l(incr_solid).b=pos_attachment_pt;
0154     OsteoArticularModel(incr_solid).c=[0 0 0]';
0155     OsteoArticularModel(incr_solid).m=0;                 
0156     OsteoArticularModel(incr_solid).I=zeros(3,3);
0157 
0158     <span class="comment">% LowerTrunk_J2</span>
0159     num_solid=num_solid+1;        <span class="comment">% number of the solid ...</span>
0160     name=list_solid{num_solid}; <span class="comment">% solid name</span>
0161     eval([<span class="string">'incr_solid=s_'</span> name <span cla