; t1(t)==t3(t)
0041     ppac = t1(t);
0042     ppac_t = t;
0043     t = t + 1;
0044 <span class="keyword">end</span>
0045 
0046 <span class="comment">% minimal paths</span>
0047 solid1 = t1(ppac_t:end);
0048 solid2 = t2(ppac_t:end);
0049 wrap_path = t3(ppac_t:end);
0050 
0051 <span class="comment">% Direct kinematics initialization (Initialisation de la cin�atique directe)</span>
0052 Human_model(ppac).p = zeros(3,1);
0053 Human_model(ppac).R = eye(3);
0054 
0055 <span class="comment">% Computation of coo