Add dependency on c3d package.
Rename ASF/ASM module.
Move code for skeleton to dedicated module -- can share with ASF/ASM hopefully.
Add lots of docstrings to the Skeleton class. Add a helper for getting array quantities from the skeleton. Change interface a little so that property names are more accurate.
Refactor file-loading into a separate method. Make parse() method accept name of file to parse.
Update cooper to use new skeleton interface.
Add docstring for parser file format.
Add docstrings for methods. Also convert several methods to protected to avoid having them clutter the public space.
First stab at adding passive joints to skeleton definitions.
Add heck of docstrings. Change several method names to be more explicit.
Add back load() helper method. Fix a bug in skeleton root-finding.
Tweak cooper foot.
Fix syntax error.
Update float regexp to accept Ne-K format floats.
Change cfm/erp to stop_* in skeleton definition.