to the reference frame</span>
0083 CoM_L4 = k*[0.056 0.044 0];
0084 
0085 <span class="comment">% Node locations</span>
0086 L4_L5JointNode = k*[0.050 0.027 0] - CoM_L4;
0087 L4_L3JointNode = k*[0.050 0.061 0] - CoM_L4;
0088 Lenght_L4=norm(L4_L3JointNode-L4_L5JointNode); <span class="comment">%#ok&lt;NASGU&gt;</span>
0089 
0090 <span class="comment">% ------------------------- L3 --------------------------------------------</span>
0091 
0092 <span class="comment">% Center of mass location with respect to th