Publish a4

1 files changed, 338 insertions, 0 deletions

diff --git a/dev/a4-dance/data/143.asf b/dev/a4-dance/data/143.asf
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+++ b/dev/a4-dance/data/143.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 0.693937 -0.600361 0.397515 
+     length 2.37164 
+     axis 0 0 0  XYZ
+  end
+  begin
+     id 2 
+     name lfemur
+     direction 0.34202 -0.939693 0  
+     length 6.18497  
+     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 6.91601   
+     axis 0 0 20   XYZ
+    dof rx
+    limits (-10.0 170.0)
+  end
+  begin
+     id 4 
+     name lfoot
+     direction 0.0978718 -0.2689 0.958182   
+     length 1.81453   
+     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 1.53569e-011 -4.21951e-011 1   
+     length 0.912052   
+     axis -90 7.62852e-016 20   XYZ
+    dof rx
+    limits (-90.0 20.0)
+  end
+  begin
+     id 6 
+     name rhipjoint
+     direction -0.643996 -0.637876 0.422354   
+     length 2.23216  
+     axis 0 0 0  XYZ 
+  end
+  begin
+     id 7 
+     name rfemur
+     direction -0.34202 -0.939693 0   
+     length 6.15404   
+     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 6.86744   
+     axis 0 0 -20   XYZ
+    dof rx
+    limits (-10.0 170.0)
+ end
+ begin
+     id 9 
+     name rfoot
+     direction -0.118701 -0.326127 0.937844   
+     length 1.9243  
+     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 -1.5356e-011 -4.2181e-011 1   
+     length 0.958865   
+     axis -90 -7.62852e-016 -20   XYZ
+    dof rx
+    limits (-90.0 20.0)
+  end
+  begin
+     id 11 
+     name lowerback
+     direction 0.0310826 0.968686 -0.246334   
+     length 2.00021   
+     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 -0.0152834 0.999474 -0.0286152   
+     length 2.03728   
+     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 -0.0323701 0.996236 0.0804149   
+     length 2.16   
+     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 0.0307935 0.982251 0.185027   
+     length 1.43558   
+     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 -0.0927153 0.994775 0.0427454   
+     length 1.44603   
+     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 -0.0341265 0.999406 -0.00472033  
+     length 1.45931  
+     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 0.820755 0.555306 -0.134151  
+     length 2.66075  
+     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 -4.48971e-011 5.24853e-027   
+     length 5.0546   
+     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 -4.48971e-011 2.76575e-028   
+     length 3.39013   
+     axis -180 -30 -90   XYZ
+    dof rx
+    limits (-10.0 170.0)
+  end
+  begin
+     id 20
+     name lwrist
+     direction 1 -4.48939e-011 -2.27826e-027   
+     length 1.69507   
+     axis 2.17013e-015 90 90   XYZ
+    dof ry
+    limits (-180.0 0.0)
+ end
+  begin
+     id 21 
+     name lhand
+     direction 1 -4.49009e-011 -4.55652e-027   
+     length 0.572425   
+     axis 2.90745e-015 90 90   XYZ
+    dof rx rz
+    limits (-90.0 90.0)
+           (-45.0 45.0)
+  end
+  begin
+     id 22 
+     name lfingers
+     direction 1 -4.48955e-011 -9.11303e-027   
+     length 0.461504   
+     axis 5.81489e-015 90 90   XYZ
+    dof rx
+    limits (0.0 90.0)
+  end
+  begin
+     id 23
+     name lthumb
+     direction 0.707107 -6.34929e-011 0.707107   
+     length 0.66263   
+     axis -90 45 2.85299e-015   XYZ
+    dof rx rz
+    limits (-45.0 45.0)
+           (-45.0 45.0)
+  end
+  begin
+     id 24 
+     name rclavicle
+     direction -0.754477 0.632921 -0.173712   
+     length 2.73081  
+     axis 0 0 0   XYZ 
+    dof ry rz
+    limits (-10.0 20.0)
+           (-20.0 0.0)
+  end
+  begin
+     id 25 
+     name rhumerus
+     direction -1 -4.48969e-011 5.1496e-027  
+     length 5.0701   
+     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 -4.48967e-011 -7.15624e-028   
+     length 3.14957   
+     axis -180 30 90   XYZ
+    dof rx
+    limits (-10.0 170.0)
+  end
+  begin
+     id 27 
+     name rwrist
+     direction -1 -4.48938e-011 -2.27826e-027   
+     length 1.57479   
+     axis 2.17013e-015 -90 -90   XYZ
+    dof ry
+    limits (-180.0 0.0)
+  end
+  begin
+     id 28
+     name rhand
+     direction -1 -4.49008e-011 -4.55652e-027   
+     length 0.718191   
+     axis 2.90745e-015 -90 -90   XYZ
+    dof rx rz
+    limits (-90.0 90.0)
+           (-45.0 45.0)
+  end
+  begin
+     id 29
+     name rfingers
+     direction -1 -4.48953e-011 -9.11303e-027   
+     length 0.579024   
+     axis 5.81489e-015 -90 -90   XYZ
+    dof rx
+    limits (0.0 90.0)
+  end
+  begin
+     id 30
+     name rthumb
+     direction -0.707107 -6.34937e-011 0.707107   
+     length 0.831366   
+     axis -90 -45 -2.85299e-015   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