          
0183     OsteoArticularModel(incr_solid).child=0;                   
0184     OsteoArticularModel(incr_solid).mother=s_LowerTrunk_J2;           
0185     OsteoArticularModel(incr_solid).a=[0 1 0]'; 
0186     OsteoArticularModel(incr_solid).joint=1;
0187     OsteoArticularModel(incr_solid).limit_inf=-pi/2;
0188     OsteoArticularModel(incr_solid).limit_sup=pi/2;
0189     OsteoArticularModel(incr_solid).linear_constraint=[];
0190     OsteoArticularModel(incr_solid).Visual=1;
0191     OsteoArticular