erence frame</span>
0103 CoM_L2 = k*[0.043 0.110 0];
0104 
0105 <span class="comment">% Node locations</span>
0106 L2_L3JointNode = k*[0.044 0.094 0] - CoM_L2;
0107 L2_L1JointNode = k*[0.034 0.123 0] - CoM_L2;
0108 Lenght_L2=norm(L2_L1JointNode-L2_L3JointNode); <span class="comment">%#ok&lt;NASGU&gt;</span>
0109 
0110 <span class="comment">% ------------------------- L1 --------------------------------------------</span>
0111 
0112 <span class="comment">% Center of mass location with respect to the referenc