natomical position of the first studied
   point on its solid
   - Bone1: number of the solid containing the first studied point
   - Point2: position of the anatomical position of the second studied
   point on its solid
   - Bone2: number of the solid containing the second studied point
   - Human_model: osteo-articular model (see the Documentation for the structure)
   - q: vector of joint coordinates at a given instant
   OUTPUT
   - L: distance between the two studied points
   - Typ: relative orientat