// Place the right toe and heel on the ground

  AnyKinEqSimpleDriver RToeGroundConstraint ={

    AnyKinLinear ToePos = {

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

      AnyRefNode &Ball = Main.Model.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 = Main.Model.EnvironmentModel.GlobalRef;

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

    };

    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 = Main.Model.EnvironmentModel.GlobalRef;

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

    };

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

    DriverPos = {0.0};

    DriverVel = {0.0};

    Reaction.Type = {Off};

  };

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

  // Drivers for the right leg

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

   //Hip driver 

  AnyKinEqSimpleDriver HipDriverRight={

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

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

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

    DriverPos= pi/180*{

      .JntPos.Right.HipFlexion,

      .JntPos.Right.HipExternalRotation,

      .JntPos.Right.HipAbduction

    };    

    DriverVel = pi/180*{

      .JntVel.Right.HipFlexion,

      .JntVel.Right.HipExternalRotation,

      .JntVel.Right.HipAbduction

    };    

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

  };

  //Knee driver

  AnyKinEqSimpleDriver KneeDriverRight={

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

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

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

    Reaction.Type={Off};

  };

  //Ankle driver

  AnyKinEqSimpleDriver AnkleDriverRight={

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

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

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

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

    Reaction.Type={Off};

    MeasureOrganizer={1};

  };

    AnyReacForce RightFootReaction = {

    AnyKinRotational rot = {

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

      AnyFixedRefFrame &ref2 = ....EnvironmentModel.GlobalRef;

      Type = RotVector;

    };  

    AnyKinLinear RightFootLinMeasure = {

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

      AnyFixedRefFrame &ref2 = ....EnvironmentModel.GlobalRef;  

    };

  };

    MannequinLoads.Right = {

      AnyForce3D Hip = {

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

      F = .locmql.Hip;

    };

    AnyForce3D Knee = {

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

      F = .locmql.Knee;

    };

    AnyForce3D Ankle = {

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

      F = .locmql.Ankle;

    };    

  };