//

AnyFolder Drivers = {

  AnyComponentDefinition obj = {};

  // Aliases for convenient referencing

  AnyFolder &JntPos=..Mannequin.Posture;  

  AnyFolder &JntVel=..Mannequin.PostureVel;  

  AnyFolder &Thorax = ..BodyModel.Trunk.SegmentsThorax.ThoraxSeg;

  AnyFolder &RefHM = Main.Model.BodyModel;

  AnyFolder &RefEM = Main.Model.EnvironmentModel ; 

  // Use default mannequin drivers to control the hand posture

  AnyFolder& HandPostureRight = Main.HumanModel.DefaultMannequinDrivers.HandDriversRight;

  AnyFolder& HandPostureLeft= Main.HumanModel.DefaultMannequinDrivers.HandDriversLeft;

  AnyKinEqSimpleDriver PelvisDrv={

    AnyKinRotational PelvisGroundRotMeasure = {

      AnyRefFrame &Ref1 = ..RefEM.GlobalRef.PelvisNode;

      AnyRefFrame &Ref2 = ..RefHM.Trunk.SegmentsLumbar.PelvisSeg;

      Type = RotVector;

    };

    AnyKinLinear PelvisGroundLinMeasure = {

      AnyRefFrame &Ref1 = ..RefEM.GlobalRef.PelvisNode;

      AnyRefFrame &Ref2 = ..RefHM.Trunk.SegmentsLumbar.PelvisSeg;

    };

    MeasureOrganizer={0,1,3,4,5};

    DriverPos={0,0,0,0,0};

    DriverVel={0,0,0,0,0};

  };

  //Make a linear measure between ThoraxRest and thorax

  AnyKinEqSimpleDriver ThoraxDrv={

    AnyKinLinear  lin={

      Ref=0;

      AnySeg &ref1=..RefEM.ThoraxRest;

      AnyRefNode &ref2=..RefHM.Trunk.SegmentsThorax.ThoraxSeg.ij;     

    };

    MeasureOrganizer={1};

    DriverPos={-0.05};

    DriverVel={0.0};

  };

  AnyFolder &ref=Main.Model.BodyModel.Trunk;

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

  // Drivers for the spine

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

  //Neck driver 

  AnyKinEqSimpleDriver NeckJntDriver = {

    AnyKinMeasure& lb = ...BodyModel.Interface.Trunk.SkullThoraxLateralBending;

    AnyKinMeasure& ar = ...BodyModel.Interface.Trunk.SkullThoraxRotation;

    AnyKinMeasure& fe = ...BodyModel.Interface.Trunk.SkullThoraxFlexion;

    DriverPos = pi/180*{.JntPos.NeckLateralBending, .JntPos.NeckRotation, -1*.JntPos.NeckExtension};

    DriverVel = pi/180*{.JntVel.NeckLateralBending, .JntVel.NeckRotation, -1*.JntVel.NeckExtension};

    Reaction.Type = {Off, Off, Off};

  };

  //Thorax pelvis rotation driver

  AnyKinEqSimpleDriver PostureDriver ={

    AnyKinMeasure& Ref2 = ...BodyModel.Interface.Trunk.PelvisThoraxLateralBending;        

    AnyKinMeasure& Ref3 = ...BodyModel.Interface.Trunk.PelvisThoraxRotation;   

    AnyKinMeasure& Ref1 = ...BodyModel.Interface.Trunk.PelvisThoraxExtension;

    DriverPos = pi/180*{

      .JntPos.PelvisThoraxLateralBending,

      .JntPos.PelvisThoraxRotation,

      .JntPos.PelvisThoraxExtension

    };

    DriverVel = pi/180*{

      .JntVel.PelvisThoraxLateralBending,

      .JntVel.PelvisThoraxRotation,

      .JntVel.PelvisThoraxExtension

    };

    Reaction.Type = {Off,Off,Off};  

  };  

  AnyFolder Right ={

    Main.HumanModel.BodyModel.Right.ShoulderArm.Seg.Hand.Carpals = {

      AnyRefNode GripCenter = {sRel = .PalmJoint.sRel + {0.025, -0.02, 0}; };

    };

    //Make a linear measure between the hand and the handle

    AnyKinEqSimpleDriver HandDrv={

      AnyKinLinear  lin={

        AnyRefNode &ref1=...RefEM.Right.Handle.Node2;

        AnyRefFrame &ref2=...RefHM.Right.ShoulderArm.Seg.Hand.Carpals.GripCenter;

      };

      DriverPos={0,0,0};

      DriverVel={0,0,0};

    };

    //Make a rotational reaction in the hand

    AnyReacForce HandRotCon={

      AnyKinRotational  rot={

        AnyRefNode &ref1=...RefEM.Right.Handle.Node2;

        AnyRefFrame &ref2=...RefHM.Right.ShoulderArm.Seg.Hand.Carpals.GripCenter;

        Type=RotVector;

      };

    };

    //Make a linear measure between ArmRest and elbow

    AnyKinEqSimpleDriver ElbowDrv={

      AnyKinLinear  lin={

        Ref=0;

        AnySeg &ref1=...RefEM.ArmRest;

         AnyRefNode &ref2=...RefHM.Right.ShoulderArm.Seg.Humerus.fe;     

      };

      MeasureOrganizer={1};

      DriverPos={-0.05};

      DriverVel={0.0};

    };

    //Make a reaction force measure between ArmRest and elbow

    AnyReacForce ElbowReactions={

      AnyKinMeasureOrg MeasureOrg={

        AnyKinLinear  lin={

          Ref=0;

          AnySeg &ref1=....RefEM.ArmRest;

//          ref1={AnyDrawRefFrame drw={};};

          AnyRefNode &ref2=....RefHM.Right.ShoulderArm.Seg.Humerus.fe;     

        };

        MeasureOrganizer={0,2};

      };

    };

    //Sterno clavicular joint driver

    AnyKinEqSimpleDriver SCDriverRight ={

      AnyKinMeasure& ref1 =....BodyModel.Interface.Right.SternoClavicularProtraction;

      AnyKinMeasure& ref2 =....BodyModel.Interface.Right.SternoClavicularElevation;

      DriverPos = pi/180*{

        ..JntPos.Right.SternoClavicularProtraction,

        ..JntPos.Right.SternoClavicularElevation

      };

      DriverVel = {

        ..JntVel.Right.SternoClavicularProtraction,

        ..JntVel.Right.SternoClavicularElevation

      };

      Reaction.Type={Off,Off};

    };

    //Wrist driver 

    AnyKinEqSimpleDriver WristDriverRight ={

      AnyKinMeasure& ref1 =....BodyModel.Interface.Right.WristFlexion;

      AnyKinMeasure& ref2 =....BodyModel.Interface.Right.WristAbduction;

      DriverPos = pi/180*{

        ..JntPos.Right.WristFlexion,

        ..JntPos.Right.WristAbduction

      };

      DriverVel = pi/180*{

        ..JntVel.Right.WristFlexion,

        ..JntVel.Right.WristAbduction};

      Reaction.Type={Off,Off};

    };

    //Glenohumeral joint 

    AnyKinEqSimpleDriver GHDriverRight={

      AnyKinMeasure& ref1 =....BodyModel.Interface.Right.GlenohumeralAbduction;

      DriverPos=pi/180*{

        ..JntPos.Right.GlenohumeralAbduction  //GH joint

      };

      DriverVel = pi/180*{

        ..JntVel.Right.GlenohumeralAbduction  //GH joint

      };    

      Reaction.Type={Off};

    };

    //Elbow pronation driver

    AnyKinEqSimpleDriver ElbowPSDriverRight={

      AnyKinMeasure& Elbow =....BodyModel.Interface.Right.ElbowPronation;

      DriverPos=pi/180*{..JntPos.Right.ElbowPronation };  

      DriverVel = pi/180*{..JntVel.Right.ElbowPronation };  

      Reaction.Type={Off};

    };

    //Hip driver 

    AnyKinEqSimpleDriver HipDriverRight={

      AnyKinMeasure& ref2 =....BodyModel.Interface.Right.HipExternalRotation;

      DriverPos= pi/180*{

        ..JntPos.Right.HipExternalRotation

      };    

      DriverVel = pi/180*{

        ..JntVel.Right.HipExternalRotation

      }; 

      Reaction.Type={Off};

    };

  };//right

  AnyFolder Left ={

    Main.HumanModel.BodyModel.Left.ShoulderArm.Seg.Hand.Carpals = {

      AnyRefNode GripCenter = {sRel = .PalmJoint.sRel + {0.025, -0.02, 0}; };

    };

    //Make a linear measure between the hand and the handle

    AnyKinEqSimpleDriver HandDrv={

      AnyKinLinear  lin={

        AnyRefNode &ref1=...RefEM.Left.Handle.Node2;

        AnyRefFrame &ref2=...RefHM.Left.ShoulderArm.Seg.Hand.Carpals.GripCenter;

      };

      DriverPos={0,0,0};

      DriverVel={0,0,0};

    };

    //Make a rotational reaction in the hand

    AnyReacForce HandRotCon={

      AnyKinRotational  rot={

        AnyRefNode &ref1=...RefEM.Left.Handle.Node2;

        AnyRefFrame &ref2=...RefHM.Left.ShoulderArm.Seg.Hand.Carpals.GripCenter;

        Type=RotVector;

      };

    };

    //Make a linear measure between ArmRest and elbow

    AnyKinEqSimpleDriver ElbowDrv={

      AnyKinLinear  lin={

        Ref=0;

        AnySeg &ref1=...RefEM.ArmRest;

        AnyRefNode &ref2=...RefHM.Left.ShoulderArm.Seg.Humerus.fe;     

      };

      MeasureOrganizer={1};

      DriverPos={-0.05};

      DriverVel={0.0};

    };

    //Make a reaction force measure between ArmRest and elbow

    AnyReacForce ElbowReactions={

      AnyKinMeasureOrg MeasureOrg={

        AnyKinLinear  lin={

          Ref=0;

          AnySeg &ref1=....RefEM.ArmRest;

          AnyRefNode &ref2=....RefHM.Left.ShoulderArm.Seg.Humerus.fe;     

        };

        MeasureOrganizer={0,2};

      };

    };

    //Sterno clavicular joint driver

    AnyKinEqSimpleDriver SCDriverLeft ={

      AnyKinMeasure& ref1 =....BodyModel.Interface.Left.SternoClavicularProtraction;

      AnyKinMeasure& ref2 =....BodyModel.Interface.Left.SternoClavicularElevation;

      DriverPos = pi/180*{

        ..JntPos.Left.SternoClavicularProtraction,

        ..JntPos.Left.SternoClavicularElevation

      };

      DriverVel = pi/180*{

        ..JntVel.Left.SternoClavicularProtraction,

        ..JntVel.Left.SternoClavicularElevation

      };

      Reaction.Type={Off,Off};

    };

 //Wrist driver

  AnyKinEqSimpleDriver WristDriverLeft ={

    AnyKinMeasure& ref1 =....BodyModel.Interface.Left.WristFlexion;

    AnyKinMeasure& ref2 =....BodyModel.Interface.Left.WristAbduction;

    DriverPos = pi/180*{

      ..JntPos.Left.WristFlexion,

      ..JntPos.Left.WristAbduction};

    DriverVel = pi/180*{

      ..JntVel.Left.WristFlexion,

      ..JntVel.Left.WristAbduction};

    Reaction.Type={Off,Off};

  };

    //Glenohumeral joint driver

    AnyKinEqSimpleDriver GHDriverLeft={

      AnyKinMeasure& ref1 =....BodyModel.Interface.Left.GlenohumeralAbduction;

      DriverPos=pi/180*{

        ..JntPos.Left.GlenohumeralAbduction  //GH joint

      };    

      DriverVel = pi/180*{

        ..JntVel.Left.GlenohumeralAbduction  //GH joint

      };    

      Reaction.Type={Off};

    };

    //Elbow pronation driver 

    AnyKinEqSimpleDriver ElbowPSDriverLeft={

      AnyKinMeasure& Elbow =....BodyModel.Interface.Left.ElbowPronation;

      DriverPos= pi/180*{..JntPos.Left.ElbowPronation };  

      DriverVel = pi/180*{..JntVel.Left.ElbowPronation };  

      Reaction.Type={Off};

    };

    //Left hip driver

    AnyKinEqSimpleDriver HipDriverLeft={

      AnyKinMeasure& ref2 =....BodyModel.Interface.Left.HipExternalRotation;

      DriverPos=pi/180*{

        ..JntPos.Left.HipExternalRotation

      };    

      DriverVel = pi/180*{

        ..JntVel.Left.HipExternalRotation

      };    

      Reaction.Type={Off};

    };

    //    

    //    AnyKinRotational GHRotL = {

    //    AnyRefNode &scapula_gh = ....BodyModel.Trunk.SegmentsThorax.ThoraxSeg.ij;

    //    AnyRefNode &humerus_gh = ....BodyModel.Left.ShoulderArm.Seg.Humerus.gh;

    //    Type = RotAxesAngles;

    //    Axis1 = z;

    //    Axis2 = x;

    //    Axis3 = y;

    //    }; 

    //    

    //    

    //    // This kinematic measure compiles all the degrees of freedom controlled by the

    //    //  manikin.

    //    AnyKinMeasureOrg Left = {

    //    

    //    // Arm movements

    //    AnyKinRotational &GH = .GHRotL; 

    //    

    //    AnyRevoluteJoint  &Elbow =....BodyModel.Left.ShoulderArm.Jnt.HumeroUlnarJoint;

    //    

    //    // Forearm pronation/supination

    //    AnyKinMeasure& ForearmPronat = ....BodyModel.Interface.Left.ElbowPronation;

    //    

    //    

    //    // Leg movements

    //    AnySphericalJoint &Hip = ....BodyModel.Left.Leg.Jnt.Hip;

    //    AnyRevoluteJoint  &Knee = ....BodyModel.Left.Leg.Jnt.Knee;

    //    AnyUniversalJoint  &Ankle = ....BodyModel.Left.Leg.Jnt.Ankle;

    //    

    //    

    //    MeasureOrganizer={0,4,7};

    //    

    //    };

    //    

    //    

    //    AnyKinEqSimpleDriver DriverLeft ={

    //    AnyKinMeasure& AllDofs = .Left;

    //    DriverPos = pi/180*{

    //    0,  //GH abduction joint

    //    -160,//.JntPos.Right.ElbowPronationSupination//not in use

    //    

    //    220//..JntPos.Left.HipExternalExternalRotation

    //    

    //    };  

    //    

    //    // This is static posture, so all velocities are zero.

    //    DriverVel = pi/180*{

    //    0,

    //    0,

    //    0 

    //    

    //    };

    //    

    //    Reaction.Type = {

    //    Off,Off,Off

    //    };  

    //    };

  }; //Left

  // Place the right toe and heel on the ground

  AnyKinEq RToeGroundConstraint ={

    AnyKinLinear ToePos = {

      AnyRefFrame &Ground = Main.Model.EnvironmentModel.GlobalRef.FloorNode.Right;

      AnyRefNode &Ball = Main.Model.BodyModel.Right.Leg.Seg.Foot.ToeLateralContactNode;

    };

    MeasureOrganizer = {0,1,2};  // Only the y coordinate

    Reaction.Type={On,On,On};

  };

  AnyKinEq RToePGroundConstraint ={

    AnyKinLinear ToePos = {

      AnyRefFrame &Ground = Main.Model.EnvironmentModel.GlobalRef.FloorNode;

      AnyRefNode &Ball = Main.Model.BodyModel.Right.Leg.Seg.Foot.ToeMedialContactNode;

    };

    MeasureOrganizer = {1};  // Only the y coordinate

    Reaction.Type={Off};

  };

  AnyKinEqSimpleDriver RHeelGroundConstraint ={

    AnyKinLinear HeelPos = {

      AnyRefNode &Ground = Main.Model.EnvironmentModel.GlobalRef.FloorNode;

      AnyRefNode &Ball = Main.Model.BodyModel.Right.Leg.Seg.Foot.HeelContactNode;

    };

    MeasureOrganizer = {1};  // Only the y coordinate

    DriverPos = {0.0};

    DriverVel = {0};

    Reaction.Type = {Off};   // Provide ground reaction forces

  };

  // Place the left toe and heel on the ground

  AnyKinEq LToeGroundConstraint ={

    AnyKinLinear ToePos = {

      AnyRefNode &Ground = Main.Model.EnvironmentModel.GlobalRef.FloorNode.Left;

      AnyRefNode &Ball = Main.Model.BodyModel.Left.Leg.Seg.Foot.ToeLateralContactNode;

    };

    MeasureOrganizer = {0,1,2};  // Only the y coordinate

    Reaction.Type={On,On,On};

  };

  AnyKinEq LToePGroundConstraint ={

    AnyKinLinear ToePos = {

      AnyRefNode &Ground = Main.Model.EnvironmentModel.GlobalRef.FloorNode;

      AnyRefNode &Ball = Main.Model.BodyModel.Left.Leg.Seg.Foot.ToeMedialContactNode;

    };

    MeasureOrganizer = {1};  // Only the y coordinate

    Reaction.Type={Off};

  };

  AnyKinEqSimpleDriver LHeelGroundConstraint ={

    AnyKinLinear HeelPos = {

      AnyRefNode &Ground = Main.Model.EnvironmentModel.GlobalRef.FloorNode;

      AnyRefNode &Ball = Main.Model.BodyModel.Left.Leg.Seg.Foot.HeelContactNode;

    };

    MeasureOrganizer = {1};  // Only the y coordinate

    DriverPos = {0.0};

    DriverVel = {0};

    Reaction.Type = {Off};  // Do not Provide ground reaction

  };  

  AnyVar Strength=2500;

  AnyVar FrictionStrength=400;

  AnyFolder HeelSupportLeft = {

    AnyComponentDefinition obj = {

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

      SubGroupRegexReplace = "$1";

    };  

    AnyFixedRefFrame &StartNode = Main.Model.EnvironmentModel.GlobalRef;

    AnyRefNode &EndNode = Main.Model.BodyModel.Left.Leg.Seg.Foot.HeelJoint;

    //The terms push and pull are determined wrt. the coordinate system of the StartNode!

    //StrenghtOfReactionsLin         = {XPush,XPull,YPush,YPull,ZPush,ZPull}

    AnyVector StrengthOfReactionsLin = {.FrictionStrength,.FrictionStrength,.Strength,.FrictionStrength,.FrictionStrength,.FrictionStrength}; //List of strengths for the linear muscles

    AnyFolder &DrawRef=Main.DrawSettings;

    AnyVar ScaleFactor=1;

    #include "<ANYBODY_PATH_MODELUTILS>/Reactions/XPush.any"

    #include "<ANYBODY_PATH_MODELUTILS>/Reactions/XPull.any"

    #include "<ANYBODY_PATH_MODELUTILS>/Reactions/YPush.any"

    //  #include "<ANYBODY_PATH_MODELUTILS>/Reactions/YPull.any"

    #include "<ANYBODY_PATH_MODELUTILS>/Reactions/ZPush.any" 

    #include "<ANYBODY_PATH_MODELUTILS>/Reactions/ZPull.any" 

  };

  AnyFolder ToeSupportLeft = {

    AnyComponentDefinition obj = {

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

      SubGroupRegexReplace = "$1";

    };      

    AnyFixedRefFrame &StartNode = Main.Model.EnvironmentModel.GlobalRef;

    AnyRefNode &EndNode = Main.Model.BodyModel.Left.Leg.Seg.Foot.ToeJoint;

    //The terms push and pull are determined wrt. the coordinate system of the StartNode!

    //StrenghtOfReactionsLin         = {XPush,XPull,YPush,YPull,ZPush,ZPull}

    AnyVector StrengthOfReactionsLin = {.FrictionStrength,.FrictionStrength,.Strength,.FrictionStrength,.FrictionStrength,.FrictionStrength}; //List of strengths for the linear muscles

    AnyFolder &DrawRef=Main.DrawSettings;

    AnyVar ScaleFactor=1;

    #include "<ANYBODY_PATH_MODELUTILS>/Reactions/XPush.any"

    #include "<ANYBODY_PATH_MODELUTILS>/Reactions/XPull.any"

    #include "<ANYBODY_PATH_MODELUTILS>/Reactions/YPush.any"

    //#include "<ANYBODY_PATH_MODELUTILS>/Reactions/YPull.any"

    #include "<ANYBODY_PATH_MODELUTILS>/Reactions/ZPush.any" 

    #include "<ANYBODY_PATH_MODELUTILS>/Reactions/ZPull.any" 

  };

  AnyFolder ToeSupportPosteriorLeft = {

    AnyComponentDefinition obj = {

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

      SubGroupRegexReplace = "$1";

    };      

    AnyFixedRefFrame &StartNode = Main.Model.EnvironmentModel.GlobalRef;

    AnyRefNode &EndNode = Main.Model.BodyModel.Left.Leg.Seg.Foot.ToeMedialContactNode;

    //The terms push and pull are determined wrt. the coordinate system of the StartNode!

    //StrenghtOfReactionsLin         = {XPush,XPull,YPush,YPull,ZPush,ZPull}

    AnyVector StrengthOfReactionsLin = {.FrictionStrength,.FrictionStrength,.Strength,.FrictionStrength,.FrictionStrength,.FrictionStrength}; //List of strengths for the linear muscles

    AnyFolder &DrawRef=Main.DrawSettings;

    AnyVar ScaleFactor=1;

    #include "<ANYBODY_PATH_MODELUTILS>/Reactions/XPush.any"

    #include "<ANYBODY_PATH_MODELUTILS>/Reactions/XPull.any"

    #include "<ANYBODY_PATH_MODELUTILS>/Reactions/YPush.any"

    //#include "<ANYBODY_PATH_MODELUTILS>/Reactions/YPull.any"

    #include "<ANYBODY_PATH_MODELUTILS>/Reactions/ZPush.any" 

    #include "<ANYBODY_PATH_MODELUTILS>/Reactions/ZPull.any" 

  };

  AnyFolder HeelSupportRight = {

    AnyComponentDefinition obj = {

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

      SubGroupRegexReplace = "$1";

    };      

    AnyFixedRefFrame &StartNode = Main.Model.EnvironmentModel.GlobalRef;

    AnyRefNode &EndNode = Main.Model.BodyModel.Right.Leg.Seg.Foot.HeelJoint;

    //The terms push and pull are determined wrt. the coordinate system of the StartNode!

    //StrenghtOfReactionsLin         = {XPush,XPull,YPush,YPull,ZPush,ZPull}

    AnyVector StrengthOfReactionsLin = {.FrictionStrength,.FrictionStrength,.Strength,.FrictionStrength,.FrictionStrength,.FrictionStrength}; //List of strengths for the linear muscles

    AnyFolder &DrawRef=Main.DrawSettings;

    AnyVar ScaleFactor=1;

    #include "<ANYBODY_PATH_MODELUTILS>/Reactions/XPush.any"

    #include "<ANYBODY_PATH_MODELUTILS>/Reactions/XPull.any"

    #include "<ANYBODY_PATH_MODELUTILS>/Reactions/YPush.any"

    //#include "<ANYBODY_PATH_MODELUTILS>/Reactions/YPull.any"

    #include "<ANYBODY_PATH_MODELUTILS>/Reactions/ZPush.any" 

    #include "<ANYBODY_PATH_MODELUTILS>/Reactions/ZPull.any" 

  };

  AnyFolder ToeSupportRight = {

    AnyComponentDefinition obj = {

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

      SubGroupRegexReplace = "$1";

    };      

    AnyFixedRefFrame &StartNode = Main.Model.EnvironmentModel.GlobalRef;

    AnyRefNode &EndNode = Main.Model.BodyModel.Right.Leg.Seg.Foot.ToeJoint;

    //The terms push and pull are determined wrt. the coordinate system of the StartNode!

    //StrenghtOfReactionsLin         = {XPush,XPull,YPush,YPull,ZPush,ZPull}

    AnyVector StrengthOfReactionsLin = {.FrictionStrength,.FrictionStrength,.Strength,.FrictionStrength,.FrictionStrength,.FrictionStrength}; //List of strengths for the linear muscles

    AnyFolder &DrawRef=Main.DrawSettings;

    AnyVar ScaleFactor=1;

    #include "<ANYBODY_PATH_MODELUTILS>/Reactions/XPush.any"

    #include "<ANYBODY_PATH_MODELUTILS>/Reactions/XPull.any"

    #include "<ANYBODY_PATH_MODELUTILS>/Reactions/YPush.any"

    //#include "<ANYBODY_PATH_MODELUTILS>/Reactions/YPull.any"

    #include "<ANYBODY_PATH_MODELUTILS>/Reactions/ZPush.any" 

    #include "<ANYBODY_PATH_MODELUTILS>/Reactions/ZPull.any" 

  };

  AnyFolder ToeSupportPRight = {

    AnyComponentDefinition obj = {

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

      SubGroupRegexReplace = "$1";

    };      

    AnyFixedRefFrame &StartNode = Main.Model.EnvironmentModel.GlobalRef;

    AnyRefNode &EndNode = Main.Model.BodyModel.Right.Leg.Seg.Foot.ToeMedialContactNode;

    //The terms push and pull are determined wrt. the coordinate system of the StartNode!

    //StrenghtOfReactionsLin         = {XPush,XPull,YPush,YPull,ZPush,ZPull}

    AnyVector StrengthOfReactionsLin = {.FrictionStrength,.FrictionStrength,.Strength,.FrictionStrength,.FrictionStrength,.FrictionStrength}; //List of strengths for the linear muscles

    AnyFolder &DrawRef=Main.DrawSettings;

    AnyVar ScaleFactor=1;

    #include "<ANYBODY_PATH_MODELUTILS>/Reactions/XPush.any"

    #include "<ANYBODY_PATH_MODELUTILS>/Reactions/XPull.any"

    #include "<ANYBODY_PATH_MODELUTILS>/Reactions/YPush.any"

    //#include "<ANYBODY_PATH_MODELUTILS>/Reactions/YPull.any"

    #include "<ANYBODY_PATH_MODELUTILS>/Reactions/ZPush.any" 

    #include "<ANYBODY_PATH_MODELUTILS>/Reactions/ZPull.any" 

  };

};