="comment">%   Cost function corresponds to the normalized sum of dynamic residuals</span>
0004 <span class="comment">%   (forces and torques)</span>
0005 <span class="comment">%</span>
0006 <span class="comment">%   INPUT</span>
0007 <span class="comment">%   - X: optimization variables: geometrical parameters of the stadium solids</span>
0008 <span class="comment">%   - Human_model: osteo-articular model (see the Documentation for the structure)</span>
0009 <span class="comment">%   - frame_opti: number o