45     OsteoArticularModel(incr_solid).child=s_LowerTrunk_J2;                   
0146     OsteoArticularModel(incr_solid).mother=s_mother;           
0147     OsteoArticularModel(incr_solid).a=[0 0 1]'; 
0148     OsteoArticularModel(incr_solid).joint=1;  
0149     OsteoArticularModel(incr_solid).limit_inf=-pi/3;
0150     OsteoArticularModel(incr_solid).limit_sup=pi/4;
0151     OsteoArticularModel(incr_solid).linear_constraint=[];
0152     OsteoArticularModel(incr_solid).Visual=0;
0153     OsteoArticularMode