 rotation with respect to u axis of theta angle</span>
0161 OsteoArticularModel(incr_solid).theta=pi/2;
0162 OsteoArticularModel(incr_solid).limit_inf=-pi/4;
0163 OsteoArticularModel(incr_solid).limit_sup=pi/2;
0164 OsteoArticularModel(incr_solid).Visual=1;
0165 OsteoArticularModel(incr_solid).m=Mass.Foot_Mass;
0166 OsteoArticularModel(incr_solid).b=pos_attachment_pt;
0167 OsteoArticularModel(incr_solid).I=[I_Foot(1) I_Foot(4) I_Foot(5); I_Foot(4) I_Foot(2) I_Foot(6); I_Foot(5) I_Foot(6) I_Foot(3)];
0168 Os