Uploading Assignment 4

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diff --git a/dev/a4-dance/data/61.asf b/dev/a4-dance/data/61.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 0.671379 -0.66392 0.329334 
+     length 2.38647 
+     axis 0 0 0  XYZ
+  end
+  begin
+     id 2 
+     name lfemur
+     direction 0.34202 -0.939693 0  
+     length 6.48179  
+     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 6.86524   
+     axis 0 0 20   XYZ
+    dof rx
+    limits (-10.0 170.0)
+  end
+  begin
+     id 4 
+     name lfoot
+     direction 0.204886 -0.562919 0.800715   
+     length 1.73031   
+     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 1.53548e-011 -4.21841e-011 1   
+     length 0.828161   
+     axis -90 7.62852e-016 20   XYZ
+    dof rx
+    limits (-90.0 20.0)
+  end
+  begin
+     id 6 
+     name rhipjoint
+     direction -0.662732 -0.670855 0.332775   
+     length 2.3618  
+     axis 0 0 0  XYZ 
+  end
+  begin
+     id 7 
+     name rfemur
+     direction -0.34202 -0.939693 0   
+     length 6.3025   
+     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 6.8732   
+     axis 0 0 -20   XYZ
+    dof rx
+    limits (-10.0 170.0)
+ end
+ begin
+     id 9 
+     name rfoot
+     direction -0.173856 -0.477665 0.861168   
+     length 1.54784  
+     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 -1.53562e-011 -4.21802e-011 1   
+     length 0.759618   
+     axis -90 -7.62852e-016 -20   XYZ
+    dof rx
+    limits (-90.0 20.0)
+  end
+  begin
+     id 11 
+     name lowerback
+     direction -0.0278357 0.999497 -0.0151789   
+     length 1.97203   
+     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 -0.00360622 0.997542 0.0699804   
+     length 1.94709   
+     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 0.00907706 0.997048 0.0762461   
+     length 1.95722   
+     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 -0.0481835 0.99872 -0.0153927   
+     length 1.63078   
+     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 0.0859716 0.979226 -0.183644   
+     length 1.62591   
+     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 0.0324821 0.997629 -0.0606773  
+     length 1.64811  
+     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 0.939609 0.311019 0.142835  
+     length 3.70647  
+     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 -4.48963e-011 -1.59838e-027   
+     length 4.59207   
+     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 -4.48957e-011 -1.3483e-026   
+     length 2.98109   
+     axis 180 -30 -90   XYZ
+    dof rx
+    limits (-10.0 170.0)
+  end
+  begin
+     id 20
+     name lwrist
+     direction 1 -4.48954e-011 -3.11579e-026   
+     length 1.49055   
+     axis 2.00652e-014 90 90   XYZ
+    dof ry
+    limits (-180.0 0.0)
+ end
+  begin
+     id 21 
+     name lhand
+     direction 1 -4.4911e-011 -6.23158e-026   
+     length 0.480203   
+     axis 3.97628e-014 90 90   XYZ
+    dof rx rz
+    limits (-90.0 90.0)
+           (-45.0 45.0)
+  end
+  begin
+     id 22 
+     name lfingers
+     direction 1 -4.48893e-011 -1.24632e-025   
+     length 0.387152   
+     axis 7.95256e-014 90 90   XYZ
+    dof rx
+    limits (0.0 90.0)
+  end
+  begin
+     id 23
+     name lthumb
+     direction 0.707107 -6.35013e-011 0.707107   
+     length 0.555875   
+     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 -0.950396 0.30392 0.0661859   
+     length 3.70894  
+     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 -4.48957e-011 -2.96677e-027  
+     length 4.76508   
+     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 -4.48974e-011 -1.44501e-026   
+     length 2.78902   
+     axis 180 30 90   XYZ
+    dof rx
+    limits (-10.0 170.0)
+  end
+  begin
+     id 27 
+     name rwrist
+     direction -1 -4.48978e-011 -3.11579e-026   
+     length 1.39451   
+     axis 2.00652e-014 -90 -90   XYZ
+    dof ry
+    limits (-180.0 0.0)
+  end
+  begin
+     id 28
+     name rhand
+     direction -1 -4.48956e-011 -6.23158e-026   
+     length 0.721303   
+     axis 3.97628e-014 -90 -90   XYZ
+    dof rx rz
+    limits (-90.0 90.0)
+           (-45.0 45.0)
+  end
+  begin
+     id 29
+     name rfingers
+     direction -1 -4.4899e-011 -1.24632e-025   
+     length 0.581533   
+     axis 7.95256e-014 -90 -90   XYZ
+    dof rx
+    limits (0.0 90.0)
+  end
+  begin
+     id 30
+     name rthumb
+     direction -0.707107 -6.34911e-011 0.707107   
+     length 0.834968   
+     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