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diff --git a/dev/a4-dance/data/55.asf b/dev/a4-dance/data/55.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 0.643272 -0.706573 0.294883 
-     length 2.58915 
-     axis 0 0 0  XYZ
-  end
-  begin
-     id 2 
-     name lfemur
-     direction 0.34202 -0.939693 0  
-     length 7.06802  
-     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 7.94147   
-     axis 0 0 20   XYZ
-    dof rx
-    limits (-10.0 170.0)
-  end
-  begin
-     id 4 
-     name lfoot
-     direction 0.0435058 -0.119531 0.991877   
-     length 1.8399   
-     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 1.53505e-011 -4.22157e-011 1   
-     length 0.934412   
-     axis -90 7.62852e-016 20   XYZ
-    dof rx
-    limits (-90.0 20.0)
-  end
-  begin
-     id 6 
-     name rhipjoint
-     direction -0.636801 -0.711547 0.296959   
-     length 2.57105  
-     axis 0 0 0  XYZ 
-  end
-  begin
-     id 7 
-     name rfemur
-     direction -0.34202 -0.939693 0   
-     length 7.03285   
-     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 7.99111   
-     axis 0 0 -20   XYZ
-    dof rx
-    limits (-10.0 170.0)
- end
- begin
-     id 9 
-     name rfoot
-     direction -0.0783088 -0.215152 0.973436   
-     length 1.98785  
-     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 -1.53606e-011 -4.21943e-011 1   
-     length 1.001   
-     axis -90 -7.62852e-016 -20   XYZ
-    dof rx
-    limits (-90.0 20.0)
-  end
-  begin
-     id 11 
-     name lowerback
-     direction 0.00141527 0.998403 -0.0564763   
-     length 2.30486   
-     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 0.0125137 0.999915 0.00361315   
-     length 2.30697   
-     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 0.0136417 0.999471 0.0295116   
-     length 2.31005   
-     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 0.0766806 0.997047 0.00422047   
-     length 1.68825   
-     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 -0.143512 0.985106 -0.0947088   
-     length 1.69772   
-     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 -0.0539128 0.997849 -0.0372864  
-     length 1.71187  
-     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 0.978251 0.207416 -0.00165765  
-     length 3.35399  
-     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 -4.48966e-011 -1.32191e-028   
-     length 5.70706   
-     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 -4.48976e-011 9.36106e-027   
-     length 3.33243   
-     axis 180 -30 -90   XYZ
-    dof rx
-    limits (-10.0 170.0)
-  end
-  begin
-     id 20
-     name lwrist
-     direction 1 -4.48976e-011 1.1555e-026   
-     length 1.66621   
-     axis -5.7412e-015 90 90   XYZ
-    dof ry
-    limits (-180.0 0.0)
- end
-  begin
-     id 21 
-     name lhand
-     direction 1 -4.48939e-011 2.31113e-026   
-     length 0.792687   
-     axis -1.47463e-014 90 90   XYZ
-    dof rx rz
-    limits (-90.0 90.0)
-           (-45.0 45.0)
-  end
-  begin
-     id 22 
-     name lfingers
-     direction 1 -4.48866e-011 4.62274e-026   
-     length 0.639085   
-     axis -2.94925e-014 90 90   XYZ
-    dof rx
-    limits (0.0 90.0)
-  end
-  begin
-     id 23
-     name lthumb
-     direction 0.707107 -6.34847e-011 0.707107   
-     length 0.917601   
-     axis -90 45 -6.68868e-015   XYZ
-    dof rx rz
-    limits (-45.0 45.0)
-           (-45.0 45.0)
-  end
-  begin
-     id 24 
-     name rclavicle
-     direction -0.981813 0.185514 0.0403428   
-     length 3.47271  
-     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 -4.48972e-011 -6.58544e-029  
-     length 5.88176   
-     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 -4.48964e-011 8.36306e-027   
-     length 3.28156   
-     axis 180 30 90   XYZ
-    dof rx
-    limits (-10.0 170.0)
-  end
-  begin
-     id 27 
-     name rwrist
-     direction -1 -4.48903e-011 1.15562e-026   
-     length 1.64078   
-     axis -5.7412e-015 -90 -90   XYZ
-    dof ry
-    limits (-180.0 0.0)
-  end
-  begin
-     id 28
-     name rhand
-     direction -1 -4.49055e-011 2.31074e-026   
-     length 0.863125   
-     axis -1.47463e-014 -90 -90   XYZ
-    dof rx rz
-    limits (-90.0 90.0)
-           (-45.0 45.0)
-  end
-  begin
-     id 29
-     name rfingers
-     direction -1 -4.48994e-011 4.62188e-026   
-     length 0.695873   
-     axis -2.94925e-014 -90 -90   XYZ
-    dof rx
-    limits (0.0 90.0)
-  end
-  begin
-     id 30
-     name rthumb
-     direction -0.707107 -6.35058e-011 0.707107   
-     length 0.999139   
-     axis -90 -45 6.68868e-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