inverse --> tranpose
Fixed rebase merge conflict.
Spacing.
Fixed solid property names.
The left arm now rotates correctly, but all of the stadium definitions need to be flipped for proper arm alignment.
Removed extra rotation.
This fixes #56, #41, and #15. The rotations now match Yeadon's definitions.
Updated the configuration figure to match the new orientation angles.
Added full tests for body segment rotations and updated the segment definitions
to be Euler angles.

The Human._define_segments method used space 1-2-3 rotations for some bodies. I
change all of these to Euler (body fixed) 1-2-3 to be consitent and wrote tests
to check all of these.
Noted the Euler rotations in the docs.
Minor doc edits.
Added todo about slow reset.
Spelling.
Fixed random angle function.
Allowing adduction.
Edited title of Yeadon's first paper.
Edited a test to get it to work.
Merge pull request #59 from fitze/armrot

Armrot