AnyFolder EnvironmentModel = {

  AnyComponentDefinition obj = {

  };

  AnyVec3 HandleRGB={0.3,0.3,0.3};

  AnyVec3 MadressRGB={0.3,0.3,0.3};

  /* **********************************************************

  This folder contains the definition of the Environment

  - GlobalRefFrame

  ********************************************************** */  

  AnyFixedRefFrame GlobalRef = {

    Origin ={0.0,0,0.0}; 

    AnyRefNode  FloorNode ={

      sRel={0,0.16,0};

      AnyVec3  Color= {0.6,0.6,0.6}; //box color

      AnyVar   Opacity=1; //box Opacity

      AnyVec3 Size={2,0.02,1}; 

      #include "<ANYBODY_PATH_MODELUTILS>/DrawObjects/Box.any" //include file which will draw a box

     AnyRefNode  Right ={

      sRel={0.7,0,0.3};

//      AnyDrawRefFrame drw={};

    };

      AnyRefNode  Left ={

      sRel={0.7,0,-0.3};

  //    AnyDrawRefFrame drw={};

    };

    };

    #include "drawcoorsystem.any"

    //AnyDrawRefFrame drw={};

    AnyRefNode  PelvisNode ={

      sRel={0.45,1,0};

    };

   AnyRefNode  RightWheelNode2 ={

      sRel={0,1,0.23};

    };    

    AnyRefNode  LeftWheelNode2 ={

      sRel={0,1,-0.27};

    };    

    AnyRefNode  RightMassNode ={

      sRel={-0.1,1,0.25};

    };    

    AnyRefNode  LeftMassNode ={

      sRel={-0.1,1,-0.25};

    };    

  };//GlobalRef

  AnyFixedRefFrame Bench ={

    Origin={0,0.8,0};  

    AnyVec3  Color= .MadressRGB; //box color

    AnyVar   Opacity=1; //box Opacity

    AnyVec3 Size={1,.05,0.25}; 

    #include "<ANYBODY_PATH_MODELUTILS>/DrawObjects/Box.any" //include file which will draw a box

    AnyRefNode Frame ={

      sRel={0.1,-0.35,0};

      AnyVec3  Color= 0.8*..MadressRGB; //box color

      AnyVar   Opacity=1; //box Opacity

      AnyVec3 Size={1,.5,0.25}; 

      #include "<ANYBODY_PATH_MODELUTILS>/DrawObjects/Box.any" //include file which will draw a box

    };

    AnyRefNode Node1 ={sRel={.Size[0]*0.5,0,0};

      //AnyDrawRefFrame drw={RGB={0,0,1};};

    };

  };

  AnySeg ThoraxRest ={

    Mass=10;

    Jii={0,0,0};

    r0 ={0.692836, 1.029813, 0.000000};

    Axes0 = {{-0.642788, 0.766044, 0.000000}, {-0.766044, -0.642788, 0.000000}, {0.000000, 0.000000, 1.000000}};

    AnyVec3  Color= .MadressRGB;

    AnyVar   Opacity=1; //box Opacity

    AnyVec3 Size={0.35,.05,0.25}; 

    #include "<ANYBODY_PATH_MODELUTILS>/DrawObjects/Box.any" //include file which will draw a box

    //AnyDrawRefFrame drw={};

    AnyRefNode Node1 ={

      sRel={.Size[0]*0.5,0,0};

      //AnyDrawRefFrame drw={};

    };

    AnyRefNode Node2 = { 

      sRel={-.Size[0]*0.5,0,0};

      //AnyDrawRefFrame drw={};

    };

  };

  AnyKinEqSimpleDriver drv={

    AnyRevoluteJoint jnt={

      AnyRefNode &ref1=..Bench.Node1;

      AnyRefNode  &ref2=..ThoraxRest.Node1;

      Axis=z;

    };

    DriverPos={-130*pi/180};

    DriverVel={0};

  };

  AnySeg ArmRest ={

    Axes0 = {{-0.173648, -0.984808, 0.000000}, {0.984808, -0.173648, 0.000000}, {0.000000, 0.000000, 1.000000}};

    Mass=10;

    Jii={0,0,0};

    r0 ={0.856123, 0.986061, 0.000000};

    //    Axes0 = {{-0.642788, 0.766044, 0.000000}, {-0.766044, -0.642788, 0.000000}, {0.000000, 0.000000, 1.000000}};

    AnyVec3  Color= .MadressRGB;

    AnyVar   Opacity=1; //box Opacity

    AnyVec3 Size={0.4,.05,0.5}; 

    #include "<ANYBODY_PATH_MODELUTILS>/DrawObjects/Box.any" //include file which will draw a box

    //AnyDrawRefFrame drw={};

    AnyRefNode Node1 ={sRel={.Size[0]*0.5,0,0};

      //AnyDrawRefFrame drw={};

    };

    AnyRefNode Node2 ={sRel={-.Size[0]*0.5,0,0};

      //AnyDrawRefFrame drw={};

    };

    AnyRefNode RightWheelNode1 ={sRel={0.08,-0.05,.Size[2]*0.5};

      //AnyDrawRefFrame drw={RGB={0,1,0};};

    };

    AnyRefNode LeftWheelNode1 ={sRel={0.08,-0.05,-.Size[2]*0.5};

      //AnyDrawRefFrame drw={RGB={0,1,0};};

    };

  };

  AnyKinEqSimpleDriver ArmRestDrv={

    AnyRevoluteJoint jnt={

      AnyRefNode  &ref1=..ThoraxRest.Node2;

      AnyRefNode  &ref2=..ArmRest.Node1;

      Axis=z;

    };

    DriverPos={-130*pi/180};

    DriverVel={0};

  };

  AnyFolder Right ={

    AnyComponentDefinition obj = {

      SubGroupRegexSearch = "([_[:alnum:]]+?)\.([_[:alnum:]]+?)";

      SubGroupRegexReplace = "$1";

    };

    AnySeg Wheel1 ={

      Mass=0;

      Jii={0,0,0};

      r0 ={0.873488, 0.887580, 0.250000};

      Axes0 = {{-0.984808, 0.173648, 0.000000}, {-0.173648, -0.984808, 0.000000}, {0.000000, 0.000000, 1.000000}};

      //AnyDrawRefFrame drw={};

            AnyRefNode CylNode1={

        sRel={-0.065,-0.065,-0.0};

        AnySurfCylinder  Cyl1={

          Radius=0.1;

          Length=0.04;

          AnyDrawParamSurf drw={

            Opacity=1;

            RGB= {0.4,0.4,0.4}; 

          };

        };

        AnyRefNode WireNode={

          sRel={0.0,0.102,0.02};

          //AnyDrawRefFrame drw={};

        };

      };

      /*AnyRefNode CylNode2={

      sRel={0,0,0.03};

      AnySurfCylinder  Cyl2={

      Radius=0.1;

      Length=0.02;

      AnyDrawParamSurf drw={};

      };

      };*/

      AnyRefNode Node0={

        //AnyDrawRefFrame drw={};

        sRel={0,0.0,0};

      };

      AnyRefNode Node1={

        //AnyDrawRefFrame drw={};

        sRel={0,0.34,0};

      };

      AnyRefNode Node2={

        //AnyDrawRefFrame drw={};

        sRel={0,0.34,-0.2};

      };

      //Draw a visual line between the points

      AnyFolder Line ={

        AnyRefFrame &node1=.Node0;

        AnyRefFrame &node2=.Node1;

        AnyRefFrame &node3=.Node2;

        AnyDrawPLine line ={

          Thickness=0.02;

          RGB=....HandleRGB;

        }; 

      };

    };

    AnyKinEqSimpleDriver Drv={

      AnyRevoluteJoint Wheel1Jnt={

        AnyRefNode &ref1=...ArmRest.RightWheelNode1;

        AnySeg &ref2 =..Wheel1;

      };

      DriverPos={1.4};

      DriverVel={0.7*pi}/Main.Study.tEnd;

      Reaction.Type={Off};

    };

    AnySeg Handle ={

      Mass=0;

      Jii={0,0,0};

      r0 ={0.925583, 0.592138, 0.050000};

      Axes0 = {{0.173648, 0.984808, 0.000000}, {-0.984808, 0.173648, 0.000000}, {0.000000, 0.000000, 1.000000}};

      AnyRefNode Node0={

        //AnyDrawRefFrame drw={};

        sRel={0,0.0,0};

      };

      AnyRefNode Node1={

        //AnyDrawRefFrame drw={};

        sRel={0,0.14,0.0};

      };

      AnyRefNode Node2={

        //AnyDrawRefFrame drw={};

        sRel={0,0.14,0.16};

      };

      AnyRefNode Node3={

        //AnyDrawRefFrame drw={};

        sRel={0,0.14,0.20};

      };

      //Draw a visual line between the points

      AnyFolder Line ={

        AnyRefFrame &node1=.Node0;

        AnyRefFrame &node2=.Node1;

        AnyRefFrame &node3=.Node2;

        AnyRefFrame &node4=.Node3;

        AnyDrawPLine line ={

          Thickness=0.02;

          RGB=....HandleRGB;

        }; 

      };

    };

    //AnyKinEqSimpleDriver HandleDrv={

    AnyRevoluteJoint jnt={

      AnyRefNode  &ref1=.Wheel1.Node2;

      AnyRefNode  &ref2=.Handle.Node0;

      Axis=z;

    };

    //  DriverPos={90*pi/180};

    //  DriverVel={0};

    //};

    AnySeg Wheel2 ={

      Mass=0;

      Jii={0,0,0};

      r0={-0.5,0.5,0};

      AnyRefNode CylNode1={

        sRel={0,0,0.0};

        AnySurfCylinder  Cyl1={

          Radius=0.1;

          Length=0.04;

          AnyDrawParamSurf drw={

            Opacity=1;

            RGB= {0.4,0.4,0.4}; 

          };

        };

      };

    };    

    AnyKinEqSimpleDriver Wheel2Drv={

      AnyRevoluteJoint JntWheel2={

        AnySeg  &ref1=..Wheel2;

        AnyRefNode  &ref2=...GlobalRef.RightWheelNode2;

        Axis=z;

      };

      DriverPos={0};

      DriverVel={0};

    };

    AnySeg Mass={

      Mass=5;

      Jii={0,0,0};

      AnyRefNode CylNode ={

        sRel={0,0,0.0};

        AnyVec3  Color= {0.4,0.4,0.4}; //box color

        AnyVar   Opacity=1; //box Opacity

        AnyVec3 Size={0.2,0.2,0.2}; 

        #include "<ANYBODY_PATH_MODELUTILS>/DrawObjects/Box.any" //include file which will draw a box

      };

      AnyRefNode Logo={

        sRel={0,0.0,0.1};

        AnyDrawSTL Body = {

          FileName = ANYBODY_PATH_MODELUTILS+"DrawObjects/Body-grey.stl";

          RGB = Main.DrawSettings.Colors.AnyBodyGrey;

          Opacity = 1;

          ScaleXYZ={0.005,0.005,0.005};

        };

        AnyDrawSTL AnyTechnology = {

          FileName = ANYBODY_PATH_MODELUTILS+"DrawObjects/AnyTechnology-red.stl";

          RGB = Main.DrawSettings.Colors.AnyBodyRed;

          Opacity = 1;

          ScaleXYZ={0.005,0.005,0.005};

        };

      };

    };

    AnyPrismaticJoint MassJnt = {

      Axis = y;

      Ref = 0;

      AnyRefFrame &ref1=..GlobalRef.RightMassNode;

      AnyRefFrame &ref2=.Mass;

    };

    /*

    AnyKinEqSimpleDriver MassDrv={

    AnyPrismaticJoint &ref1=.MassJnt;

    DriverPos={-0.6};

    DriverVel={0.0}/Main.Study.tEnd;

    Reaction.Type={0};

    };

    */

    //{{1.502216}, {1.497936}, {1.494521}, {1.492025}, {1.490487}, {1.489931}, {1.490365}, {1.491780}, {1.494153}, {1.497445}, {1.501613}, {1.506589}, {1.512299}, {1.518659}, {1.525580}, {1.532955}, {1.541041}, {1.550040}, {1.559904}, {1.570773}, {1.582540}};

    AnyKinEqInterPolDriver  MassDrv={

      AnyPrismaticJoint &ref1=.MassJnt;

      Type=Bspline;

      BsplineOrder = 4;

      T =    {0,0.25,0.33,0.5,0.75,1}*Main.Study.tEnd;

//      Data={{-0.6,-0.6,-0.60,-0.585,-0.57,-0.53}};

//Data={{-0.6,-0.595,-0.59,-0.57,-0.53,-0.47}};  

  Data={{-0.52,-0.515,-0.51,-0.505,-0.49,-0.43}};  

Reaction.Type={Off};

    };

    AnyKinSPLine Wire={

      AnyRefNode &ref1=.Wheel1.CylNode1.WireNode;

      AnySeg &ref2=.Mass;

      AnySurfCylinder &ref3=.Wheel1.CylNode1.Cyl1;

      AnySurfCylinder &ref5=.Wheel2.CylNode1.Cyl1;

      AnyDrawPLine drw={Thickness=0.005; RGB={0.1,0.1,0.1};};

      InitWrapPosVectors ={{0,0.5,0},{-1,2,0}};

      StringMesh=70;

      //RelTol=1e-4;

    };

    AnyReacForce WireReaction={

      AnyKinSPLine &ref=.Wire;

    };

  }; //right

  AnyFolder Left ={

    AnyComponentDefinition obj = {

      SubGroupRegexSearch = "([_[:alnum:]]+?)\.([_[:alnum:]]+?)";

      SubGroupRegexReplace = "$1";

    };    

    AnySeg Wheel1 ={

      Mass=0;

      Jii={0,0,0};

      r0 ={0.873488, 0.887580, 0.250000};

      Axes0 = {{-0.984808, 0.173648, 0.000000}, {-0.173648, -0.984808, 0.000000}, {0.000000, 0.000000, 1.000000}};

      //AnyDrawRefFrame drw={};

            AnyRefNode CylNode1={

        sRel={-0.065,-0.065,-0.0};

        AnySurfCylinder  Cyl1={

          Radius=0.1;

          Length=0.04;

          AnyDrawParamSurf drw={

            Opacity=1;

            RGB= {0.4,0.4,0.4}; 

          };

        };

        AnyRefNode WireNode={

          sRel={0.0,0.102,0.02};

          //AnyDrawRefFrame drw={};

        };

      };

      AnyRefNode Node0={

        //AnyDrawRefFrame drw={};

        sRel={0,0.0,0};

      };

      AnyRefNode Node1={

        //AnyDrawRefFrame drw={};

        sRel={0,0.34,0};

      };

      AnyRefNode Node2={

        //AnyDrawRefFrame drw={};

        sRel={0,0.34,0.2};

      };

      //Draw a visual line between the points

      AnyFolder Line ={

        AnyRefFrame &node1=.Node0;

        AnyRefFrame &node2=.Node1;

        AnyRefFrame &node3=.Node2;

        AnyDrawPLine line ={

          Thickness=0.02;

          RGB=....HandleRGB;

        }; 

      };

    };

    AnyKinEqSimpleDriver Drv={

      AnyRevoluteJoint Wheel1Jnt={

        AnyRefNode &ref1=...ArmRest.LeftWheelNode1;

        AnySeg &ref2 =..Wheel1;

      };

      DriverPos={1.4};

      DriverVel={0.7*pi}/Main.Study.tEnd;

      Reaction.Type={Off};

    };

    AnySeg Handle ={

      Mass=0;

      Jii={0,0,0};

      r0 ={0.925583, 0.592138, 0.050000};

      Axes0 = {{0.173648, 0.984808, 0.000000}, {-0.984808, 0.173648, 0.000000}, {0.000000, 0.000000, 1.000000}};

      AnyRefNode Node0={

        //AnyDrawRefFrame drw={};

        sRel={0,0.0,0};

      };

      AnyRefNode Node1={

        //AnyDrawRefFrame drw={};

        sRel={0,0.14,0.0};

      };

      AnyRefNode Node2={

        //AnyDrawRefFrame drw={};

        sRel={0,0.14,-0.16};

      };

      AnyRefNode Node3={

        //AnyDrawRefFrame drw={};

        sRel={0,0.14,-0.20};

      };

      //Draw a visual line between the points

      AnyFolder Line ={

        AnyRefFrame &node1=.Node0;

        AnyRefFrame &node2=.Node1;

        AnyRefFrame &node3=.Node2;

        AnyRefFrame &node4=.Node3;

        AnyDrawPLine line ={

          Thickness=0.02;

          RGB=....HandleRGB;

        }; 

      };

    };

    //AnyKinEqSimpleDriver HandleDrv={

    AnyRevoluteJoint jnt={

      AnyRefNode  &ref1=.Wheel1.Node2;

      AnyRefNode  &ref2=.Handle.Node0;

      Axis=z;

    };

    //  DriverPos={90*pi/180};

    //  DriverVel={0};

    //};

    AnySeg Wheel2 ={

      Mass=0;

      Jii={0,0,0};

       r0={-0.5,0.5,-0.5};

      AnyRefNode CylNode1={

        sRel={0,0,0.0};

        AnySurfCylinder  Cyl1={

          Radius=0.1;

          Length=0.04;

          AnyDrawParamSurf drw={

            Opacity=1;

            RGB= {0.4,0.4,0.4}; 

          };

        };

      };

    };    

    AnyKinEqSimpleDriver Wheel2Drv={

      AnyRevoluteJoint JntWheel2={

        AnySeg  &ref1=..Wheel2;

        AnyRefNode  &ref2=...GlobalRef.LeftWheelNode2;

        Axis=z;

      };

      DriverPos={0};

      DriverVel={0};

    };

    AnySeg Mass={

      Mass=5;

      Jii={0,0,0};

      AnyRefNode CylNode ={

        sRel={0,0,0.0};

        AnyVec3  Color= {0.4,0.4,0.4}; //box color

        AnyVar   Opacity=1; //box Opacity

        AnyVec3 Size={0.2,0.2,0.2}; 

        #include "<ANYBODY_PATH_MODELUTILS>/DrawObjects/Box.any" //include file which will draw a box

      };

      AnyRefNode Logo={

        sRel={0,0.0,-0.1};

        ARel = RotMat(pi, y);

        AnyDrawSTL Body = {

          FileName = ANYBODY_PATH_MODELUTILS+"DrawObjects/Body-grey.stl";

          RGB = Main.DrawSettings.Colors.AnyBodyGrey;

          Opacity = 1;

          ScaleXYZ={0.005,0.005,0.005};

        };

        AnyDrawSTL AnyTechnology = {

          FileName = ANYBODY_PATH_MODELUTILS+"DrawObjects/AnyTechnology-red.stl";

          RGB = Main.DrawSettings.Colors.AnyBodyRed;

          Opacity = 1;

          ScaleXYZ={0.005,0.005,0.005};

        };

      };

    };

    AnyPrismaticJoint MassJnt = {

      Axis = y;

      Ref = 0;

      AnyRefFrame &ref1=..GlobalRef.LeftMassNode;

      AnyRefFrame &ref2=.Mass;

    };

    /*

    AnyKinEqSimpleDriver MassDrv={

    AnyPrismaticJoint &ref1=.MassJnt;

    DriverPos={-0.6};

    DriverVel={0.0}/Main.Study.tEnd;

    Reaction.Type={0};

    };

    */

    //{{1.502216}, {1.497936}, {1.494521}, {1.492025}, {1.490487}, {1.489931}, {1.490365}, {1.491780}, {1.494153}, {1.497445}, {1.501613}, {1.506589}, {1.512299}, {1.518659}, {1.525580}, {1.532955}, {1.541041}, {1.550040}, {1.559904}, {1.570773}, {1.582540}};

    AnyKinEqInterPolDriver  MassDrv={

      AnyPrismaticJoint &ref1=.MassJnt;

      Type=Bspline;

      BsplineOrder = 4;

    //  T =    {0,0.25,0.33,0.5,0.75,1}*Main.Study.tEnd;

     // Data={{-0.6,-0.6,-0.60,-0.585,-0.57,-0.53}};

          T =    {0,0.25,0.33,0.5,0.75,1}*Main.Study.tEnd;

      //Data={{-0.6,-0.595,-0.59,-0.57,-0.53,-0.47}};

        Data={{-0.52,-0.515,-0.51,-0.505,-0.49,-0.43}};  

      Reaction.Type={Off};

    };

    AnyKinSPLine Wire={

      AnyRefNode &ref1=.Wheel1.CylNode1.WireNode;

      AnySeg &ref2=.Mass;

      AnySurfCylinder &ref3=.Wheel1.CylNode1.Cyl1;

      AnySurfCylinder &ref5=.Wheel2.CylNode1.Cyl1;

      AnyDrawPLine drw={Thickness=0.005; RGB={0.1,0.1,0.1};};

      InitWrapPosVectors ={{0,0.5,0},{-1,2,0}};

      StringMesh=70;

      //RelTol=1e-4;

    };

    AnyReacForce WireReaction={

      AnyKinSPLine &ref=.Wire;

    };

  };//left

};