--- a
+++ b/Application/Examples/SeatedHumanFullWithNeck/Model/Body.Study.any
@@ -0,0 +1,499 @@
+  // Todo: Write a small description of your model here
+
+Main = {
+
+   AnyFolder  Colors = {
+      AnyVec3 Nodes ={235/256,197/256,17/256}; //AnyBody standard yellow
+      AnyVec3 Segments = {235/256,197/256,17/256}; //AnyBody standard yellow
+
+};
+  AnyFolder BodyParameters = {
+      AnyVar BodyMass = 75;
+      AnyVar BodyHeight = 1.88;
+      AnyVar Density = 1000;
+    };
+
+ 
+  AnyFolder BodyModel = {
+
+
+    AnyFixedRefFrame GlobalRef = {
+      Origin ={0.0,0.1,0.0}; 
+      
+     AnyDrawRefFrame DrwGlobalRef = {
+          ScaleXYZ={0.5,0.5,0.5};
+          RGB ={0,0,1}  ;
+      };
+           
+      AnyRefNode PelvisGroundLock = {
+         sRel = {0.0,0.0,0.0};
+      };    
+
+    };//GlobalRef
+
+
+//-------------------------------------------------------
+// Leg pos definition
+//-------------------------------------------------------
+
+    AnyFixedRefFrame FootLocation = {
+      AnyDrawRefFrame DrwGlobalRef = {
+          ScaleXYZ={0.1,0.1,0.1};
+           RGB ={0,0,1}  ;
+      };
+      Origin ={0.70,-0.4,0.20}; 
+    };
+    
+
+    AnyFixedRefFrame KneePos = {
+      AnyDrawRefFrame DrwGlobalRef = {
+          ScaleXYZ={0.1,0.1,0.1};
+          RGB ={0,0,1}  ;
+      };
+      Origin ={0.5,0.0,0.20}; 
+    };
+
+
+ 
+//-------------------------------------------------------
+// Control of GH position
+//-------------------------------------------------------
+  AnyFixedRefFrame GHPos = {
+      AnyDrawRefFrame DrwGlobalRef = {
+          ScaleXYZ={0.1,0.1,0.1};
+          RGB ={0,0,1}  ;
+      };
+      Origin ={-0.09,0.58,0.20}; 
+    };
+
+   
+    
+ 
+//-------------------------------------------------------
+// Arm frontal pos definition
+//-------------------------------------------------------
+  AnyFixedRefFrame HandLocation = {
+      AnyDrawRefFrame DrwGlobalRef = {
+          ScaleXYZ={0.1,0.1,0.1};
+          RGB ={0,0,1}  ;
+      };
+      Origin ={0.45,0.4,0.20}; 
+    };
+
+   AnyFixedRefFrame ElbowPos = {
+      AnyDrawRefFrame DrwGlobalRef = {
+          ScaleXYZ={0.1,0.1,0.1};
+          RGB ={0,0,1}  ;
+      };
+      Origin ={0.3,0.4,0.20}; 
+    };
+    #include "Body.Model.any"
+
+ };//BodyModel
+
+  
+//-------------------------------------------------------
+//This Seg
+//-------------------------------------------------------
+
+
+AnyFolder SetInitialPos ={
+
+//-------------------------------------------------------
+//This Initial pos for armshoulder segments
+//-------------------------------------------------------
+Main.BodyModel.Right.ShoulderArm.Seg.Humerus.r0 = {-0.083707, 0.568691, 0.182766};
+Main.BodyModel.Right.ShoulderArm.Seg.Humerus.Axes0 = {{0.036562, -0.830751, -0.555442}, {-0.034728, 0.554422, -0.831511}, {0.998728, 0.049691, -0.008580}};
+Main.BodyModel.Right.ShoulderArm.Seg.Scapula.r0 = {-0.118362, 0.613061, 0.199031};
+Main.BodyModel.Right.ShoulderArm.Seg.Scapula.Axes0 = {{0.898861, -0.218230, -0.380032}, {0.201003, 0.975897, -0.084983}, {0.389418, -0.000000, 0.921061}};
+Main.BodyModel.Right.ShoulderArm.Seg.Radius.r0 = {0.239102, 0.396104, 0.195996};
+Main.BodyModel.Right.ShoulderArm.Seg.Radius.Axes0 = {{-0.998489, 0.054797, -0.004200}, {-0.054872, -0.998281, 0.020605}, {-0.003063, 0.020804, 0.999779}};
+Main.BodyModel.Right.ShoulderArm.Seg.Ulna.r0 = {0.196187, 0.391280, 0.179439};
+Main.BodyModel.Right.ShoulderArm.Seg.Ulna.Axes0 = {{0.148589, 0.987954, 0.043214}, {-0.014130, 0.045816, -0.998850}, {-0.988798, 0.147808, 0.020767}};
+Main.BodyModel.Right.ShoulderArm.Seg.Hand.r0 = {0.470101, 0.426800, 0.197076};
+Main.BodyModel.Right.ShoulderArm.Seg.Hand.Axes0 = {{-0.998489, 0.054797, -0.004200}, {-0.054872, -0.998281, 0.020605}, {-0.003063, 0.020804, 0.999779}};
+Main.BodyModel.Right.ShoulderArm.Seg.Clavicula.r0 = {-0.132136, 0.609981, 0.000000};
+Main.BodyModel.Right.ShoulderArm.Seg.Clavicula.Axes0 = {{0.069032, -0.218230, -0.973453}, {0.015437, 0.975897, -0.217683}, {0.997495, 0.000000, 0.070737}};
+
+
+//-------------------------------------------------------
+//This Initial pos for leg segments
+//-------------------------------------------------------
+Main.BodyModel.Right.Leg.Seg.Shank.r0 = {0.594929, -0.080616, 0.202714};
+Main.BodyModel.Right.Leg.Seg.Shank.Axes0 = {{0.892092, -0.407002, -0.196266}, {0.400657, 0.913325, -0.072876}, {0.208916, -0.013623, 0.977839}};
+Main.BodyModel.Right.Leg.Seg.Thigh.r0 = {0.257590, 0.060876, 0.174185}; 
+Main.BodyModel.Right.Leg.Seg.Thigh.Axes0 = {{-0.252386, -0.947513, -0.196266}, {0.967389, -0.242584, -0.072876}, {0.021440, -0.208258, 0.977839}};
+Main.BodyModel.Right.Leg.Seg.Foot.r0 = {0.778702, -0.350421, 0.219492};
+Main.BodyModel.Right.Leg.Seg.Foot.Axes0 = {{-0.397348, -0.896434, -0.196266}, {0.917598, -0.390773, -0.072876}, {-0.011367, -0.209050, 0.977839}};
+
+
+//-------------------------------------------------------
+//This Initial pos for spine and thorax
+//-------------------------------------------------------
+Main.BodyModel.Trunk.Seg.Pelvis.r0 = {0.000000, 0.100000, 0.000000};
+Main.BodyModel.Trunk.Seg.Pelvis.Axes0 = {{0.731689, -0.681639, 0.000000}, {0.681639, 0.731689, 0.000000}, {0.000000, 0.000000, 1.000000}};
+Main.BodyModel.Trunk.Seg.Thorax.r0 = {-0.132136, 0.609981, 0.000000};
+Main.BodyModel.Trunk.Seg.Thorax.Axes0 = {{0.975897, -0.218230, -0.000000}, {0.218230, 0.975897, -0.000000}, {0.000000, 0.000000, 1.000000}};
+Main.BodyModel.Trunk.Seg.L4L5Seg.r0 = {-0.025298, 0.132476, 0.000000};
+Main.BodyModel.Trunk.Seg.L4L5Seg.Axes0 = {{0.867819, -0.496880, -0.000000}, {0.496880, 0.867819, 0.000000}, {-0.000000, -0.000000, 1.000000}};
+Main.BodyModel.Trunk.Seg.L2L3Seg.r0 = {-0.051114, 0.194959, 0.000000};
+Main.BodyModel.Trunk.Seg.L2L3Seg.Axes0 = {{0.975897, -0.218230, 0.000000}, {0.218230, 0.975897, 0.000000}, {-0.000000, 0.000000, 1.000000}};
+
+};
+   
+AnyFolder Drv = {
+
+//-------------------------------------------------------
+//This joint and driver locks the pelvis segment to the ground !
+//-------------------------------------------------------
+
+ AnyRevoluteJoint PelvisGroundJoint = {
+    Axis = z;
+    AnyRefNode &PelvisNode = Main.BodyModel.Trunk.Seg.Pelvis.GroundLock;
+    AnyRefNode &GroundNode = Main.BodyModel.GlobalRef.PelvisGroundLock;
+  }; //Pelvis Ground Joint
+
+  AnyKinEqSimpleDriver GroundDriver = {
+    AnyRevoluteJoint &GroundJoint = .PelvisGroundJoint;
+    DriverPos = {-0.75};
+    DriverVel = {0};
+    Reaction.Type = {0};
+  };
+
+//-------------------------------------------------------
+//This joint locks the foot to the ground!
+//-------------------------------------------------------
+
+  AnySphericalJoint HeelToGround = {
+    AnyRefNode &HeelNode = Main.BodyModel.Right.Leg.Seg.Foot.Heel;
+    AnyRefNode &GroundNode = ..BodyModel.FootLocation;
+  }; //Heel to ground
+
+
+//-------------------------------------------------------
+//This joint and driver controls the knee pos in the frontal plane
+//-------------------------------------------------------
+
+ AnyKinLinear XYZmeasureKnee = {
+    AnyFixedRefFrame& Ground = ..BodyModel.KneePos;
+    AnyRefNode &Knee = Main.BodyModel.Right.Leg.Seg.Shank.KneeJoint;
+  };
+
+  AnyKinEqSimpleDriver KneeMotionZ = {
+    AnyKinLinear &Jnt = .XYZmeasureKnee;
+    MeasureOrganizer = {2};
+    
+    DriverPos = {0};
+    DriverVel = {0.0};
+   // DriverAcc = {0.0};
+   Reaction.Type = {0.0};
+  };
+
+
+//-------------------------------------------------------
+//This joint locks the hand to the ground!
+//-------------------------------------------------------
+
+  AnySphericalJoint HandToGround = {
+    AnyRefNode &HandNode = Main.BodyModel.Right.ShoulderArm.Seg.Hand.Hand;
+    AnyRefNode &GroundNode = ..BodyModel.HandLocation;
+  }; //Heel to ground
+
+
+
+//-------------------------------------------------------
+//This joint and driver controls the elbow pos in the frontal plane
+//-------------------------------------------------------
+
+ AnyKinLinear XYZmeasureElbow = {
+    AnyFixedRefFrame& Ground = ..BodyModel.ElbowPos;
+    AnyRefNode &Knee = Main.BodyModel.Right.ShoulderArm.Seg.Humerus.em;
+  };
+
+  AnyKinEqSimpleDriver ElbowMotionZ = {
+    AnyKinLinear &Jnt = .XYZmeasureElbow;
+    MeasureOrganizer = {2};
+    
+    DriverPos = {0};
+    DriverVel = {0.0};
+   // DriverAcc = {0.0};
+   // Reaction.Type = {0.0};
+  };
+
+
+//-------------------------------------------------------
+//  Standard drivers
+//-------------------------------------------------------
+
+//-------------------------------------------------------
+//  Drives for the spine model
+//-------------------------------------------------------
+
+  AnyKinEqSimpleDriver L5PelvisJntDriver = {
+    AnyRevoluteJoint &L5PelvisJoint = Main.BodyModel.Trunk.Jnt.L5PelvisJnt;
+    DriverPos = {-0.20};
+    DriverVel = {0.};
+//  Reaction.Type = {0.0};
+    Reaction.Type = {0.0};
+  };
+
+  AnyKinEqSimpleDriver L3L4JntDriver = {
+    AnyRevoluteJoint &L3L4Joint = Main.BodyModel.Trunk.Jnt.L3L4Jnt;
+    DriverPos = {-0.20};
+    DriverVel = {0.0};
+   // Reaction.Type = {0.0};
+    Reaction.Type = {0.0};
+  };
+
+  AnyKinEqSimpleDriver HATL2JntDriver = {
+    AnyRevoluteJoint &HATL2Joint = Main.BodyModel.Trunk.Jnt.HATL2Jnt;
+    DriverPos = {-0.20};
+    DriverVel = {0.0};
+    // Reaction.Type = {0.0};
+    Reaction.Type = {0.0};
+  };
+ 
+
+//-------------------------------------------------------
+//  Drivers for the shoulder and the arm
+//-------------------------------------------------------
+/*
+  AnyKinEqSimpleDriver SC_Driver = {
+      AnySphericalJoint &joint =  Main.BodyModel.Right.ShoulderArm.Jnt.SC;
+      DriverPos = {0,-1.50,0};
+      DriverVel = {0.0,0.5,0.0};
+      Reaction.Type = {0.0,0.0,0.0};
+
+  };
+ 
+ AnyKinEqSimpleDriver AC_Driver = {
+      AnyUniversalJoint &joint = Main.BodyModel.Right.ShoulderArm.Jnt.AC;
+      DriverPos = {1.1,0.0};
+      DriverVel = {0.0,0.0};
+      Reaction.Type = {0.0,0.0};
+
+  };
+
+AnyKinEqSimpleDriver GH_Driver = {
+      AnySphericalJoint &joint = Main.BodyModel.Right.ShoulderArm.Jnt.GH;
+      //DriverPos = {0.0,-1.65,0.25};
+     //  DriverPos = {1.5,-0.015,1.25};//hand in the air !
+     // DriverPos = {0.7,-1.5,0.5};
+      DriverPos = {0.7,-1.1,0.4};
+      DriverVel = {1.0,0.0,0.0};
+      Reaction.Type = {0.0,0.0,0.0};
+  };
+
+
+  AnyKinEqSimpleDriver FEDriver = {
+      AnyRevoluteJoint &joint = Main.BodyModel.Right.ShoulderArm.Jnt.HumeroUlnarJoint;
+      DriverPos = {2.5};
+      DriverVel = {0.0};
+      Reaction.Type = {1.0};
+  };
+
+*/
+
+  AnyKinEqSimpleDriver PSDriver = {
+      AnyRevoluteJoint &joint = Main.BodyModel.Interface.Right.ElbowPronation;
+      DriverPos = {0.0};
+      DriverVel = {0.0};
+      Reaction.Type = {0.0};
+  };
+
+ AnyKinEqSimpleDriver Wrist_Driver = {
+      AnySphericalJoint &joint =Main.BodyModel.Right.ShoulderArm.Jnt.WristJoint;
+      DriverPos = {0.0,0.0,-0.0};
+      DriverVel = {0.0,0.0,0.0};
+      Reaction.Type = {1.0,1.0,1.0};
+  };
+
+
+ AnyKinLinear XYZMeasureGH = {
+    AnyFixedRefFrame& GHGround = ..BodyModel.GHPos;
+    AnyRefNode &GH = Main.BodyModel.Right.ShoulderArm.Seg.Scapula.gh;
+  };
+
+  AnyKinEqSimpleDriver GHMotion = {
+    AnyKinLinear &Jnt = .XYZMeasureGH;
+    MeasureOrganizer = {0,1};
+    
+   DriverPos = {0.04,0};
+  //stc DriverPos = {0.03,0.0};
+  //stc 2 DriverPos = {0.0,0.0};
+  //stc 3 DriverPos = {0.0,0.1};
+    DriverVel = {0.0,0.0};
+   // DriverAcc = {0.0};
+   Reaction.Type = {0.0,0.0};
+};
+
+
+//-------------------------------------------------------
+//  Drivers for the leg, from hipjoint and downwards
+//-------------------------------------------------------
+
+  AnyKinEqSimpleDriver AnkleDriver = {
+    AnyRevoluteJoint &AnkleJoint = Main.BodyModel.Right.Leg.Jnt.Ankle;
+    DriverPos = {1.56};
+    DriverVel = {0.0};
+    Reaction.Type = {0.0};
+  };
+
+
+//  AnyKinEqSimpleDriver KneeDriver = {
+//    AnyRevoluteJoint &KneeJoint = Main.BodyModel.Right.Leg.Jnt.Knee;
+//    DriverPos = {-1.76};
+//    DriverVel = {0.88};
+//    Reaction.Type = {0.0};
+//  };
+
+//  AnyKinEqSimpleDriver HipDriver = {
+//    AnySphericalJoint &HipJoint = Main.BodyModel.Right.Leg.Jnt.Hip;
+//    DriverPos = {0.0,0,-1.70};
+//    DriverVel = {0,0,0.0};
+//    Reaction.Type = {0,0,0};
+//  };
+
+}; //End drv
+
+//---------------------------------------------------------
+//  Loading
+//---------------------------------------------------------
+AnyFolder BackLoad= {
+
+AnySeg &ThoraxRef= Main.BodyModel.Trunk.Seg.Thorax;
+
+ThoraxRef={
+
+   AnyRefNode FThorax1  = {sRel = {-0.12000000, 0.000000 , 0.000000};
+     AnyDrawRefFrame DrwGlobalRef = {ScaleXYZ={0.1,0.,0.}; RGB ={1,0,0};  };
+   };
+   AnyRefNode FThorax2  = {sRel = {-0.15000000, -0.1700000 , 0.000000};
+     AnyDrawRefFrame DrwGlobalRef = {ScaleXYZ={0.1,0.,0.}; RGB ={1,0,0};  };
+   };
+   AnyRefNode FThorax3  = {sRel = {-0.12000000, -0.3400000 , 0.000000};
+     AnyDrawRefFrame DrwGlobalRef = {ScaleXYZ={0.1,0.,0.}; RGB ={1,0,0};  };
+   };
+};
+
+AnySeg &FL2L3Ref= Main.BodyModel.Trunk.Seg.L2L3Seg;
+
+   FL2L3Ref = {
+    AnyRefNode FL2L3  = {sRel = {-0.0500000, 0.000000 , 0.000000};
+     AnyDrawRefFrame DrwGlobalRef = {ScaleXYZ={0.1,0.,0.}; RGB ={1,0,0};  };
+   };
+};
+
+AnySeg &FL4L5Ref= Main.BodyModel.Trunk.Seg.L4L5Seg;
+
+   FL4L5Ref = {
+    AnyRefNode FL4L5  = {sRel = {-0.0500000, 0.000000 , 0.000000};
+     AnyDrawRefFrame DrwGlobalRef = {ScaleXYZ={0.1,0.,0.}; RGB ={1,0,0};  };
+   };
+};
+
+AnyForce3D FThorax1 = {
+    AnyRefNode &LoadNode = .ThoraxRef.FThorax1;
+    F = {t*1,0,0}; //Global force vector
+};
+
+
+AnyForce3D FThorax2 = {
+    AnyRefNode &LoadNode = .ThoraxRef.FThorax2;
+    F = {t*1,0,0}; //Global force vector
+};
+
+AnyForce3D FThorax3 = {
+    AnyRefNode &LoadNode = .ThoraxRef.FThorax3;
+    F = {t*1,0,0}; //Global force vector
+};
+
+AnyForce3D FTL4L5 = {
+    AnyRefNode &LoadNode = .FL4L5Ref.FL4L5;
+    F = {t*1,0,0}; //Global force vector
+};
+
+AnyForce3D FTL2L3 = {
+    AnyRefNode &LoadNode = .FL2L3Ref.FL2L3;
+    F = {t*1,0,0}; //Global force vector
+};
+
+
+};
+
+
+
+//---------------------------------------------------------
+//  Loading  ElbowLoad
+//---------------------------------------------------------
+AnyFolder ElbowLoad= {
+
+   AnySeg &UlnaRef= Main.BodyModel.Right.ShoulderArm.Seg.Ulna;
+
+   UlnaRef = {
+     AnyRefNode UlnaLoad  = {
+        sRel = {0.000000, 0.000000 , 0.000000};
+        AnyDrawRefFrame DrwGlobalRef = {
+           ScaleXYZ={0.1,0.,0.};
+           RGB ={1,0,0};
+        }; 
+     };
+   }; 
+   AnyForce3D ElbowF = {
+      AnyRefNode &LoadNode = .UlnaRef.UlnaLoad;
+      F = {0,t*1,0}; //Global force vector
+   };
+
+};
+
+
+
+ AnyBodyStudy CalibrationStudy = {
+    AnyFolder &Drv =.Drv;
+    AnyFolder &Model = .BodyModel;
+    RecruitmentSolver = MinMaxSimplex;
+    tEnd = 1.0;
+    Gravity = {0.0, -9.81, 0.0};
+    UsabilityExponent = 0.00;
+    nStep=2;
+    KinematicRelax=0.05;
+ }; // End of study
+
+ AnyBodyStudy MainStudy = {
+    AnyFolder &Drv =.Drv;
+    AnyFolder &Model = .BodyModel;
+    RecruitmentSolver = MinMaxSimplex;
+    tEnd = 1.0;
+    Gravity = {0.0, -9.81, 0.0};
+    UsabilityExponent = 0.00;
+    nStep=10;
+    KinematicRelax=0.05;
+ }; // End of study
+
+
+ AnyBodyStudy BackLoadStudy = {
+    AnyFolder &Drv =.Drv;
+    AnyFolder &Model = .BodyModel;
+    AnyFolder &Load =.BackLoad;
+    RecruitmentSolver = MinMaxSimplex;
+    tEnd = 20.0;
+    Gravity = {0.0, -9.81, 0.0};
+    UsabilityExponent = 0.00;
+    nStep=10;
+    KinematicRelax=0.05;
+  }; // End of study
+
+
+ AnyBodyStudy ElbowStudy = {
+    AnyFolder &Drv =.Drv;
+    AnyFolder &Model = .BodyModel;
+    AnyFolder &Load =.ElbowLoad;
+    RecruitmentSolver = MinMaxSimplex;
+    tEnd = 10.0;
+    Gravity = {0.0, -9.81, 0.0};
+    UsabilityExponent = 0.00;
+    nStep=10;
+    KinematicRelax=0.05;
+  }; // End of study
+
+}; //Main
\ No newline at end of file