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Carlos Acosta is one of the world's greatest dancers. He was born in Fidel Castro's Cuba; his father was a truck driver. For the last two decades he has been thrilling audiences around the world with his power and his grace. He says that in ballet there is beauty and freedom but there is also pain and sacrifice. Could that be a sign that Carlos Acosta's career is about to move in a different direction? He tells speaks to Stephen Sackur.