AnyKinMotion HeelFloorContraintRight = 

{

   AnyFunConst Data = { Value = {-0.028, 0, 0.14}; };

   AnyKinLinear HeelPos = 

   {

       AnyRefFrame &FloorRef = ....Environment.GlobalRef.FloorOffset;

       #if BM_LEG_MODEL == _LEG_MODEL_LEG_

          AnyRefFrame &HeelRef = ....BodyModel.Right.Leg.Seg.Foot.HeelJoint;

       #else

          AnyRefFrame &HeelRef = ....BodyModel.Right.Leg.Seg.Foot.HeelContactNodeLow;

       #endif

   };

}; 

// Place the on the ground

AnyKinMotion ToeFloorContraintRight =

{

  AnyFunConst Data = { Value = {0.0}; };

  AnyKinLinear ToePos = 

  {

    AnyRefFrame &Ground = ....Environment.GlobalRef.FloorOffset;

    AnyRefFrame &Ball = ....BodyModel.Right.Leg.Seg.Foot.BigToeNode;

  };

  MeasureOrganizer = {1}; // Only y direction

};