AnyReacForce RightFootReaction = {

    AnyKinLinear RightFootLinMeasure = {

      AnySeg &ref1=...HumanModel.BodyModel.Right.Leg.Seg.Foot;

      AnyFixedRefFrame &ref2 = ...Environment.GlobalRef;

    };

    AnyKinRotational RightFootRotMeasure = {

      AnySeg &ref1=...HumanModel.BodyModel.Right.Leg.Seg.Foot;

      AnyFixedRefFrame &ref2 = ...Environment.GlobalRef;

      Type = RotVector;

    };  

  };

  // Place the right toe and heel on the ground

  AnyKinEqSimpleDriver RToeGroundConstraint ={

    AnyKinLinear ToePos = {

      AnyFixedRefFrame &Ground = ...Environment.GlobalRef;

      AnyRefNode &Ball = ...HumanModel.BodyModel.Right.Leg.Seg.Foot.ToeJoint;

    };

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

    DriverPos = {0.0};

    DriverVel = {0};

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

  };

  AnyKinEqSimpleDriver RHeelGroundConstraint ={

    AnyKinLinear HeelPos = {

      AnyFixedRefFrame &Ground = ...Environment.GlobalRef;

      #if BM_LEG_MODEL == _LEG_MODEL_LEG_

        AnyRefNode &Ball = ...HumanModel.BodyModel.Right.Leg.Seg.Foot.HeelJoint;

      #else

        AnyRefNode &Ball = ...HumanModel.BodyModel.Right.Leg.Seg.Foot.HeelNode;

      #endif

    };

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

    DriverPos = {0.0};

    DriverVel = {0};

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

  };

    // Position the Ankles right above the z axis

  AnyKinEqSimpleDriver RAnkleX = {

    AnyKinLinear AnklePos = {

      AnyFixedRefFrame &Ground = ...Environment.GlobalRef;

      #if BM_LEG_MODEL == _LEG_MODEL_LEG_

        AnyRefNode &Ankle = ...HumanModel.BodyModel.Right.Leg.Seg.Foot.AnkleJoint;

      #else

        AnyRefNode &Ankle = ...HumanModel.BodyModel.Right.Leg.Seg.Foot.SubTalarJoint;

      #endif      

    };

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

    DriverPos = {0.0};

    DriverVel = {0.0};

    Reaction.Type = {Off};

  };