// Place the left toe and heel on the ground

AnyKinEqSimpleDriver LToeGroundConstraint ={

    AnyKinLinear ToePos = {

      AnyFixedRefFrame &Ground = Main.Model.Environment.GlobalRef;

      AnyRefNode &Ball = Main.Model.BodyModel.Left.Leg.Seg.Foot.ToeJoint;

    };

    MeasureOrganizer = {1};  // Only the y coordinate

    DriverPos = {0.0};

    DriverVel = {0};

    Reaction.Type = {Off};  // Provide ground reaction

  };

  AnyKinEqSimpleDriver LHeelGroundConstraint ={

    AnyKinLinear HeelPos = {

      AnyFixedRefFrame &Ground = Main.Model.Environment.GlobalRef;

      AnyRefNode &Ball = Main.Model.BodyModel.Left.Leg.Seg.Foot.HeelNode;

    };

    MeasureOrganizer = {1};  // Only the y coordinate

    DriverPos = {0.0};

  DriverVel = {0};

    Reaction.Type = {Off};  // Provide ground reaction

  };  

    // Position the Ankles right above the z axis

  AnyKinEqSimpleDriver LAnkleX ={

    AnyKinLinear AnklePos = {

      AnyFixedRefFrame &Ground = Main.Model.Environment.GlobalRef;

      AnyRefNode &Ankle = ..LegL.Seg.Foot.SubTalarJoint;

    };

    MeasureOrganizer = {0};  // Only the x coordinate

    DriverPos = {0.0};

    DriverVel = {0.0};

    Reaction.Type = {Off};

  };

    // ************************************

  // Drivers for the Left leg

  // ************************************

  //Left hip driver

  AnyKinEqSimpleDriver HipDriverLeft={

    AnyKinMeasure& ref1 =...BodyModel.Interface.Left.HipFlexion;

    AnyKinMeasure& ref2 =...BodyModel.Interface.Left.HipExternalRotation;

    AnyKinMeasure& ref3 =...BodyModel.Interface.Left.HipAbduction;

    DriverPos=pi/180*{

      .JntPos.Left.HipFlexion,

      .JntPos.Left.HipExternalRotation,

      .JntPos.Left.HipAbduction

    };    

    DriverVel = pi/180*{

      .JntVel.Left.HipFlexion,

      .JntVel.Left.HipExternalRotation,

      .JntVel.Left.HipAbduction

    };    

    Reaction.Type={Off,Off,Off};

  };

  //Knee driver

  AnyKinEqSimpleDriver KneeDriverLeft={

    AnyKinMeasure& Knee =...BodyModel.Interface.Left.KneeFlexion;

    DriverPos=pi/180*{      .JntPos.Left.KneeFlexion   };  

    DriverVel = pi/180*{      .JntVel.Left.KneeFlexion   };  

    Reaction.Type={Off};

  };

//Ankle driver

  AnyKinEqSimpleDriver AnkleDriverLeft={

    AnyKinMeasure& ref1=...BodyModel.Interface.Left.AnklePlantarFlexion;

    AnyKinMeasure& ref2=...BodyModel.Interface.Left.SubTalarEversion;

    DriverPos = pi/180*{.JntPos.Left.SubTalarEversion};  

    DriverVel=pi/180*{.JntVel.Left.SubTalarEversion};  

    Reaction.Type={Off};

    MeasureOrganizer={1};

  };

    AnyReacForce LeftFootReaction = {

    AnyKinLinear LeftFootLinMeasure = {

      AnySeg &ref1=..LegL.Seg.Foot;

      AnyFixedRefFrame &ref2 = ....Environment.GlobalRef;

    };

    AnyKinRotational LeftFootRotMeasure = {

      AnySeg &ref1=..LegL.Seg.Foot;

      AnyFixedRefFrame &ref2 = ....Environment.GlobalRef;

      Type = RotVector;

    };  

  };

    MannequinLoads.Left = {

      AnyForce3D Hip = {

      AnyRefNode &ApplPoint = .lhm.Leg.Seg.Thigh.HipJoint;

      F = .locmql.Hip;

    };

    AnyForce3D Knee = {

      AnyRefNode &ApplPoint = .lhm.Leg.Seg.Thigh.KneeJoint;

      F = .locmql.Knee;

    };

    AnyForce3D Ankle = {

      AnyRefNode &ApplPoint = .lhm.Leg.Seg.Talus.AnkleJoint;

      F = .locmql.Ankle;

    };    

  };