/span>, (L5_L4JointNode-L5_SacrumJointNode)' + (L4_L3JointNode-L4_L5JointNode)' + <span class="keyword">...</span>
0124         (L3_L2JointNode-L3_L4JointNode)' + (L2_L1JointNode-L2_L3JointNode)' + (L1_T12JointNode-L1_L2JointNode)'; <span class="keyword">...</span>
0125     <span class="string">'LowerTrunk_Origin'</span>, [0 0 0]'; <span class="keyword">...</span>
0126     };
0127 
0128 <span class="comment">%%                     Scaling inertial parameters</span>
0129 
0130     <span class="comment">%% [&