t"><pre class="comment"> Cost function for the inertial calibration
   Cost function corresponds to the normalized sum of dynamic residuals
   (forces and torques) 

   INPUT
   - X: optimization variables: geometrical parameters of the stadium solids
   - Human_model: osteo-articular model (see the Documentation for the structure)
   - frame_opti: number of frames to be used for the inertial calibration
   - q: joint coordinates
   - dq: joint velocities
   - ddq: joint accelerations
   - p_pelvis: positio