AnyFolder Joints = {

};

AnyFolder Drivers = {

  #if  LoadInRightHand == 1

  //defines spherical joint between the object and the right hand

  AnySphericalJoint HandControlRight ={

    AnyRefNode &ref1=Main.Model.Environment.HandSeg.RightHandle;

    AnySeg &ref2=Main.HumanModel.BodyModel.Right.ShoulderArm.Seg.Glove;

  };

  //Add reaction to spherical joint 

  AnyReacForce HandControlRightMoment ={

    AnySphericalJoint &ref=.HandControlRight;

  };

  #endif

  #if  LoadInLeftHand==1

  //defines spherical joint between the object and the left hand

  AnySphericalJoint HandControlLeft ={

    AnyRefNode &ref1=Main.Model.Environment.HandSeg.LeftHandle;

    AnySeg &ref2=Main.HumanModel.BodyModel.Left.ShoulderArm.Seg.Glove;

  };

  //Add reaction to spherical joint 

  AnyReacForce HandControlLeftMoment ={

    AnySphericalJoint &ref=.HandControlLeft;

  };

  #endif

  AnyKinMeasureOrg RightFootToPlateMeasures = 

  {

    AnyKinLinear TranslationHeel =    {

      AnyRefFrame &ref1 = Main.Model.Environment.GlobalRef.RightFootPoint;

      AnyRefFrame &ref2 =  Main.HumanModel.BodyModel.Right.Leg.Seg.Foot.HeelContactNode;

    };

    AnyKinMeasureOrg HeelHeight ={

      MeasureOrganizer={2};

      AnyKinLinear &ref=.TranslationHeel;

    };

    AnyKinLinear TranslationMedialFront = {

      AnyRefFrame &ref1 = Main.Model.Environment.GlobalRef.RightFootPoint;

      AnyRefFrame &ref2 =  Main.HumanModel.BodyModel.Right.Leg.Seg.Foot.ToeMedialContactNode;

    };

    AnyKinMeasureOrg TranslationMedialFrontHeight ={

      MeasureOrganizer={2};

      AnyKinLinear &ref=.TranslationMedialFront;

    };

    AnyKinLinear TranslationLateralFront = {

      AnyRefFrame &ref1 = Main.Model.Environment.GlobalRef.RightFootPoint;

      AnyRefFrame &ref2 =  Main.HumanModel.BodyModel.Right.Leg.Seg.Foot.ToeLateralContactNode;

    };

    AnyKinMeasureOrg TranslationLateralFrontHeight ={

      MeasureOrganizer={2};

      AnyKinLinear &ref=.TranslationLateralFront;

    };

    AnyKinRotational Rotation = {

      AnyRefFrame &ref1 = Main.Model.Environment.GlobalRef.RightFootPoint.RotNode;

      AnyRefFrame &ref2 = Main.HumanModel.BodyModel.Right.Leg.Seg.Foot.ConditionalContact_Nodes.Node0;

      Type = RotAxesAngles;

    };

  };

  AnyKinEq ConstrainRightFoot = {

    AnyKinLinear &ref1= .RightFootToPlateMeasures.TranslationMedialFront ;

    AnyKinLinear &ref2= .RightFootToPlateMeasures.TranslationLateralFront ;

    AnyKinRotational &ref3= .RightFootToPlateMeasures.Rotation ;

    CType = {Hard,Hard,Hard,Soft,Soft};

    Reaction.Type = {Off,Off,Off,Off,Off}; // Switch off reactions, predicted GRF enforces constraints

    MeasureOrganizer={0,1,2,5,7};

  };

  //Conditional constraint on heel height means heel can lift off  

  KinLimitsDriver DriverRight(

  KinMeasure= .RightFootToPlateMeasures.HeelHeight

  ) = { LowerLimit =0;HighLimit = 0.1; MeasureConversion=1;ErrorAtHardLimit= 2*0.05;};

  AnyKinMeasureOrg LeftFootToPlateMeasures = 

  {

    AnyKinLinear TranslationHeel =  {

      AnyRefFrame &ref1 = Main.Model.Environment.GlobalRef.LeftFootPoint;

      AnyRefFrame &ref2 =  Main.HumanModel.BodyModel.Left.Leg.Seg.Foot.HeelContactNode;

    };

    AnyKinMeasureOrg HeelHeight ={

      MeasureOrganizer={2};

      AnyKinLinear &ref=.TranslationHeel;

    };

    AnyKinLinear TranslationMedialFront =    {

      AnyRefFrame &ref1 = Main.Model.Environment.GlobalRef.LeftFootPoint;

      AnyRefFrame &ref2 =  Main.HumanModel.BodyModel.Left.Leg.Seg.Foot.ToeMedialContactNode;

    };

    AnyKinMeasureOrg TranslationMedialFrontHeight ={

      MeasureOrganizer={2};

      AnyKinLinear &ref=.TranslationMedialFront;

    };

    AnyKinLinear TranslationLateralFront =

    {

      AnyRefFrame &ref1 = Main.Model.Environment.GlobalRef.LeftFootPoint;

      AnyRefFrame &ref2 =  Main.HumanModel.BodyModel.Left.Leg.Seg.Foot.ToeLateralContactNode;

    };

    AnyKinMeasureOrg TranslationLateralFrontHeight ={

      MeasureOrganizer={2};

      AnyKinLinear &ref=.TranslationLateralFront;

    };

    AnyKinRotational Rotation =

    {

      AnyRefFrame &ref1 = Main.Model.Environment.GlobalRef.LeftFootPoint.RotNode;

      AnyRefFrame &ref2 = Main.HumanModel.BodyModel.Left.Leg.Seg.Foot.ConditionalContact_Nodes.Node0;

      Type = RotAxesAngles;

    };

  };

  AnyKinEq ConstrainLeftFoot = {

    AnyKinLinear &ref1= .LeftFootToPlateMeasures.TranslationMedialFront ;

    AnyKinLinear &ref2= .LeftFootToPlateMeasures.TranslationLateralFront ;

    AnyKinRotational &ref3= .LeftFootToPlateMeasures.Rotation;

    CType = {Hard,Hard,Hard,Soft,Soft};

    Reaction.Type = {Off,Off,Off,Off,Off}; // Switch off reactions, predicted GRF enforces constraints

    MeasureOrganizer={0,1,2,5,7};

  };

  KinLimitsDriver DriverLeft(

  KinMeasure= .LeftFootToPlateMeasures.HeelHeight

  ) = { LowerLimit =0;HighLimit = 0.1; MeasureConversion=1;ErrorAtHardLimit= 2*0.05;};

  RangeOfMotionLimits JointLimits( 

  ARM_RIGHT = BM_ARM_RIGHT,

  ARM_LEFT = BM_ARM_LEFT,

  LEG_RIGHT = BM_LEG_RIGHT,

  LEG_LEFT = BM_LEG_LEFT,

  PELVIS_THORAX_EXTENSION = "Off",

  PELVIS_THORAX_LATERAL_BENDING = "Off",

  PELVIS_THORAX_ROTATION = "Off",

  SKULL_THORAX_FLEXION = "Off",

  SKULL_THORAX_LATERALBENDING = "Off",

  SKULL_THORAX_ROTATION = "Off",

  STERNO_CLAVICULAR_PROTRACTION = "On",

  STERNO_CLAVICULAR_ELEVATION = "On",

  STERNO_CLAVICULAR_AXIALROTATION = "Off",

  GLENOHUMERAL_FLEXION = "On",

  GLENOHUMERAL_EXTERNAL_ROTATION = "On",

  GLENOHUMERAL_ABDUCTION = "On",

  ELBOW_FLEXION = "On",

  ELBOW_PRONATION = "Off",

  WRIST_FLEXION = "Off",

  WRIST_ABDUCTION = "Off",

  HIP_ABDUCTION = "Off",

  HIP_FLEXION = "On",

  HIP_EXTERNAL_ROTATION = "Off",

  KNEE_FLEXION = "On",

  ANKLE_PLANTAR_FLEXION = "Off",

  SUBTALAR_EVERSION = "Off",

  SKULL_THORAX_FLEXION = "Off",

  SKULL_THORAX_LATERALBENDING = "Off",

  SKULL_THORAX_ROTATION = "Off"

  )={

    Main.Model.ModelEnvironmentConnection.Drivers.JointLimits.Limits.Right.SternoClavicularElevation={0,20};

    Main.Model.ModelEnvironmentConnection.Drivers.JointLimits.Limits.Left.SternoClavicularElevation={0,20};

  };

  //Here the Zero Moment Point (ZMP) is constrained to be within the foot stance area

  // A segment PointWithZeroMoment (red sphere) has been created by the balance driver and here the motion of it is constrained

  CreateCoMLimitDriversFootStanceArea CoMLimits(CoM=Main.Model.OverallWeightBalanceControl.PointWithZeroMoment)={};

  Main.HumanModel.DefaultMannequinDrivers.PelvisGroundDriverRotX.DriverPos={0};

  Main.HumanModel.DefaultMannequinDrivers.PelvisGroundDriverRotY.DriverPos={0};

  Main.HumanModel.DefaultMannequinDrivers.PelvisGroundDriverRotZ.DriverPos={0};

  Main.HumanModel.DefaultMannequinDrivers.SkullThoraxFlexionDriver.DriverPos={0};

  //Main.HumanModel.DefaultMannequinDrivers.SkullThoraxLateralBendingDriver.DriverPos={0};

  //Main.HumanModel.DefaultMannequinDrivers.SkullThoraxRotationDriver.DriverPos={0};

  Main.HumanModel.DefaultMannequinDrivers.PostureDriverBending.DriverPos ={0};

  Main.HumanModel.DefaultMannequinDrivers.PostureDriverRotation.DriverPos ={0};

  Main.HumanModel.DefaultMannequinDrivers.PostureDriverExtension.DriverPos ={-5*pi/180};

  Main.HumanModel.DefaultMannequinDrivers.SCProtractionDriverRight.DriverPos = {-0.4014257};

  Main.HumanModel.DefaultMannequinDrivers.SCElevationDriverRight.DriverPos = {0.2007129};

  Main.HumanModel.DefaultMannequinDrivers.GHDriverRightAbduction.DriverPos ={0};

  Main.HumanModel.DefaultMannequinDrivers.GHDriverRightFlexion.DriverPos ={0};

  Main.HumanModel.DefaultMannequinDrivers.GHDriverRightExternalRotation.DriverPos ={0};

  Main.HumanModel.DefaultMannequinDrivers.ElbowFlexionDriverRight.DriverPos ={30*pi/180};

  Main.HumanModel.DefaultMannequinDrivers.ElbowPronationDriverRight.DriverPos ={0*pi/180};

  Main.HumanModel.DefaultMannequinDrivers.WristDriverRightFlexion.DriverPos ={0};

  Main.HumanModel.DefaultMannequinDrivers.WristDriverRightAbduction.DriverPos ={0};

  Main.HumanModel.DefaultMannequinDrivers.SCProtractionDriverLeft.DriverPos = {-0.4014257};

  Main.HumanModel.DefaultMannequinDrivers.SCElevationDriverLeft.DriverPos = { 0.2007129};

  Main.HumanModel.DefaultMannequinDrivers.GHDriverLeftAbduction.DriverPos= {0};

  Main.HumanModel.DefaultMannequinDrivers.GHDriverLeftFlexion.DriverPos= {0};

  Main.HumanModel.DefaultMannequinDrivers.GHDriverLeftExternalRotation.DriverPos= {0};

  Main.HumanModel.DefaultMannequinDrivers.ElbowFlexionDriverLeft.DriverPos= {30*pi/180};

  Main.HumanModel.DefaultMannequinDrivers.ElbowPronationDriverLeft.DriverPos= {0};

  Main.HumanModel.DefaultMannequinDrivers.WristDriverLeftFlexion.DriverPos= {0};

  Main.HumanModel.DefaultMannequinDrivers.WristDriverLeftAbduction.DriverPos= {0};

  Main.HumanModel.DefaultMannequinDrivers.HipDriverRightFlexion.DriverPos= {0};

  Main.HumanModel.DefaultMannequinDrivers.HipDriverRightExternalRotation.DriverPos= {0};

  Main.HumanModel.DefaultMannequinDrivers.HipDriverRightAbduction.DriverPos= {0};

  Main.HumanModel.DefaultMannequinDrivers.KneeDriverRight.DriverPos= {0};

  Main.HumanModel.DefaultMannequinDrivers.AnkleDriverRightFlexion.DriverPos= {0};

  Main.HumanModel.DefaultMannequinDrivers.AnkleDriverRightEversion.DriverPos= {0};

  Main.HumanModel.DefaultMannequinDrivers.HipDriverLeftFlexion.DriverPos= {0};

  Main.HumanModel.DefaultMannequinDrivers.HipDriverLeftExternalRotation.DriverPos= {0};

  Main.HumanModel.DefaultMannequinDrivers.HipDriverLeftAbduction.DriverPos= {0};

  Main.HumanModel.DefaultMannequinDrivers.KneeDriverLeft.DriverPos= {0};

  Main.HumanModel.DefaultMannequinDrivers.AnkleDriverLeftFlexion.DriverPos= {0};

  Main.HumanModel.DefaultMannequinDrivers.AnkleDriverLeftEversion.DriverPos= {0};

  //weights

  Main.HumanModel.DefaultMannequinDrivers.PelvisGroundDriverPosX.WeakDriverWeight=0.0000;  //zero weight on pelvis pos

  Main.HumanModel.DefaultMannequinDrivers.PelvisGroundDriverPosY.WeakDriverWeight=0.0000;

  Main.HumanModel.DefaultMannequinDrivers.PelvisGroundDriverPosZ.WeakDriverWeight=0.0000;

  Main.HumanModel.DefaultMannequinDrivers.PelvisGroundDriverRotZ.WeakDriverWeight=0.0000;

  Main.HumanModel.DefaultMannequinDrivers.PelvisGroundDriverRotY.WeakDriverWeight=0.0000;

  Main.HumanModel.DefaultMannequinDrivers.PelvisGroundDriverRotX.WeakDriverWeight=0.0000;

  //  Main.HumanModel.DefaultMannequinDrivers.NeckJntDriver.WeakDriverWeight=0.00001;

  //  Main.HumanModel.DefaultMannequinDrivers.PostureDriverBending.WeakDriverWeight=0.00001;

  //  Main.HumanModel.DefaultMannequinDrivers.PostureDriverRotation.WeakDriverWeight=0.00001;

  //  Main.HumanModel.DefaultMannequinDrivers.PostureDriverExtension.WeakDriverWeight=0.00001;

  //  Main.HumanModel.DefaultMannequinDrivers.SCProtractionDriverRight.WeakDriverWeight =0.002;

  //  Main.HumanModel.DefaultMannequinDrivers.SCProtractionDriverRight.WeakDriverWeight = 0.0001;

  //  Main.HumanModel.DefaultMannequinDrivers.SCElevationDriverRight.WeakDriverWeight = 0.0001;

  //  Main.HumanModel.DefaultMannequinDrivers.SCAxialRotationDriverRight.WeakDriverWeight = 0.0001;

  Main.HumanModel.DefaultMannequinDrivers.GHDriverRightAbduction.WeakDriverWeight =0.0001;

  Main.HumanModel.DefaultMannequinDrivers.GHDriverRightFlexion.WeakDriverWeight =0.00001;

  Main.HumanModel.DefaultMannequinDrivers.GHDriverRightExternalRotation.WeakDriverWeight =0.0001;

  Main.HumanModel.DefaultMannequinDrivers.ElbowFlexionDriverRight.WeakDriverWeight =0.0001;

  //  Main.HumanModel.DefaultMannequinDrivers.ElbowPronationDriverRight.WeakDriverWeight =0.00001;

  //  Main.HumanModel.DefaultMannequinDrivers.WristDriverRightFlexion.WeakDriverWeight =0.00001;

  //  Main.HumanModel.DefaultMannequinDrivers.WristDriverRightAbduction.WeakDriverWeight =0.00001;

  //  

  //  Main.HumanModel.DefaultMannequinDrivers.SCProtractionDriverLeft.WeakDriverWeight = 0.00001;

  //  Main.HumanModel.DefaultMannequinDrivers.SCElevationDriverLeft.WeakDriverWeight = 0.00001;

  //  Main.HumanModel.DefaultMannequinDrivers.SCAxialRotationDriverLeft.WeakDriverWeight =0.00001;

  Main.HumanModel.DefaultMannequinDrivers.GHDriverLeftAbduction.WeakDriverWeight= 0.0001;

  Main.HumanModel.DefaultMannequinDrivers.GHDriverLeftFlexion.WeakDriverWeight= 0.0001;

  Main.HumanModel.DefaultMannequinDrivers.GHDriverLeftExternalRotation.WeakDriverWeight= 0.0001;

  Main.HumanModel.DefaultMannequinDrivers.ElbowFlexionDriverLeft.WeakDriverWeight= 0.0001;

  //  Main.HumanModel.DefaultMannequinDrivers.ElbowPronationDriverLeft.WeakDriverWeight= 0.00001;

  //  Main.HumanModel.DefaultMannequinDrivers.WristDriverLeftFlexion.WeakDriverWeight= 0.00001;

  //  Main.HumanModel.DefaultMannequinDrivers.WristDriverLeftAbduction.WeakDriverWeight= 0.00001;

  Main.HumanModel.DefaultMannequinDrivers.HipDriverRightFlexion.WeakDriverWeight= 0.00001;

  //  Main.HumanModel.DefaultMannequinDrivers.HipDriverRightExternalRotation.WeakDriverWeight= 0.00001;

  //  Main.HumanModel.DefaultMannequinDrivers.HipDriverRightAbduction.WeakDriverWeight= 0.00001;;

  Main.HumanModel.DefaultMannequinDrivers.KneeDriverRight.WeakDriverWeight= 0.00001;

  Main.HumanModel.DefaultMannequinDrivers.AnkleDriverRightFlexion.WeakDriverWeight=100* 0.00001;

  //  Main.HumanModel.DefaultMannequinDrivers.AnkleDriverRightEversion.WeakDriverWeight= 0.00001;

  //  

  Main.HumanModel.DefaultMannequinDrivers.HipDriverLeftFlexion.WeakDriverWeight= 0.00001;

  //  Main.HumanModel.DefaultMannequinDrivers.HipDriverLeftExternalRotation.WeakDriverWeight= 0.00001;

  //  Main.HumanModel.DefaultMannequinDrivers.HipDriverLeftAbduction.WeakDriverWeight= 0.00001;

  Main.HumanModel.DefaultMannequinDrivers.KneeDriverLeft.WeakDriverWeight= 0.00001;

  Main.HumanModel.DefaultMannequinDrivers.AnkleDriverLeftFlexion.WeakDriverWeight= 100*0.00001;

  //  Main.HumanModel.DefaultMannequinDrivers.AnkleDriverLeftEversion.WeakDriverWeight= 0.00001;

  //

};