--- a
+++ b/Application/Examples/StandingModel/Model/RightFootDrivers.any
@@ -0,0 +1,33 @@
+
+
+
+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
+};
+
+