ularModel(i).linear_constraint(1,1))=OsteoArticularModel(i).linear_constraint(2,1);</span>
0140 <span class="comment">%     end</span>
0141 <span class="comment">% end</span>
0142 
0143 <span class="comment">%% Inverse kinematics</span>
0144 
0145 <span class="comment">% options = optimoptions(@fmincon,'Algorithm','interior-point','Display','iter-detailed','PlotFcns',@optimplotfval,'TolFun',1e-2,'MaxFunEvals',20000);</span>
0146 options = optimoptions(@fmincon,<span class="string">'Algorithm'</span>,<span c