--- a
+++ b/Application/Examples/CrossTrainer/Model/JointsAndDrivers.any
@@ -0,0 +1,378 @@
+AnyFolder Drivers = 
+{
+  // Aliases for convenient referencing
+  AnyFolder &RefHM = Main.Model.BodyModel;
+    
+  AnyFolder &JntPos= ..Mannequin.Posture;  
+  AnyFolder &JntVel= ..Mannequin.PostureVel;  
+  
+  // ************************************
+  // Drivers for the left & right legs
+  // ************************************  
+  
+  AnyStdJoint Left_Foot_Connect = 
+  {
+    AnyRefFrame& base = Main.Model.FitnessMachine._ANY_INTERFACE_.Pedal___1____ANY_TOE2;
+    AnyRefFrame& target = Main.Model.Human_RefNodes.Left_Toe_Node;
+    //Constraints.Reaction.Type = {On, NonNegative, On, On, On, On};
+    Constraints.Reaction.Type = {Off, Off, Off, Off, Off, Off};
+  };
+
+  AnyStdJoint Right_Foot_Connect = 
+  {
+    AnyRefFrame& base = Main.Model.FitnessMachine._ANY_INTERFACE_.Pedal___2____ANY_TOE2;
+    AnyRefFrame& target = Main.Model.Human_RefNodes.Right_Toe_Node;
+    //Constraints.Reaction.Type = {On, NonNegative, On, On, On, On};
+    Constraints.Reaction.Type = {Off, Off, Off, Off, Off, Off};
+  };  
+  
+//  AnyKinEqSimpleDriver HipAbduction_Rhythm_Driver = 
+//  {
+//    AnyKinMeasureLinComb lincomb = 
+//    {
+//      AnyKinMeasure& ref0 = ....HumanModel.Interface.Right.HipAbduction;
+//      AnyKinMeasure& ref1 = ....HumanModel.Interface.Left.HipAbduction ;
+//      Coef = {{1, -1}};
+//      OutDim = 1;
+//    };
+//    DriverPos = {0.0};
+//    DriverVel = {0.0};
+//    Reaction.Type = {Off};
+//  };
+
+  AnyKinEqSimpleDriver HipExternalRotation_Rhythm_Driver = 
+  {
+    AnyKinMeasureLinComb lincomb = 
+    {
+      AnyKinMeasure& ref0 = ....BodyModel.Interface.Right.HipExternalRotation;
+      AnyKinMeasure& ref1 = ....BodyModel.Interface.Left.HipExternalRotation ;
+      Coef = {{1, -1}};
+      OutDim = 1;
+    };    
+    DriverPos = {0.0};
+    DriverVel = {0.0};
+    Reaction.Type = {Off};
+    };    
+  
+  AnyKinEqSimpleDriver KneeFlexion_Rhythm_Driver =
+  {
+    AnyKinMeasureLinComb limcomb = 
+    {
+      AnyKinMeasure& ref0 = ....BodyModel.Interface.Right.KneeFlexion ;
+      AnyKinMeasure& ref1 = ....BodyModel.Interface.Left.KneeFlexion ;
+      Coef = {{1, 1}};
+      OutDim = 1 ;
+    };
+    DriverPos = pi/180*{90};
+    DriverVel = {0.0};
+    Reaction.Type={Off};
+  };
+  
+  // ************************************
+  // Drivers for the trunk
+  // ************************************
+    
+//  AnyKinEqSimpleDriver Pelvis_Rot_Driver = 
+//  {
+//    AnyKinRotational rot = 
+//    {
+//      AnyRefFrame &Base = Main.Model.FitnessMachine._ANY_INTERFACE_.ANY_PELVIS;
+//      AnyRefFrame &Target = Main.Model.Human_RefNodes.Pelvis_Node;       
+//      Type = PlanarAngles ;
+//      Axis1 = y;
+//      Axis2 = z;
+//      Axis3 = x;
+//    };
+//    MeasureOrganizer = {1, 2};
+//    DriverPos = {0, 0};
+//    DriverVel = {0, 0};
+//    Reaction.Type = {Off, Off};
+//  };
+  
+  AnyKinEqSimpleDriver Pelvis_RotX_Driver = 
+  {
+    AnyKinMeasure& ref = ...BodyModel.Interface.Trunk.PelvisRotX;
+    DriverPos = pi/180*
+    {
+      .JntPos.PelvisRotX
+    };    
+    DriverVel = pi/180*
+    {
+      .JntVel.PelvisRotX
+    };    
+    Reaction.Type={Off};
+  };
+
+  AnyKinEqSimpleDriver Pelvis_RotZ_Driver = 
+  {
+    AnyKinMeasure& ref = ...BodyModel.Interface.Trunk.PelvisRotZ;
+    DriverPos = pi/180*
+    {
+      .JntPos.PelvisRotZ
+  };
+    DriverVel = pi/180*
+    {
+      .JntVel.PelvisRotZ
+    };    
+    Reaction.Type = {Off};
+  };  
+  
+  AnyKinEqSimpleDriver Human_Full_CoM_Z_Driver = 
+  {
+    AnyKinMeasureLinComb lincomb = 
+    {
+      AnyKinCoM& human_CoM = Main.Model.Human_CoM.CoM_Full;
+      AnyKinLinear lin = 
+      {
+        AnyRefFrame& target =  Main.Model.FitnessMachine._ANY_INTERFACE_.ANY_PELVIS;
+      };
+      OutDim = 3;
+      Coef = {{1,0,0,-1,0,0},{0,1,0,0,-1,0},{0,0,1,0,0,-1}}; 
+    };
+    MeasureOrganizer = {2};
+    Reaction.Type = {Off}; 
+    DriverPos = {0.0};
+    DriverVel = {0.0};
+  }; 
+    
+  AnyKinEqSimpleDriver Human_Full_CoM_X_Driver = 
+  {
+    AnyKinMeasureLinComb lincomb = 
+    {
+      AnyKinCoM& human_CoM = Main.Model.Human_CoM.CoM_Full;
+      AnyKinLinear lin0 = 
+      {
+        AnyRefFrame& target =  Main.HumanModel.BodyModel.Right.Leg.Seg.Foot.SubTalarJoint;
+      };
+      AnyKinLinear lin1 = 
+      {
+        AnyRefFrame& target =  Main.HumanModel.BodyModel.Left.Leg.Seg.Foot.SubTalarJoint;
+      };      
+      OutDim = 3;
+      Coef = 
+      {
+        {1,0,0,-0.5,0,0,-0.5,0,0},
+        {0,1,0,0,-0.5,0,0,-0.5,0},
+        {0,0,1,0,0,-0.5,0,0,-0.5}
+      }; 
+    };
+    MeasureOrganizer = {0};
+    Reaction.Type = {Off}; 
+    DriverPos = {0.0};
+    DriverVel = {0.0};
+  };  
+
+//  AnyKinEqSimpleDriver Human_CoM_Y_Driver = 
+//  {
+//    AnyKinMeasureLinComb lincomb = 
+//    {
+//      AnyKinCoM& human_CoM = Main.Model.Human_CoM.human_CoM;
+//      AnyKinLinear lin = 
+//      {
+//        AnyRefFrame& target =  Main.Model.FitnessMachine._ANY_INTERFACE_.ANY_PELVIS;
+//      };
+//      OutDim = 3;
+//      Coef = {{1,0,0,-1,0,0},{0,1,0,0,-1,0},{0,0,1,0,0,-1}}; 
+//    };
+//    MeasureOrganizer = {1};
+//    Reaction.Type = {Off}; 
+//    DriverPos = {0.3};
+//    DriverVel = {0.0};
+//  };     
+  
+//  AnyKinEqSimpleDriver Human_Upper_CoM_X_Driver = 
+//  {
+//    AnyKinMeasureLinComb lincomb = 
+//    {
+//      AnyKinCoM& CoM_Upper = Main.Model.Human_CoM.CoM_Upper;
+//      AnyKinCoM& CoM_Full = Main.Model.Human_CoM.CoM_Full;    
+//      OutDim = 3;
+//      Coef = 
+//      {
+//        {1,0,0,-1,0,0},
+//        {0,1,0,0,-1,0},
+//        {0,0,1,0,0,-1}
+//      }; 
+//    };
+//    MeasureOrganizer = {0};
+//    Reaction.Type = {Off}; 
+//    DriverPos = {0.0};
+//    DriverVel = {0.0};
+//  }; 
+
+  //Thorax pelvis rotation driver
+  AnyKinEqSimpleDriver PelvisThorax_Driver =
+  {
+    //AnyKinMeasure& Ref0 = ...BodyModel.Interface.Trunk.PelvisThoraxRotation;   
+    AnyKinMeasure& Ref1 = ...BodyModel.Interface.Trunk.PelvisThoraxExtension;
+    AnyKinMeasure& Ref2 = ...BodyModel.Interface.Trunk.PelvisThoraxLateralBending;   
+    
+    DriverPos = pi/180*
+    {   
+      //.JntPos.PelvisThoraxRotation,
+      .JntPos.PelvisThoraxExtension,
+      .JntPos.PelvisThoraxLateralBending
+    };
+    DriverVel = pi/180*
+    {  
+      //.JntVel.PelvisThoraxRotation,
+      .JntVel.PelvisThoraxExtension,
+      .JntVel.PelvisThoraxLateralBending
+    };
+    //Reaction.Type = {Off,Off,Off};
+    Reaction.Type = {Off, Off};
+    //Reaction.Type = {Off};
+  }; 
+
+  AnyKinEqSimpleDriver PelvisThoraxRotation_Rhythm_Driver = 
+  {
+    AnyKinMeasureLinComb lincomb = 
+    {
+      AnyKinMeasure& ref0 = ....BodyModel.Interface.Trunk.PelvisThoraxRotation;
+      AnyKinMeasureLinComb HipFlexion_Diff = 
+      {
+          AnyKinMeasure& ref0 = .....BodyModel.Interface.Right.HipFlexion ;
+          AnyKinMeasure& ref1 = .....BodyModel.Interface.Left.HipFlexion ;    
+          Coef = {{1, -1}};
+          OutDim = 1;
+  }; 
+      Coef = {{1, -1/50}};
+      OutDim = 1;
+    };
+    DriverPos = {0.0};
+    DriverVel = {0.0};
+    Reaction.Type = {Off};
+  };
+    
+//  //Neck driver 
+//  AnyKinEqSimpleDriver NeckJnt_Driver = 
+//  {
+//    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, .JntPos.NeckExtension};
+//    DriverVel = pi/180*{.JntVel.NeckLateralBending, .JntVel.NeckRotation, .JntVel.NeckExtension};
+//    Reaction.Type = {Off, Off, Off};
+//  };
+  
+  AnyKinEqSimpleDriver HeadOrientation_Driver = 
+  {
+    AnyKinRotational rot = 
+    {
+      AnyRefFrame& ref = Main.HumanModel.BodyModel.Trunk.SegmentsCervicalSpine.SkullSeg.TopOfHead;
+      Type = PlanarAngles;
+    };
+    DriverPos = {0, 0, 0};
+    DriverVel = {0, 0, 0};
+    Reaction.Type = {Off, Off, Off};
+  };
+  
+  // ************************************
+  // Drivers for the left & right arms
+  // ************************************
+  
+  //Sterno clavicular joint driver
+  #if BM_ARM_LEFT & (BM_ARM_SHOULDER_RHYTHM == 0)
+  AnyKinEqSimpleDriver SCDriverLeft_Driver =
+  {
+    AnyKinMeasure& ref1 =Main.Model.BodyModel.Interface.Left.SternoClavicularProtraction;
+    AnyKinMeasure& ref2 =Main.Model.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};
+  };
+  #endif  
+  
+  //Sterno clavicular joint driver
+  #if BM_ARM_RIGHT & (BM_ARM_SHOULDER_RHYTHM == 0)
+  AnyKinEqSimpleDriver SCDriverRight_Driver =
+  {
+    AnyKinMeasure& ref1 =Main.Model.BodyModel.Interface.Right.SternoClavicularProtraction;
+    AnyKinMeasure& ref2 =Main.Model.BodyModel.Interface.Right.SternoClavicularElevation;
+    DriverPos = pi/180*
+    {
+      .JntPos.Right.SternoClavicularProtraction,
+      .JntPos.Right.SternoClavicularElevation
+    };
+    DriverVel = pi/180*
+    {
+      .JntVel.Right.SternoClavicularProtraction,
+      .JntVel.Right.SternoClavicularElevation
+    };
+    Reaction.Type = {Off,Off};
+  };
+  #endif
+  
+  AnyKinEqSimpleDriver GlenohumeralAbduction_Rhythm_Driver = 
+  {
+    AnyKinMeasureLinComb lincomb = 
+    {
+      AnyKinMeasure& ref0 = ....BodyModel.Interface.Left.GlenohumeralAbduction;
+      AnyKinMeasure& ref1 = ....BodyModel.Interface.Right.GlenohumeralAbduction ; 
+      Coef = {{1, 1}};
+      OutDim = 1;
+    };    
+    DriverPos = pi/180*{20};
+    DriverVel = {0.0};
+    Reaction.Type = {Off};
+  };  
+  
+  AnyKinEqSimpleDriver Elbow_Rhythm_Driver = 
+  {
+    AnyKinMeasureLinComb lincomb = 
+    {
+      AnyKinMeasureOrg org0 = 
+      {
+        AnyKinLinear lin = 
+        {
+          AnyRefFrame& ref0 = Main.Model.FitnessMachine.MainBase___1.ANY_PELVIS;
+          AnyRefFrame& ref1 = ......BodyModel.Left.ShoulderArm.Seg.Humerus.fe;
+          Ref = 0;
+    };    
+        MeasureOrganizer = {2}; //z
+    };    
+      AnyKinMeasureOrg org1 = 
+      {
+        AnyKinLinear lin = 
+        {
+          AnyRefFrame& ref0 = Main.Model.FitnessMachine.MainBase___1.ANY_PELVIS;
+          AnyRefFrame& ref1 = ......BodyModel.Right.ShoulderArm.Seg.Humerus.fe;
+          Ref = 0;
+        };
+        MeasureOrganizer = {2}; //z
+      };
+      Coef = {{1, 1}};
+      OutDim = 1;
+    };
+    DriverPos = {0.0};
+    DriverVel = {0.0};
+    Reaction.Type = {Off};
+  };
+    
+  AnyStdJoint Left_Hand_Connect = 
+  {
+    AnyRefFrame& base = Main.Model.FitnessMachine._ANY_INTERFACE_.ANY_LEFT_HAND2;
+    AnyRefFrame& target = Main.Model.Human_RefNodes.Left_Palm_Node;
+    Constraints.Reaction.Type = {On, On, On, On, On, On};
+  };
+  
+  AnyStdJoint Right_Hand_Connect = 
+  {
+    AnyRefFrame& base = Main.Model.FitnessMachine._ANY_INTERFACE_.ANY_RIGHT_HAND2;
+    AnyRefFrame& target = Main.Model.Human_RefNodes.Right_Palm_Node;    
+    Constraints.Reaction.Type = {On, On, On, On, On, On};
+  };    
+    
+};//Drivers
+