AnyFolder Jnt={

  AnyFolder &RefP=..EnvironmentModel;

  AnyFolder &RefS=.Segments;

  AnyFolder &RefH = ..BodyModel;

  //----------------------------------------------

  // Joints - Pelvis - Seat

  //----------------------------------------------

  AnyFolder PelvisSeatJnt = {

    AnyKinLinear PelvisSeatLinMeasure = {

      AnyRefFrame &SeatRef = ..RefP.Seg.Seat.SeatPelvisJntNode;

      SeatRef={

        //AnyDrawRefFrame test ={ScaleXYZ={0.4,0.4,0.4};};

      };

      AnyRefFrame &PelvisRef = ..RefS.Pelvis.Seat_contactCenter;

      Ref = 0;

    };

    AnyKinRotational PelvisSeatRotMeasure = {

      AnyRefFrame &SeatRef = ..RefP.Seg.Seat.SeatPelvisJntNode;

      AnyRefFrame &PelvisRef = ..RefS.Pelvis.Seat_contactCenter;  

      Type = RotVector;

    };

    AnyKinEqSimpleDriver PelvisSeatEq = {

      AnyKinLinear &LinearMeasure  = .PelvisSeatLinMeasure;

      AnyKinRotational &RotMeasure = .PelvisSeatRotMeasure;        

      MeasureOrganizer = {0,2,3,4};

      DriverPos = {0.01,0,0,0};

      DriverVel = {0,0,0,0};

      Reaction.Type = {Off,Off,Off,Off};

    };          

    AnyKinMeasureOrg PelvisSeatMeasureOrg = {

      AnyKinLinear &LinearMeasure = .PelvisSeatLinMeasure;

      MeasureOrganizer = {0};

    };

  }; // PelvisSeatJnt

  //------------------------------------------------

  // Joint - BackRest - Thorax 

  //------------------------------------------------

  AnyFolder BackRestThoraxJnt = {

    AnyKinLinear BackRestThoraxLinMeasure = {

      AnyRefFrame &BackRestRef = ..RefP.Seg.BackRest;

      AnyRefFrame &ThoraxRef = ..RefH.Trunk.SegmentsThorax.ThoraxSeg.T2SupportNode;//ThoraxBackRestJntNode;

      Ref = 0;

    };

    AnyKinEqSimpleDriver BackRestThoraxEq = {

      AnyKinLinear &LinearMeasure = .BackRestThoraxLinMeasure;

      MeasureOrganizer = {0};

      DriverPos = {0.03};

      DriverVel = {0};

      Reaction.Type = {Off};

    };

  }; // BackRestThoraxJnt

  AnyFolder FootRestFootJnt = {

    AnyFolder Right = {      

      AnyKinLinear FootRestFootLinMeasure = {

        AnyRefFrame &FootRestRef = ...RefP.Seg.FootRest.FootRestFootJntNodeRight;

        AnyRefFrame &FootRef = ...RefH.Right.Leg.Seg.Foot.FootFootRestJntNode;

        Ref = 0;

      };

      AnyKinRotational FootRestFootRotMeasure = {

        AnyRefFrame &FootRestRef = ...RefP.Seg.FootRest.FootRestFootJntNodeRight;

        AnyRefFrame &FootRef = ...RefH.Right.Leg.Seg.Foot.FootFootRestJntNode;

        Type = RotVector;

      };

      AnyKinEqSimpleDriver FootRestFootEq = {

        AnyKinLinear &LinMeasure = .FootRestFootLinMeasure;

        AnyKinRotational &RotMeasure = .FootRestFootRotMeasure;

        MeasureOrganizer = {0,1,2,4,5};

        DriverPos = {0.01,0,0,0,0};

        DriverVel = {0,0,0,0,0};       

        Reaction.Type = {Off,Off,Off,Off,Off};        

      };  

      AnyKinMeasureOrg FootRestFootMeasureOrg = {

        AnyKinLinear &LinearMeasure = .FootRestFootLinMeasure;

        MeasureOrganizer = {0};

      };

      AnyKinEqSimpleDriver AnkleDriver ={

        AnyUniversalJoint &ref = ...RefH.Right.Leg.Jnt.Ankle;

        MeasureOrganizer={1};

        DriverPos={0};

        DriverVel={0};

      };

    }; //Right

    AnyFolder Left = {

      AnyKinLinear FootRestFootLinMeasure = {

        AnyRefFrame &FootRestRef = ...RefP.Seg.FootRest.FootRestFootJntNodeLeft;

        AnyRefFrame &FootRef = ...RefH.Left.Leg.Seg.Foot.FootFootRestJntNode;

        Ref = 0;

      };

      AnyKinRotational FootRestFootRotMeasure = {

        AnyRefFrame &FootRestRef = ...RefP.Seg.FootRest.FootRestFootJntNodeLeft;

        AnyRefFrame &FootRef = ...RefH.Left.Leg.Seg.Foot.FootFootRestJntNode;

        Type = RotVector;

      };

      AnyKinEqSimpleDriver FootRestFootEq = {

        AnyKinLinear &LinMeasure = .FootRestFootLinMeasure;

        AnyKinRotational &RotMeasure = .FootRestFootRotMeasure;

        MeasureOrganizer = {0,1,2,4,5};

        DriverPos = {0.01,0,0,0,0};

        DriverVel = {0,0,0,0,0};  

        Reaction.Type = {Off,Off,Off,Off,Off};        

      };       

      AnyKinMeasureOrg FootRestFootMeasureOrg = {

        AnyKinLinear &LinearMeasure = .FootRestFootLinMeasure;

        MeasureOrganizer = {0};

      };

      AnyKinEqSimpleDriver AnkleDriver ={

        AnyUniversalJoint &ref = ...RefH.Left.Leg.Jnt.Ankle;

        MeasureOrganizer={1};

        DriverPos={0};

        DriverVel={0};

      };

    }; //Left    

  }; // FootFootRestJnt  

  AnyFolder UlnaArmRestJnt = {

    AnyFolder Right = {

      AnyKinEqSimpleDriver ArmRestElbowLinMeasureXDrv={

        AnyKinLinear ArmRestElbowLinMeasure = {

          AnyRefFrame &ArmRest = ....RefP.Seg.Right.ArmRest.ArmRestUlnaJntNodeBack;

          AnyRefFrame &Ulna = ....RefH.Right.ShoulderArm.Seg.Ulna.ol;

        };        

        MeasureOrganizer = {1};

        DriverPos={0};

        DriverVel={0};

        Reaction.Type={Off};

      };

      AnyKinEqSimpleDriver ArmRestWristLinMeasureXDrv={

        AnyKinLinear ArmRestWristLinMeasure = {

          AnyRefFrame &ArmRest = ....RefP.Seg.Right.ArmRest.ArmRestUlnaJntNodeFront;

          AnyRefFrame &Ulna = ....RefH.Right.ShoulderArm.Seg.Ulna.us;

        };

        MeasureOrganizer = {1,2};

        DriverPos={0,0};

        DriverVel={0,0};

        Reaction.Type={Off,Off};

      };      

    }; // Right

    AnyFolder Left = {

      AnyKinEqSimpleDriver ArmRestElbowLinMeasureXDrv={

        AnyKinLinear ArmRestElbowLinMeasure = {

          AnyRefFrame &ArmRest = ....RefP.Seg.Left.ArmRest.ArmRestUlnaJntNodeBack;

          AnyRefFrame &Ulna = ....RefH.Left.ShoulderArm.Seg.Ulna.ol;

        };        

        MeasureOrganizer = {1};

        DriverPos={0};

        DriverVel={0};

        Reaction.Type={Off};

      };

      AnyKinEqSimpleDriver ArmRestWristLinMeasureXDrv={

        AnyKinLinear ArmRestWristLinMeasure = {

          AnyRefFrame &ArmRest = ....RefP.Seg.Left.ArmRest.ArmRestUlnaJntNodeFront;

          AnyRefFrame &Ulna = ....RefH.Left.ShoulderArm.Seg.Ulna.us;

        };

        MeasureOrganizer = {1,2};

        DriverPos={0,0};

        DriverVel={0,0};

        Reaction.Type={Off,Off};

      };      

    }; // Left    

  }; // UlnaArmRestJnt

}; //Jnt

//--------------------------------------------------

// Drivers

//--------------------------------------------------

AnyFolder Drivers = {

  AnyFolder &RefHM = Main.Model.BodyModel;

  AnyFolder &RefPM = Main.Model.EnvironmentModel;

  AnyFolder &DrvPos = Main.DrvPos;

  AnyFolder &DrvVel = Main.DrvVel;

  AnyFolder &JntPos=..Mannequin.Posture;

  AnyFolder &JntVel=..Mannequin.PostureVel;

  //-------------------------------------------------------

  //  Drivers - spine

  //-------------------------------------------------------

  AnyKinEqSimpleDriver PelvisSeatDrv = {

    AnyKinMeasure& LinMeasure = ..Jnt.PelvisSeatJnt.PelvisSeatLinMeasure;

    MeasureOrganizer = {1};    

    DriverPos = {.DrvPos.PelvisSeatLinXPos};

    DriverVel = {.DrvVel.PelvisSeatLinXVel};

    Reaction.Type = {Off}; 

  };    

  //-------------------------------------------------------

  //  Drivers - spine

  //-------------------------------------------------------

  //Thorax pelvis rotation driver

  AnyKinEqSimpleDriver PostureDriver ={

    AnyKinMeasure& Ref2 = ...BodyModel.Interface.Trunk.PelvisThoraxLateralBending;        

    AnyKinMeasure& Ref3 = ...BodyModel.Interface.Trunk.PelvisThoraxRotation;   

    //AnyKinMeasure& Ref1 = ...BodyModel.Interface.Trunk.PelvisThoraxExtension;

    DriverPos = pi/180*{

      .JntPos.PelvisThoraxLateralBending,

      .JntPos.PelvisThoraxRotation

      // .JntPos.PelvisThoraxExtension

    };

    DriverVel = pi/180*{

      .JntVel.PelvisThoraxLateralBending,

      .JntVel.PelvisThoraxRotation

      //  .JntVel.PelvisThoraxExtension

    };

    Reaction.Type = {Off,Off};  

  };  

  //Neck driver 

  AnyKinEqSimpleDriver CervicalDriver ={

    AnyKinMeasure& Ref1 = .RefHM.Interface.Trunk.SkullThoraxFlexion;  

    AnyKinMeasure& Ref2 = .RefHM.Interface.Trunk.SkullThoraxLateralBending;

    AnyKinMeasure& Ref3 = .RefHM.Interface.Trunk.SkullThoraxRotation;

    DriverPos = pi/180*{0, 0, 0};

    DriverVel = pi/180*{0, 0, 0};

    Reaction.Type = {Off, Off, Off};  

  };

  //This was not previously... but is easier to use with the detailed spine

  AnyKinRotational PelvisGlobalRotMeasure = {

    AnyRefFrame &PelvisRef = .RefHM.Trunk.SegmentsLumbar.PelvisSeg;  

    AnyRefFrame &GlobalRef = .RefPM.GlobalRef;

    Type = RotVector;

  };

  AnyKinMeasureOrg PelvisGlobalRotZMeasure = {

    AnyKinMeasure& RotMeasure = .PelvisGlobalRotMeasure;

    MeasureOrganizer = {2};

  };

  AnyKinRotational ThoraxGlobalRotMeasure = {

    AnyRefFrame &ThoraxRef = .RefHM.Trunk.SegmentsThorax.ThoraxSeg;  

    AnyRefFrame &GlobalRef = .RefPM.GlobalRef;

    Type = RotVector;

  }; 

  AnyKinMeasureOrg ThoraxGlobalRotZMeasure = {

    AnyKinMeasure& RotMeasure = .ThoraxGlobalRotMeasure;

    MeasureOrganizer = {2};

  }; 

//  AnyKinEqSimpleDriver PelvisSeatRhythmDrv = {

//    AnyKinMeasureLinComb Measure = {

//      AnyKinMeasure& u1 = ..PelvisGlobalRotZMeasure;

//      AnyKinMeasure& u2 = ..ThoraxGlobalRotZMeasure;

//      Coef = {{1/(0.0533), -1/(0.0533)}};

//      Const = {-(0.6665/(-0.1433))};

//    }; // Measure

//    DriverPos = {180*pi/180+Main.DrvPos.GlobalBackRestRotZPos};

//    DriverVel = {Main.DrvVel.GlobalBackRestRotZVel};

//    Reaction.Type = {Off};

//  }; // SeatBackRestDrv

//AnyKinEqSimpleDriver tmp = {

//  AnyKinRotational PelvisThorax = {

//    AnyRefFrame &Thorax = Main.Model.BodyModel.Trunk.SegmentsThorax.ThoraxSeg;

//    AnyRefFrame &Pelvis = Main.Model.BodyModel.Trunk.SegmentsLumbar.PelvisSeg;

//    Type = RotAxesAngles;

//  };

//  MeasureOrganizer = {0};

//  DriverPos = {30*pi/180};

//  DriverVel = {-15*pi/180};

//};

  AnyKinEq ThoraxThighRhythm = {

    AnyKinMeasureLinComb ThoraxThighRhythmComb = {

      AnyKinMeasureOrg Org = {

        AnySphericalJoint &rhip1 = Main.Model.BodyModel.Right.Leg.Jnt.Hip;

        AnySphericalJoint &lhip2 = Main.Model.BodyModel.Left.Leg.Jnt.Hip;

        AnyKinRotational PelvisThorax = {

          AnyRefFrame &Thorax = Main.Model.BodyModel.Trunk.SegmentsThorax.ThoraxSeg;

          AnyRefFrame &Pelvis = Main.Model.BodyModel.Trunk.SegmentsLumbar.PelvisSeg;

          Type = RotAxesAngles;

        };

        MeasureOrganizer = {2, 5, 6};

      };

      OutDim = 1;

      Coef = {{0.5, 0.5, 3.0}};

      Const = {0};

    };

    Reaction.Type={Off}; 

  };

  AnyFolder Right = {

    // ************************************

    // Drivers for the right arm

    // ************************************

    //Sterno clavicular joint driver

    AnyKinEqSimpleDriver SCDriverRight ={

      AnyKinMeasure& ref1 =....BodyModel.Interface.Right.SternoClavicularProtraction;

      AnyKinMeasure& ref2 =....BodyModel.Interface.Right.SternoClavicularElevation;

      DriverPos = pi/180*{

        ..JntPos.Right.SternoClavicularProtraction,

        ..JntPos.Right.SternoClavicularElevation

      };

      DriverVel = {

        ..JntVel.Right.SternoClavicularProtraction,

        ..JntVel.Right.SternoClavicularElevation

      };

      Reaction.Type={Off,Off};

    };

    //Glenohumeral joint 

    AnyKinEqSimpleDriver GHDriverRight={

      AnyKinMeasure& ref1 = ....BodyModel.Interface.Right.GlenohumeralAbduction;

//      AnyKinMeasure& ref3 = ....BodyModel.Interface.Right.GlenohumeralExternalRotation;

      DriverPos=pi/180*{

        ..JntPos.Right.GlenohumeralAbduction  //GH joint

//        ..JntPos.Right.GlenohumeralExternalRotation  //GH joint

      };

      DriverVel = pi/180*{

        ..JntVel.Right.GlenohumeralAbduction  //GH joint

//        ..JntVel.Right.GlenohumeralExternalRotation  //GH joint

      };

      Reaction.Type={Off};

    };

    //Elbow pronation driver

    AnyKinEqSimpleDriver ElbowPronationDriverRight={

      AnyKinMeasure& Elbow =....BodyModel.Interface.Right.ElbowPronation;

      DriverPos = pi/180*{..JntPos.Right.ElbowPronation };  

      DriverVel=pi/180*{..JntVel.Right.ElbowPronation };  

      Reaction.Type={Off};

    };

    //Wrist driver 

    AnyKinEqSimpleDriver WristDriverRight ={

      AnyKinMeasure& ref1 =....BodyModel.Interface.Right.WristFlexion;

      AnyKinMeasure& ref2 =....BodyModel.Interface.Right.WristAbduction;

      DriverPos = pi/180*{

        ..JntPos.Right.WristFlexion,

        ..JntPos.Right.WristAbduction

      };

      DriverVel = pi/180*{

        ..JntVel.Right.WristFlexion,

        ..JntVel.Right.WristAbduction};

      Reaction.Type={Off,Off};

    };

  }; //End Right

  AnyFolder Left = {

    // ************************************

    // Drivers for the left arm

    // ************************************

    //Sterno clavicular joint driver

    AnyKinEqSimpleDriver SCDriverLeft ={

      AnyKinMeasure& ref1 =....BodyModel.Interface.Left.SternoClavicularProtraction;

      AnyKinMeasure& ref2 =....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};

    };

    //Glenohumeral joint 

    AnyKinEqSimpleDriver GHDriverLeft={

      AnyKinMeasure& ref1 = ....BodyModel.Interface.Left.GlenohumeralAbduction;

//      AnyKinMeasure& ref3 = ....BodyModel.Interface.Left.GlenohumeralExternalRotation;

      DriverPos=pi/180*{

        ..JntPos.Left.GlenohumeralAbduction  //GH joint

//        ..JntPos.Left.GlenohumeralExternalRotation  //GH joint

      };

      DriverVel = pi/180*{

//        ..JntVel.Left.GlenohumeralAbduction  //GH joint

        ..JntVel.Left.GlenohumeralExternalRotation  //GH joint

      };

      Reaction.Type={Off};

    };

    //Elbow pronation driver 

    AnyKinEqSimpleDriver ElbowPSDriverLeft={

      AnyKinMeasure& Elbow =....BodyModel.Interface.Left.ElbowPronation;

      DriverPos= pi/180*{..JntPos.Left.ElbowPronation };  

      DriverVel = pi/180*{..JntVel.Left.ElbowPronation };  

      Reaction.Type={Off};

    };

    //Wrist driver

    AnyKinEqSimpleDriver WristDriverLeft ={

      AnyKinMeasure& ref1 =....BodyModel.Interface.Left.WristFlexion;

      AnyKinMeasure& ref2 =....BodyModel.Interface.Left.WristAbduction;

      DriverPos = pi/180*{

        ..JntPos.Left.WristFlexion,

        ..JntPos.Left.WristAbduction};

      DriverVel = pi/180*{

        ..JntVel.Left.WristFlexion,

        ..JntVel.Left.WristAbduction};

      Reaction.Type={Off,Off};

    };

  }; //End Left    

}; // Drivers