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diff --git a/dev/a4-dance/data/03.asf b/dev/a4-dance/data/03.asf
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-# AST/ASF file generated using VICON BodyLanguage
-# -----------------------------------------------
-:version 1.10
-:name VICON
-:units
-  mass 1.0
-  length 0.45
-  angle deg
-:documentation
-   .ast/.asf automatically generated from VICON data using
-   VICON BodyBuilder and BodyLanguage model FoxedUp or BRILLIANT.MOD
-:root
-   order TX TY TZ RX RY RZ
-   axis XYZ
-   position 0 0 0  
-   orientation 0 0 0 
-:bonedata
-  begin
-     id 1 
-     name lhipjoint
-     direction 0.662698 -0.695252 0.27831 
-     length 2.53073 
-     axis 0 0 0  XYZ
-  end
-  begin
-     id 2 
-     name lfemur
-     direction 0.34202 -0.939693 0  
-     length 7.16147  
-     axis 0 0 20  XYZ
-    dof rx ry rz
-    limits (-160.0 20.0)
-           (-70.0 70.0)
-           (-60.0 70.0)
-  end
-  begin
-     id 3 
-     name ltibia
-     direction 0.34202 -0.939693 0   
-     length 7.63967   
-     axis 0 0 20   XYZ
-    dof rx
-    limits (-10.0 170.0)
-  end
-  begin
-     id 4 
-     name lfoot
-     direction 0.0938457 -0.257721 0.961651   
-     length 1.89793   
-     axis -90 7.62852e-016 20   XYZ
-    dof rx rz
-    limits (-45.0 90.0)
-           (-70.0 20.0)
-  end
-  begin
-     id 5 
-     name ltoes
-     direction -0.00116841 -0.0030592 0.999995   
-     length 0.955649   
-     axis -90 7.62852e-016 20   XYZ
-    dof rx
-    limits (-90.0 20.0)
-  end
-  begin
-     id 6 
-     name rhipjoint
-     direction -0.649445 -0.705948 0.282592   
-     length 2.49238  
-     axis 0 0 0  XYZ 
-  end
-  begin
-     id 7 
-     name rfemur
-     direction -0.34202 -0.939693 0   
-     length 6.90728   
-     axis 0 0 -20   XYZ
-    dof rx ry rz
-    limits (-160.0 20.0)
-           (-70.0 70.0)
-           (-70.0 60.0)
-  end
-  begin
-     id 8 
-     name rtibia
-     direction -0.34202 -0.939693 0   
-     length 7.72868   
-     axis 0 0 -20   XYZ
-    dof rx
-    limits (-10.0 170.0)
- end
- begin
-     id 9 
-     name rfoot
-     direction -0.0920068 -0.252865 0.963117   
-     length 1.97476  
-     axis -90 -7.62852e-016 -20   XYZ
-    dof rx rz
-    limits (-45.0 90.0)
-           (-20.0 70.0)
-  end
-  begin
-     id 10 
-     name rtoes
-     direction 0.000391322 0.00230649 0.999997   
-     length 0.992641   
-     axis -90 -7.62852e-016 -20   XYZ
-    dof rx
-    limits (-90.0 20.0)
-  end
-  begin
-     id 11 
-     name lowerback
-     direction -0.00875327 0.998321 -0.0572635   
-     length 2.20024   
-     axis 0 0 0   XYZ
-    dof rx ry rz
-    limits (-20.0 45.0)
-           (-30.0 30.0)
-           (-30.0 30.0)
-  end
-  begin
-     id 12 
-     name upperback
-     direction 0.00753931 0.999972 -0.000360425   
-     length 2.20538   
-     axis 0 0 0   XYZ
-    dof rx ry rz
-    limits (-20.0 45.0)
-           (-30.0 30.0)
-           (-30.0 30.0)
-  end
-  begin
-     id 13 
-     name thorax
-     direction 0.0117767 0.999601 0.0256663   
-     length 2.21508   
-     axis 0 0 0   XYZ
-    dof rx ry rz
-    limits (-20.0 45.0)
-           (-30.0 30.0)
-           (-30.0 30.0)
-  end
-  begin
-     id 14 
-     name lowerneck
-     direction 0.060228 0.994909 0.0807986   
-     length 1.7607   
-     axis 0 0 0   XYZ
-    dof rx ry rz
-    limits (-20.0 45.0)
-           (-30.0 30.0)
-           (-30.0 30.0)
-  end
-  begin
-     id 15 
-     name upperneck
-     direction -0.0563647 0.959594 -0.275685   
-     length 1.75612   
-     axis 0 0 0   XYZ
-    dof rx ry rz
-    limits (-20.0 45.0)
-           (-30.0 30.0)
-           (-30.0 30.0)
-  end
-  begin
-     id 16
-     name head
-     direction -0.0161544 0.99458 -0.102714  
-     length 1.79288  
-     axis 0 0 0   XYZ
-    dof rx ry rz
-    limits (-20.0 45.0)
-           (-30.0 30.0)
-           (-30.0 30.0)
-  end
-  begin
-     id 17 
-     name lclavicle
-     direction 0.93913 0.332189 -0.087669  
-     length 3.52087  
-     axis 0 0 0   XYZ
-    dof ry rz
-    limits (-20.0 10.0)
-           (0.0 20.0)
-  end
-  begin
-     id 18 
-     name lhumerus
-     direction 1 -4.48974e-011 -2.70836e-027   
-     length 5.35289   
-     axis -180 -30 -90   XYZ
-    dof rx ry rz
-    limits (-60.0 90.0)
-           (-90.0 90.0)
-           (-90.0 90.0)
-  end
-  begin
-     id 19
-     name lradius
-     direction 1 -4.48961e-011 -9.76021e-027   
-     length 3.27727   
-     axis -180 -30 -90   XYZ
-    dof rx
-    limits (-10.0 170.0)
-  end
-  begin
-     id 20
-     name lwrist
-     direction 1 -4.49103e-011 -2.23668e-026   
-     length 1.63864   
-     axis 1.44924e-014 90 90   XYZ
-    dof ry
-    limits (-180.0 0.0)
- end
-  begin
-     id 21 
-     name lhand
-     direction 1 3.0697e-005 0.000161777   
-     length 0.54443   
-     axis 2.85318e-014 90 90   XYZ
-    dof rx rz
-    limits (-90.0 90.0)
-           (-45.0 45.0)
-  end
-  begin
-     id 22 
-     name lfingers
-     direction 1 -4.49027e-011 -8.9447e-026   
-     length 0.438912   
-     axis 5.70628e-014 90 90   XYZ
-    dof rx
-    limits (0.0 90.0)
-  end
-  begin
-     id 23
-     name lthumb
-     direction 0.707058 2.6516e-005 0.707156   
-     length 0.630274   
-     axis -90 45 -3.53137e-014   XYZ
-    dof rx rz
-    limits (-45.0 45.0)
-           (-45.0 45.0)
-  end
-  begin
-     id 24 
-     name rclavicle
-     direction -0.95274 0.284984 -0.105215   
-     length 3.43401  
-     axis 0 0 0   XYZ 
-    dof ry rz
-    limits (-10.0 20.0)
-           (-20.0 0.0)
-  end
-  begin
-     id 25 
-     name rhumerus
-     direction -0.999999 -0.000575019 -0.00106829  
-     length 5.52077   
-     axis -180 30 90   XYZ
-    dof rx ry rz
-    limits (-90.0 60.0)
-           (-90.0 90.0)
-           (-90.0 90.0)
-  end
-  begin
-     id 26 
-     name rradius
-     direction -1 -4.4879e-011 -6.35415e-027   
-     length 3.32364   
-     axis -180 30 90   XYZ
-    dof rx
-    limits (-10.0 170.0)
-  end
-  begin
-     id 27 
-     name rwrist
-     direction -1 -4.49048e-011 -9.98542e-027   
-     length 1.66182   
-     axis 6.32482e-015 -90 -90   XYZ
-    dof ry
-    limits (-180.0 0.0)
-  end
-  begin
-     id 28
-     name rhand
-     direction -1 -4.48978e-011 -1.99771e-026   
-     length 0.732235   
-     axis 1.27479e-014 -90 -90   XYZ
-    dof rx rz
-    limits (-90.0 90.0)
-           (-45.0 45.0)
-  end
-  begin
-     id 29
-     name rfingers
-     direction -1 -4.49144e-011 -3.99245e-026   
-     length 0.590347   
-     axis 2.5496e-014 -90 -90   XYZ
-    dof rx
-    limits (0.0 90.0)
-  end
-  begin
-     id 30
-     name rthumb
-     direction -0.707107 -6.35121e-011 0.707107   
-     length 0.847624   
-     axis -90 -45 -2.82974e-014   XYZ
-    dof rx rz
-    limits (-45.0 45.0)
-           (-45.0 45.0)
-  end
-:hierarchy
-  begin
-    root lhipjoint rhipjoint lowerback
-    lhipjoint lfemur
-    lfemur ltibia
-    ltibia lfoot
-    lfoot ltoes
-    rhipjoint rfemur
-    rfemur rtibia
-    rtibia rfoot
-    rfoot rtoes
-    lowerback upperback
-    upperback thorax
-    thorax lowerneck lclavicle rclavicle
-    lowerneck upperneck
-    upperneck head
-    lclavicle lhumerus
-    lhumerus lradius
-    lradius lwrist
-    lwrist lhand lthumb
-    lhand lfingers
-    rclavicle rhumerus
-    rhumerus rradius
-    rradius rwrist
-    rwrist rhand rthumb
-    rhand rfingers
-  end