--- a
+++ b/Application/Examples/Squat/Model/TrunkDrivers.any
@@ -0,0 +1,105 @@
+AnyKinEqSimpleDriver NeckLateralBendingDriver = 
+{
+  AnyKinMeasure& ref0 = ...BodyModel.Interface.Trunk.SkullThoraxLateralBending;
+  DriverPos = pi/180*{.JntPos.NeckLateralBending};
+  DriverVel = pi/180*{.JntVel.NeckLateralBending};    
+  Reaction.Type = {Off};
+};
+
+AnyKinEqSimpleDriver NeckRotationDriver = 
+{
+  AnyKinMeasure& ref0= ...BodyModel.Interface.Trunk.SkullThoraxRotation;
+  DriverPos = pi/180*{.JntPos.NeckRotation};
+  DriverVel = pi/180*{.JntVel.NeckRotation};    
+  Reaction.Type = {Off};
+};
+
+//AnyKinEqSimpleDriver NeckJntDriver = 
+//{
+//  AnyKinMeasure& ref0 = ...BodyModel.Interface.Trunk.SkullThoraxFlexion;
+//  DriverPos = pi/180*{.JntPos.NeckExtension};
+//  DriverVel = pi/180*{.JntVel.NeckExtension};    
+//  Reaction.Type = {Off};
+//};
+
+AnyKinEqSimpleDriver NeckExtensionDriver = 
+{
+  AnyKinRotational rot = 
+  {
+    AnyRefFrame& ref = ....BodyModel.Trunk.SegmentsCervicalSpine.SkullSeg.TopOfHead;
+    Type = RotAxesAngles;
+    Axis1 = z;
+    Axis2 = y;
+    Axis3 = x;
+  };
+  MeasureOrganizer = {0};
+  DriverPos = pi/180*{-15};
+  DriverVel = pi/180*{0.0};    
+  Reaction.Type = {Off};
+};
+
+AnyKinEqSimpleDriver PelvisThoraxDriver =
+{
+//  AnyKinMeasure& ref0 = ...BodyModel.Interface.Trunk.PelvisThoraxExtension;
+  AnyKinMeasure& ref1 = ...BodyModel.Interface.Trunk.PelvisThoraxLateralBending;        
+  AnyKinMeasure& ref2 = ...BodyModel.Interface.Trunk.PelvisThoraxRotation;   
+  
+  DriverPos = pi/180*
+  {
+//    .JntPos.PelvisThoraxExtension,
+    .JntPos.PelvisThoraxLateralBending,
+    .JntPos.PelvisThoraxRotation
+  };
+  DriverVel = pi/180*
+  {
+//    .JntVel.PelvisThoraxExtension,
+    .JntVel.PelvisThoraxLateralBending,
+    .JntVel.PelvisThoraxRotation
+  };
+  Reaction.Type = repmat(nDim, Off);
+};  
+
+// This adds a 1/2 gearing between the hip flexion and the 
+AnyKinEq HipBackFlexionRhythm = {
+  AnyKinMeasureLinComb Combined = {
+    AnyKinMeasure &ref1 = ....BodyModel.Interface.Trunk.PelvisThoraxExtension;
+    AnyKinMeasure &ref2 = ....BodyModel.Interface.Right.HipFlexion;
+    OutDim = 1;
+    Coef = {{1, 0.4} };  
+  }; 
+};
+
+
+
+
+AnyKinEqSimpleDriver PelvisRotXDriver= 
+{
+  AnyKinMeasure& ref = ...BodyModel.Interface.Trunk.PelvisRotX;
+  DriverPos = pi/180 * {.JntPos.PelvisRotX};
+  DriverVel = pi/180 * {.JntVel.PelvisRotX};
+  Reaction.Type = {Off};
+};   
+
+AnyKinEqSimpleDriver PelvisRotYDriver= 
+{
+  AnyKinMeasure& ref = ...BodyModel.Interface.Trunk.PelvisRotY;
+  DriverPos = pi/180 * {.JntPos.PelvisRotY};
+  DriverVel = pi/180 * {.JntVel.PelvisRotY};
+  Reaction.Type = {Off};
+};  
+
+AnyKinEqSimpleDriver TrunkAnteriorPosteriorDriver =
+{
+  AnyKinLinear lin = 
+  {
+    AnyRefFrame& ref1 = ....BodyModel.Right.Leg.Seg.Foot.BigToeNode ;
+    AnyRefFrame& ref0 = ....BodyModel.Trunk.SegmentsThorax.ThoraxSeg.ij ;
+    Ref = -1;
+  };
+  MeasureOrganizer = {0};
+  DriverPos = {0};
+  DriverVel = {0};
+  Reaction.Type = {Off};
+};
+
+