--- a
+++ b/Application/Examples/ShoulderBag/Model/LeftLegTDDrivers.any
@@ -0,0 +1,124 @@
+
+
+  // Place the left toe and heel on the ground
+AnyKinEqSimpleDriver LToeGroundConstraint ={
+    AnyKinLinear ToePos = {
+      AnyFixedRefFrame &Ground = Main.Model.EnvironmentModel.GlobalRef;
+      AnyRefNode &Ball = Main.Model.BodyModel.Left.Leg.Seg.Foot.ToeJoint;
+    };
+    MeasureOrganizer = {1};  // Only the y coordinate
+    DriverPos = {0.0};
+    DriverVel = {0};
+    Reaction.Type = {Off};  // Provide ground reaction
+
+  };
+  
+  AnyKinEqSimpleDriver LHeelGroundConstraint ={
+    AnyKinLinear HeelPos = {
+      AnyFixedRefFrame &Ground = Main.Model.EnvironmentModel.GlobalRef;
+      AnyRefNode &Ball = Main.Model.BodyModel.Left.Leg.Seg.Foot.HeelNode;
+    };
+    MeasureOrganizer = {1};  // Only the y coordinate
+    DriverPos = {0.0};
+  DriverVel = {0};
+    Reaction.Type = {Off};  // Provide ground reaction
+  };  
+
+  
+  
+    // Position the Ankles right above the z axis
+  AnyKinEqSimpleDriver LAnkleX ={
+    AnyKinLinear AnklePos = {
+      AnyFixedRefFrame &Ground = Main.Model.EnvironmentModel.GlobalRef;
+      AnyRefNode &Ankle = ..LegL.Seg.Foot.SubTalarJoint;
+    };
+    MeasureOrganizer = {0};  // Only the x coordinate
+    DriverPos = {0.0};
+    DriverVel = {0.0};
+    Reaction.Type = {Off};
+  };
+
+  
+    // ************************************
+  // Drivers for the Left leg
+  // ************************************
+  
+  //Left hip driver
+  AnyKinEqSimpleDriver HipDriverLeft={
+   AnyKinMeasure& ref1 =...BodyModel.Interface.Left.HipFlexion;
+   AnyKinMeasure& ref2 =...BodyModel.Interface.Left.HipExternalRotation;
+   AnyKinMeasure& ref3 =...BodyModel.Interface.Left.HipAbduction;
+    DriverPos=pi/180*{
+      .JntPos.Left.HipFlexion,
+      .JntPos.Left.HipExternalRotation,
+      .JntPos.Left.HipAbduction
+    };    
+    DriverVel = pi/180*{
+      .JntVel.Left.HipFlexion,
+      .JntVel.Left.HipExternalRotation,
+      .JntVel.Left.HipAbduction
+    };    
+    Reaction.Type={Off,Off,Off};
+  };
+  
+  //Knee driver
+  AnyKinEqSimpleDriver KneeDriverLeft={
+   AnyKinMeasure& Knee =...BodyModel.Interface.Left.KneeFlexion;
+    DriverPos=pi/180*{      .JntPos.Left.KneeFlexion   };  
+    DriverVel = pi/180*{      .JntVel.Left.KneeFlexion   };  
+    Reaction.Type={Off};
+  };
+  
+
+  
+ 
+//Ankle driver
+  AnyKinEqSimpleDriver AnkleDriverLeft={
+   AnyKinMeasure& ref1=...BodyModel.Interface.Left.AnklePlantarFlexion;
+   AnyKinMeasure& ref2=...BodyModel.Interface.Left.SubTalarEversion;
+    DriverPos = pi/180*{.JntPos.Left.SubTalarEversion};  
+    DriverVel=pi/180*{.JntVel.Left.SubTalarEversion};  
+    Reaction.Type={Off};
+    MeasureOrganizer={1};
+  };
+  
+  
+  
+  
+    AnyReacForce LeftFootReaction = {
+    
+    AnyKinLinear LeftFootLinMeasure = {
+      AnySeg &ref1=..LegL.Seg.Foot;
+      AnyFixedRefFrame &ref2 = ....EnvironmentModel.GlobalRef;
+    };
+    AnyKinRotational LeftFootRotMeasure = {
+      AnySeg &ref1=..LegL.Seg.Foot;
+      AnyFixedRefFrame &ref2 = ....EnvironmentModel.GlobalRef;
+      Type = RotVector;
+    };  
+    
+    
+  };
+
+
+  
+  
+    MannequinLoads.Left = {
+  
+      AnyForce3D Hip = {
+      AnyRefNode &ApplPoint = .lhm.Leg.Seg.Thigh.HipJoint;
+      F = .locmql.Hip;
+    };
+    
+    AnyForce3D Knee = {
+      AnyRefNode &ApplPoint = .lhm.Leg.Seg.Thigh.KneeJoint;
+      F = .locmql.Knee;
+    };
+    
+    AnyForce3D Ankle = {
+      AnyRefNode &ApplPoint = .lhm.Leg.Seg.Talus.AnkleJoint;
+      F = .locmql.Ankle;
+    };    
+  };
+
+ 
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