--- a
+++ b/Tests/ShoulderTestModel/Environment.any
@@ -0,0 +1,25 @@
+AnyFolder Environment = {
+  //^ Environment files are used to include objects surrounding human,
+  //^ e.g. global reference frame
+  
+  AnyFixedRefFrame GlobalRef = 
+  {
+    AnyDrawRefFrame drw={ScaleXYZ=0.3*{1,1,1};};
+    
+    AnyRefNode RightFootPrint = {
+      //^ Positioning of the right foot. 
+      //^ Ground-foot constraints can be excluded with: #define EXCLUDE_FOOT_CONSTRAINTS
+      sRel = HeelPosition; 
+      ARel = RotMat({0,0,0}, ToeDirection, {0,10,0});
+      AnyDrawRefFrame drw = {RGB = {0,0.7,0}; ScaleXYZ = 0.1*{1,1,1};};
+    };
+ 
+    AnyRefNode LeftFootPrint = {
+      //^ Positioning of the right foot. 
+      //^ Ground-foot constraints can be excluded with: #define EXCLUDE_FOOT_CONSTRAINTS
+      sRel = HeelPosition;
+      ARel = RotMat({0,0,0}, ToeDirection, {0,10,0});
+      AnyDrawRefFrame drw = {RGB = {0,0.7,0}; ScaleXYZ = 0.1*{1,1,1};};
+    };    
+  };  
+};
\ No newline at end of file