--- a
+++ b/Application/Examples/PedalDemoConditional/Model/Environment.any
@@ -0,0 +1,38 @@
+/// Definition of the objects surrounding the human.
+AnyFolder EnvironmentModel = {
+  
+  // Global Reference Frame
+  AnyFixedRefFrame GlobalRef = {
+    AnyRefNode Hpoint = {
+      sRel = ...Hpoint;
+    };
+    AnyRefNode LeftFoot = {
+      sRel = {-0.25, -0.15, -0.20};
+    };    AnyDrawRefFrame drw = {};
+  };  // Global reference frame
+  
+  AnySeg Pedal = {
+    r0 = {-0.15, -4.996653e-017, 0};
+    Axes0 = {{-4.440892e-016, -1, 0}, {1, -4.440892e-016, 0}, {0, 0, 1}};
+    Mass = 2;
+    Jii = {0.05, 0.001, 0.05};
+    AnyRefNode Hinge = {
+      sRel = {0, -0.15, 0};
+    };
+    AnyRefNode FootNode = {
+      sRel = {0.02, 0.15, 0};
+    };
+    AnyDrawSeg drw = {};
+  };
+  
+  AnyRevoluteJoint HingeJoint = {
+    Axis = z;
+    AnyFixedRefFrame &Ground = .GlobalRef;
+    AnyRefNode &Pedal = .Pedal.Hinge;
+  };
+  
+  AnyForce Spring = {
+    AnyRevoluteJoint &Hinge = .HingeJoint;
+    F = -..SpringStiff*.HingeJoint.Pos;
+  };
+};