Uploading Assignment 4

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diff --git a/dev/a4-dance/data/60.asf b/dev/a4-dance/data/60.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 0.611804 -0.747784 0.257906 
+     length 2.29243 
+     axis 0 0 0  XYZ
+  end
+  begin
+     id 2 
+     name lfemur
+     direction 0.34202 -0.939693 0  
+     length 7.31159  
+     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 7.33391   
+     axis 0 0 20   XYZ
+    dof rx
+    limits (-10.0 170.0)
+  end
+  begin
+     id 4 
+     name lfoot
+     direction 0.122263 -0.335914 0.933924   
+     length 1.76083   
+     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 1.53533e-011 -4.2177e-011 1   
+     length 0.879206   
+     axis -90 7.62852e-016 20   XYZ
+    dof rx
+    limits (-90.0 20.0)
+  end
+  begin
+     id 6 
+     name rhipjoint
+     direction -0.646469 -0.721248 0.248754   
+     length 2.37677  
+     axis 0 0 0  XYZ 
+  end
+  begin
+     id 7 
+     name rfemur
+     direction -0.34202 -0.939693 0   
+     length 7.18623   
+     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 7.36567   
+     axis 0 0 -20   XYZ
+    dof rx
+    limits (-10.0 170.0)
+ end
+ begin
+     id 9 
+     name rfoot
+     direction -0.126681 -0.348054 0.928876   
+     length 1.71902  
+     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 -1.53551e-011 -4.21898e-011 1   
+     length 0.857792   
+     axis -90 -7.62852e-016 -20   XYZ
+    dof rx
+    limits (-90.0 20.0)
+  end
+  begin
+     id 11 
+     name lowerback
+     direction 0.0106509 0.999778 0.0181844   
+     length 2.07668   
+     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 -0.00456018 0.999989 -0.000590935   
+     length 2.08011   
+     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 -0.00910382 0.999916 -0.00923765   
+     length 2.07397   
+     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 0.00171967 0.99778 0.0665733   
+     length 1.67556   
+     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 -0.0143166 0.991302 -0.130828   
+     length 1.68462   
+     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 -0.00606378 0.998665 -0.0512995  
+     length 1.69269  
+     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 0.9638 0.179341 0.197297  
+     length 4.12888  
+     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 -4.48972e-011 -2.47351e-027   
+     length 5.01834   
+     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 -4.48965e-011 1.51591e-026   
+     length 3.4869   
+     axis -180 -30 -90   XYZ
+    dof rx
+    limits (-10.0 170.0)
+  end
+  begin
+     id 20
+     name lwrist
+     direction 1 -4.48957e-011 2.70032e-026   
+     length 1.74345   
+     axis -1.81515e-014 90 90   XYZ
+    dof ry
+    limits (-180.0 0.0)
+ end
+  begin
+     id 21 
+     name lhand
+     direction 1 -4.48951e-011 5.40064e-026   
+     length 0.76799   
+     axis -3.44607e-014 90 90   XYZ
+    dof rx rz
+    limits (-90.0 90.0)
+           (-45.0 45.0)
+  end
+  begin
+     id 22 
+     name lfingers
+     direction 1 -4.48971e-011 1.08013e-025   
+     length 0.619174   
+     axis -6.89214e-014 90 90   XYZ
+    dof rx
+    limits (0.0 90.0)
+  end
+  begin
+     id 23
+     name lthumb
+     direction 0.707107 -6.34931e-011 0.707107   
+     length 0.889013   
+     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 -0.961409 0.252588 0.109054   
+     length 4.04305  
+     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 -4.4897e-011 1.33872e-017  
+     length 4.70164   
+     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 -4.48954e-011 1.83844e-026   
+     length 3.49911   
+     axis -180 30 90   XYZ
+    dof rx
+    limits (-10.0 170.0)
+  end
+  begin
+     id 27 
+     name rwrist
+     direction -1 -4.49008e-011 2.70032e-026   
+     length 1.74955   
+     axis -1.81515e-014 -90 -90   XYZ
+    dof ry
+    limits (-180.0 0.0)
+  end
+  begin
+     id 28
+     name rhand
+     direction -1 -4.48916e-011 5.40064e-026   
+     length 0.739335   
+     axis -3.44607e-014 -90 -90   XYZ
+    dof rx rz
+    limits (-90.0 90.0)
+           (-45.0 45.0)
+  end
+  begin
+     id 29
+     name rfingers
+     direction -1 -4.48987e-011 1.08013e-025   
+     length 0.596071   
+     axis -6.89214e-014 -90 -90   XYZ
+    dof rx
+    limits (0.0 90.0)
+  end
+  begin
+     id 30
+     name rthumb
+     direction -0.707107 -6.34935e-011 0.707107   
+     length 0.855843   
+     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