AnyFolder Environment = {

  //^ Environment files are used to include objects surrounding human,

  //^ e.g. global reference frame

  AnyFixedRefFrame GlobalRef = 

  {

    AnyDrawRefFrame drw={ScaleXYZ=0.3*{1,1,1};};

    AnyRefNode RightFootPrint = {

      //^ Positioning of the right foot. 

      //^ Ground-foot constraints can be excluded with: #define EXCLUDE_FOOT_CONSTRAINTS

      sRel = HeelPosition; 

      ARel = RotMat({0,0,0}, ToeDirection, {0,10,0});

      AnyDrawRefFrame drw = {RGB = {0,0.7,0}; ScaleXYZ = 0.1*{1,1,1};};

    };

    AnyRefNode LeftFootPrint = {

      //^ Positioning of the right foot. 

      //^ Ground-foot constraints can be excluded with: #define EXCLUDE_FOOT_CONSTRAINTS

      sRel = HeelPosition;

      ARel = RotMat({0,0,0}, ToeDirection, {0,10,0});

      AnyDrawRefFrame drw = {RGB = {0,0.7,0}; ScaleXYZ = 0.1*{1,1,1};};

    };    

  };  

};