--- a
+++ b/Application/Examples/BikeModel/Model/Environment.any
@@ -0,0 +1,40 @@
+AnyFolder Environment = {
+  
+  // Attachment position of the bike frame to the global reference frame
+  AnyFixedRefFrame GlobalRef = {
+    AnyRefNode Bike3DGround = { sRel = {0,0.0,0.0}; };
+  };  // Global reference frame
+  
+  
+  //This is the joint which connects the Pelvis segment to the bike.
+  AnyRevoluteJoint BikeGroundJoint ={
+    Axis = z;
+    AnyRefNode & crank  = ..Environment.BikeModel.BikeFrame.SaddlePos;
+    AnyRefNode & ground = ..GroundNode;
+  };
+  
+  AnyKinEqSimpleDriver BikeGroundRotation = {
+    AnyRevoluteJoint &Jnt = .BikeGroundJoint;
+    DriverPos = {0};
+    DriverVel = {0};
+    //Setting Reaction.Type=1 means that the joint will generate the moment it will 
+    //need to balance this DOF, setting it to 0 which is default will mean that muscles 
+    //forces will be used for balancing the joint
+    Reaction.Type = {On}; 
+  };
+  
+  #include "BikeFrameAndWheels.any"    
+  #include "InitialPositionsBike.any"
+  
+};
+
+
+AnyFolder BikeLegConnection = {
+  
+  AnyFolder &ModelFolder = .HumanModel;
+  
+  AnyFolder JointsAndDrivers = {
+    #include "JointsAndDrivers.any"
+    
+  };
+};