Uploading Assignment 4

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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