--- a
+++ b/Tools/GRFPrediction/WeakResiduals.any
@@ -0,0 +1,84 @@
+AnyFolder HumanGroundResiduals = {
+  AnyComponentDefinition obj = {};
+  
+  AnyFolder CenterOfMass = {
+    AnySeg DummySeg={
+      Mass=0;
+      Jii={0,0,0};
+    };
+    AnyKinEqSimpleDriver  FixRotation ={
+      AnyKinRotational rot ={
+        AnySeg &ref1=..DummySeg;
+        Type=RotAxesAngles;
+      };
+      DriverPos ={0,0,0}; DriverVel={0,0,0};
+    };
+    AnyKinEqSimpleDriver  DummySegDriver ={
+      AnyKinMeasureLinComb LinComb ={
+        AnyKinLinear LinSeg ={
+          AnySeg &ref=...DummySeg;
+        };
+        AnyKinCoM CoMMeasure =  {
+          AnyFolder& ref = Main.HumanModel.BodyModel;
+        };
+        Coef ={{1,0,0,-1,0,0},{0,1,0,0,-1,0},{0,0,1,0,0,-1}};
+        OutDim =3;
+      };
+      DriverPos ={0,0,0}; DriverVel={0,0,0};
+    };
+  };
+
+  
+  AnyFolder &PelvisSegment = ..BodyModel.Trunk.SegmentsLumbar.PelvisSeg;
+  AnyFolder &COMSegment = CenterOfMass.DummySeg;
+  
+  AnyFolder Measures = {
+    AnyKinLinear LinearCOM ={
+        AnySeg &ref2 = ..COMSegment;
+    };   
+    AnyKinRotational RotationalPelvis ={
+        AnySeg &ref2 = ..PelvisSegment;
+        Type=RotVector;
+        AngVelOnOff = On; 
+    };
+  };
+  
+  AnyFolder WeakRecruitedResiduals = 
+  {
+
+    AnyRecruitedActuator Linear_1 = {
+      AnyKinMeasure& ref= ..Measures.LinearCOM;
+      Type = NonNegative;
+      Strength = 5;
+      SET_DEFAULT_ACTUATOR_VOLUME;
+    };
+    AnyRecruitedActuator Linear_2 = {
+      AnyKinMeasure& ref= ..Measures.LinearCOM;
+      Type = NonPositive;
+      Strength = 5;
+      SET_DEFAULT_ACTUATOR_VOLUME;
+    };
+    AnyRecruitedActuator Rotational_1 = {
+      AnyKinMeasure& ref= ..Measures.RotationalPelvis;
+      Type = NonNegative;
+      Strength = 2;
+      SET_DEFAULT_ACTUATOR_VOLUME;
+    };
+    AnyRecruitedActuator Rotational_2 = {
+      AnyKinMeasure& ref= ..Measures.RotationalPelvis;
+      Type = NonPositive;
+      Strength = 2;
+      SET_DEFAULT_ACTUATOR_VOLUME;
+    };
+
+       
+  };
+  AnyVar PosX_Force = WeakRecruitedResiduals.Linear_1.Fout[0]+WeakRecruitedResiduals.Linear_2.Fout[0];
+  AnyVar PosY_Force = WeakRecruitedResiduals.Linear_1.Fout[1]+WeakRecruitedResiduals.Linear_2.Fout[1];
+  AnyVar PosZ_Force = WeakRecruitedResiduals.Linear_1.Fout[2]+WeakRecruitedResiduals.Linear_2.Fout[2];
+  AnyVar RotX_Torque = WeakRecruitedResiduals.Rotational_1.Fout[2]+WeakRecruitedResiduals.Rotational_2.Fout[2];
+  AnyVar RotY_Torque = WeakRecruitedResiduals.Rotational_1.Fout[1]+WeakRecruitedResiduals.Rotational_2.Fout[1];
+  AnyVar RotZ_Torque = WeakRecruitedResiduals.Rotational_1.Fout[0]+WeakRecruitedResiduals.Rotational_2.Fout[0];
+  
+};
+