--- a
+++ b/Application/Examples/FreePosture/Model/JointsAndDriversConstant.any
@@ -0,0 +1,74 @@
+/* ----------------------------------------------------------------
+Drivers for the model:
+
+-The pelvis is locked to the ground 
+-The remaining degrees of freedom are controlled by parameters in the mannequin.any file.
+-This file is a good way to get an overview of the dof in the full body model
+ all the dof in the body model is driven from this file.
+-In total 
+
+Soeren, March 1, 2006.
+----------------------------------------------------------------  */
+
+AnyFolder Drivers = {
+
+  #include "<ANYBODY_PATH_BODY>/BodyModels/include/MannequinDrivers.any"
+
+  // Aliases for convenient referencing
+  AnyFolder &JntPos=..Mannequin.Posture;  
+  AnyFolder &JntVel=..Mannequin.PostureVel;  
+  
+  AnyFolder &RefHM = Main.Model.BodyModel;
+   
+//  AnyFolder &Thorax = .BodyModel.Trunk.SegmentsThorax.ThoraxSeg;
+//  AnyFolder &ref=.BodyModel.Trunk;
+  
+  // The body parts are included only if there is no unhallowed combination detected
+  #ifdef UNHALLOWED_COMBINATION
+  #else
+  
+  #include "ConstantDrivers/TrunkDrivers.any"
+  
+  #if BM_ARM_RIGHT == ON
+  #include "ConstantDrivers/RightArmDrivers.any"
+    #if BM_ARM_DETAILED_HAND == ON
+    #include "ConstantDrivers/RightHandDrivers.any"
+    #endif
+  #else
+  #endif
+  
+  
+  #if BM_ARM_LEFT == ON
+  #include "ConstantDrivers/LeftArmDrivers.any"
+    #if BM_ARM_DETAILED_HAND == ON
+    #include "ConstantDrivers/LeftHandDrivers.any"
+    #endif
+  #else
+  #endif
+  
+  
+  #if BM_LEG_RIGHT & (BM_LEG_MODEL == _LEG_MODEL_LEG_)
+  #include "ConstantDrivers/RightLegDrivers.any"
+  #else
+  #endif
+  
+  
+  #if BM_LEG_LEFT & (BM_LEG_MODEL == _LEG_MODEL_LEG_)
+  #include "ConstantDrivers/LeftLegDrivers.any"
+  #else
+  #endif
+  
+  
+  #if BM_LEG_RIGHT & BM_LEG_MODEL_IS_TLEM
+  #include "ConstantDrivers/RightLegTDDrivers.any"
+  #else
+  #endif
+  
+  
+  #if BM_LEG_LEFT & BM_LEG_MODEL_IS_TLEM
+  #include "ConstantDrivers/LeftLegTDDrivers.any"
+  #else
+  #endif
+  
+  #endif
+};//Drivers