AnyFolder Environment = {

  AnyFixedRefFrame GlobalRef =  {

    Origin = {0.0,0.0,0.0};

    AnyRefNode HandPoint ={

      sRel=Main.InputParameters.ObjectPoint;

    };

    AnyRefNode ObjectPoint ={

      sRel=Main.InputParameters.ObjectPoint;

      ARel=Main.InputParameters.ObjectOrientation;

    };

    AnyRefNode RightFootPoint ={

      sRel=Main.InputParameters.RightFootPoint;

      AnyRefNode RotNode ={

        ARel =RotMat(0.5*pi,x);

      };

    };

    AnyRefNode LeftFootPoint ={

      sRel=Main.InputParameters.LeftFootPoint;

      AnyRefNode RotNode ={

        ARel =RotMat(0.5*pi,x);

      };

    };

    AnyRefNode FootCenterPoint=    {

      sRel=0.5*(Main.InputParameters.RightFootPoint+Main.InputParameters.LeftFootPoint);  

    };    

  };

  //Changes location of box (or object being carried)

  AnyDrawWidgetLin DrwWidgetObject = {

    RefFrame = &.GlobalRef;

    Target = &Main.InputParameters.ObjectPoint;

    AxisOnOff = {On,On,On};

    UpdateEvent = OnMouseRelease;

    Operation = &Main.WidgetOperation;

    MaxDrawSize=0.2;

  };

  //Changes location of right foot

  AnyDrawWidgetLin DrwWidgetRightFoot = {

    RefFrame = &.GlobalRef;

    Target = &Main.InputParameters.RightFootPoint;

    AxisOnOff = {On,On,On};

    UpdateEvent = OnMouseRelease;

    Operation = &Main.WidgetOperation;

    MaxDrawSize=0.2;

  };

  //Changes location of left foot

  AnyDrawWidgetLin DrwWidgetLeftFoot = {

    RefFrame = &.GlobalRef;

    Target = &Main.InputParameters.LeftFootPoint;

    AxisOnOff = {On,On,On};

    UpdateEvent = OnMouseRelease;

    Operation = &Main.WidgetOperation;

    MaxDrawSize=0.2;

  };

  AnySeg HandSeg ={

    Mass=Main.InputParameters.ObjectWeight;

    Jii={0,0,0};

    r0=Main.InputParameters.ObjectPoint;

    AnyRefNode RightHandle ={

      sRel =Main.InputParameters.HandPosRight;

    };

    AnyRefNode LeftHandle ={

      sRel =Main.InputParameters.HandPosLeft;

    };

    // Draw a box midway between hands to better visualize object, 

    AnyRefNode BoxMidpoint = {

      sRel = (.LeftHandle.sRel+.RightHandle.sRel)/2;

      AnyDrawSurf Box = {

        Opacity=0.25;

        RGB = {0.65, 0.65, 0.65};

        ScaleXYZ = (0.195)*{1.0, 1.0, 1.0};

        FileName = "..\Input\Box";

      };

    };  

    // draw vector showing direction of box weight

      AnyDrawVector ObjectWeight = {

        Vec = (.Mass*Main.Study.Gravity)/100; //divide by 100 not to have the force too long in view

        GlobalCoord = On;

        Line.Thickness=0.015;

        Line.RGB={1,0,0};

        Line.End.Style = {5};

        Line.End.Thickness = 3*Line.Thickness;  

        Line.End.Length = 4*Line.Thickness;

        Line.Start.Style = {0};

        Line.Start.Thickness = 3*Line.Thickness;  

        Line.Start.Length = 3*Line.Thickness;

        Line.Start.RGB = {1,0,0};

      };

  };

  AnyStdJoint jnt ={

    AnyRefFrame &ref=.GlobalRef.HandPoint; //This point is moved by the widget 

    AnySeg &ref2=.HandSeg;

    Constraints.Reaction.Type={Off,Off,Off,Off,Off,Off}; //the human model will need to carry the loads not this connection

  };

  // Defining Right force plate

  FootPlateConditionalContact RightFootForcePlate (

  NORMAL_DIRECTION = "Z", NUMBER_OF_NODES = 25, 

  NODES_FOLDER = FootNodes , PLATE_BASE_FRAME = Main.Model.Environment.GlobalRef.RightFootPoint, 

  GLOBAL_REF = Main.Model.Environment.GlobalRef,

  SHOW_TRIGGER_VOLUME = 1) =

  {

    // Default values for contact model parameters

    Settings = 

    {

      LimitDistLow = -0.02;

      LimitDistHigh = 0.12;   //This is to have heel contact at lift off     

      LimitVelHigh = 0.8;

      Radius = 0.3; 

      Strength = 2500;

      FrictionCoefficient = 0.95; 

      ScaleFactor = 1;

      ForceVectorDrawScaleFactor = 0.0005;

    };

    CreateFootContactNodes25 FootNodes(foot_ref = Main.HumanModel.BodyModel.Right.Leg.Seg.Foot) = 

    {

    };

  };

  FootPlateConditionalContact LeftFootForcePlate (

  NORMAL_DIRECTION = "Z", NUMBER_OF_NODES = 25, 

  NODES_FOLDER = FootNodes , PLATE_BASE_FRAME = Main.Model.Environment.GlobalRef.LeftFootPoint, 

  GLOBAL_REF = Main.Model.Environment.GlobalRef,

  SHOW_TRIGGER_VOLUME = 1) =

  {

    // Default values for contact model parameters

    Settings = 

    {

      LimitDistLow = -0.02;

      LimitDistHigh = 0.12;   //This is to have heel contact at lift off

      LimitVelHigh = 0.8;

      Radius = 0.3; 

      Strength = 2500;

      FrictionCoefficient = 0.95; 

      ScaleFactor = 1;

      ForceVectorDrawScaleFactor = 0.0005;

    };

    CreateFootContactNodes25 FootNodes(foot_ref = Main.HumanModel.BodyModel.Left.Leg.Seg.Foot) = 

    {

    };

  };

};