//  AnyReacForce LeftFootReaction = {

//    

//    AnyKinLinear LeftFootLinMeasure = {

//      AnySeg &ref1=....BodyModel.Left.Leg.Seg.Foot;

//      AnyFixedRefFrame &ref2 = ....Environment.GlobalRef;

//    };

//    AnyKinRotational LeftFootRotMeasure = {

//      AnySeg &ref1=....BodyModel.Left.Leg.Seg.Foot;

//      AnyFixedRefFrame &ref2 = ....Environment.GlobalRef;

//      Type = RotVector;

//

//    };  

//  };

  // Place the Left toe and heel on the ground

  AnyKinEqSimpleDriver LToeGroundConstraint ={

    AnyKinLinear ToePos = {

      AnyFixedRefFrame &Ground = ....Environment.GlobalRef;

      AnyRefNode &Ball = ....BodyModel.Left.Leg.Seg.Foot.BigToeNode;

    };

   MeasureOrganizer = {1};  // Only the y coordinate

    DriverPos = {0.0};

    DriverVel = {0};

    Reaction.Type = {Off};   // Provide ground reaction forces

  };

  AnyKinEqSimpleDriver LHeelGroundConstraint ={

    AnyKinLinear HeelPos = {

      AnyFixedRefFrame &Ground = ....Environment.GlobalRef;

      #if BM_LEG_MODEL == _LEG_MODEL_LEG_      

        AnyRefNode &Ball = ....BodyModel.Left.Leg.Seg.Foot.HeelJoint;

      #else

        AnyRefNode &Ball = ....BodyModel.Left.Leg.Seg.Foot.HeelContactNodeLow;

      #endif

    };

    MeasureOrganizer = {1};  // Only the y coordinate

    DriverPos = {0.0};

    DriverVel = {0};

    Reaction.Type = {Off};   // Provide ground reaction forces

  };

    // Position the Ankles Left above the z axis

  AnyKinEqSimpleDriver LAnkleX = {

    AnyKinLinear AnklePos = {

      AnyFixedRefFrame &Ground = ....Environment.GlobalRef;

      #if BM_LEG_MODEL == _LEG_MODEL_LEG_

        AnyRefNode &Ankle = ....BodyModel.Left.Leg.Seg.Foot.AnkleJoint;

      #else

        AnyRefNode &Ankle = ....BodyModel.Left.Leg.Seg.Foot.SubTalarJoint;

      #endif      

    };

    MeasureOrganizer = {0};  // Only the x coordinate

    DriverPos = {0.0};

    DriverVel = {0.0};

    Reaction.Type = {Off};

  };