode cropfollow
-2025-04-27 17:01:02,263 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:01:02,263 [INFO] [0.0, -0.0980026040268699, -0.1703304981611306, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:01:13,006 [INFO] 0 check bloated tube unknown
-2025-04-27 17:01:13,006 [INFO] ===============================================
+2025-04-27 20:38:29,401 [INFO] Simulating with mode cropfollow
+2025-04-27 20:38:29,401 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:38:29,401 [INFO] [0.0, -0.09375, -0.16953125, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:38:38,678 [INFO] Simulating with mode cropfollow
+2025-04-27 20:38:38,678 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:38:38,678 [INFO] [0.0, -0.0900206391179663, -0.17316931441192024, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:38:47,694 [INFO] Simulating with mode cropfollow
+2025-04-27 20:38:47,694 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:38:47,694 [INFO] [0.0, -0.09627342113685736, -0.17075121736357302, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:38:58,170 [INFO] Simulating with mode cropfollow
+2025-04-27 20:38:58,170 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:38:58,170 [INFO] [0.0, -0.09550882997330103, -0.1666998333056891, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:39:07,019 [INFO] Simulating with mode cropfollow
+2025-04-27 20:39:07,020 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:39:07,020 [INFO] [0.0, -0.09324078282871306, -0.17422015928104986, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:39:15,696 [INFO] Simulating with mode cropfollow
+2025-04-27 20:39:15,696 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:39:15,696 [INFO] [0.0, -0.08835631085805842, -0.1725263201277808, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:39:24,328 [INFO] Simulating with mode cropfollow
+2025-04-27 20:39:24,328 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:39:24,328 [INFO] [0.0, -0.09882450458752898, -0.16639488879633457, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:39:34,028 [INFO] Simulating with mode cropfollow
+2025-04-27 20:39:34,028 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:39:34,028 [INFO] [0.0, -0.09685197550959695, -0.17176919515311267, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:39:43,130 [INFO] Simulating with mode cropfollow
+2025-04-27 20:39:43,130 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:39:43,130 [INFO] [0.0, -0.09509943171198189, -0.1650356802096166, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:39:51,055 [INFO] Simulating with mode cropfollow
+2025-04-27 20:39:51,055 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:39:51,055 [INFO] [0.0, -0.09347230598248309, -0.1741171906215524, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:39:59,712 [INFO] Simulating with mode cropfollow
+2025-04-27 20:39:59,712 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 1.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:39:59,712 [INFO] [0.0, -0.09310889477555861, -0.16643007999904783, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:40:07,734 [INFO] 0 check bloated tube unknown
+2025-04-27 20:40:07,734 [INFO] ===============================================
Mode: 0
stack size: 11
remainTime: 15
-2025-04-27 17:01:13,006 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:40:07,734 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
Upper Bound: [0.0, -0.09375, -0.1640625, 0.0, 0.0, 0.0, 0.0]
Delta: [0.0, 0.0031250000000000028, 0.0054687499999999944, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:01:13,006 [INFO] 0 is not valid anymore
-2025-04-27 17:01:13,006 [INFO] Hit refine threshold, system halt, result unknown
-2025-04-27 17:01:13,006 [INFO] simulation time: 10.376747846603394
-2025-04-27 17:01:13,006 [INFO] verification time: 1182.3353049755096
+2025-04-27 20:40:07,734 [INFO] 0 is not valid anymore
+2025-04-27 20:40:07,734 [INFO] Hit refine threshold, system halt, result unknown
+2025-04-27 20:40:07,734 [INFO] simulation time: 7.925096750259399
+2025-04-27 20:40:07,734 [INFO] verification time: 947.6087777614594
diff --git a/output/noise/perception/p01_a10/pose/perceptnoise_pose1_00__heading0_00/results.json b/output/noise/perception/p01_a10/pose/perceptnoise_pose1_00__heading0_00/results.json
index eef471fd62849f77389eea7fa6605570e998f149..52300b6d32edad6a4317257c93864f6d3d7be6c4 100644
--- a/output/noise/perception/p01_a10/pose/perceptnoise_pose1_00__heading0_00/results.json
+++ b/output/noise/perception/p01_a10/pose/perceptnoise_pose1_00__heading0_00/results.json
@@ -1,7 +1,7 @@
{
"safety": "UNKNOWN",
- "sim_time": 10.376747846603394,
- "verification_time": 1182.3353049755096,
+ "sim_time": 7.925096750259399,
+ "verification_time": 947.6087777614594,
"refine_time": null,
- "total_time": 1193.264731645584
+ "total_time": 956.0950841903687
}
\ No newline at end of file
diff --git a/output/noise/perception/p01_a10/pose/perceptnoise_pose2_00__heading0_00/Traj.txt b/output/noise/perception/p01_a10/pose/perceptnoise_pose2_00__heading0_00/Traj.txt
index 1608f5df1ea290cf47834591dc17d45ebaf41cc5..a3fc3aafb22ea51f317eaa676769e80b542d1de6 100644
--- a/output/noise/perception/p01_a10/pose/perceptnoise_pose2_00__heading0_00/Traj.txt
+++ b/output/noise/perception/p01_a10/pose/perceptnoise_pose2_00__heading0_00/Traj.txt
@@ -1,47 +1,47 @@
-cropfollow/pn=[2.00:0.00]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]
-0.0 0.0 -0.026602838188409805 -0.13113591074943542 0.08941918611526489 -0.20800504088401794 -0.1426248550415039 0.15479937195777893
-0.3333333432674408 0.19828282296657562 -0.05275491625070572 -0.04193703830242157 0.08663200587034225 -0.2131042182445526 -0.1921418309211731 0.10759439319372177
-0.6666666865348816 0.39810699224472046 -0.06113986670970917 0.024503648281097412 0.09494040906429291 -0.20496954023838043 -0.21722014248371124 0.0826898068189621
-1.0 0.5980469584465027 -0.05623962730169296 0.129967600107193 0.12489578872919083 -0.17257404327392578 -0.23737505078315735 0.06009478121995926
-1.3333333730697632 0.796360194683075 -0.030319223180413246 0.22914671897888184 0.17254652082920074 -0.11961165815591812 -0.23318497836589813 0.05897321552038193
-1.6666666269302368 0.9911323189735413 0.015110107138752937 0.17155805230140686 0.20558753609657288 -0.09000846743583679 -0.1753673255443573 0.12022867798805237
-2.0 1.1881963014602661 0.04925365746021271 0.1538732647895813 0.23579809069633484 -0.060657382011413574 -0.13729077577590942 0.159164696931839
-2.3333332538604736 1.3858332633972168 0.07990701496601105 0.08741610497236252 0.25116047263145447 -0.04769402742385864 -0.09134644269943237 0.20750805735588074
-2.6666667461395264 1.5850696563720703 0.09736797958612442 0.026871077716350555 0.2540307939052582 -0.045860908925533295 -0.059294842183589935 0.24059686064720154
-3.0 1.7849974632263184 0.1027415469288826 -0.03650211542844772 0.24351811408996582 -0.05628203600645065 -0.03803502768278122 0.26176512241363525
-3.3333332538604736 1.9848642349243164 0.0954427421092987 -0.08673660457134247 0.22322188317775726 -0.07565034925937653 -0.03233639895915985 0.26653581857681274
-3.6666667461395264 2.184112310409546 0.07811716198921204 -0.10302920639514923 0.20160998404026031 -0.09679917991161346 -0.04537566006183624 0.25303351879119873
-4.0 2.383051872253418 0.05754775553941727 -0.005176901817321777 0.20625153183937073 -0.09374446421861649 -0.0911560133099556 0.20883998274803162
-4.333333492279053 2.5830492973327637 0.05651237815618515 0.008796636946499348 0.20870572328567505 -0.09128270298242569 -0.09568095952272415 0.2043074667453766
-4.666666507720947 2.783041477203369 0.058271683752536774 0.07831978052854538 0.22737181186676025 -0.07170858234167099 -0.1108284518122673 0.18825194239616394
-5.0 2.9824283123016357 0.0739196315407753 0.149900421500206 0.25957244634628296 -0.0370633527636528 -0.11173319071531296 0.1849026083946228
-5.333333492279053 3.180185556411743 0.10378757119178772 0.08562356233596802 0.2746177911758423 -0.024283170700073242 -0.06704264879226685 0.23185831308364868
-5.666666507720947 3.37945294380188 0.12089136987924576 -0.049719423055648804 0.25828126072883606 -0.04134800285100937 -0.01649852842092514 0.2831307351589203
-6.0 3.5792057514190674 0.11095158010721207 -0.05799827724695206 0.24620792269706726 -0.05328764766454697 -0.024304769933223724 0.2751908004283905
-6.333333492279053 3.778869390487671 0.09935842454433441 -0.032775092869997025 0.24108557403087616 -0.058753326535224915 -0.042368724942207336 0.25747019052505493
-6.666666507720947 3.978761911392212 0.09280458092689514 -0.08563542366027832 0.2208722084760666 -0.07802845537662506 -0.035263046622276306 0.26363760232925415
-7.0 4.1780290603637695 0.07569842040538788 -0.17405666410923004 0.18013718724250793 -0.11532992124557495 -0.028740346431732178 0.2667267620563507
-7.333333492279053 4.375007152557373 0.04106258973479271 -0.22605420649051666 0.13121287524700165 -0.1611546277999878 -0.04908769950270653 0.2432798147201538
-7.666666507720947 4.569918632507324 -0.003764186054468155 -0.2673594057559967 0.07486020028591156 -0.21448135375976562 -0.08238857984542847 0.2069529891014099
-8.0 4.762813091278076 -0.056601304560899734 -0.30877214670181274 0.010332535952329636 -0.2754797041416168 -0.1235351413488388 0.16227708756923676
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+cropfollow/pn=[2.000:0.000]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]
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diff --git a/output/noise/perception/p01_a10/pose/perceptnoise_pose2_00__heading0_00/log.txt b/output/noise/perception/p01_a10/pose/perceptnoise_pose2_00__heading0_00/log.txt
index b8b292c71f92a174d6d29984d759c972894ca083..1c8e3cbf217289e85ec770f75f90d1365ea9006d 100644
--- a/output/noise/perception/p01_a10/pose/perceptnoise_pose2_00__heading0_00/log.txt
+++ b/output/noise/perception/p01_a10/pose/perceptnoise_pose2_00__heading0_00/log.txt
@@ -1,5 +1,5 @@
-2025-04-27 17:01:14,164 [INFO] Simulating with mode cropfollow
-2025-04-27 17:01:14,164 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 2.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 17:01:14,164 [INFO] [0.0, -0.026602838766505113, -0.1311359094531504, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 17:01:24,627 [INFO] Current simulation is not safe. Program halt
-2025-04-27 17:01:24,627 [INFO] simulation time 10.463057279586792
+2025-04-27 20:40:24,273 [INFO] Simulating with mode cropfollow
+2025-04-27 20:40:24,273 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 2.0, 'heading_std': 0.0}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
+2025-04-27 20:40:24,273 [INFO] [0.0, -0.09467091882503986, 0.15540533973531173, 0.0, 0.0, 0.0, 0.0]
+2025-04-27 20:40:36,400 [INFO] Current simulation is not safe. Program halt
+2025-04-27 20:40:36,400 [INFO] simulation time 12.127264261245728
diff --git a/output/noise/perception/p01_a10/pose/perceptnoise_pose2_00__heading0_00/results.json b/output/noise/perception/p01_a10/pose/perceptnoise_pose2_00__heading0_00/results.json
index eba028c0ae7b29939386025f18aa7d1b04c5f4a3..1263b642d48653b0cc2b9068e4439149c2498aeb 100644
--- a/output/noise/perception/p01_a10/pose/perceptnoise_pose2_00__heading0_00/results.json
+++ b/output/noise/perception/p01_a10/pose/perceptnoise_pose2_00__heading0_00/results.json
@@ -1,7 +1,7 @@
{
"safety": "UNSAFE",
- "sim_time": 10.463057279586792,
+ "sim_time": 12.127264261245728,
"verification_time": null,
"refine_time": null,
- "total_time": 11.014427661895752
+ "total_time": 12.697332859039307
}
\ No newline at end of file
diff --git a/output/temp/Traj.txt b/output/temp/Traj.txt
deleted file mode 100644
index 25019b97546124ffc71dd41af2ced9f4a37ac1b7..0000000000000000000000000000000000000000
--- a/output/temp/Traj.txt
+++ /dev/null
@@ -1,47 +0,0 @@
-cropfollow/pn=[0.00:0.35]/dn=[0.0:0.0]/tn=[[1.0:1.0];[1.0:1.0]]
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-6.333333492279053 3.797954797744751 0.014390069991350174 0.02311774156987667 0.17012891173362732 -0.12979093194007874 -0.14134877920150757 0.1585710644721985
-6.666666507720947 3.997901439666748 0.019013207405805588 0.006923997774720192 0.17074060440063477 -0.12925222516059875 -0.132714182138443 0.16727864742279053
-7.0 4.197896480560303 0.02039799652993679 -0.004104745574295521 0.16937054693698883 -0.13062693178653717 -0.12857456505298615 0.17142291367053986
-7.333333492279053 4.397894859313965 0.01957705058157444 -0.012562263756990433 0.16642475128173828 -0.13355159759521484 -0.1272706389427185 0.17270570993423462
-7.666666507720947 4.597878932952881 0.017064664512872696 -0.010021344758570194 0.16455185413360596 -0.1354331076145172 -0.13042253255844116 0.169562429189682
-8.0 4.797868728637695 0.015060428529977798 -0.011564142070710659 0.16215942800045013 -0.1378205269575119 -0.13203857839107513 0.1679413765668869
-8.333333015441895 4.997855186462402 0.01274765096604824 -0.016206614673137665 0.15867647528648376 -0.14128413796424866 -0.13318118453025818 0.16677942872047424
-8.666666984558105 5.197828769683838 0.00950646959245205 -0.019607847556471825 0.15457598865032196 -0.1453663557767868 -0.13556306064128876 0.16437928378582
-9.0 5.397790431976318 0.005585151258856058 -0.026014257222414017 0.14903156459331512 -0.15086694061756134 -0.13786126673221588 0.16203723847866058
-9.333333015441895 5.597723007202148 0.00038288626819849014 -0.006819609552621841 0.14867451786994934 -0.1513185203075409 -0.1479087471961975 0.15208429098129272
-9.666666984558105 5.797718524932861 -0.0009810251649469137 -0.014815102331340313 0.14529888331890106 -0.1546681970357895 -0.14726091921329498 0.15270616114139557
-10.0 5.997696399688721 -0.003943937364965677 0.003724374808371067 0.14698611199855804 -0.15301181375980377 -0.15487398207187653 0.1451239436864853
-10.333333015441895 6.197694778442383 -0.0031990641728043556 0.014486442320048809 0.15040668845176697 -0.14956185221672058 -0.15680482983589172 0.14316371083259583
-10.666666984558105 6.397673606872559 -0.000301877036690712 0.01308906078338623 0.15295745432376862 -0.14701686799526215 -0.15356121957302094 0.14641310274600983
-11.0 6.59765625 0.0023158607073128223 -0.0030832793563604355 0.15154433250427246 -0.14845424890518188 -0.1469126045703888 0.15308597683906555
-11.333333015441895 6.79765510559082 0.0016992057207971811 -0.00910464208573103 0.14941687881946564 -0.15057070553302765 -0.14601846039295197 0.15396912395954132
-11.666666984558105 6.997646808624268 -0.00012169755063951015 -0.00979460496455431 0.14742249250411987 -0.15256312489509583 -0.14766588807106018 0.15231972932815552
-12.0 7.19763708114624 -0.00208058743737638 -0.01482793316245079 0.14419609308242798 -0.15577095746994019 -0.14835727214813232 0.15160977840423584
-12.333333015441895 7.3976149559021 -0.0050460658967494965 -0.013258189894258976 0.1416262984275818 -0.15834733843803406 -0.15171843767166138 0.14825519919395447
-12.666666984558105 7.597597599029541 -0.007697626482695341 -0.020397350192070007 0.13717219233512878 -0.16276541352272034 -0.15256744623184204 0.14737015962600708
-13.0 7.797555923461914 -0.011776814237236977 -0.010650097392499447 0.13555219769477844 -0.16443079710006714 -0.1591058373451233 0.1408771574497223
-13.333333015441895 7.997544765472412 -0.013906793668866158 -0.0002001756802201271 0.13604317605495453 -0.16395683586597443 -0.16385675966739655 0.1361432522535324
-13.666666984558105 8.197545051574707 -0.013946828432381153 0.0052159931510686874 0.13735511898994446 -0.16264081001281738 -0.1652487814426422 0.13474714756011963
-14.0 8.397541999816895 -0.012903634458780289 0.0298069529235363 0.1444803923368454 -0.15538637340068817 -0.17028765380382538 0.1295791119337082
-14.333333015441895 8.597453117370605 -0.006943125743418932 0.028634123504161835 0.15015295147895813 -0.1497240960597992 -0.16403919458389282 0.1358378529548645
-14.666666984558105 8.797370910644531 -0.0012170830741524696 0.03424621745944023 0.15725485980510712 -0.14256925880908966 -0.1596890240907669 0.14013509452342987
-15.0 8.99725341796875 0.005630821920931339 0.024198956787586212 0.16163605451583862 -0.1382761299610138 -0.1503744125366211 0.14953777194023132
diff --git a/output/temp/log.txt b/output/temp/log.txt
deleted file mode 100644
index 0e65ca7568403df5660a823c47d78f19a2d752fa..0000000000000000000000000000000000000000
--- a/output/temp/log.txt
+++ /dev/null
@@ -1,102 +0,0 @@
-2025-04-27 18:09:40,028 [INFO] Simulating with mode cropfollow
-2025-04-27 18:09:40,028 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.35}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:09:40,028 [INFO] [0.0, -0.014612117292592305, -0.06098724583189062, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:09:53,614 [INFO] Verification Begin
-2025-04-27 18:09:53,614 [INFO] ===============================================
-Mode: 0
-stack size: 1
-remainTime: 15
-
-2025-04-27 18:09:53,614 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.1, 0.175, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 18:09:53,614 [INFO] Simulating with mode cropfollow
-2025-04-27 18:09:53,614 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.35}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:09:53,614 [INFO] [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:10:05,754 [INFO] Simulating with mode cropfollow
-2025-04-27 18:10:05,754 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.35}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:10:05,754 [INFO] [0.0, -0.01940758680886745, 0.14033325522049223, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:10:19,260 [INFO] Simulating with mode cropfollow
-2025-04-27 18:10:19,260 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.35}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:10:19,260 [INFO] [0.0, -0.034665496387149705, -0.06979694992937524, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:10:33,532 [INFO] Simulating with mode cropfollow
-2025-04-27 18:10:33,532 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.35}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:10:33,532 [INFO] [0.0, 0.07665289804869688, 0.05541825921424964, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:10:47,645 [INFO] Simulating with mode cropfollow
-2025-04-27 18:10:47,645 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.35}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:10:47,645 [INFO] [0.0, 0.046257448675656454, 0.15345175705380004, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:11:01,396 [INFO] Simulating with mode cropfollow
-2025-04-27 18:11:01,397 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.35}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:11:01,397 [INFO] [0.0, -0.03345710164017601, -0.06858806493749396, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:11:14,622 [INFO] Simulating with mode cropfollow
-2025-04-27 18:11:14,622 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.35}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:11:14,622 [INFO] [0.0, 0.027648412052970667, -0.09632342595171799, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:11:27,759 [INFO] Simulating with mode cropfollow
-2025-04-27 18:11:27,759 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.35}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:11:27,759 [INFO] [0.0, -0.012766788591394379, 0.06847911459459036, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:11:41,457 [INFO] Simulating with mode cropfollow
-2025-04-27 18:11:41,457 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.35}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:11:41,457 [INFO] [0.0, -0.02733756141935624, -0.04965555460798679, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:11:53,838 [INFO] Simulating with mode cropfollow
-2025-04-27 18:11:53,838 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.35}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:11:53,838 [INFO] [0.0, -0.02887357625434564, -0.10760399590836674, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:12:06,644 [INFO] Simulating with mode cropfollow
-2025-04-27 18:12:06,645 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.35}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:12:06,645 [INFO] [0.0, -0.06804166442991832, -0.025575941156179977, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:12:20,222 [INFO] 0 check bloated tube unknown
-2025-04-27 18:12:20,222 [INFO] ===============================================
-Mode: 0
-stack size: 2
-remainTime: 15
-
-2025-04-27 18:12:20,222 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.1, 0.0875, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 18:12:20,222 [INFO] Simulating with mode cropfollow
-2025-04-27 18:12:20,222 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.35}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:12:20,222 [INFO] [0.0, 0.0, -0.0875, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:12:32,762 [INFO] Simulating with mode cropfollow
-2025-04-27 18:12:32,762 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.35}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:12:32,762 [INFO] [0.0, -0.01940758680886745, -0.01733337238975388, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:12:45,033 [INFO] Simulating with mode cropfollow
-2025-04-27 18:12:45,033 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.35}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:12:45,033 [INFO] [0.0, -0.034665496387149705, -0.12239847496468761, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:12:59,228 [INFO] Simulating with mode cropfollow
-2025-04-27 18:12:59,228 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.35}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:12:59,228 [INFO] [0.0, 0.07665289804869688, -0.05979087039287517, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:13:10,326 [INFO] Simulating with mode cropfollow
-2025-04-27 18:13:10,327 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.35}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:13:10,327 [INFO] [0.0, 0.046257448675656454, -0.010774121473099973, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:13:23,117 [INFO] Simulating with mode cropfollow
-2025-04-27 18:13:23,117 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.35}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:13:23,117 [INFO] [0.0, -0.03345710164017601, -0.12179403246874698, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:13:36,007 [INFO] Simulating with mode cropfollow
-2025-04-27 18:13:36,007 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.35}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:13:36,007 [INFO] [0.0, 0.027648412052970667, -0.135661712975859, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:13:50,556 [INFO] Simulating with mode cropfollow
-2025-04-27 18:13:50,556 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.35}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:13:50,556 [INFO] [0.0, -0.012766788591394379, -0.053260442702704816, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:14:02,833 [INFO] Simulating with mode cropfollow
-2025-04-27 18:14:02,833 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.35}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:14:02,833 [INFO] [0.0, -0.02733756141935624, -0.11232777730399339, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:14:17,096 [INFO] Simulating with mode cropfollow
-2025-04-27 18:14:17,096 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.35}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:14:17,096 [INFO] [0.0, -0.02887357625434564, -0.14130199795418336, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:14:29,774 [INFO] Simulating with mode cropfollow
-2025-04-27 18:14:29,774 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.35}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:14:29,774 [INFO] [0.0, -0.06804166442991832, -0.10028797057808998, 0.0, 0.0, 0.0, 0.0]
-2025-04-27 18:14:43,355 [INFO] 0 check bloated tube unknown
-2025-04-27 18:14:43,355 [INFO] ===============================================
-Mode: 0
-stack size: 3
-remainTime: 15
-
-2025-04-27 18:14:43,355 [INFO] Lower Bound: [0.0, -0.1, -0.175, 0.0, 0.0, 0.0, 0.0]
-Upper Bound: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
-Delta: [0.0, 0.05, 0.0875, 0.0, 0.0, 0.0, 0.0]
-
-2025-04-27 18:14:43,355 [INFO] Simulating with mode cropfollow
-2025-04-27 18:14:43,355 [INFO] Parsed settings: {'core_mode': 'cropfollow', 'perception_noise': {'pose_std': 0.0, 'heading_std': 0.35}, 'dynamics_noise': {'linear_std': 0.0, 'angular_std': 0.0}, 'traversability_noise': {'linear': {'min': 1.0, 'max': 1.0}, 'angular': {'min': 1.0, 'max': 1.0}}}
-2025-04-27 18:14:43,355 [INFO] [0.0, -0.05, -0.0875, 0.0, 0.0, 0.0, 0.0]