print"Looking for surfaces for phase "+str(len(seqs))+" for t in ["+str(t+discretizationStep)+" ; "+str(current_phase_end)+" ] "
#print "Looking for surfaces for phase "+str(len(seqs))+" for t in ["+str(t+discretizationStep)+" ; "+str(current_phase_end)+" ] "
phase_contacts_names=[]
rot_valid=True
whilet<current_phase_endandrot_valid:# get the names of all the surfaces that the rom collide while moving from current_phase_end-step to current_phase_end