AnyFolder EnvironmentModel = {

  AnyFixedRefFrame GlobalRef = {

    Origin ={0.0,0.1,0.0}; 

    #include "drawcoorsystem.any"

  };//GlobalRef

  // Bag segment

  AnySeg Bag = {

    Mass = 20;

    Jii = {0.2,0.2,1}/10;

    r0 = Main.Model.BodyModel.Trunk.SegmentsLumbar.PelvisSeg.r0+{0,0,0.15};

    AnyRefNode StrapFront = {

      sRel = {0.1, 0.1, 0};

    };

    AnyRefNode StrapBack = {

      sRel = {-0.1, 0.1, 0};

    };

    AnyDrawSurf surf = {

      FileName = "../Input/bag";

      RGB = {128,0,0}/256;

      ScaleXYZ = {1,1,1}/100;

    };

  };

  // Create via points for the bag strap

  Main.Model.BodyModel.Right.ShoulderArm.Seg.Scapula = {

    AnyRefNode Strap1 = {

      sRel = {-0.05, 0.01, 0.02};

    };

  };

  Main.Model.BodyModel.Right.ShoulderArm.Seg.Clavicula = {

    AnyRefNode Strap1 = {

      sRel = {0.1, 0.02, -0.01};

    };

  };

  Main.Model.BodyModel.Trunk.SegmentsThorax.ThoraxSeg = {

    AnyRefNode Strap1 = {

      sRel = {0.1, 0.25, 0.15};

    };

  };

  // Contact point on the pelvis

  Main.Model.BodyModel.Trunk.SegmentsLumbar.PelvisSeg = {

    AnyRefNode Bag = {

      sRel = {0.0, 0.0, 0.15};

    };

  };

  // Constrain the bag to only slide up and down on the pelvis

  AnyPrismaticJoint PelvisBag = {

    AnyRefFrame &Pel = Main.Model.BodyModel.Trunk.SegmentsLumbar.PelvisSeg.Bag;

    AnyRefFrame &Bag = .Bag;

    Axis = y;

  };

  // Model the strap

  AnyKinPLine Strap = {

    AnyRefFrame &p1 = .Bag.StrapFront;

    AnyRefFrame &p2 = Main.Model.BodyModel.Trunk.SegmentsThorax.ThoraxSeg.Strap1;

    AnyRefFrame &p3 = Main.Model.BodyModel.Right.ShoulderArm.Seg.Clavicula.Strap1;

    AnyRefFrame &p4 = Main.Model.BodyModel.Right.ShoulderArm.Seg.Scapula.Strap1;

    AnyRefFrame &p5 = .Bag.StrapBack;

    AnyDrawPLine drw = {

      RGB = {128,0,0}/256;

      Thickness = 0.01;

    };

  };

  // Strap length driver

  AnyKinEqSimpleDriver StrapLength = {

    AnyKinPLine &Strap = .Strap;

    DriverPos = {0.8};

    DriverVel = {0};

  };

};