--- a
+++ b/Application/Examples/CrossTrainer/Model/HumanRefNodes.any
@@ -0,0 +1,91 @@
+AnyFolder Human_RefNodes =
+{   
+  AnySeg& Ref_Pelvis = Main.HumanModel.BodyModel.Trunk.SegmentsLumbar.PelvisSeg;
+  Ref_Pelvis = 
+  {
+    AnyRefNode CenterNode = 
+    {
+      sRel = .Scale({0.0,0.0,0.0});
+      //          AnyDrawRefFrame drw = 
+      //          {
+      //              ScaleXYZ = 0.1 * {1,1,1};
+      //              RGB = {1,0,0};
+      //          };        
+    };   
+  };
+  
+  AnySeg& Ref_Right_Glove = Main.HumanModel.BodyModel.Right.ShoulderArm.Seg.Glove;
+  Ref_Right_Glove = 
+  {
+    AnyRefNode PalmNode = 
+    {
+      sRel = .Scale({0.0,0.0,0.0});
+      ARel = RotMat(90*pi/180,x);
+      AnyDrawRefFrame drw = 
+      {
+        ScaleXYZ = 0.1 * {1,1,1};
+        RGB = {1,0,0};
+      };
+    };  
+  };
+  
+  AnySeg& Ref_Left_Glove = Main.HumanModel.BodyModel.Left.ShoulderArm.Seg.Glove;
+  Ref_Left_Glove = 
+  {
+    AnyRefNode PalmNode = 
+    {
+      sRel = .Scale({0.0,0.0,0.0});
+      ARel = RotMat(180*pi/180,z)*RotMat(-90*pi/180,x);
+      AnyDrawRefFrame drw = 
+      {
+        ScaleXYZ = 0.1 * {1,1,1};
+        RGB = {1,0,0};
+      };
+    };  
+  };
+  
+  AnySeg& Ref_Right_Foot = Main.HumanModel.BodyModel.Right.Leg.Seg.Foot;
+  Ref_Right_Foot = 
+  {
+    AnyRefNode ToeNode = 
+    {
+      AnyVec3 ToeNode_Avg = (.BigToeNode.sRel + .ToeLateralContactNode.sRel + .ToeMedialContactNode.sRel)/3;
+      
+      sRel = ToeNode_Avg ; 
+      //ARel = RotMat(ToeNode_Avg, .ToeMedialContactNode.sRel, .BigToeNode.sRel)*RotMat(-pi/2,x)*RotMat(-pi/2,y); 
+      ARel = RotMat(.HeelContactNodeLow.sRel, .BigToeNode.sRel, .ToeLateralContactNode.sRel)*RotMat(-pi/2,x);
+      AnyDrawRefFrame drw = 
+      {
+        ScaleXYZ = 0.1 * {1,1,1};
+        RGB = {1,0,0};               
+      };  
+      
+    };
+  };
+  AnySeg& Ref_Left_Foot = Main.HumanModel.BodyModel.Left.Leg.Seg.Foot;
+  Ref_Left_Foot = 
+  {
+    AnyRefNode ToeNode = 
+    {
+      AnyVec3 ToeNode_Avg = (.BigToeNode.sRel + .ToeLateralContactNode.sRel + .ToeMedialContactNode.sRel)/3;
+      
+      sRel = ToeNode_Avg ;
+      //ARel = RotMat(ToeNode_Avg, .ToeMedialContactNode.sRel, .BigToeNode.sRel)*RotMat(pi/2,x)*RotMat(pi/2,y);
+      ARel = RotMat(.HeelContactNodeLow.sRel, .BigToeNode.sRel, .ToeLateralContactNode.sRel)*RotMat(pi/2,x);
+      AnyDrawRefFrame drw = 
+      {
+        ScaleXYZ = 0.1 * {1,1,1};
+        RGB = {1,0,0};               
+      };  
+      
+    };   
+  };
+  
+  AnyRefNode& Pelvis_Node = Ref_Pelvis.CenterNode;
+  AnyRefNode& Right_Palm_Node = Ref_Right_Glove.PalmNode;
+  AnyRefNode& Left_Palm_Node = Ref_Left_Glove.PalmNode;
+  AnyRefNode& Right_Toe_Node = Ref_Right_Foot.ToeNode;
+  AnyRefNode& Left_Toe_Node = Ref_Left_Foot.ToeNode;
+  
+  
+};