--- a
+++ b/Tools/GRFPrediction/GRF_example.any
@@ -0,0 +1,99 @@
+////**************************** CONDITIONAL CONTACTS ****************************//// 
+ /*
+   Class template: FootPlateConditionalContact 
+ 
+   Class arguments:
+   ----------
+   PLATE_BASE_FRAME:
+           Is a AnyRefFrame object where the ground planes is attached.
+   NORMAL_DIRECTION:
+           Defines the normal direction of the ground plane 
+           the in PLATE_BASE_FRAME coordinate system.
+   NODES_BASE_FOLDER :
+           The folder where all contact nodes are located below.
+           contact nodes must be AnyRefNodes named must be named Node#
+           where # is a number. Eg. Node1 ...Node24
+   NUMBER_OF_NODES: 
+           The number of contact nodes to expect within NODE_BASE_FRAME
+   SHOW_TRIGGER_VOLUME:
+           Debug option to visualize the volume where contacts may be 
+           triggered.
+   
+   Optional initialization:
+   ------------------------
+   Settings
+    .LimitDistLow                : 
+    .LimitDistHigh               :
+    .LimitVelHigh                :
+    .Radius                      :
+    .Strength                    :
+    .FrictionCoefficient         :
+    .ScaleFactor                 :
+    .ForceVectorDrawScaleFactor  :
+   
+    
+    
+  FootPlateConditionalContact <Object_name>(
+       NORMAL_DIRECTION     = "<X|Y|*Z>", 
+       NUMBER_OF_NODES      = [*1..200],
+       NODES_BASE_FOLDER    = <AnyFolder> ,
+       PLATE_BASE_FRAME     = <AnyRefFrame>,
+       SHOW_TRIGGER_VOLUME = [*0|1] ) =
+  {
+    Settings =
+    {
+      [ LimitDistLow = -0.10;               ]   
+      [ LimitDistHigh = 0.04;               ]
+      [ LimitVelHigh = 0.8;                 ]
+      [ GroundVelocity = {0.0, 0.0, 0.0};   ]
+      [ Radius = 10;                        ]
+      [ Strength = 200;                     ]
+      [ FrictionCoefficient = 0.5;          ]
+      [ ScaleFactor = 1;                    ]
+      [ ForceVectorDrawScaleFactor = 0.0005;] 
+    };
+    
+    CreateFootContactNodes25 FootNodes(foot_ref = Main.HumanModel.BodyModel.Right.Leg.Seg.Foot) = {  };
+  };    
+    
+    
+*/
+
+
+  FootPlateConditionalContact GRF_Prediction_Right(
+    PLATE_BASE_FRAME = Main.EnvironmentModel.GlobalRef,
+    NORMAL_DIRECTION = "Y",
+    NODES_FOLDER = FootNodes,
+    NUMBER_OF_NODES = 25 
+  ) =
+  {
+    CreateFootContactNodes25 FootNodes(foot_ref = 
+        Main.Studies.HumanModel.BodyModel.Right.Leg.Seg.Foot) = { };
+  };
+  
+  
+  
+  
+  
+
+  FootPlateConditionalContact GRF_Prediction_Left(
+    PLATE_BASE_FRAME = Main.EnvironmentModel.GlobalRef,
+    NORMAL_DIRECTION = "Y",
+    NODES_FOLDER = FootNodes,
+    NUMBER_OF_NODES = 25 
+  ) =
+  {
+    Settings =
+    {
+      LimitDistLow = -0.10; 
+      LimitDistHigh = 0.04;
+    };
+    
+    CreateFootContactNodes25 FootNodes(foot_ref = 
+        Main.Studies.HumanModel.BodyModel.Left.Leg.Seg.Foot) = { };
+  };
+  
+
+
+
+