--- a
+++ b/Application/Beta/UlmRatHindlimbModel/Model/JointsAndDrivers.any
@@ -0,0 +1,550 @@
+ 
+    
+    //*****************************************************************************************
+    // ANY - KIN - MEASURES
+    //*****************************************************************************************
+    
+    AnyFolder Drivers = {
+      //******************************************************
+      // Hip-Segment
+      //******************************************************
+      AnyKinLinear LinMainTrans={
+        Ref=0;
+        AnyFixedRefFrame  &ref1= ...Ground;
+        AnyRefFrame  &ref2=...Seg.SpinePelvis.Hip;
+      }; 
+      AnyKinRotational RotMainRot={
+        Type = RotAxesAngles;
+        Axis1 = y;
+        Axis2 = z;
+        Axis3 = x;
+        AnyFixedRefFrame &ref1 = ...Ground;
+        AnyRefFrame &ref2 = ...Seg.SpinePelvis.Hip;
+        //Ref=0;
+      };
+      
+      //*******************************************************
+      // Measures between Spine/Pelvis and Femur
+      //*******************************************************
+      #if FRACTUREMODEL
+      AnyKinRotational LinHipRot = {
+        //Ref = 1;
+        Axis1 = y;
+        Axis2 = z;
+        Axis3 = x;
+        Type = RotAxesAngles;
+        AnyRefFrame &spine = ...Ground;
+        //AnyRefFrame &LabOrigin = ..Seg.SpinePelvis;
+        AnyRefFrame &P1 = ...Seg.Femur_p;
+      }; 
+      
+      AnyKinRotational LinHipRot_anatomisch = {
+        //Ref = 1;
+        Axis1 = y;
+        Axis2 = z;
+        Axis3 = x;
+        Type = RotAxesAngles;
+        // AnyRefFrame &spine = ..Ground;
+        AnyRefFrame &LabOrigin = ...Seg.SpinePelvis;
+        AnyRefFrame &P1 = ...Seg.Femur_p;
+      };
+      #else
+      AnyKinRotational LinHipRot = {
+        //Ref = 1;
+        Axis1 = y;
+        Axis2 = z;
+        Axis3 = x;
+        Type = RotAxesAngles;
+        AnyRefFrame &spine = ...Ground;
+        //AnyRefFrame &LabOrigin = ..Seg.SpinePelvis;
+        AnyRefFrame &P1 = ...Seg.Femur;
+      }; 
+      
+      AnyKinRotational LinHipRot_anatomisch = {
+        //Ref = 1;
+        Axis1 = y;
+        Axis2 = z;
+        Axis3 = x;
+        Type = RotAxesAngles;
+        // AnyRefFrame &spine = ...Ground;
+        AnyRefFrame &LabOrigin = ...Seg.SpinePelvis;
+        AnyRefFrame &P1 = ...Seg.Femur;
+      }; 
+      #endif
+      
+      
+      //*******************************************************
+      // Measures between Femur and Tibia
+      //*******************************************************
+      AnyKinRotational LinKneeRot = {
+        //Ref = -1;
+        Axis1 = y;
+        Axis2 = z;
+        Axis3 = x;
+        Type = RotAxesAngles;
+        AnyRefFrame &spine = ...Ground;
+        //      AnyRefFrame &LabOrigin = ...Seg.Femur;
+        AnyRefFrame &P1 = ...Seg.Tibia;
+      };
+      
+      #if FRACTUREMODEL
+      AnyKinRotational LinKneeRot_anatomisch  = {
+        //Ref = -1;
+        Axis1 = y;
+        Axis2 = z;
+        Axis3 = x;
+        Type = RotAxesAngles;
+        //      AnyRefFrame &spine = ...Ground;
+        AnyRefFrame &LabOrigin = ...Seg.Femur_d;
+        AnyRefFrame &P1 = ...Seg.Tibia;
+      };
+      #else
+      AnyKinRotational LinKneeRot_anatomisch  = {
+        //Ref = -1;
+        Axis1 = y;
+        Axis2 = z;
+        Axis3 = x;
+        Type = RotAxesAngles;
+        //      AnyRefFrame &spine = ..Ground;
+        AnyRefFrame &LabOrigin = ...Seg.Femur;
+        AnyRefFrame &P1 = ...Seg.Tibia;
+      };
+      #endif
+      //*******************************************************
+      // Measures between Tibia and Metatarsus
+      //*******************************************************
+      AnyKinRotational LinAnkleRot = {
+        //Ref = -1;
+        Axis1 = y;
+        Axis2 = z;
+        Axis3 = x;
+        Type = RotAxesAngles;
+        AnyRefFrame &spine = ...Ground;
+        //      AnyRefFrame &LabOrigin = ...Seg.Tibia;
+        AnyRefFrame &P1 = ...Seg.Metatarsus;
+      };
+      
+      AnyKinRotational LinAnkleRot_anatomisch  = {
+        //Ref = -1;
+        Axis1 = y;
+        Axis2 = z;
+        Axis3 = x;
+        Type = RotAxesAngles;
+        //      AnyRefFrame &spine = ...Ground;
+        AnyRefFrame &LabOrigin = ...Seg.Tibia;
+        AnyRefFrame &P1 = ...Seg.Metatarsus;
+      };
+      
+      //*******************************************************
+      // Measures between Metatarsus and Phalanges
+      //*******************************************************
+      AnyKinRotational LinPhalRot = {
+        //Ref = -1;
+        Axis1 = y;
+        Axis2 = z;
+        Axis3 = x;
+        Type = RotAxesAngles;
+        AnyRefFrame &spine = ...Ground;
+        //AnyRefFrame &LabOrigin = ...Seg.Metatarsus;
+        AnyRefFrame &P1 = ...Seg.Phalanges;
+      };
+      
+      AnyKinRotational LinPhalRot_anatomisch  = {
+        //Ref = -1;
+        Axis1 = y;
+        Axis2 = z;
+        Axis3 = x;
+        Type = RotAxesAngles;
+        //      AnyRefFrame &spine = ...Ground;
+        AnyRefFrame &LabOrigin = ...Seg.Metatarsus;
+        AnyRefFrame &P1 = ...Seg.Phalanges;
+      };
+      
+      //*******************************************************
+      // Measures between Femur and Patella
+      //*******************************************************
+      AnyKinRotational LinPatRot = {
+        //Ref = -1;
+        Type = RotAxesAngles;
+        Axis1 = y;
+        Axis2 = z;
+        Axis3 = x;
+        AnyRefFrame &spine = ...Ground;
+        //      AnyRefFrame &LabOrigin = ...Seg.Femur;
+        AnyRefFrame &P1 = ...Seg.Patella;
+      };
+      #if FRACTUREMODEL
+      AnyKinRotational LinPatRot_anatomisch  = {
+        //Ref = -1;
+        Type = RotAxesAngles;
+        Axis1 = y;
+        Axis2 = z;
+        Axis3 = x;
+        //      AnyRefFrame &spine = ...Ground;
+        AnyRefFrame &LabOrigin = ...Seg.Femur_d;
+        AnyRefFrame &P1 = ...Seg.Patella;
+      };
+      #else
+      AnyKinRotational LinPatRot_anatomisch  = {
+        //Ref = -1;
+        Type = RotAxesAngles;
+        Axis1 = y;
+        Axis2 = z;
+        Axis3 = x;
+        //      AnyRefFrame &spine = ...Ground;
+        AnyRefFrame &LabOrigin = ...Seg.Femur;
+        AnyRefFrame &P1 = ...Seg.Patella;
+      };
+      #endif
+      
+      //*******************************************************
+      // GRF Segment Measures
+      //*******************************************************
+      AnyKinLinear LinGroundMTrans = {
+        Ref = 1;
+        //      AnyRefFrame  &ref1= ...Ground;
+        AnyRefFrame  &ref1= ...Seg.Metatarsus;
+        AnyRefFrame &ref2 = ...GroundSegmentM;
+      };
+      
+      
+      AnyKinRotational RotGroundMRot={
+        //Ref = 1;
+        //      AnyRefFrame  &ref1= ...Ground;
+        AnyRefFrame  &ref1= ...Seg.Metatarsus;
+        AnyRefFrame &ref2 = ...GroundSegmentM;
+        Type = RotVector;
+      }; 
+      
+      AnyKinLinear LinGroundPTrans = {
+        Ref = 1;
+        //      AnyRefFrame  &ref1= ...Ground;
+        AnyRefFrame  &ref1= ...Seg.Phalanges;
+        AnyRefFrame &ref2 = ...GroundSegmentP;
+      };
+      
+      
+      AnyKinRotational RotGroundPRot={
+        //Ref = 1;
+        //      AnyRefFrame  &ref1= ...Ground;
+        AnyRefFrame  &ref1= ...Seg.Phalanges;
+        AnyRefFrame &ref2= ...GroundSegmentP;
+        Type=RotVector;
+      };     
+      
+      
+      //***************************************************************************
+      // DRIVERS
+      //***************************************************************************
+      
+      //*******************************************
+      // Spine/Pelvis Driver
+      //*******************************************
+      AnyKinEqInterPolDriver DriverMainTrans =  {
+        //Type = PiecewiseLinear; 
+        Type = Bspline;
+        BsplineOrder = 4;
+        FileName = "..\Input\Drivers\Main_trans.txt";
+        AnyKinMeasure& ref = .LinMainTrans;  //reference to the measure being driven
+        Reaction.Type={On, On, On};
+        MeasureOrganizer = {0, 1, 2};
+      };
+      AnyKinEqInterPolDriver DriverMainRot = {
+        //      Type = PiecewiseLinear;
+        Type = Bspline;
+        BsplineOrder = 4;
+        FileName = "..\Input\Drivers\Main_rot.txt";
+        AnyKinMeasure& ref = .RotMainRot;
+        Reaction.Type={On, On, On};
+        MeasureOrganizer = {2, 0, 1};
+      };
+      
+      //*******************************************
+      // Hip Driver
+      //*******************************************
+      
+      AnyKinEqInterPolDriver DriverHipRotX = {
+        //AnyRevoluteJoint &Jnt = ...Jnts.Hip;
+        //Type = PiecewiseLinear;
+        Type = Bspline;
+        BsplineOrder = 4;
+        FileName = "..\Input\Drivers\hip_rot_x.txt";
+        //      AnyKinMeasure& Lin = ...Drivers.LinHipRot;
+        AnySphericalJoint &Lin = ...Jnts.Hip;
+        MeasureOrganizer = {2};
+        Reaction.Type = {Off};
+      };
+      AnyKinEqInterPolDriver DriverHipRotY = {
+        //AnyRevoluteJoint &Jnt = ...Jnts.Hip;
+        //      Type = PiecewiseLinear;
+        Type = Bspline;
+        BsplineOrder = 4;
+        //      Type = Bezier;
+        FileName = "..\Input\Drivers\hip_rot_y.txt";
+        //      AnyKinMeasure& Lin = ...Drivers.LinHipRot;
+        AnySphericalJoint &Lin = ...Jnts.Hip;
+        MeasureOrganizer = {0};
+        Reaction.Type = {Off};
+      };
+      
+      AnyKinEqInterPolDriver DriverHipRotZ = {
+        //AnyRevoluteJoint &Jnt = ...Jnts.Hip;
+        //Type = PiecewiseLinear;
+        Type = Bspline;
+        BsplineOrder = 4;
+        FileName = "..\Input\Drivers\hip_rot_z.txt";
+        //      AnyKinMeasure& Lin = ...Drivers.LinHipRot;
+        AnySphericalJoint &Lin = ...Jnts.Hip;
+        MeasureOrganizer = {1};
+        Reaction.Type = {Off};
+      };
+      
+      
+      
+      
+      //*****************************************************
+      // Knee Driver
+      //*****************************************************
+      AnyKinEqInterPolDriver DriverKneeRotX = {
+        //AnyRevoluteJoint &Jnt = ...Jnts.Knee;
+        //Type = PiecewiseLinear;
+        Type = Bspline;
+        BsplineOrder = 4;
+        FileName = "..\Input\Drivers\knee_rot_x.txt";
+        //      AnyKinMeasure& Lin = ...Drivers.LinKneeRot;
+        AnySphericalJoint &Lin = ...Jnts.Knee;
+        MeasureOrganizer = {2};
+        Reaction.Type = {On};
+      };
+      AnyKinEqInterPolDriver DriverKneeRotY = {
+        //AnyRevoluteJoint &Jnt = ...Jnts.Knee;
+        //Type = PiecewiseLinear;
+        Type = Bspline;
+        BsplineOrder = 4;
+        FileName = "..\Input\Drivers\knee_rot_y.txt";
+        //      AnyKinMeasure& Lin = ...Drivers.LinKneeRot;
+        AnySphericalJoint &Lin = ...Jnts.Knee;
+        MeasureOrganizer = {0};
+        Reaction.Type = {Off};
+      };
+      AnyKinEqInterPolDriver DriverKneeRotZ = {
+        //AnyRevoluteJoint &Jnt = ...Jnts.Knee;
+        //Type = PiecewiseLinear;
+        Type = Bspline;
+        BsplineOrder = 4;
+        FileName = "..\Input\Drivers\knee_rot_z.txt";
+        //      AnyKinMeasure& Lin = ...Drivers.LinKneeRot;
+        AnySphericalJoint &Lin = ...Jnts.Knee;
+        MeasureOrganizer = {1};
+        Reaction.Type = {On};
+      };
+      
+      //*******************************************************
+      // Ankle Driver
+      //*******************************************************
+      AnyKinEqInterPolDriver DriverAnkleRotX = {
+        //AnyRevoluteJoint &Jnt = ...Jnts.Ankle;
+        //Type = PiecewiseLinear;
+        Type = Bspline;
+        BsplineOrder = 4;
+        FileName = "..\Input\Drivers\ankle_rot_X.txt";
+        //      AnyKinMeasure& Lin = ...Drivers.LinAnkleRot;
+        AnySphericalJoint &Lin = ...Jnts.Ankle;
+        MeasureOrganizer = {2};
+        Reaction.Type = {On};
+      };
+      
+      AnyKinEqInterPolDriver DriverAnkleRotY = {
+        //AnyRevoluteJoint &Jnt = ...Jnts.Ankle;
+        //Type = PiecewiseLinear;
+        Type = Bspline;
+        BsplineOrder = 4;
+        FileName = "..\Input\Drivers\ankle_rot_Y.txt";
+        //      AnyKinMeasure& Lin = ...Drivers.LinAnkleRot;
+        AnySphericalJoint &Lin = ...Jnts.Ankle;
+        MeasureOrganizer = {0};
+        Reaction.Type = {Off};
+      };
+      
+      AnyKinEqInterPolDriver DriverAnkleRotZ = {
+        //AnyRevoluteJoint &Jnt = ...Jnts.Ankle;
+        //Type = PiecewiseLinear;
+        Type = Bspline;
+        BsplineOrder = 4;
+        FileName = "..\Input\Drivers\ankle_rot_Z.txt";
+        //      AnyKinMeasure& Lin = ...Drivers.LinAnkleRot;
+        AnySphericalJoint &Lin = ...Jnts.Ankle;
+        MeasureOrganizer = {1};
+        Reaction.Type = {On};
+      };
+      
+      //*******************************************************
+      // Phalanx Driver
+      //*******************************************************
+      AnyKinEqInterPolDriver DriverPhalRotX = {
+        //AnyRevoluteJoint &Jnt = ...Jnts.Phal;
+        //Type = PiecewiseLinear;
+        Type = Bspline;
+        BsplineOrder = 4;
+        FileName = "..\Input\Drivers\phal_rot_x.txt";
+        //      AnyKinMeasure& Lin = ...Drivers.LinPhalRot;
+        AnySphericalJoint &Lin = ...Jnts.Phal;
+        MeasureOrganizer = {2};
+        Reaction.Type = {On};
+      };
+      
+      AnyKinEqInterPolDriver DriverPhalRotY = {
+        //AnyRevoluteJoint &Jnt = ...Jnts.Phal;
+        //Type = PiecewiseLinear;
+        Type = Bspline;
+        BsplineOrder = 4;
+        FileName = "..\Input\Drivers\phal_rot_Y.txt";
+        //      AnyKinMeasure& Lin = ...Drivers.LinPhalRot;
+        AnySphericalJoint &Lin = ...Jnts.Phal;
+        MeasureOrganizer = {0};
+        Reaction.Type = {Off};
+      };
+      
+      AnyKinEqInterPolDriver DriverPhalRotZ = {
+        //AnyRevoluteJoint &Jnt = ...Jnts.Phal;
+        //Type = PiecewiseLinear;
+        Type = Bspline;
+        BsplineOrder = 4;
+        FileName = "..\Input\Drivers\phal_rot_Z.txt";
+        //      AnyKinMeasure& Lin = ...Drivers.LinPhalRot;
+        AnySphericalJoint &Lin = ...Jnts.Phal;
+        MeasureOrganizer = {1};
+        Reaction.Type = {On};
+      };
+      
+      //*******************************************************
+      // Patello Femoral Joint Driver
+      //*******************************************************
+      //      AnyKinEqInterPolDriver DriverPatRot = {
+      //        //AnyRevoluteJoint &Jnt = ...Jnts.Pat;
+      //        //Type = PiecewiseLinear;
+      //        Type = Bspline;
+      //        BsplineOrder = 4;
+      //        FileName = "drivers\pat_rot.txt";
+      //        AnyKinMeasure& Lin = ...Drivers.LinPatRot;
+      //        MeasureOrganizer = {0};
+      //        Reaction.Type = {On};
+      //      };
+      
+      
+      AnyKinEqInterPolDriver DriverPatRotX = {
+        //AnyRevoluteJoint &Jnt = ...Jnts.Phal;
+        //Type = PiecewiseLinear;
+        Type = Bspline;
+        BsplineOrder = 4;
+        FileName = "..\Input\Drivers\pat_rot_x.txt";
+        //      AnyKinMeasure& Lin = ...Drivers.LinPatRot;
+        AnySphericalJoint &Lin = ...Jnts.Pat;
+        MeasureOrganizer = {2};
+        Reaction.Type = {On};
+      };
+      
+      AnyKinEqInterPolDriver DriverPatRotY = {
+        //AnyRevoluteJoint &Jnt = ...Jnts.Phal;
+        //Type = PiecewiseLinear;
+        Type = Bspline;
+        BsplineOrder = 4;
+        FileName = "..\Input\Drivers\pat_rot_Y.txt";
+        //      AnyKinMeasure& Lin = ...Drivers.LinPatRot;
+        AnySphericalJoint &Lin = ...Jnts.Pat;
+        MeasureOrganizer = {0};
+        Reaction.Type = {On};
+      };
+      
+      AnyKinEqInterPolDriver DriverPatRotZ = {
+        //AnyRevoluteJoint &Jnt = ...Jnts.Phal;
+        //Type = PiecewiseLinear;
+        Type = Bspline;
+        BsplineOrder = 4;
+        FileName = "..\Input\Drivers\pat_rot_Z.txt";
+        //      AnyKinMeasure& Lin = ...Drivers.LinPatRot;
+        AnySphericalJoint &Lin = ...Jnts.Pat;
+        MeasureOrganizer = {1};
+        Reaction.Type = {On};
+      };
+      
+      
+      
+      
+      
+      
+      //*******************************************************
+      // Ground Segment Drivers
+      //*******************************************************
+      // The center of pressure has been moved sligthly sideways to obtain realistic
+      // abduction/adduction moment of the Ankle
+      AnyKinEqInterPolDriver DriverGroundMTrans =  {
+        //Type = PiecewiseLinear;
+        Type = Bspline;
+        BsplineOrder = 4;
+        MeasureOrganizer = {0, 1, 2};
+        FileName = "..\Input\Drivers\GroundDriver_trans_M.txt";
+        AnyKinMeasure& ref = .LinGroundMTrans;
+        Reaction.Type={Off, Off, Off};
+      };
+      
+      AnyKinEqSimpleDriver DriverGroundMRot = {
+        AnyKinRotational &ref1= .RotGroundMRot;
+        DriverPos={0,0,0};
+        DriverVel={0,0,0};
+        Reaction.Type={Off,Off,Off};
+        MeasureOrganizer = {0, 1, 2};      
+      }; 
+      AnyKinEqInterPolDriver DriverGroundPTrans =  {
+        //Type = PiecewiseLinear;
+        Type = Bspline;
+        BsplineOrder = 4;
+        MeasureOrganizer = {0, 1, 2};
+        FileName = "..\Input\Drivers\GroundDriver_trans_P.txt";
+        AnyKinMeasure& ref = .LinGroundPTrans;
+        Reaction.Type={Off, Off, Off};
+      };
+      
+      AnyKinEqSimpleDriver DriverGrounPRot = {
+        AnyKinRotational &ref1= .RotGroundPRot;
+        DriverPos={0,0,0};
+        DriverVel={0,0,0};
+        Reaction.Type={Off,Off,Off};
+        MeasureOrganizer = {0,1,2};
+      }; 
+      
+      AnyReacForce GroundFootContactForceM = {
+        
+        AnyKinLinear Lin={
+          // very very important this ensure that the reaction is between artifical segment and the foot
+          // and not between foot and globalref if Ref had been equal -1 which is default
+          Ref=0; 
+          AnySeg &ref1= ....GroundSegmentM;
+          AnySeg &ref2 = ....Seg.Metatarsus;
+          // AnySeg &ref2=...Seg.Tibia;
+        };
+        
+        AnyKinRotational Rot= {
+          AnySeg &ref1 = .Lin.ref1;
+          AnySeg &ref2 = .Lin.ref2;
+          //AnySeg &ref2 = ...Seg.Tibia;
+          Type=RotVector;
+        };     
+      };
+      
+      AnyReacForce GroundFootContactForceP={
+        
+        AnyKinLinear Lin={
+          // very very important this ensure that the reaction is between artifical segment and the foot
+          // and not between foot and globalref if Ref had been equal -1 which is default
+          Ref=0; 
+          AnySeg &ref1= ....GroundSegmentP;
+          AnySeg &ref2= ....Seg.Phalanges;
+        };
+        AnyKinRotational Rot= {
+          AnySeg &ref1 = .Lin.ref1;
+          AnySeg &ref2 = .Lin.ref2;
+          Type=RotVector;
+        };     
+      };
+    }; // AnyFolder Drivers
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