f frames to be used for the inertial calibration</span>
0010 <span class="comment">%   - q: joint coordinates</span>
0011 <span class="comment">%   - dq: joint velocities</span>
0012 <span class="comment">%   - ddq: joint accelerations</span>
0013 <span class="comment">%   - p_pelvis: position of the pelvis</span>
0014 <span class="comment">%   - r_pelvis: rotation of the pelvis</span>
0015 <span class="comment">%   - v0: linear velocity of the pelvis</span>
0016 <span class="comment">%   - w: rotational ve