--- a
+++ b/Application/Examples/WheelChairRancho/Model/Environment.any
@@ -0,0 +1,186 @@
+
+AnyFolder EnvironmentModel = {
+  
+  /* **********************************************************
+  This folder contains the definition of the Environment
+  - GlobalRefFrame
+  
+  ********************************************************** */  
+  
+  AnyFixedRefFrame GlobalRef = {
+    //Origin =  {2.765751, 1.287964, 0.8484217};
+    #include "drawcoorsystem.any"
+    
+    
+    AnyRefNode Seat = {
+      ARel= {{1,0,0},{0,0,-1},{0,1,0}};
+
+      sRel = {2.965751, 1.287964, 0.6484217 };
+      AnyDrawSurf seat = {
+        FileName = "../Input/CAD/seat";
+        ScaleXYZ = {0.5, 1, 0.4};
+        RGB = {0.1,0.1,0.1};
+      };
+      AnyDrawSurf back = {
+        FileName = "../Input/CAD/backrest";
+        ScaleXYZ = {0.4, 0.5, 0.3};
+        RGB = {0.1,0.1,0.1};
+
+      };  
+      AnyRefNode BackrestSupportNode ={
+      sRel={-0.35,0.4,0};
+     
+      };
+      
+      
+      // These points define the hubs of the wheels
+    AnyRefNode HubRight = {
+      sRel = {
+        0.015,
+        -0.1,
+        Main.ChairParameters.AxleZ
+      };
+    };
+    
+    AnyRefNode HubLeft = {
+      sRel = {
+        -0.015,
+        -0.1,
+        -Main.ChairParameters.AxleZ
+      };
+    };
+    
+
+      
+    };
+    //    AnyDrawRefFrame drw = {};
+  };//GlobalRef
+  
+  AnySeg WheelRight = {
+    Mass = 2.5;
+    Jii = {1,1,2}*0.1;
+    AnyRefNode PushRim = {
+      sRel = {0,Main.ChairParameters.PushRimRad,Main.ChairParameters.PushRimDist};
+    };
+    Axes0=.GlobalRef.Seat.ARel;
+    r0 ={.GlobalRef.Seat.sRel[0],
+      .GlobalRef.Seat.sRel[1]+ Main.ChairParameters.AxleZ,
+      .GlobalRef.Seat.sRel[2]
+    };
+    AnyDrawSurf Wheel = {
+      FileName = "../Input/CAD/wheel";
+      RGB = {0.5, 0.5, 0.5};
+      ScaleXYZ = {1,1,1}*Main.ChairParameters.WheelRad;
+    };//    AnyDrawSeg drw = {};
+    AnyRefNode PushRimHub = {
+      sRel = {
+        0,
+        0,
+        Main.ChairParameters.PushRimDist
+      };
+      AnyDrawSurf Wheel = {
+        FileName = "../Input/CAD/wheel";
+        RGB = {0,0,1};
+        ScaleXYZ = {1,1,1}*Main.ChairParameters.PushRimRad;
+      };
+    };
+  };
+  
+  AnySeg WheelLeft = {
+    Mass = 2.5;
+    Jii = {1,1,2}*0.1;
+    AnyRefNode PushRim = {
+      sRel = {0,Main.ChairParameters.PushRimRad,-Main.ChairParameters.PushRimDist};
+    };
+    Axes0=.GlobalRef.Seat.ARel;
+    r0 ={.GlobalRef.Seat.sRel[0],
+      .GlobalRef.Seat.sRel[1]- Main.ChairParameters.AxleZ,
+      .GlobalRef.Seat.sRel[2]
+    };
+    AnyDrawSurf Wheel = {
+      FileName = "../Input/CAD/wheel";
+      RGB = {0.5, 0.5, 0.5};
+      ScaleXYZ = {1,1,-1}*Main.ChairParameters.WheelRad;
+    };//    AnyDrawSeg drw = {};
+    AnyRefNode PushRimHub = {
+      sRel = {
+        0,
+        0,
+        -Main.ChairParameters.PushRimDist
+      };
+      AnyDrawSurf Wheel = {
+        FileName = "../Input/CAD/wheel";
+        RGB = {0,0,1};
+        ScaleXYZ = {1,1,-1}*Main.ChairParameters.PushRimRad;
+      };
+    };    
+  };
+  
+  // Join the wheels to the chair (ground, actually)
+  AnyRevoluteJoint HubRight = {
+    AnyRefNode &Chair = .GlobalRef.Seat.HubRight;
+    AnySeg &Wheel = .WheelRight;
+    Axis = z;
+  };
+  AnyRevoluteJoint HubLeft = {
+    AnyRefNode &Chair = .GlobalRef.Seat.HubLeft;
+    AnySeg &Wheel = .WheelLeft;
+    Axis = z;
+  };
+
+  // Drive the wheels. This in turn determines the hand movement
+  AnyKinEqSimpleDriver WheelRightDr = {
+    AnyRevoluteJoint &Joint = .HubRight;
+    DriverPos = {0};
+    DriverVel = {0};
+    Reaction.Type = {On}; 
+  };
+  AnyKinEqSimpleDriver WheelLeftDr = {
+    AnyRevoluteJoint &Joint = .HubLeft;
+    DriverPos = {0};
+    DriverVel = {0};
+    Reaction.Type = {On}; 
+  };
+
+ 
+  
+  
+  
+
+AnyForce3D ForceOnHand ={
+  
+  
+   AnyFunInterpol force={
+  //Type=PiecewiseLinear;
+  //Type=Bezier;
+  T=Main.C3DFileData.ANALOG.TimingChann.Frames/Main.C3DFileData.HeaderInformation.VideoFrameRate;
+  Data={   
+    -Main.C3DFileData.ANALOG.WHLCHRFX.Frame1,
+    Main.C3DFileData.ANALOG.WHLCHRFY.Frame1, 
+    -Main.C3DFileData.ANALOG.WHLCHRFZ.Frame1};
+    Type=Bspline;
+    BsplineOrder = 8;
+  
+ };
+  AnyRefNode &ref1=Main.Model.BodyModel.Right.ShoulderArm.Seg.Hand.Ref.Hand;
+  F=force(t);
+  
+};
+
+
+AnyDrawVector DrawSupport1 = {
+  AnyRefFrame &ref = Main.Model.BodyModel.Right.ShoulderArm.Seg.Hand.Ref.Hand;
+  Vec = 0.005*.ForceOnHand.F;
+  
+  PointAway = Off;
+  DrawCoord = Off;
+  
+  Line.RGB = {0,0,1};
+  Line.Thickness =0.0075;
+  Line.End.Thickness = 2*0.0075;
+  Line.End.Length = 4*0.0075;
+};
+
+  
+  
+};
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