3.608765 -6.889714 9.690143
Here are the attributes of interest: dist_to_ground_R dist_to_ground_L dist_from_window_R dist_from_window_L
This is for Naoko:
          
L1: Is dist_to_ground_R > 2.800311? (yes=L2 and no=L3)
  L2: Is dist_to_ground_L > 1.471738? (yes=L4 and no=L5)
    L4: Is dist_to_ground_L1 > 17.38106? (yes=L6 and no=L7)
      L6: tiptoe_no = 268
      L7: Is dist_to_ground_L2 > 4.104591? (yes=L8 and no=L9)
        L8: Is dist_from_window_L3 > 4.703208? (yes=L10 and no=L11)
          L10: tiptoe_yes = 19 tiptoe_no = 14
          L11: tiptoe_yes = 97 tiptoe_no = 1
        L9: Is dist_from_window_R3 > 2.075776? (yes=L12 and no=L13)
          L12: tiptoe_yes = 29 tiptoe_no = 20
          L13: tiptoe_no = 17
    L5: Is dist_to_ground_R4 > 5.888879? (yes=L14 and no=L15)
      L14: Is dist_from_window_R1 > 7.062194? (yes=L16 and no=L17)
        L16: tiptoe_no = 45
        L17: Is dist_from_window_R > 3.554787? (yes=L18 and no=L19)
          L18: tiptoe_no = 9 tiptoe_yes = 8
          L19: tiptoe_no = 19
      L15: tiptoe_no = 307
  L3: Is dist_from_window_R1 > 3.457159? (yes=L20 and no=L21)
    L20: Is dist_from_window_R2 > 5.440874? (yes=L22 and no=L23)
      L22: tiptoe_no = 328
      L23: Is dist_to_ground_R4 > 0.49891? (yes=L24 and no=L25)
        L24: Is dist_from_window_L > 1.068442? (yes=L26 and no=L27)
          L26: tiptoe_yes = 18 tiptoe_no = 16
          L27: tiptoe_no = 25
        L25: tiptoe_no = 78
    L21: tiptoe_no = 3335
Training set error: 0.01267999
          
L1: Is dist_to_ground_R > 2.800311? (yes=L2 and no=L3)
  L2: Is dist_to_ground_L > 1.471738? (yes=L4 and no=L5)
    L4: Is dist_to_ground_L1 > 17.38106? (yes=L6 and no=L7)
      L6: tiptoe_no = 242
      L7: Is dist_to_ground_L2 > 4.104591? (yes=L8 and no=L9)
        L8: Is dist_from_window_L3 > 4.703208? (yes=L10 and no=L11)
          L10: tiptoe_no = 14 tiptoe_yes = 17
          L11: tiptoe_yes = 90 tiptoe_no = 1
        L9: Is dist_from_window_R3 > 2.075776? (yes=L12 and no=L13)
          L12: tiptoe_yes = 25 tiptoe_no = 19
          L13: tiptoe_no = 14
    L5: Is dist_to_ground_R4 > 5.888879? (yes=L14 and no=L15)
      L14: Is dist_from_window_R1 > 7.062194? (yes=L16 and no=L17)
        L16: tiptoe_no = 36
        L17: Is dist_from_window_R > 3.513529? (yes=L18 and no=L19)
          L18: tiptoe_yes = 8 tiptoe_no = 9
          L19: tiptoe_no = 18
      L15: tiptoe_no = 273
  L3: Is dist_from_window_R1 > 3.457159? (yes=L20 and no=L21)
    L20: Is dist_from_window_R2 > 4.269703? (yes=L22 and no=L23)
      L22: Is dist_from_window_R4 > 0.711531? (yes=L24 and no=L25)
        L24: tiptoe_no = 307
        L25: Is dist_from_window_R > 6.638736? (yes=L26 and no=L27)
          L26: tiptoe_no = 9
          L27: tiptoe_yes = 1
      L23: Is dist_to_ground_R4 > 0.49891? (yes=L28 and no=L29)
        L28: Is dist_from_window_L > 1.068442? (yes=L30 and no=L31)
          L30: tiptoe_no = 11 tiptoe_yes = 16
          L31: tiptoe_no = 11
        L29: tiptoe_no = 52
    L21: tiptoe_no = 3014
Training set error: 0.01265823
Test set error: 0.006437768
          
L1: Is dist_to_ground_R > 1.851544? (yes=L2 and no=L3)
  L2: Is dist_to_ground_L > 1.262202? (yes=L4 and no=L5)
    L4: Is dist_to_ground_L1 > 17.38106? (yes=L6 and no=L7)
      L6: tiptoe_no = 253
      L7: Is dist_to_ground_L2 > 4.975425? (yes=L8 and no=L9)
        L8: Is dist_from_window_L3 > 4.769432? (yes=L10 and no=L11)
          L10: tiptoe_no = 12 tiptoe_yes = 14
          L11: tiptoe_yes = 83 tiptoe_no = 2
        L9: Is dist_from_window_L > 2.336049? (yes=L12 and no=L13)
          L12: tiptoe_no = 8 tiptoe_yes = 30
          L13: tiptoe_no = 47 tiptoe_yes = 10
    L5: Is dist_to_ground_R4 > 4.195112? (yes=L14 and no=L15)
      L14: Is dist_to_ground_R1 > 2.07882? (yes=L16 and no=L17)
        L16: Is dist_from_window_L4 > 1.530925? (yes=L18 and no=L19)
          L18: tiptoe_yes = 5 tiptoe_no = 30
          L19: tiptoe_no = 121 tiptoe_yes = 1
        L17: tiptoe_yes = 2
      L15: tiptoe_no = 333
  L3: Is dist_from_window_R1 > 3.662409? (yes=L20 and no=L21)
    L20: Is dist_from_window_R2 > 4.267405? (yes=L22 and no=L23)
      L22: tiptoe_no = 245
      L23: Is dist_to_ground_R4 > 0.680093? (yes=L24 and no=L25)
        L24: Is dist_to_ground_L3 > 0.58946? (yes=L26 and no=L27)
          L26: tiptoe_yes = 8 tiptoe_no = 2
          L27: tiptoe_no = 6
        L25: tiptoe_no = 48
    L21: tiptoe_no = 2927
Training set error: 0.00955338
Test set error: 0.02360515
          
L1: Is dist_to_ground_R > 2.800311? (yes=L2 and no=L3)
  L2: Is dist_to_ground_L > 1.471738? (yes=L4 and no=L5)
    L4: Is dist_to_ground_L1 > 17.38106? (yes=L6 and no=L7)
      L6: tiptoe_no = 242
      L7: Is dist_to_ground_L2 > 4.104591? (yes=L8 and no=L9)
        L8: Is dist_from_window_L3 > 4.661994? (yes=L10 and no=L11)
          L10: tiptoe_no = 14 tiptoe_yes = 15
          L11: tiptoe_yes = 88 tiptoe_no = 1
        L9: Is dist_to_ground_L3 > 2.927613? (yes=L12 and no=L13)
          L12: tiptoe_no = 17
          L13: tiptoe_no = 15 tiptoe_yes = 25
    L5: Is dist_to_ground_R4 > 5.888879? (yes=L14 and no=L15)
      L14: Is dist_from_window_R1 > 7.062194? (yes=L16 and no=L17)
        L16: tiptoe_no = 38
        L17: Is dist_from_window_R > 3.554787? (yes=L18 and no=L19)
          L18: tiptoe_yes = 7 tiptoe_no = 8
          L19: tiptoe_no = 17
      L15: tiptoe_no = 276
  L3: Is dist_from_window_R1 > 3.457159? (yes=L20 and no=L21)
    L20: Is dist_from_window_R2 > 5.440874? (yes=L22 and no=L23)
      L22: tiptoe_no = 300
      L23: Is dist_to_ground_R4 > 0.49891? (yes=L24 and no=L25)
        L24: Is dist_from_window_L > 1.068442? (yes=L26 and no=L27)
          L26: tiptoe_yes = 15 tiptoe_no = 15
          L27: tiptoe_no = 23
        L25: tiptoe_no = 68
    L21: tiptoe_no = 3003
Training set error: 0.01241939
Test set error: 0.01287554
          
L1: Is dist_to_ground_R > 1.843592? (yes=L2 and no=L3)
  L2: Is dist_to_ground_L > 1.256538? (yes=L4 and no=L5)
    L4: Is dist_to_ground_L1 > 17.38106? (yes=L6 and no=L7)
      L6: tiptoe_no = 249
      L7: Is dist_to_ground_L2 > 4.104591? (yes=L8 and no=L9)
        L8: Is dist_from_window_R3 > 2.510286? (yes=L10 and no=L11)
          L10: tiptoe_yes = 40 tiptoe_no = 22
          L11: tiptoe_yes = 67
        L9: Is dist_from_window_L > 2.505887? (yes=L12 and no=L13)
          L12: tiptoe_yes = 21 tiptoe_no = 7
          L13: tiptoe_no = 40 tiptoe_yes = 10
    L5: Is dist_to_ground_R4 > 4.195112? (yes=L14 and no=L15)
      L14: Is dist_to_ground_L4 > 2.284418? (yes=L16 and no=L17)
        L16: Is dist_from_window_R > 4.589334? (yes=L18 and no=L19)
          L18: tiptoe_yes = 5 tiptoe_no = 1
          L19: tiptoe_no = 6
        L17: Is dist_to_ground_R1 > 15.77734? (yes=L20 and no=L21)
          L20: tiptoe_yes = 2
          L21: tiptoe_no = 151 tiptoe_yes = 2
      L15: tiptoe_no = 338
  L3: Is dist_from_window_R1 > 3.799044? (yes=L22 and no=L23)
    L22: Is dist_from_window_R2 > 4.267405? (yes=L24 and no=L25)
      L24: tiptoe_no = 240
      L25: Is dist_to_ground_R4 > 0.730304? (yes=L26 and no=L27)
        L26: Is dist_to_ground_L3 > 0.80387? (yes=L28 and no=L29)
          L28: tiptoe_yes = 7 tiptoe_no = 1
          L29: tiptoe_no = 6
        L27: tiptoe_no = 49
    L23: tiptoe_no = 2923
Training set error: 0.01026988
Test set error: 0.01072961
          
L1: Is dist_to_ground_R > 2.800311? (yes=L2 and no=L3)
  L2: Is dist_from_window_L4 > 0.61757? (yes=L4 and no=L5)
    L4: Is dist_to_ground_L2 > 17.38106? (yes=L6 and no=L7)
      L6: tiptoe_no = 103
      L7: Is dist_to_ground_L > 3.625678? (yes=L8 and no=L9)
        L8: Is dist_from_window_L1 > 4.837743? (yes=L10 and no=L11)
          L10: tiptoe_yes = 19 tiptoe_no = 7
          L11: tiptoe_yes = 93 tiptoe_no = 4
        L9: Is dist_from_window_R1 > 7.062194? (yes=L12 and no=L13)
          L12: tiptoe_no = 86
          L13: tiptoe_no = 75 tiptoe_yes = 16
    L5: Is dist_from_window_L1 > 1.480295? (yes=L14 and no=L15)
      L14: Is dist_to_ground_L > 1.823243? (yes=L16 and no=L17)
        L16: tiptoe_yes = 8
        L17: tiptoe_no = 19
      L15: Is dist_from_window_L3 > 1.013828? (yes=L18 and no=L19)
        L18: tiptoe_yes = 1
        L19: tiptoe_no = 330
  L3: Is dist_from_window_R1 > 3.457159? (yes=L20 and no=L21)
    L20: Is dist_from_window_R2 > 5.440874? (yes=L22 and no=L23)
      L22: tiptoe_no = 298
      L23: Is dist_to_ground_R4 > 0.49891? (yes=L24 and no=L25)
        L24: Is dist_from_window_L > 1.068442? (yes=L26 and no=L27)
          L26: tiptoe_no = 16 tiptoe_yes = 17
          L27: tiptoe_no = 22
        L25: tiptoe_no = 69
    L21: tiptoe_no = 3004
Training set error: 0.01026988
Test set error: 0.01287554
          
L1: Is dist_to_ground_R > 2.7973? (yes=L2 and no=L3)
  L2: Is dist_to_ground_L > 1.455915? (yes=L4 and no=L5)
    L4: Is dist_to_ground_L1 > 17.38106? (yes=L6 and no=L7)
      L6: tiptoe_no = 248
      L7: Is dist_to_ground_L2 > 4.104591? (yes=L8 and no=L9)
        L8: Is dist_from_window_L3 > 4.703208? (yes=L10 and no=L11)
          L10: tiptoe_yes = 17 tiptoe_no = 13
          L11: tiptoe_yes = 85 tiptoe_no = 1
        L9: Is dist_from_window_R3 > 2.075776? (yes=L12 and no=L13)
          L12: tiptoe_no = 19 tiptoe_yes = 26
          L13: tiptoe_no = 17
    L5: Is dist_to_ground_R4 > 5.888879? (yes=L14 and no=L15)
      L14: Is dist_from_window_R1 > 7.062194? (yes=L16 and no=L17)
        L16: tiptoe_no = 40
        L17: Is dist_from_window_R > 3.554787? (yes=L18 and no=L19)
          L18: tiptoe_no = 9 tiptoe_yes = 7
          L19: tiptoe_no = 18
      L15: tiptoe_no = 278
  L3: Is dist_from_window_R1 > 3.481293? (yes=L20 and no=L21)
    L20: Is dist_from_window_R2 > 5.440874? (yes=L22 and no=L23)
      L22: tiptoe_no = 301
      L23: Is dist_from_window_R > 6.638736? (yes=L24 and no=L25)
        L24: tiptoe_no = 68
        L25: Is dist_from_window_L > 1.068442? (yes=L26 and no=L27)
          L26: tiptoe_yes = 16 tiptoe_no = 14
          L27: tiptoe_no = 17
    L21: tiptoe_no = 2993
Training set error: 0.01289706
Test set error: 0.02575107
          
L1: Is dist_to_ground_R > 2.800311? (yes=L2 and no=L3)
  L2: Is dist_from_window_L4 > 0.684523? (yes=L4 and no=L5)
    L4: Is dist_to_ground_L > 17.38106? (yes=L6 and no=L7)
      L6: tiptoe_no = 102
      L7: Is dist_to_ground_L1 > 4.104591? (yes=L8 and no=L9)
        L8: Is dist_from_window_L3 > 4.769432? (yes=L10 and no=L11)
          L10: tiptoe_yes = 19 tiptoe_no = 11
          L11: tiptoe_yes = 85 tiptoe_no = 1
        L9: Is dist_from_window_R1 > 7.062194? (yes=L12 and no=L13)
          L12: tiptoe_no = 75
          L13: tiptoe_no = 70 tiptoe_yes = 24
    L5: Is dist_from_window_L > 1.480295? (yes=L14 and no=L15)
      L14: Is dist_to_ground_L1 > 1.632413? (yes=L16 and no=L17)
        L16: Is dist_to_ground_L > 9.094672? (yes=L18 and no=L19)
          L18: tiptoe_no = 3
          L19: tiptoe_yes = 8
        L17: tiptoe_no = 34
      L15: Is dist_from_window_L3 > 1.013828? (yes=L20 and no=L21)
        L20: tiptoe_yes = 1
        L21: tiptoe_no = 327
  L3: Is dist_from_window_R1 > 3.457159? (yes=L22 and no=L23)
    L22: Is dist_from_window_R2 > 5.440874? (yes=L24 and no=L25)
      L24: tiptoe_no = 297
      L25: Is dist_to_ground_R4 > 0.49891? (yes=L26 and no=L27)
        L26: Is dist_from_window_L > 1.068442? (yes=L28 and no=L29)
          L28: tiptoe_yes = 17 tiptoe_no = 15
          L29: tiptoe_no = 21
        L27: tiptoe_no = 70
    L23: tiptoe_no = 3007
Training set error: 0.01218056
Test set error: 0.008583691
          
L1: Is dist_to_ground_R > 1.851544? (yes=L2 and no=L3)
  L2: Is dist_to_ground_L > 1.262202? (yes=L4 and no=L5)
    L4: Is dist_to_ground_L1 > 17.38106? (yes=L6 and no=L7)
      L6: tiptoe_no = 251
      L7: Is dist_to_ground_L2 > 4.104591? (yes=L8 and no=L9)
        L8: Is dist_from_window_R3 > 2.510286? (yes=L10 and no=L11)
          L10: tiptoe_yes = 39 tiptoe_no = 22
          L11: tiptoe_yes = 63
        L9: Is dist_from_window_R3 > 1.942189? (yes=L12 and no=L13)
          L12: tiptoe_yes = 32 tiptoe_no = 30
          L13: tiptoe_no = 22
    L5: Is dist_to_ground_R4 > 4.195112? (yes=L14 and no=L15)
      L14: Is dist_to_ground_L4 > 1.816157? (yes=L16 and no=L17)
        L16: Is dist_from_window_R > 4.589334? (yes=L18 and no=L19)
          L18: tiptoe_yes = 5 tiptoe_no = 1
          L19: tiptoe_no = 10
        L17: Is dist_to_ground_R1 > 15.77734? (yes=L20 and no=L21)
          L20: tiptoe_yes = 2
          L21: tiptoe_no = 139 tiptoe_yes = 2
      L15: tiptoe_no = 328
  L3: Is dist_from_window_R1 > 3.662409? (yes=L22 and no=L23)
    L22: Is dist_from_window_R2 > 4.267405? (yes=L24 and no=L25)
      L24: tiptoe_no = 251
      L25: Is dist_to_ground_R4 > 0.680093? (yes=L26 and no=L27)
        L26: Is dist_to_ground_L3 > 0.80387? (yes=L28 and no=L29)
          L28: tiptoe_no = 2 tiptoe_yes = 8
          L29: tiptoe_no = 6
        L27: tiptoe_no = 51
    L23: tiptoe_no = 2923
Training set error: 0.01361357
Test set error: 0.002145923
          
L1: Is dist_to_ground_R > 1.851544? (yes=L2 and no=L3)
  L2: Is dist_to_ground_L > 1.262202? (yes=L4 and no=L5)
    L4: Is dist_to_ground_L1 > 17.38106? (yes=L6 and no=L7)
      L6: tiptoe_no = 249
      L7: Is dist_to_ground_L2 > 4.104591? (yes=L8 and no=L9)
        L8: Is dist_from_window_R3 > 2.510286? (yes=L10 and no=L11)
          L10: tiptoe_yes = 42 tiptoe_no = 20
          L11: tiptoe_yes = 67
        L9: Is dist_from_window_L > 2.505887? (yes=L12 and no=L13)
          L12: tiptoe_yes = 24 tiptoe_no = 7
          L13: tiptoe_no = 42 tiptoe_yes = 9
    L5: Is dist_to_ground_R4 > 4.195112? (yes=L14 and no=L15)
      L14: Is dist_to_ground_L4 > 2.284418? (yes=L16 and no=L17)
        L16: Is dist_from_window_R > 4.589334? (yes=L18 and no=L19)
          L18: tiptoe_no = 1 tiptoe_yes = 5
          L19: tiptoe_no = 8
        L17: Is dist_to_ground_R1 > 15.77734? (yes=L20 and no=L21)
          L20: tiptoe_yes = 2
          L21: tiptoe_no = 148 tiptoe_yes = 2
      L15: tiptoe_no = 330
  L3: Is dist_from_window_R1 > 3.662409? (yes=L22 and no=L23)
    L22: Is dist_from_window_R2 > 4.267405? (yes=L24 and no=L25)
      L24: tiptoe_no = 237
      L25: Is dist_to_ground_R4 > 0.680093? (yes=L26 and no=L27)
        L26: Is dist_to_ground_L2 > 0.309407? (yes=L28 and no=L29)
          L28: tiptoe_no = 2 tiptoe_yes = 9
          L29: tiptoe_no = 6
        L27: tiptoe_no = 54
    L23: tiptoe_no = 2923
Training set error: 0.009792214
Test set error: 0.0193133
          
L1: Is dist_to_ground_L > 1.269628? (yes=L2 and no=L3)
  L2: Is dist_to_ground_R > 1.886071? (yes=L4 and no=L5)
    L4: Is dist_to_ground_L1 > 17.38106? (yes=L6 and no=L7)
      L6: tiptoe_no = 246
      L7: Is dist_to_ground_L2 > 4.975425? (yes=L8 and no=L9)
        L8: Is dist_to_ground_R1 > 5.144571? (yes=L10 and no=L11)
          L10: tiptoe_yes = 66
          L11: tiptoe_no = 14 tiptoe_yes = 29
        L9: Is dist_from_window_L > 2.505887? (yes=L12 and no=L13)
          L12: tiptoe_yes = 28 tiptoe_no = 9
          L13: tiptoe_no = 40 tiptoe_yes = 12
    L5: Is dist_from_window_L2 > 3.376369? (yes=L14 and no=L15)
      L14: tiptoe_no = 360
      L15: Is dist_from_window_R > 3.196111? (yes=L16 and no=L17)
        L16: tiptoe_yes = 3
        L17: tiptoe_no = 57
  L3: Is dist_from_window_R1 > 3.79592? (yes=L18 and no=L19)
    L18: Is dist_from_window_R > 7.020482? (yes=L20 and no=L21)
      L20: tiptoe_no = 357
      L21: Is dist_to_ground_L2 > -0.153048? (yes=L22 and no=L23)
        L22: Is dist_from_window_L > 1.634843? (yes=L24 and no=L25)
          L24: tiptoe_no = 17 tiptoe_yes = 9
          L25: tiptoe_no = 49 tiptoe_yes = 2
        L23: tiptoe_no = 77
    L19: tiptoe_no = 2812
Training set error: 0.01098639
Test set error: 0.02145923