--- a
+++ b/Application/Examples/WheelTurn/Model/JointsAndDrivers.any
@@ -0,0 +1,236 @@
+
+AnyFolder Drivers = {
+  
+  AnyFolder &JntPos=..Mannequin.Posture;
+  AnyFolder &JntVel=..Mannequin.PostureVel;
+  
+  
+  AnyFolder &Thorax = ..BodyModel.Trunk.SegmentsThorax.ThoraxSeg;
+  
+  
+  // ************************************
+  // Drivers for attaching the pelvis to the global reference system
+  // ************************************  
+  
+  AnyKinEqSimpleDriver PelvisGroundDriver ={
+    AnyKinLinear lin ={
+      AnyFixedRefFrame &ref1 =....EnvironmentModel.GlobalRef;
+      AnyRefFrame &ref2 =....BodyModel.Trunk.SegmentsLumbar.PelvisSeg.CompatibilityFrameAMMR24;
+    };
+    AnyKinRotational rot ={
+      AnyFixedRefFrame &ref1 =....EnvironmentModel.GlobalRef;
+      AnyRefFrame &ref2 =....BodyModel.Trunk.SegmentsLumbar.PelvisSeg.CompatibilityFrameAMMR24;
+      Type=RotAxesAngles;
+    };
+    DriverPos={
+      .JntPos.PelvisPosX,
+      .JntPos.PelvisPosY,
+      .JntPos.PelvisPosZ,
+      pi/180*.JntPos.PelvisRotZ,
+      pi/180*.JntPos.PelvisRotY,
+      pi/180*.JntPos.PelvisRotX
+    };
+    DriverVel={
+      .JntVel.PelvisPosX,
+      .JntVel.PelvisPosY,
+      .JntVel.PelvisPosZ,
+      pi/180*.JntVel.PelvisRotX,
+      pi/180*.JntVel.PelvisRotY,
+      pi/180*.JntVel.PelvisRotZ
+    };
+    Reaction.Type={On,On,On,On,On,On};
+  };
+  
+  AnyFolder &RefHM = Main.Model.BodyModel;
+  
+  
+  AnyFolder &ref=Main.Model.BodyModel.Trunk;
+  
+  
+  // ************************************
+  // Drivers for the spine
+  // ************************************
+  
+  //Neck driver 
+  AnyKinEqSimpleDriver NeckJntDriver = {
+    AnyKinMeasure& lb = ...BodyModel.Interface.Trunk.SkullThoraxLateralBending;
+    AnyKinMeasure& ar = ...BodyModel.Interface.Trunk.SkullThoraxRotation;
+    AnyKinMeasure& fe = ...BodyModel.Interface.Trunk.SkullThoraxFlexion;
+    DriverPos = pi/180*{.JntPos.NeckLateralBending, .JntPos.NeckRotation,-1* .JntPos.NeckExtension};
+    DriverVel = pi/180*{.JntVel.NeckLateralBending, .JntVel.NeckRotation, -1*.JntVel.NeckExtension};
+    Reaction.Type = {Off, Off, Off};
+  };
+  
+  //Thorax pelvis rotation driver
+  AnyKinEqSimpleDriver PostureDriver ={
+    AnyKinMeasure& Ref2 = ...BodyModel.Interface.Trunk.PelvisThoraxLateralBending;        
+    AnyKinMeasure& Ref3 = ...BodyModel.Interface.Trunk.PelvisThoraxRotation;   
+    AnyKinMeasure& Ref1 = ...BodyModel.Interface.Trunk.PelvisThoraxExtension;
+    
+    DriverPos = pi/180*{
+      .JntPos.PelvisThoraxLateralBending,
+      .JntPos.PelvisThoraxRotation,
+      .JntPos.PelvisThoraxExtension
+    };
+    DriverVel = pi/180*{
+      .JntVel.PelvisThoraxLateralBending,
+      .JntVel.PelvisThoraxRotation,
+      .JntVel.PelvisThoraxExtension
+    };
+    Reaction.Type = {Off,Off,Off};  
+  };  
+  
+  
+  // ************************************
+  // Drivers for the right arm
+  // ************************************
+  
+  
+  //Sterno clavicular joint driver
+  AnyKinEqSimpleDriver SCDriverRight ={
+    AnyKinMeasure& ref1 =...BodyModel.Interface.Right.SternoClavicularProtraction;
+    AnyKinMeasure& ref2 =...BodyModel.Interface.Right.SternoClavicularElevation;
+    DriverPos = pi/180*{
+      .JntPos.Right.SternoClavicularProtraction,
+      .JntPos.Right.SternoClavicularElevation
+    };
+    DriverVel = {
+      .JntVel.Right.SternoClavicularProtraction,
+      .JntVel.Right.SternoClavicularElevation
+    };
+    Reaction.Type={Off,Off};
+  };
+  
+  //Wrist driver 
+  AnyKinEqSimpleDriver WristDriverRight ={
+    AnyKinMeasure& ref1 =...BodyModel.Interface.Right.WristFlexion;
+    AnyKinMeasure& ref2 =...BodyModel.Interface.Right.WristAbduction;
+    DriverPos = pi/180*{
+      .JntPos.Right.WristFlexion,
+      .JntPos.Right.WristAbduction
+    };
+    
+    DriverVel = pi/180*{
+      .JntVel.Right.WristFlexion,
+      .JntVel.Right.WristAbduction};
+    Reaction.Type={Off,Off};
+  };
+  
+  
+  //Elbow pronation driver 
+  AnyKinEqSimpleDriver ElbowPSDriverRight={
+    AnyKinMeasure& Elbow =...BodyModel.Interface.Right.ElbowPronation;
+    DriverPos= pi/180*{.JntPos.Right.ElbowPronation };  
+    DriverVel = pi/180*{.JntVel.Right.ElbowPronation };  
+    Reaction.Type={Off};
+  };
+  //Glenohumeral joint driver
+  AnyKinEqSimpleDriver GHDriverRight={
+    // AnyKinMeasure& ref1 =...BodyModel.Interface.Right.GlenohumeralAbduction;
+    // AnyKinMeasure& ref2 =...BodyModel.Interface.Right.GlenohumeralFlexion;
+    AnyKinMeasure& ref3 =...BodyModel.Interface.Right.GlenohumeralExternalRotation;
+    DriverPos=pi/180*{
+      // .JntPos.Right.GlenohumeralAbduction  //GH joint
+      // .JntPos.Right.GlenohumeralFlexion,  //GH joint
+         .JntPos.Right.GlenohumeralExternalRotation  //GH joint
+    };    
+    DriverVel = pi/180*{
+      //.JntVel.Right.GlenohumeralAbduction  //GH joint
+      //.JntVel.Right.GlenohumeralFlexion,  //GH joint
+        .JntVel.Right.GlenohumeralExternalRotation  //GH joint
+    };    
+    Reaction.Type={
+      //Off,Off
+      Off};
+  };
+  
+  
+  
+  // ************************************
+  // Drivers for the left arm
+  // ************************************
+  
+  
+  //Sterno clavicular joint driver
+  AnyKinEqSimpleDriver SCDriverLeft ={
+    AnyKinMeasure& ref1 =...BodyModel.Interface.Left.SternoClavicularProtraction;
+    AnyKinMeasure& ref2 =...BodyModel.Interface.Left.SternoClavicularElevation;
+    
+    DriverPos = pi/180*{
+      .JntPos.Left.SternoClavicularProtraction,
+      .JntPos.Left.SternoClavicularElevation
+    };
+    
+    DriverVel = pi/180*{
+      .JntVel.Left.SternoClavicularProtraction,
+      .JntVel.Left.SternoClavicularElevation
+    };
+    
+    Reaction.Type={Off,Off};
+  };
+  
+  //Wrist driver
+  AnyKinEqSimpleDriver WristDriverLeft ={
+    AnyKinMeasure& ref1 =...BodyModel.Interface.Left.WristFlexion;
+    AnyKinMeasure& ref2 =...BodyModel.Interface.Left.WristAbduction;
+    DriverPos = pi/180*{
+      .JntPos.Left.WristFlexion,
+      .JntPos.Left.WristAbduction};
+    
+    DriverVel = pi/180*{
+      .JntVel.Left.WristFlexion,
+      .JntVel.Left.WristAbduction};
+    Reaction.Type={Off,Off};
+  };
+  
+  
+  
+  
+  //Elbow pronation driver 
+  AnyKinEqSimpleDriver ElbowPSDriverLeft={
+    AnyKinMeasure& Elbow =...BodyModel.Interface.Left.ElbowPronation;
+    DriverPos= pi/180*{.JntPos.Left.ElbowPronation };  
+    DriverVel = pi/180*{.JntVel.Left.ElbowPronation };  
+    Reaction.Type={Off};
+  };
+  //Glenohumeral joint driver
+  AnyKinEqSimpleDriver GHDriverLeft={
+    // AnyKinMeasure& ref1 =...BodyModel.Interface.Left.GlenohumeralAbduction;
+    // AnyKinMeasure& ref2 =...BodyModel.Interface.Left.GlenohumeralFlexion;
+    AnyKinMeasure& ref3 =...BodyModel.Interface.Left.GlenohumeralExternalRotation;
+    DriverPos=pi/180*{
+      // .JntPos.Left.GlenohumeralAbduction,  //GH joint
+      // .JntPos.Left.GlenohumeralFlexion,  //GH joint
+      .JntPos.Left.GlenohumeralExternalRotation  //GH joint
+    };    
+    DriverVel = pi/180*{
+      //  .JntVel.Left.GlenohumeralAbduction,  //GH joint
+      //  .JntVel.Left.GlenohumeralFlexion,  //GH joint
+      .JntVel.Left.GlenohumeralExternalRotation  //GH joint
+    };    
+    Reaction.Type={
+      //Off,Off
+      Off};
+  };
+  
+  
+}; //Drivers
+
+// Joints between the human model and the environment
+
+
+Main.Model.BodyModel.Right.ShoulderArm.Seg.Hand.Carpals = {
+   AnyRefNode GripCenter = {sRel=.Scale({0.020, -0.065, ....Sign*0.0}); };
+};
+
+AnyFolder Joints = {
+  AnySphericalJoint HandHandle = {
+    AnyRefFrame &Palm = Main.Model.BodyModel.Right.ShoulderArm.Seg.Hand.Carpals.GripCenter;
+    AnyRefNode &Rim = Main.Model.EnvironmentModel.Wheel.Handle;
+  };
+  
+  AnySphericalJoint HandRest = {
+    AnyRefFrame &Palm = Main.Model.BodyModel.Left.ShoulderArm.Seg.Hand.Carpals.PalmJoint;
+    AnyRefNode &Ground = Main.Model.EnvironmentModel.GlobalRef.HandRest;
+  };  
+};
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