--- a
+++ b/Tools/Templates/Human Standing/Model/LeftFootDrivers.any
@@ -0,0 +1,62 @@
+//  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};
+  };
+
+