d).joint=1;
0168     OsteoArticularModel(incr_solid).limit_inf=-pi/4;
0169     OsteoArticularModel(incr_solid).limit_sup=pi/4;
0170     OsteoArticularModel(incr_solid).linear_constraint=[];
0171     OsteoArticularModel(incr_solid).Visual=0;
0172     OsteoArticularModel(incr_solid).b=[0 0 0]';  
0173     OsteoArticularModel(incr_solid).c=[0 0 0]';
0174     OsteoArticularModel(incr_solid).m=0;                 
0175     OsteoArticularModel(incr_solid).I=zeros(3,3);
0176 
0177     <span class="comment">% LowerT