--- a
+++ b/Application/Examples/Squat/Model/Environment.any
@@ -0,0 +1,73 @@
+//This is a place holder for the modeling of the environment.
+AnyFolder Environment = 
+{
+  
+  AnyFixedRefFrame GlobalRef = 
+  {
+    Origin ={0.0,0.0,0.0}; 
+    AnyDrawRefFrame DrwRef = 
+    {
+      ScaleXYZ = 0.1*{1, 1, 1};
+      RGB ={0,1,0} ;
+    };
+    
+    AnyRefNode FloorOffset = 
+    {
+      
+    };
+    
+    AnyRefNode SurfNode= 
+    {
+      //sRel={0, -surf.Length*0.5, 0};
+      ARel = RotMat(-pi/2, x);
+      AnySurfCylinder surf = 
+      {
+        Radius = Main.Parameters.GroundSupportBaseRadius ;
+        Length = Main.Parameters.GroundSupportBaseLimitHigh;
+        CapRatio = 0;      
+        AnyDrawParamSurf drw =
+        {
+          RGB={0,1,1};
+          Opacity=0.2;
+        };
+      };
+      AnyRefNode ReverseNode = 
+      {
+        ARel = RotMat(pi, x);
+        AnySurfCylinder surf = 
+        {
+          Radius = Main.Parameters.GroundSupportBaseRadius ;
+          Length = -Main.Parameters.GroundSupportBaseLimitLow;
+          CapRatio = 0;      
+          AnyDrawParamSurf drw =
+          {
+            RGB={1,1,0};
+            Opacity=0.2;
+          };
+        };        
+      };
+    };  
+    
+    AnyRefNode FootPrintBase_Right = 
+    {
+      sRel = {0, 0, ADL_SQUAT_DISTANCE_BETWEEN_TOE_MEDIAL_NODES_SHOULDER_WIDTH_RATIO * Main.Parameters.ScaledShoulderWidth * 0.5};
+      ARel = RotMat(-ADL_SQUAT_ANGLE_FOOT_ROTATION*pi/180, y);
+//      AnyDrawRefFrame DrwFrame = 
+//      {
+//        ScaleXYZ = 0.1*{1, 1, 1};
+//        RGB = {0, 0, 1};
+//      };
+    };
+    
+    AnyRefNode FootPrintBase_Left = 
+    {
+      sRel = {0, 0, -ADL_SQUAT_DISTANCE_BETWEEN_TOE_MEDIAL_NODES_SHOULDER_WIDTH_RATIO * Main.Parameters.ScaledShoulderWidth * 0.5};
+      ARel = RotMat(ADL_SQUAT_ANGLE_FOOT_ROTATION*pi/180, y);
+//      AnyDrawRefFrame DrwFrame = 
+//      {
+//        ScaleXYZ = 0.1*{1, 1, 1};
+//        RGB = {0, 0, 1};
+//      };
+    };    
+  };//GlobalRef
+};
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