--- a
+++ b/Application/Beta/UlmRatHindlimbModel/Model/Environment.any
@@ -0,0 +1,57 @@
+// Definition of the model enviroment
+
+/// The global ground 
+AnyFixedRefFrame Ground =    {  
+  Origin = {0, 0, 0}; 
+  Axes = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
+  AnyRefNode NodeOrigin = {
+    sRel = {0, 0, 0};
+    AnyDrawNodes drw =       {
+      RGB = {0, 0, 0};
+      ScaleXYZ = {0.0000025, 0.0000025, 0.0000025};
+    }; // AnyDrawNodes Nodes
+  }; // AnyRefNode Node_A
+  
+  AnyDrawRefFrame DrwGlobal =      {
+    RGB = {0, 0, 0};
+    ScaleXYZ = {0.025, 0.025, 0.025};
+    Opacity = 0.8;    
+    
+  }; // AnyDrawRefFrame DrwGlobal
+  
+}; // AnyFixedRefFrame Ground// Global reference frame      
+
+// Definition of Ground segments for Phalanges and Metatarsus
+
+// Analog zum Gait3D-Modell von Aalborg ein zusaetzliches Segment fuer die GRFs
+// definiert:
+AnySeg GroundSegmentM =       {
+  r0 = {0, 0, 0};
+  Axes0 = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
+  Mass = 0;
+  Jii={0.0,0.0,0.0};
+  AnyRefNode GRF_M = {sRel = {0, 0, 0};
+    AnyDrawNodes Nodes =       {
+      RGB = {0, 0, 0};
+      ScaleXYZ = {0.0008, 0.0008, 0.0008};
+      Opacity = 1; }; 
+  }; 
+};  // AnySeg GroundSegmentM
+
+AnySeg GroundSegmentP =       {
+  r0 = {0, 0, 0};
+  Axes0 = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
+  Mass = 0;
+  Jii={0.0,0.0,0.0};
+  //sCoM = {0, 0, 0};
+  AnyRefNode GRF_P = {sRel = {0, 0, 0};
+    AnyDrawNodes Nodes =       {
+      RGB = {1, 0, 0};
+      ScaleXYZ = {0.001, 0.001, 0.001};
+      Opacity = 1; }; 
+  }; 
+};  // AnySeg GroundSegmentP  
+
+
+
+