Model {
  Name			  "Step8"
  Version		  6.6
  MdlSubVersion		  0
  GraphicalInterface {
    NumRootInports	    0
    NumRootOutports	    0
    ParameterArgumentNames  ""
    ComputedModelVersion    "1.233"
    NumModelReferences	    0
    NumTestPointedSignals   0
  }
  Description		  "Bouncing Ball\n                                    "
"                                                                             "
"                              \nThis model simulates an elastic ball bouncing"
" on an infinitely rigid ground. The contact between the ball and the ground i"
"s modeled by a penalty force that mimics impact and deformation in one dimens"
"ion."
  SavedCharacterEncoding  "windows-1252"
  PreLoadFcn		  "ball.radius = 1; ball.pengain = 1e5;\nball.mass = 1"
"; ball.pendamp = 25;"
  SaveDefaultBlockParams  on
  SampleTimeColors	  off
  LibraryLinkDisplay	  "none"
  WideLines		  off
  ShowLineDimensions	  off
  ShowPortDataTypes	  off
  ShowLoopsOnError	  on
  IgnoreBidirectionalLines off
  ShowStorageClass	  off
  ShowTestPointIcons	  on
  ShowViewerIcons	  on
  SortedOrder		  off
  ExecutionContextIcon	  off
  ShowLinearizationAnnotations on
  ScopeRefreshTime	  0.035000
  OverrideScopeRefreshTime on
  DisableAllScopes	  off
  DataTypeOverride	  "UseLocalSettings"
  MinMaxOverflowLogging	  "UseLocalSettings"
  MinMaxOverflowArchiveMode "Overwrite"
  BlockNameDataTip	  off
  BlockParametersDataTip  off
  BlockDescriptionStringDataTip	off
  ToolBar		  on
  StatusBar		  on
  BrowserShowLibraryLinks off
  BrowserLookUnderMasks	  off
  CloseFcn		  "rtwprivate ssgencode ModelCloseRequest balltest7"
  Created		  "Wed May 14 10:10:07 2003"
  Creator		  "jwendlan"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  LastModifiedBy	  "sahuber"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Mon Mar 03 12:37:07 2008"
  ModelVersionFormat	  "1.%<AutoIncrement:233>"
  ConfigurationManager	  "None"
  SimulationMode	  "normal"
  LinearizationMsg	  "none"
  Profile		  off
  ParamWorkspaceSource	  "MATLABWorkspace"
  AccelSystemTargetFile	  "accel.tlc"
  AccelTemplateMakefile	  "accel_default_tmf"
  AccelMakeCommand	  "make_rtw"
  AccelVerboseBuild	  off
  TryForcingSFcnDF	  off
  RecordCoverage	  off
  CovPath		  "/"
  CovSaveName		  "covdata"
  CovMetricSettings	  "dw"
  CovNameIncrementing	  off
  CovHtmlReporting	  on
  covSaveCumulativeToWorkspaceVar on
  CovSaveSingleToWorkspaceVar on
  CovCumulativeVarName	  "covCumulativeData"
  CovCumulativeReport	  off
  CovReportOnPause	  on
  ExtModeBatchMode	  off
  ExtModeEnableFloating	  on
  ExtModeTrigType	  "manual"
  ExtModeTrigMode	  "normal"
  ExtModeTrigPort	  "1"
  ExtModeTrigElement	  "any"
  ExtModeTrigDuration	  1000
  ExtModeTrigDurationFloating "auto"
  ExtModeTrigHoldOff	  0
  ExtModeTrigDelay	  0
  ExtModeTrigDirection	  "rising"
  ExtModeTrigLevel	  0
  ExtModeArchiveMode	  "off"
  ExtModeAutoIncOneShot	  off
  ExtModeIncDirWhenArm	  off
  ExtModeAddSuffixToVar	  off
  ExtModeWriteAllDataToWs off
  ExtModeArmWhenConnect	  on
  ExtModeSkipDownloadWhenConnect off
  ExtModeLogAll		  on
  ExtModeAutoUpdateStatusClock off
  BufferReuse		  on
  ProdHWDeviceType	  "Specified"
  ShowModelReferenceBlockVersion off
  ShowModelReferenceBlockIO off
  Array {
    Type		    "Handle"
    Dimension		    1
    Simulink.ConfigSet {
      $ObjectID		      1
      Version		      "1.2.0"
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	Dimension		8
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	  StopTime		  "7.5"
	  AbsTol		  "auto"
	  FixedStep		  ".01"
	  InitialStep		  "auto"
	  MaxNumMinSteps	  "-1"
	  MaxOrder		  5
	  ConsecutiveZCsStepRelTol "10*128*eps"
	  MaxConsecutiveZCs	  "1000"
	  ExtrapolationOrder	  4
	  NumberNewtonIterations  1
	  MaxStep		  "auto"
	  MinStep		  "auto"
	  MaxConsecutiveMinStep	  "1"
	  RelTol		  "1e-3"
	  SolverMode		  "Auto"
	  Solver		  "ode4"
	  SolverName		  "ode4"
	  ZeroCrossControl	  "UseLocalSettings"
	  AlgebraicLoopSolver	  "TrustRegion"
	  SolverResetMethod	  "Fast"
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	  SampleTimeConstraint	  "Unconstrained"
	  RateTranMode		  "Deterministic"
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	  MaxDataPoints		  "1000"
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	  SaveFinalState	  off
	  SaveFormat		  "Array"
	  SaveOutput		  on
	  SaveState		  off
	  SignalLogging		  on
	  InspectSignalLogs	  off
	  SaveTime		  on
	  StateSaveName		  "xout"
	  TimeSaveName		  "tout"
	  OutputSaveName	  "yout"
	  SignalLoggingName	  "sigsOut"
	  OutputOption		  "SpecifiedOutputTimes"
	  OutputTimes		  "[0:0.1:20]"
	  Refine		  "3"
	}
	Simulink.OptimizationCC {
	  $ObjectID		  4
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	    Dimension		    5
	    Cell		    "ZeroExternalMemoryAtStartup"
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	    Cell		    "OptimizeModelRefInitCode"
	    Cell		    "NoFixptDivByZeroProtection"
	    PropName		    "DisabledProps"
	  }
	  Version		  "1.2.0"
	  BlockReduction	  on
	  BooleanDataType	  on
	  ConditionallyExecuteInputs on
	  InlineParams		  off
	  InlineInvariantSignals  on
	  OptimizeBlockIOStorage  on
	  BufferReuse		  on
	  EnforceIntegerDowncast  on
	  ExpressionFolding	  on
	  ExpressionDepthLimit	  2147483647
	  FoldNonRolledExpr	  on
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	  RollThreshold		  5
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	  ZeroInternalMemoryAtStartup on
	  InitFltsAndDblsToZero	  on
	  NoFixptDivByZeroProtection off
	  EfficientFloat2IntCast  off
	  OptimizeModelRefInitCode off
	  LifeSpan		  "inf"
	  BufferReusableBoundary  on
	}
	Simulink.DebuggingCC {
	  $ObjectID		  5
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	  RTPrefix		  "error"
	  ConsistencyChecking	  "none"
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	  SignalInfNanChecking	  "none"
	  ReadBeforeWriteMsg	  "UseLocalSettings"
	  WriteAfterWriteMsg	  "UseLocalSettings"
	  WriteAfterReadMsg	  "UseLocalSettings"
	  AlgebraicLoopMsg	  "warning"
	  ArtificialAlgebraicLoopMsg "warning"
	  CheckSSInitialOutputMsg on
	  CheckExecutionContextPreStartOutputMsg on
	  CheckExecutionContextRuntimeOutputMsg	on
	  SignalResolutionControl "TryResolveAllWithWarning"
	  BlockPriorityViolationMsg "warning"
	  MinStepSizeMsg	  "warning"
	  TimeAdjustmentMsg	  "none"
	  MaxConsecutiveZCsMsg	  "error"
	  SolverPrmCheckMsg	  "none"
	  InheritedTsInSrcMsg	  "warning"
	  DiscreteInheritContinuousMsg "warning"
	  MultiTaskDSMMsg	  "warning"
	  MultiTaskCondExecSysMsg "none"
	  MultiTaskRateTransMsg	  "error"
	  SingleTaskRateTransMsg  "none"
	  TasksWithSamePriorityMsg "warning"
	  SigSpecEnsureSampleTimeMsg "none"
	  CheckMatrixSingularityMsg "none"
	  IntegerOverflowMsg	  "warning"
	  Int32ToFloatConvMsg	  "warning"
	  ParameterDowncastMsg	  "error"
	  ParameterOverflowMsg	  "error"
	  ParameterUnderflowMsg	  "none"
	  ParameterPrecisionLossMsg "warning"
	  ParameterTunabilityLossMsg "warning"
	  UnderSpecifiedDataTypeMsg "none"
	  UnnecessaryDatatypeConvMsg "none"
	  VectorMatrixConversionMsg "none"
	  InvalidFcnCallConnMsg	  "error"
	  FcnCallInpInsideContextMsg "Use local settings"
	  SignalLabelMismatchMsg  "none"
	  UnconnectedInputMsg	  "warning"
	  UnconnectedOutputMsg	  "warning"
	  UnconnectedLineMsg	  "warning"
	  SFcnCompatibilityMsg	  "none"
	  UniqueDataStoreMsg	  "none"
	  BusObjectLabelMismatch  "warning"
	  RootOutportRequireBusObject "warning"
	  AssertControl		  "UseLocalSettings"
	  EnableOverflowDetection off
	  ModelReferenceIOMsg	  "none"
	  ModelReferenceVersionMismatchMessage "none"
	  ModelReferenceIOMismatchMessage "none"
	  ModelReferenceCSMismatchMessage "none"
	  ModelReferenceSimTargetVerbose off
	  UnknownTsInhSupMsg	  "warning"
	  ModelReferenceDataLoggingMessage "warning"
	  ModelReferenceSymbolNameMessage "warning"
	  ModelReferenceExtraNoncontSigs "error"
	  StateNameClashWarn	  "warning"
	  StrictBusMsg		  "None"
	}
	Simulink.HardwareCC {
	  $ObjectID		  6
	  Version		  "1.2.0"
	  ProdBitPerChar	  8
	  ProdBitPerShort	  16
	  ProdBitPerInt		  32
	  ProdBitPerLong	  32
	  ProdIntDivRoundTo	  "Undefined"
	  ProdEndianess		  "Unspecified"
	  ProdWordSize		  32
	  ProdShiftRightIntArith  on
	  ProdHWDeviceType	  "Specified"
	  TargetBitPerChar	  8
	  TargetBitPerShort	  16
	  TargetBitPerInt	  32
	  TargetBitPerLong	  32
	  TargetShiftRightIntArith on
	  TargetIntDivRoundTo	  "Undefined"
	  TargetEndianess	  "LittleEndian"
	  TargetWordSize	  32
	  TargetTypeEmulationWarnSuppressLevel 0
	  TargetPreprocMaxBitsSint 32
	  TargetPreprocMaxBitsUint 32
	  TargetHWDeviceType	  "MATLAB Host"
	  TargetUnknown		  off
	  ProdEqTarget		  off
	}
	Simulink.ModelReferenceCC {
	  $ObjectID		  7
	  Version		  "1.2.0"
	  UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange"
	  CheckModelReferenceTargetMessage "error"
	  ModelReferenceNumInstancesAllowed "Multi"
	  ModelReferencePassRootInputsByReference on
	  ModelReferenceMinAlgLoopOccurrences off
	}
	Simulink.RTWCC {
	  $BackupClass		  "Simulink.RTWCC"
	  $ObjectID		  8
	  Array {
	    Type		    "Cell"
	    Dimension		    1
	    Cell		    "IncludeHyperlinkInReport"
	    PropName		    "DisabledProps"
	  }
	  Version		  "1.2.0"
	  SystemTargetFile	  "rsim.tlc"
	  GenCodeOnly		  off
	  MakeCommand		  "make_rtw"
	  GenerateMakefile	  on
	  TemplateMakefile	  "rsim_default_tmf"
	  Description		  "Rapid Simulation Target"
	  GenerateReport	  off
	  SaveLog		  off
	  RTWVerbose		  on
	  RetainRTWFile		  off
	  ProfileTLC		  off
	  TLCDebug		  off
	  TLCCoverage		  off
	  TLCAssert		  off
	  ProcessScriptMode	  "Default"
	  ConfigurationMode	  "Optimized"
	  ProcessScript		  "rsim_make_rtw_hook"
	  ConfigAtBuild		  off
	  IncludeHyperlinkInReport off
	  LaunchReport		  off
	  TargetLang		  "C"
	  IncludeBusHierarchyInRTWFileBlockHierarchyMap	off
	  IncludeERTFirstTime	  on
	  Array {
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	    Simulink.CodeAppCC {
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		Cell			"IgnoreCustomStorageClasses"
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		Cell			"SFDataObjDesc"
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		Cell			"DefineNamingRule"
		Cell			"SignalNamingRule"
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		Cell			"InlinedPrmAccess"
		Cell			"CustomSymbolStr"
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		Cell			"CustomSymbolStrBlkIO"
		Cell			"CustomSymbolStrTmpVar"
		Cell			"CustomSymbolStrMacro"
		PropName		"DisabledProps"
	      }
	      Version		      "1.2.0"
	      ForceParamTrailComments off
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	      PrefixModelToSubsysFcnNames on
	      MangleLength	      5
	      CustomSymbolStrGlobalVar "$R$N$M"
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	      InlinedPrmAccess	      "Literals"
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	    }
	    RTW.RSimTargetCC {
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	      Version		      "1.2.0"
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	      VisConfigFile	      "mech_bouncing_ball.mat"
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	  PhysicalModelingChecksum 2464153342
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  BlockDefaults {
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    BackgroundColor	    "white"
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    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
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  }
  BlockParameterDefaults {
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    Block {
      BlockType		      Actuator
      SubClassName	      "unknown"
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      OutDataType	      "sfix(16)"
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      Interpolate	      on
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      InputPortOffsets	      "[]"
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      Function		      "min"
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      InputSameDT	      on
      OutDataTypeMode	      "Inherit via internal rule"
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      SaveName		      "ScopeData"
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      MaxDataPoints	      "5000"
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      SystemSampleTime	      "-1"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      RTWMemSecFuncInitTerm   "Inherit from model"
      RTWMemSecFuncExecute    "Inherit from model"
      RTWMemSecDataConstants  "Inherit from model"
      RTWMemSecDataInternal   "Inherit from model"
      RTWMemSecDataParameters "Inherit from model"
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      DataTypeOverride	      "UseLocalSettings"
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    Block {
      BlockType		      Sum
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    Block {
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		  DialogController	  "MECH.DynMechDlgSource"
		  SourceBlock		  "mblibv1/Sensors & \nActuators/Body "
"Sensor"
		  SourceType		  "msb"
		  ShowPortLabels	  "FromPortIcon"
		  SystemSampleTime	  "-1"
		  FunctionWithSeparateData off
		  RTWMemSecFuncInitTerm	  "Inherit from model"
		  RTWMemSecFuncExecute	  "Inherit from model"
		  RTWMemSecDataConstants  "Inherit from model"
		  RTWMemSecDataInternal	  "Inherit from model"
		  RTWMemSecDataParameters "Inherit from model"
		  PhysicalDomain	  "Mechanical"
		  PortType		  "blob"
		  Muxed			  "off"
		  Pose			  "off"
		  Angle			  "on"
		  AngleUnits		  "deg"
		  ArcVelocity		  "off"
		  ArcVelocityUnits	  "deg/s"
		  ArcAcceleration	  "off"
		  ArcAccelerationUnits	  "deg/s^2"
		  CoordPosition		  "on"
		  CoordPositionUnits	  "m"
		  Velocity		  "on"
		  VelocityUnits		  "m/s"
		  Acceleration		  "off"
		  AccelerationUnits	  "m/s^2"
		  Quaternion		  "on"
		  QuaternionDT		  "off"
		  QuaternionDDT		  "off"
		  QuaternionUnits	  "off"
		  OutputVector		  "[ 3 3 ]"
		  ActiveIO		  "on"
		  Width			  "6"
		  ClassName		  "BodySensor"
		  DialogClass		  "MechanicalSensorBlock"
		  ReferenceFrame	  "Absolute (World)"
		  Port {
		    PortNumber		    1
		    Name		    "Position (m)"
		    RTWStorageClass	    "Auto"
		    DataLoggingNameMode	    "SignalName"
		  }
		  Port {
		    PortNumber		    2
		    Name		    "Velocity (m/s)"
		    RTWStorageClass	    "Auto"
		    DataLoggingNameMode	    "SignalName"
		  }
		}
		Block {
		  BlockType		  SubSystem
		  Name			  "Force Law"
		  Ports			  [2, 1]
		  Position		  [375, 75, 475, 115]
		  MinAlgLoopOccurrences	  off
		  RTWSystemCode		  "Auto"
		  FunctionWithSeparateData off
		  MaskHideContents	  off
		  Port {
		    PortNumber		    1
		    Name		    "Force (N)"
		    RTWStorageClass	    "Auto"
		    DataLoggingNameMode	    "SignalName"
		  }
		  System {
		    Name		    "Force Law"
		    Location		    [473, 109, 1267, 395]
		    Open		    off
		    ModelBrowserVisibility  off
		    ModelBrowserWidth	    200
		    ScreenColor		    "white"
		    PaperOrientation	    "landscape"
		    PaperPositionMode	    "auto"
		    PaperType		    "usletter"
		    PaperUnits		    "inches"
		    TiledPaperMargins	    "[0.500000, 0.500000, 0.500000, 0."
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		    TiledPageScale	    1
		    ShowPageBoundaries	    off
		    ZoomFactor		    "100"
		    Block {
		    BlockType		    Inport
		    Name		    "pos"
		    Position		    [15, 163, 45, 177]
		    IconDisplay		    "Port number"
		    }
		    Block {
		    BlockType		    Inport
		    Name		    "vel"
		    Position		    [15, 193, 45, 207]
		    Port		    "2"
		    IconDisplay		    "Port number"
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		    Block {
		    BlockType		    Constant
		    Name		    "Constant"
		    Position		    [225, 15, 255, 45]
		    Orientation		    "left"
		    NamePlacement	    "alternate"
		    Value		    "0"
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		    Block {
		    BlockType		    If
		    Name		    "If"
		    Ports		    [1, 2]
		    Position		    [165, 89, 220, 136]
		    IfExpression	    "u1 < 0"
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		    Block {
		    BlockType		    Merge
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		    Position		    [425, 135, 465, 175]
		    InitialOutput	    "0"
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		    Block {
		    BlockType		    SubSystem
		    Name		    "Penalty\nForce"
		    Ports		    [2, 1, 0, 0, 0, 0, 0, 1]
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		    TreatAsAtomicUnit	    on
		    MinAlgLoopOccurrences   off
		    RTWSystemCode	    "Auto"
		    FunctionWithSeparateData off
		    MaskHideContents	    off
		    System {
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		    Location		    [326, 235, 935, 535]
		    Open		    off
		    ModelBrowserVisibility  off
		    ModelBrowserWidth	    200
		    ScreenColor		    "white"
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		    PaperType		    "usletter"
		    PaperUnits		    "inches"
		    TiledPaperMargins	    "[0.500000, 0.500000, 0.500000, 0."
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		    TiledPageScale	    1
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		    Block {
		    BlockType		    Inport
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		    Position		    [115, 128, 145, 142]
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		    Block {
		    BlockType		    Inport
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		    Position		    [115, 198, 145, 212]
		    Port		    "2"
		    IconDisplay		    "Port number"
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		    Block {
		    BlockType		    ActionPort
		    Name		    "Action Port"
		    Position		    [170, 15, 229, 43]
		    ActionType		    "then"
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		    Block {
		    BlockType		    Gain
		    Name		    "Gain"
		    Position		    [200, 113, 235, 157]
		    Gain		    "[0 0 0;0 -1e5 0;0 0 0]"
		    Multiplication	    "Matrix(K*u)"
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		    Block {
		    BlockType		    Gain
		    Name		    "Gain1"
		    Position		    [200, 183, 235, 227]
		    Gain		    "[0 0 0;0 -250 0;0 0 0]"
		    Multiplication	    "Matrix(K*u)"
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		    Block {
		    BlockType		    Saturate
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		    UpperLimit		    "inf"
		    LowerLimit		    "0"
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		    Block {
		    BlockType		    Sum
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		    Ports		    [2, 1]
		    Position		    [285, 125, 305, 145]
		    ShowName		    off
		    IconShape		    "round"
		    Inputs		    "|++"
		    CollapseMode	    "All dimensions"
		    InputSameDT		    off
		    OutDataTypeMode	    "Inherit via internal rule"
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		    Block {
		    BlockType		    Outport
		    Name		    "force"
		    Position		    [415, 128, 445, 142]
		    IconDisplay		    "Port number"
		    BusOutputAsStruct	    off
		    InitialOutput	    "0"
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		    Line {
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		    Line {
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		    Line {
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		    Line {
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		    Points		    [55, 0]
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		    Line {
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		    Line {
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		    DstBlock		    "force"
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		    }
		    Block {
		    BlockType		    Selector
		    Name		    "Selector"
		    Ports		    [1, 1]
		    Position		    [115, 96, 140, 134]
		    IndexOptions	    "Index vector (dialog)"
		    Indices		    "[2]"
		    OutputSizes		    "1"
		    InputPortWidth	    "3"
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		    Block {
		    BlockType		    Sum
		    Name		    "Sum"
		    Ports		    [2, 1]
		    Position		    [70, 135, 90, 155]
		    ShowName		    off
		    IconShape		    "round"
		    Inputs		    "-+"
		    CollapseMode	    "All dimensions"
		    InputSameDT		    off
		    OutDataTypeMode	    "Inherit via internal rule"
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		    Block {
		    BlockType		    SubSystem
		    Name		    "Zero\nForce"
		    Ports		    [0, 1, 0, 0, 0, 0, 0, 1]
		    Position		    [295, 187, 365, 223]
		    TreatAsAtomicUnit	    on
		    MinAlgLoopOccurrences   off
		    RTWSystemCode	    "Auto"
		    FunctionWithSeparateData off
		    MaskHideContents	    off
		    System {
		    Name		    "Zero\nForce"
		    Location		    [252, 436, 750, 736]
		    Open		    off
		    ModelBrowserVisibility  off
		    ModelBrowserWidth	    200
		    ScreenColor		    "white"
		    PaperOrientation	    "landscape"
		    PaperPositionMode	    "auto"
		    PaperType		    "usletter"
		    PaperUnits		    "inches"
		    TiledPaperMargins	    "[0.500000, 0.500000, 0.500000, 0."
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		    TiledPageScale	    1
		    ShowPageBoundaries	    off
		    ZoomFactor		    "100"
		    Block {
		    BlockType		    ActionPort
		    Name		    "Action Port"
		    Position		    [170, 15, 229, 43]
		    ActionType		    "else"
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		    Block {
		    BlockType		    Constant
		    Name		    "Zero\nForce"
		    Position		    [125, 125, 155, 155]
		    Value		    "[0;0;0]"
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		    Block {
		    BlockType		    Outport
		    Name		    "force"
		    Position		    [320, 133, 350, 147]
		    IconDisplay		    "Port number"
		    BusOutputAsStruct	    off
		    InitialOutput	    "0"
		    }
		    Line {
		    SrcBlock		    "Zero\nForce"
		    SrcPort		    1
		    DstBlock		    "force"
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		    Block {
		    BlockType		    Outport
		    Name		    "force"
		    Position		    [525, 148, 555, 162]
		    IconDisplay		    "Port number"
		    BusOutputAsStruct	    off
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		    Line {
		    Labels		    [1, 0]
		    SrcBlock		    "pos"
		    SrcPort		    1
		    DstBlock		    "Sum"
		    DstPort		    2
		    }
		    Line {
		    SrcBlock		    "Sum"
		    SrcPort		    1
		    Points		    [0, 0; 5, 0]
		    Branch {
		    DstBlock		    "Selector"
		    DstPort		    1
		    }
		    Branch {
		    Points		    [0, 30; 160, 0; 0, -80]
		    DstBlock		    "Penalty\nForce"
		    DstPort		    1
		    }
		    }
		    Line {
		    SrcBlock		    "vel"
		    SrcPort		    1
		    Points		    [220, 0; 0, -85]
		    DstBlock		    "Penalty\nForce"
		    DstPort		    2
		    }
		    Line {
		    SrcBlock		    "If"
		    SrcPort		    2
		    Points		    [20, 0; 0, 40; 85, 0]
		    DstBlock		    "Zero\nForce"
		    DstPort		    ifaction
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		    Line {
		    SrcBlock		    "Penalty\nForce"
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		    Line {
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		    Line {
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		    SrcPort		    1
		    DstBlock		    "force"
		    DstPort		    1
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		    Line {
		    SrcBlock		    "If"
		    SrcPort		    1
		    Points		    [20, 0; 0, -38; 85, 0]
		    DstBlock		    "Penalty\nForce"
		    DstPort		    ifaction
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		    Line {
		    SrcBlock		    "Selector"
		    SrcPort		    1
		    DstBlock		    "If"
		    DstPort		    1
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		    Line {
		    SrcBlock		    "Constant"
		    SrcPort		    1
		    Points		    [-65, 0; 0, -20; -80, 0; 0, 110]
		    DstBlock		    "Sum"
		    DstPort		    1
		    }
		  }
		}
		Block {
		  BlockType		  Reference
		  Name			  "Mechanical\nBranching\nBar"
		  Ports			  [0, 0, 0, 0, 0, 1, 2]
		  Position		  [130, 107, 140, 158]
		  BackgroundColor	  "black"
		  DialogController	  "MECH.DynMechDlgSource"
		  SourceBlock		  "mblibv1/Utilities/Mechanical\nBranc"
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		  SourceType		  "msb"
		  PhysicalDomain	  "mechanical"
		  SubClassName		  "Unknown"
		  LeftPortType		  "blob"
		  RightPortType		  "blob"
		  LConnTagsString	  "_newl0"
		  RConnTagsString	  "SA0|SA1"
		  ClassName		  "BranchingBar"
		  DialogClass		  "MechanicalBranchingBarBlock"
		  NumSAPorts		  "2"
		}
		Block {
		  BlockType		  PMIOPort
		  Name			  "CG"
		  Tag			  "PMCPort"
		  Position		  [35, 126, 65, 144]
		  Port			  "1"
		  Side			  "Left"
		}
		Line {
		  LineType		  "Connection"
		  SrcBlock		  "Mechanical\nBranching\nBar"
		  SrcPort		  LConn1
		  DstBlock		  "CG"
		  DstPort		  RConn1
		}
		Line {
		  LineType		  "Connection"
		  SrcBlock		  "Body Actuator"
		  SrcPort		  RConn1
		  Points		  [-40, 0; 0, -25]
		  DstBlock		  "Mechanical\nBranching\nBar"
		  DstPort		  RConn2
		}
		Line {
		  LineType		  "Connection"
		  SrcBlock		  "Body Sensor"
		  SrcPort		  LConn1
		  Points		  [-40, 0; 0, 25]
		  DstBlock		  "Mechanical\nBranching\nBar"
		  DstPort		  RConn1
		}
		Line {
		  Name			  "Position (m)"
		  Labels		  [0, 0]
		  SrcBlock		  "Body Sensor"
		  SrcPort		  1
		  DstBlock		  "Force Law"
		  DstPort		  1
		}
		Line {
		  Name			  "Velocity (m/s)"
		  Labels		  [0, 0]
		  SrcBlock		  "Body Sensor"
		  SrcPort		  2
		  DstBlock		  "Force Law"
		  DstPort		  2
		}
		Line {
		  Name			  "Force (N)"
		  Labels		  [2, 1]
		  SrcBlock		  "Force Law"
		  SrcPort		  1
		  Points		  [25, 0; 0, 75]
		  DstBlock		  "Body Actuator"
		  DstPort		  1
		}
	      }
	    }
	    Block {
	      BlockType		      PMIOPort
	      Name		      "Conn1"
	      Position		      [510, 53, 540, 67]
	      Port		      "1"
	      Side		      "Left"
	    }
	    Block {
	      BlockType		      PMIOPort
	      Name		      "Conn2"
	      Position		      [40, 150, 70, 165]
	      Orientation	      "up"
	      Port		      "2"
	      Side		      "Left"
	    }
	    Block {
	      BlockType		      PMIOPort
	      Name		      "Conn3"
	      Position		      [725, 343, 755, 357]
	      Port		      "3"
	      Side		      "Left"
	    }
	    Block {
	      BlockType		      PMIOPort
	      Name		      "Conn4"
	      Position		      [305, 390, 335, 405]
	      Orientation	      "down"
	      Port		      "4"
	      Side		      "Left"
	    }
	    Block {
	      BlockType		      PMIOPort
	      Name		      "Conn5"
	      Position		      [90, 545, 120, 560]
	      Orientation	      "down"
	      Port		      "5"
	      Side		      "Left"
	    }
	    Block {
	      BlockType		      PMIOPort
	      Name		      "Conn6"
	      Position		      [740, 638, 770, 652]
	      Port		      "6"
	      Side		      "Left"
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "Conn1"
	      SrcPort		      RConn1
	      DstBlock		      "L Ankle Contact Force"
	      DstPort		      LConn1
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "Conn2"
	      SrcPort		      RConn1
	      DstBlock		      "L Knee Contact Force"
	      DstPort		      LConn1
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "Conn3"
	      SrcPort		      RConn1
	      DstBlock		      "L Ankle Contact Force1"
	      DstPort		      LConn1
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "Conn6"
	      SrcPort		      RConn1
	      DstBlock		      "R Hip Contact Force"
	      DstPort		      LConn1
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "Conn5"
	      SrcPort		      RConn1
	      DstBlock		      "L Hip Contact Force"
	      DstPort		      LConn1
	    }
	    Line {
	      LineType		      "Connection"
	      Labels		      [0, 0]
	      SrcBlock		      "Conn4"
	      SrcPort		      RConn1
	      DstBlock		      "R Knee Contact Force"
	      DstPort		      LConn1
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	  }
	}
	Block {
	  BlockType		  Reference
	  Name			  "L Calf"
	  Ports			  [0, 0, 0, 0, 0, 2, 2]
	  Position		  [387, 550, 443, 630]
	  Orientation		  "up"
	  ForegroundColor	  "red"
	  DialogController	  "MECH.DynMechDlgSource"
	  SourceBlock		  "mblibv1/Bodies/Body"
	  SourceType		  "msb"
	  PhysicalDomain	  "mechanical"
	  SubClassName		  "Unknown"
	  LeftPortType		  "workingframe"
	  RightPortType		  "workingframe"
	  LConnTagsString	  "CS1|CS3"
	  RConnTagsString	  "CS4|CS2"
	  ClassName		  "Body"
	  DialogClass		  "MechanicalBodyBlock"
	  Mass			  "6.8952"
	  MassUnits		  "kg"
	  InertiaUnits		  "kg*m^2"
	  Inertia		  "[.1535 0 0;0 .1535 0;0 0 .1535]"
	  Shape			  "Cylinder"
	  ShapeDims		  "[1 1]"
	  ShapeUnits		  "m"
	  ShapeUse		  "false"
	  Density		  "1"
	  DensityUnits		  "kg/m^3"
	  DensityUse		  "false"
	  CG			  "Left$CG$[0 .1426 0]$World$World$m$[0 0 0]$E"
"uler X-Y-Z$deg$WORLD$false"
	  WorkingFrames		  "Right$CS4$[0 .3810 0]$World$World$m$[0 0 0]"
"$Euler X-Y-Z$deg$WORLD$true#Right$CS2$[0 .3810 0]$World$World$m$[0 0 0]$Euler"
" X-Y-Z$deg$WORLD$true#Left$CS1$[0 0 0]$World$World$m$[0 0 0]$Euler X-Y-Z$deg$"
"WORLD$true#Left$CS3$[0 0 0]$World$World$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$true"
	  CGPos			  "[0 .1426 0]"
	  CGRot			  "[0 0 0]"
	  CS0Pos		  "[]"
	  CS0Rot		  "[]"
	  CS1Pos		  "[0 0 0]"
	  CS1Rot		  "[0 0 0]"
	  CS2Pos		  "[0 .3810 0]"
	  CS2Rot		  "[0 0 0]"
	  CS3Pos		  "[0 0 0]"
	  CS3Rot		  "[0 0 0]"
	  CS4Pos		  "[0 .3810 0]"
	  CS4Rot		  "[0 0 0]"
	  CS5Pos		  "[]"
	  CS5Rot		  "[]"
	  CS6Pos		  "[]"
	  CS6Rot		  "[]"
	  CS7Pos		  "[]"
	  CS7Rot		  "[]"
	  CS8Pos		  "[]"
	  CS8Rot		  "[]"
	  CS9Pos		  "[]"
	  CS9Rot		  "[]"
	  CS10Pos		  "[]"
	  CS10Rot		  "[]"
	  CS11Pos		  "[]"
	  CS11Rot		  "[]"
	  CS12Pos		  "[]"
	  CS12Rot		  "[]"
	  CS13Pos		  "[]"
	  CS13Rot		  "[]"
	  CS14Pos		  "[]"
	  CS14Rot		  "[]"
	  CS15Pos		  "[]"
	  CS15Rot		  "[]"
	  CS16Pos		  "[]"
	  CS16Rot		  "[]"
	  CS17Pos		  "[]"
	  CS17Rot		  "[]"
	  CS18Pos		  "[]"
	  CS18Rot		  "[]"
	  CS19Pos		  "[]"
	  CS19Rot		  "[]"
	  CS20Pos		  "[]"
	  CS20Rot		  "[]"
	}
	Block {
	  BlockType		  SubSystem
	  Name			  "L Hip"
	  Ports			  [1, 2, 0, 0, 0, 1, 1]
	  Position		  [355, 139, 485, 231]
	  MinAlgLoopOccurrences	  off
	  RTWSystemCode		  "Auto"
	  FunctionWithSeparateData off
	  MaskHideContents	  off
	  System {
	    Name		    "L Hip"
	    Location		    [557, 225, 997, 605]
	    Open		    off
	    ModelBrowserVisibility  off
	    ModelBrowserWidth	    200
	    ScreenColor		    "white"
	    PaperOrientation	    "landscape"
	    PaperPositionMode	    "auto"
	    PaperType		    "usletter"
	    PaperUnits		    "inches"
	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
	    TiledPageScale	    1
	    ShowPageBoundaries	    off
	    ZoomFactor		    "100"
	    Block {
	      BlockType		      Inport
	      Name		      "L Hip Torque"
	      Position		      [235, 278, 265, 292]
	      Orientation	      "left"
	      NamePlacement	      "alternate"
	      IconDisplay	      "Port number"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "L Hip Actuator"
	      Ports		      [1, 0, 0, 0, 0, 0, 1]
	      Position		      [150, 265, 190, 305]
	      Orientation	      "left"
	      NamePlacement	      "alternate"
	      DialogController	      "MECH.DynMechDlgSource"
	      SourceBlock	      "mblibv1/Sensors & \nActuators/Joint Act"
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	      SourceType	      "msb"
	      ShowPortLabels	      "FromPortIcon"
	      SystemSampleTime	      "-1"
	      FunctionWithSeparateData off
	      RTWMemSecFuncInitTerm   "Inherit from model"
	      RTWMemSecFuncExecute    "Inherit from model"
	      RTWMemSecDataConstants  "Inherit from model"
	      RTWMemSecDataInternal   "Inherit from model"
	      RTWMemSecDataParameters "Inherit from model"
	      PhysicalDomain	      "Mechanical"
	      PortType		      "blob"
	      ActuationStyle	      "Force"
	      AngleUnits	      "deg"
	      ArcVelocityUnits	      "deg/s"
	      ArcAccelerationUnits    "deg/s^2"
	      CoordPositionUnits      "m"
	      VelocityUnits	      "m/s"
	      AccelerationUnits	      "m/s^2"
	      ForceUnits	      "N"
	      TorqueUnits	      "N-m"
	      ActiveIO		      "on"
	      Width		      "1"
	      ClassName		      "JointActuator"
	      DialogClass	      "MechanicalActuatorBlock"
	      Primitive		      "R1"
	      ReferenceFrame	      "Absolute (INERTIAL)"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "L Hip Initial Condition"
	      Ports		      [0, 0, 0, 0, 0, 0, 1]
	      Position		      [195, 200, 235, 240]
	      Orientation	      "left"
	      NamePlacement	      "alternate"
	      DialogController	      "MECH.DynMechDlgSource"
	      SourceBlock	      "mblibv1/Sensors & \nActuators/Joint Ini"
"tial Condition"
	      SourceType	      "msb"
	      ShowPortLabels	      "FromPortIcon"
	      SystemSampleTime	      "-1"
	      FunctionWithSeparateData off
	      RTWMemSecFuncInitTerm   "Inherit from model"
	      RTWMemSecFuncExecute    "Inherit from model"
	      RTWMemSecDataConstants  "Inherit from model"
	      RTWMemSecDataInternal   "Inherit from model"
	      RTWMemSecDataParameters "Inherit from model"
	      PhysicalDomain	      "mechanical"
	      ClassName		      "InitialCondition"
	      DialogClass	      "InitialConditionBlock"
	      InitialConditions	      "P1$false$0$m$deg$0$m/s$deg/s#P2$false$0"
"$m$deg$0$m/s$deg/s#P3$false$0$m$deg$0$m/s$deg/s#R1$true$0.1$m$rad$0$m/s$rad/s"
"#R2$false$0$m$deg$0$m/s$deg/s#R3$false$0$m$deg$0$m/s$deg/s#S$false$0$m$deg$0$"
"m/s$deg/s"
	      P1PIC		      "0"
	      P1VIC		      "0"
	      P2PIC		      "0"
	      P2VIC		      "0"
	      P3PIC		      "0"
	      P3VIC		      "0"
	      R1PIC		      "0.1"
	      R1VIC		      "0"
	      R2PIC		      "0"
	      R2VIC		      "0"
	      R3PIC		      "0"
	      R3VIC		      "0"
	      SPIC		      "0"
	      SVIC		      "0"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "L Hip Joint"
	      Ports		      [0, 0, 0, 0, 0, 3, 2]
	      Position		      [39, 155, 91, 205]
	      Orientation	      "up"
	      DialogController	      "MECH.DynMechDlgSource"
	      SourceBlock	      "mblibv1/Joints/Revolute"
	      SourceType	      "msb"
	      PhysicalDomain	      "mechanical"
	      SubClassName	      "Unknown"
	      LeftPortType	      "blob"
	      RightPortType	      "blob"
	      LConnTagsString	      "__newl0|SA1|SA2"
	      RConnTagsString	      "__newr0|SA1"
	      NumSAPorts	      "3"
	      CutJoint		      "off"
	      MarkAsCut		      "off"
	      Primitives	      "prismatic"
	      PrimitiveProps	      "R1$World$[0 0 1]$revolute"
	      ClassName		      "Joint"
	      DialogClass	      "JointBlock"
	      R1Axis		      "[0 0 1]"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "L Hip Sensor"
	      Ports		      [0, 2, 0, 0, 0, 1]
	      Position		      [130, 95, 170, 135]
	      DialogController	      "MECH.DynMechDlgSource"
	      SourceBlock	      "mblibv1/Sensors & \nActuators/Joint Sen"
"sor"
	      SourceType	      "msb"
	      ShowPortLabels	      "FromPortIcon"
	      SystemSampleTime	      "-1"
	      FunctionWithSeparateData off
	      RTWMemSecFuncInitTerm   "Inherit from model"
	      RTWMemSecFuncExecute    "Inherit from model"
	      RTWMemSecDataConstants  "Inherit from model"
	      RTWMemSecDataInternal   "Inherit from model"
	      RTWMemSecDataParameters "Inherit from model"
	      PhysicalDomain	      "Mechanical"
	      PortType		      "blob"
	      Muxed		      "off"
	      Pose		      "off"
	      Angle		      "on"
	      AngleUnits	      "rad"
	      ArcVelocity	      "on"
	      ArcVelocityUnits	      "rad/s"
	      ArcAcceleration	      "off"
	      ArcAccelerationUnits    "deg/s^2"
	      CoordPosition	      "on"
	      CoordPositionUnits      "m"
	      Velocity		      "off"
	      VelocityUnits	      "m/s"
	      Acceleration	      "off"
	      AccelerationUnits	      "m/s^2"
	      Quaternion	      "on"
	      QuaternionDT	      "off"
	      QuaternionDDT	      "off"
	      QuaternionUnits	      "off"
	      OutputVector	      "[ 1 1 ]"
	      ActiveIO		      "on"
	      Width		      "2"
	      ClassName		      "JointSensor"
	      DialogClass	      "MechanicalSensorBlock"
	      Primitive		      "R1"
	      Force		      "off"
	      ForceUnits	      "N"
	      Torque		      "off"
	      TorqueUnits	      "N-m"
	      ReferenceFrame	      "Absolute (INERTIAL)"
	      ReactionSensedSide      "Base"
	      ReactionReferenceFrame  "Absolute (World)"
	      ReactionForce	      "off"
	      ReactionForceUnits      "N"
	      ReactionMoment	      "off"
	      ReactionMomentUnits     "N-m"
	    }
	    Block {
	      BlockType		      PMIOPort
	      Name		      "Conn1"
	      Position		      [43, 305, 57, 335]
	      Orientation	      "up"
	      Port		      "1"
	      Side		      "Left"
	    }
	    Block {
	      BlockType		      PMIOPort
	      Name		      "Conn2"
	      Position		      [48, 25, 62, 55]
	      Orientation	      "down"
	      Port		      "2"
	      Side		      "Right"
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "L Hip Angle"
	      Position		      [275, 98, 305, 112]
	      IconDisplay	      "Port number"
	      BusOutputAsStruct	      off
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "L Hip Velocity"
	      Position		      [345, 118, 375, 132]
	      Port		      "2"
	      IconDisplay	      "Port number"
	      BusOutputAsStruct	      off
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "L Hip Actuator"
	      SrcPort		      RConn1
	      Points		      [-70, 0]
	      DstBlock		      "L Hip Joint"
	      DstPort		      LConn2
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "L Hip Sensor"
	      SrcPort		      LConn1
	      Points		      [-35, 0]
	      DstBlock		      "L Hip Joint"
	      DstPort		      RConn2
	    }
	    Line {
	      SrcBlock		      "L Hip Torque"
	      SrcPort		      1
	      DstBlock		      "L Hip Actuator"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "L Hip Sensor"
	      SrcPort		      2
	      DstBlock		      "L Hip Velocity"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "L Hip Sensor"
	      SrcPort		      1
	      DstBlock		      "L Hip Angle"
	      DstPort		      1
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "Conn1"
	      SrcPort		      RConn1
	      DstBlock		      "L Hip Joint"
	      DstPort		      LConn1
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "Conn2"
	      SrcPort		      RConn1
	      DstBlock		      "L Hip Joint"
	      DstPort		      RConn1
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "L Hip Initial Condition"
	      SrcPort		      RConn1
	      DstBlock		      "L Hip Joint"
	      DstPort		      LConn3
	    }
	  }
	}
	Block {
	  BlockType		  SubSystem
	  Name			  "L Knee"
	  Ports			  [1, 2, 0, 0, 0, 1, 1]
	  Position		  [495, 412, 565, 498]
	  MinAlgLoopOccurrences	  off
	  RTWSystemCode		  "Auto"
	  FunctionWithSeparateData off
	  MaskHideContents	  off
	  System {
	    Name		    "L Knee"
	    Location		    [265, 339, 700, 725]
	    Open		    off
	    ModelBrowserVisibility  off
	    ModelBrowserWidth	    200
	    ScreenColor		    "white"
	    PaperOrientation	    "landscape"
	    PaperPositionMode	    "auto"
	    PaperType		    "usletter"
	    PaperUnits		    "inches"
	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
	    TiledPageScale	    1
	    ShowPageBoundaries	    off
	    ZoomFactor		    "100"
	    Block {
	      BlockType		      Inport
	      Name		      "L Knee Torque"
	      Position		      [210, 118, 240, 132]
	      Orientation	      "left"
	      NamePlacement	      "alternate"
	      IconDisplay	      "Port number"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "Knee Initial Condition"
	      Ports		      [0, 0, 0, 0, 0, 0, 1]
	      Position		      [210, 225, 250, 265]
	      Orientation	      "left"
	      NamePlacement	      "alternate"
	      DialogController	      "MECH.DynMechDlgSource"
	      SourceBlock	      "mblibv1/Sensors & \nActuators/Joint Ini"
"tial Condition"
	      SourceType	      "msb"
	      ShowPortLabels	      "FromPortIcon"
	      SystemSampleTime	      "-1"
	      FunctionWithSeparateData off
	      RTWMemSecFuncInitTerm   "Inherit from model"
	      RTWMemSecFuncExecute    "Inherit from model"
	      RTWMemSecDataConstants  "Inherit from model"
	      RTWMemSecDataInternal   "Inherit from model"
	      RTWMemSecDataParameters "Inherit from model"
	      PhysicalDomain	      "mechanical"
	      ClassName		      "InitialCondition"
	      DialogClass	      "InitialConditionBlock"
	      InitialConditions	      "P1$false$0$m$deg$0$m/s$deg/s#P2$false$0"
"$m$deg$0$m/s$deg/s#P3$false$0$m$deg$0$m/s$deg/s#R1$true$0$m$rad$0$m/s$rad/s#R"
"2$false$0$m$deg$0$m/s$deg/s#R3$false$0$m$deg$0$m/s$deg/s#S$false$0$m$deg$0$m/"
"s$deg/s"
	      P1PIC		      "0"
	      P1VIC		      "0"
	      P2PIC		      "0"
	      P2VIC		      "0"
	      P3PIC		      "0"
	      P3VIC		      "0"
	      R1PIC		      "0"
	      R1VIC		      "0"
	      R2PIC		      "0"
	      R2VIC		      "0"
	      R3PIC		      "0"
	      R3VIC		      "0"
	      SPIC		      "0"
	      SVIC		      "0"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "L Knee Actuator"
	      Ports		      [1, 0, 0, 0, 0, 0, 1]
	      Position		      [110, 105, 150, 145]
	      Orientation	      "left"
	      NamePlacement	      "alternate"
	      DialogController	      "MECH.DynMechDlgSource"
	      SourceBlock	      "mblibv1/Sensors & \nActuators/Joint Act"
"uator"
	      SourceType	      "msb"
	      ShowPortLabels	      "FromPortIcon"
	      SystemSampleTime	      "-1"
	      FunctionWithSeparateData off
	      RTWMemSecFuncInitTerm   "Inherit from model"
	      RTWMemSecFuncExecute    "Inherit from model"
	      RTWMemSecDataConstants  "Inherit from model"
	      RTWMemSecDataInternal   "Inherit from model"
	      RTWMemSecDataParameters "Inherit from model"
	      PhysicalDomain	      "Mechanical"
	      PortType		      "blob"
	      ActuationStyle	      "Force"
	      AngleUnits	      "deg"
	      ArcVelocityUnits	      "deg/s"
	      ArcAccelerationUnits    "deg/s^2"
	      CoordPositionUnits      "m"
	      VelocityUnits	      "m/s"
	      AccelerationUnits	      "m/s^2"
	      ForceUnits	      "N"
	      TorqueUnits	      "N-m"
	      ActiveIO		      "on"
	      Width		      "1"
	      ClassName		      "JointActuator"
	      DialogClass	      "MechanicalActuatorBlock"
	      Primitive		      "R1"
	      ReferenceFrame	      "Absolute (INERTIAL)"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "L Knee Joint"
	      Ports		      [0, 0, 0, 0, 0, 3, 2]
	      Position		      [44, 180, 96, 230]
	      Orientation	      "up"
	      DialogController	      "MECH.DynMechDlgSource"
	      SourceBlock	      "mblibv1/Joints/Revolute"
	      SourceType	      "msb"
	      PhysicalDomain	      "mechanical"
	      SubClassName	      "Unknown"
	      LeftPortType	      "blob"
	      RightPortType	      "blob"
	      LConnTagsString	      "__newl0|SA1|SA2"
	      RConnTagsString	      "__newr0|SA1"
	      NumSAPorts	      "3"
	      CutJoint		      "off"
	      MarkAsCut		      "off"
	      Primitives	      "prismatic"
	      PrimitiveProps	      "R1$World$[0 0 1]$revolute"
	      ClassName		      "Joint"
	      DialogClass	      "JointBlock"
	      R1Axis		      "[0 0 1]"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "L Knee Sensor"
	      Ports		      [0, 2, 0, 0, 0, 1]
	      Position		      [170, 280, 210, 320]
	      DialogController	      "MECH.DynMechDlgSource"
	      SourceBlock	      "mblibv1/Sensors & \nActuators/Joint Sen"
"sor"
	      SourceType	      "msb"
	      ShowPortLabels	      "FromPortIcon"
	      SystemSampleTime	      "-1"
	      FunctionWithSeparateData off
	      RTWMemSecFuncInitTerm   "Inherit from model"
	      RTWMemSecFuncExecute    "Inherit from model"
	      RTWMemSecDataConstants  "Inherit from model"
	      RTWMemSecDataInternal   "Inherit from model"
	      RTWMemSecDataParameters "Inherit from model"
	      PhysicalDomain	      "Mechanical"
	      PortType		      "blob"
	      Muxed		      "off"
	      Pose		      "off"
	      Angle		      "on"
	      AngleUnits	      "rad"
	      ArcVelocity	      "on"
	      ArcVelocityUnits	      "rad/s"
	      ArcAcceleration	      "off"
	      ArcAccelerationUnits    "deg/s^2"
	      CoordPosition	      "on"
	      CoordPositionUnits      "m"
	      Velocity		      "off"
	      VelocityUnits	      "m/s"
	      Acceleration	      "off"
	      AccelerationUnits	      "m/s^2"
	      Quaternion	      "on"
	      QuaternionDT	      "off"
	      QuaternionDDT	      "off"
	      QuaternionUnits	      "off"
	      OutputVector	      "[ 1 1 ]"
	      ActiveIO		      "on"
	      Width		      "2"
	      ClassName		      "JointSensor"
	      DialogClass	      "MechanicalSensorBlock"
	      Primitive		      "R1"
	      Force		      "off"
	      ForceUnits	      "N"
	      Torque		      "off"
	      TorqueUnits	      "N-m"
	      ReferenceFrame	      "Absolute (INERTIAL)"
	      ReactionSensedSide      "Base"
	      ReactionReferenceFrame  "Absolute (World)"
	      ReactionForce	      "off"
	      ReactionForceUnits      "N"
	      ReactionMoment	      "off"
	      ReactionMomentUnits     "N-m"
	    }
	    Block {
	      BlockType		      PMIOPort
	      Name		      "Conn1"
	      Position		      [40, 40, 70, 55]
	      Orientation	      "down"
	      Port		      "1"
	      Side		      "Right"
	    }
	    Block {
	      BlockType		      PMIOPort
	      Name		      "Conn2"
	      Position		      [40, 345, 70, 360]
	      Orientation	      "up"
	      Port		      "2"
	      Side		      "Left"
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "L Knee Angle"
	      Position		      [265, 283, 295, 297]
	      IconDisplay	      "Port number"
	      BusOutputAsStruct	      off
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "L Knee Velocity"
	      Position		      [325, 303, 355, 317]
	      Port		      "2"
	      IconDisplay	      "Port number"
	      BusOutputAsStruct	      off
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "L Knee Actuator"
	      SrcPort		      RConn1
	      Points		      [-10, 0]
	      DstBlock		      "L Knee Joint"
	      DstPort		      RConn2
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "L Knee Sensor"
	      SrcPort		      LConn1
	      Points		      [-85, 0]
	      DstBlock		      "L Knee Joint"
	      DstPort		      LConn2
	    }
	    Line {
	      SrcBlock		      "L Knee Torque"
	      SrcPort		      1
	      DstBlock		      "L Knee Actuator"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "L Knee Sensor"
	      SrcPort		      2
	      DstBlock		      "L Knee Velocity"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "L Knee Sensor"
	      SrcPort		      1
	      DstBlock		      "L Knee Angle"
	      DstPort		      1
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "Conn1"
	      SrcPort		      RConn1
	      Points		      [0, 95]
	      DstBlock		      "L Knee Joint"
	      DstPort		      RConn1
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "Conn2"
	      SrcPort		      RConn1
	      DstBlock		      "L Knee Joint"
	      DstPort		      LConn1
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "L Knee Joint"
	      SrcPort		      LConn3
	      DstBlock		      "Knee Initial Condition"
	      DstPort		      RConn1
	    }
	  }
	}
	Block {
	  BlockType		  Reference
	  Name			  "L Thigh"
	  Ports			  [0, 0, 0, 0, 0, 1, 2]
	  Position		  [297, 290, 353, 370]
	  Orientation		  "up"
	  ForegroundColor	  "red"
	  DialogController	  "MECH.DynMechDlgSource"
	  SourceBlock		  "mblibv1/Bodies/Body"
	  SourceType		  "msb"
	  PhysicalDomain	  "mechanical"
	  SubClassName		  "Unknown"
	  LeftPortType		  "workingframe"
	  RightPortType		  "workingframe"
	  LConnTagsString	  "CS1"
	  RConnTagsString	  "CS2|CS4"
	  ClassName		  "Body"
	  DialogClass		  "MechanicalBodyBlock"
	  Mass			  "5.676"
	  MassUnits		  "kg"
	  InertiaUnits		  "kg*m^2"
	  Inertia		  "[0.09592 0 0;0 0.09592 0;0 0 0.09592]"
	  Shape			  "Cylinder"
	  ShapeDims		  "[1 1]"
	  ShapeUnits		  "m"
	  ShapeUse		  "false"
	  Density		  "1"
	  DensityUnits		  "kg/m^3"
	  DensityUse		  "false"
	  CG			  "Left$CG$[0 .583 0]$World$World$m$[0 0 0]$Eu"
"ler X-Y-Z$deg$WORLD$false"
	  WorkingFrames		  "Left$CS3$[0 .3810 0]$World$World$m$[0 0 0]$"
"Euler X-Y-Z$deg$WORLD$false#Right$CS2$[0 .7728 0]$World$World$m$[0 0 0]$Euler"
" X-Y-Z$deg$WORLD$true#Right$CS4$[0 .7728 0]$World$World$m$[0 0 0]$Euler X-Y-Z"
"$deg$WORLD$true#Left$CS1$[0 .3810 0]$World$World$m$[0 0 0]$Euler X-Y-Z$deg$WO"
"RLD$true"
	  CGPos			  "[0 .583 0]"
	  CGRot			  "[0 0 0]"
	  CS0Pos		  "[]"
	  CS0Rot		  "[]"
	  CS1Pos		  "[0 .3810 0]"
	  CS1Rot		  "[0 0 0]"
	  CS2Pos		  "[0 .7728 0]"
	  CS2Rot		  "[0 0 0]"
	  CS3Pos		  "[0 .3810 0]"
	  CS3Rot		  "[0 0 0]"
	  CS4Pos		  "[0 .7728 0]"
	  CS4Rot		  "[0 0 0]"
	  CS5Pos		  "[]"
	  CS5Rot		  "[]"
	  CS6Pos		  "[]"
	  CS6Rot		  "[]"
	  CS7Pos		  "[]"
	  CS7Rot		  "[]"
	  CS8Pos		  "[]"
	  CS8Rot		  "[]"
	  CS9Pos		  "[]"
	  CS9Rot		  "[]"
	  CS10Pos		  "[]"
	  CS10Rot		  "[]"
	  CS11Pos		  "[]"
	  CS11Rot		  "[]"
	  CS12Pos		  "[]"
	  CS12Rot		  "[]"
	  CS13Pos		  "[]"
	  CS13Rot		  "[]"
	  CS14Pos		  "[]"
	  CS14Rot		  "[]"
	  CS15Pos		  "[]"
	  CS15Rot		  "[]"
	  CS16Pos		  "[]"
	  CS16Rot		  "[]"
	  CS17Pos		  "[]"
	  CS17Rot		  "[]"
	  CS18Pos		  "[]"
	  CS18Rot		  "[]"
	  CS19Pos		  "[]"
	  CS19Rot		  "[]"
	  CS20Pos		  "[]"
	  CS20Rot		  "[]"
	}
	Block {
	  BlockType		  SubSystem
	  Name			  "Left Ankle"
	  Ports			  [1, 2, 0, 0, 0, 0, 1]
	  Position		  [140, 671, 275, 759]
	  MinAlgLoopOccurrences	  off
	  RTWSystemCode		  "Auto"
	  FunctionWithSeparateData off
	  MaskHideContents	  off
	  System {
	    Name		    "Left Ankle"
	    Location		    [134, 184, 685, 555]
	    Open		    off
	    ModelBrowserVisibility  off
	    ModelBrowserWidth	    200
	    ScreenColor		    "white"
	    PaperOrientation	    "landscape"
	    PaperPositionMode	    "auto"
	    PaperType		    "usletter"
	    PaperUnits		    "inches"
	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
	    TiledPageScale	    1
	    ShowPageBoundaries	    off
	    ZoomFactor		    "100"
	    Block {
	      BlockType		      Inport
	      Name		      "L Ankle Torque"
	      Position		      [290, 103, 320, 117]
	      Orientation	      "left"
	      IconDisplay	      "Port number"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "Ground"
	      Ports		      [0, 0, 0, 0, 0, 1, 1]
	      Position		      [50, 260, 90, 300]
	      Orientation	      "up"
	      UserDataPersistent      on
	      UserData		      "DataTag0"
	      DialogController	      "MECH.DynMechDlgSource"
	      SourceBlock	      "mblibv1/Bodies/Ground"
	      SourceType	      "msb"
	      ShowPortLabels	      "FromPortIcon"
	      SystemSampleTime	      "-1"
	      FunctionWithSeparateData off
	      RTWMemSecFuncInitTerm   "Inherit from model"
	      RTWMemSecFuncExecute    "Inherit from model"
	      RTWMemSecDataConstants  "Inherit from model"
	      RTWMemSecDataInternal   "Inherit from model"
	      RTWMemSecDataParameters "Inherit from model"
	      LeftPortType	      "env"
	      RightPortType	      "workingframe"
	      PhysicalDomain	      "Mechanical"
	      DialogClass	      "GroundBlock"
	      ClassName		      "Ground"
	      CoordPosition	      "[0 0 0]"
	      CoordPositionUnits      "m"
	      StateVectorMgrId	      "-1"
	      MachineId		      "[2 0]"
	      ShowEnvPort	      on
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "Initial Conditions"
	      Ports		      [0, 0, 0, 0, 0, 0, 1]
	      Position		      [175, 225, 215, 265]
	      Orientation	      "left"
	      DialogController	      "MECH.DynMechDlgSource"
	      SourceBlock	      "mblibv1/Sensors & \nActuators/Joint Ini"
"tial Condition"
	      SourceType	      "msb"
	      ShowPortLabels	      "FromPortIcon"
	      SystemSampleTime	      "-1"
	      FunctionWithSeparateData off
	      RTWMemSecFuncInitTerm   "Inherit from model"
	      RTWMemSecFuncExecute    "Inherit from model"
	      RTWMemSecDataConstants  "Inherit from model"
	      RTWMemSecDataInternal   "Inherit from model"
	      RTWMemSecDataParameters "Inherit from model"
	      PhysicalDomain	      "Mechanical"
	      ClassName		      "InitialCondition"
	      DialogClass	      "InitialConditionBlock"
	      InitialConditions	      "P1$true$0$m$rad$0$m/s$rad/s#P2$false$0$"
"m$rad$0$m/s$rad/s#P3$false$0$m$rad$0$m/s$rad/s#R1$true$0$m$rad$0$m/s$rad/s#R2"
"$false$0$m$rad$0$m/s$rad/s#R3$false$0$m$rad$0$m/s$rad/s#S$false$0$m$rad$0$m/s"
"$rad/s"
	      P1PIC		      "0"
	      P1VIC		      "0"
	      P2PIC		      "0"
	      P2VIC		      "0"
	      P3PIC		      "0"
	      P3VIC		      "0"
	      R1PIC		      "0"
	      R1VIC		      "0"
	      R2PIC		      "0"
	      R2VIC		      "0"
	      R3PIC		      "0"
	      R3VIC		      "0"
	      SPIC		      "0"
	      SVIC		      "0"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "L Ankle Actuator"
	      Ports		      [1, 0, 0, 0, 0, 0, 1]
	      Position		      [145, 90, 185, 130]
	      Orientation	      "left"
	      NamePlacement	      "alternate"
	      DialogController	      "MECH.DynMechDlgSource"
	      SourceBlock	      "mblibv1/Sensors & \nActuators/Joint Act"
"uator"
	      SourceType	      "msb"
	      ShowPortLabels	      "FromPortIcon"
	      SystemSampleTime	      "-1"
	      FunctionWithSeparateData off
	      RTWMemSecFuncInitTerm   "Inherit from model"
	      RTWMemSecFuncExecute    "Inherit from model"
	      RTWMemSecDataConstants  "Inherit from model"
	      RTWMemSecDataInternal   "Inherit from model"
	      RTWMemSecDataParameters "Inherit from model"
	      PhysicalDomain	      "Mechanical"
	      PortType		      "blob"
	      ActuationStyle	      "Force"
	      AngleUnits	      "deg"
	      ArcVelocityUnits	      "deg/s"
	      ArcAccelerationUnits    "deg/s^2"
	      CoordPositionUnits      "m"
	      VelocityUnits	      "m/s"
	      AccelerationUnits	      "m/s^2"
	      ForceUnits	      "N"
	      TorqueUnits	      "N-m"
	      ActiveIO		      "on"
	      Width		      "1"
	      ClassName		      "JointActuator"
	      DialogClass	      "MechanicalActuatorBlock"
	      Primitive		      "R1"
	      ReferenceFrame	      "Absolute (INERTIAL)"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "L Ankle Joint"
	      Ports		      [0, 0, 0, 0, 0, 3, 2]
	      Position		      [59, 140, 111, 190]
	      Orientation	      "up"
	      DialogController	      "MECH.DynMechDlgSource"
	      SourceBlock	      "mblibv1/Joints/Planar"
	      SourceType	      "msb"
	      PhysicalDomain	      "mechanical"
	      SubClassName	      "Unknown"
	      LeftPortType	      "blob"
	      RightPortType	      "blob"
	      LConnTagsString	      "__newl0|SA1|SA2"
	      RConnTagsString	      "__newr0|SA1"
	      NumSAPorts	      "3"
	      CutJoint		      "off"
	      MarkAsCut		      "off"
	      Primitives	      "prismatic_prismatic"
	      PrimitiveProps	      "P1$World$[1 0 0]$prismatic#P2$World$[0 "
"1 0]$prismatic#R1$World$[0 0 1]$revolute"
	      ClassName		      "PlanarJoint"
	      DialogClass	      "JointBlock"
	      P1Axis		      "[1 0 0]"
	      P2Axis		      "[0 1 0]"
	      R1Axis		      "[0 0 1]"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "L Ankle Sensor"
	      Ports		      [0, 2, 0, 0, 0, 1]
	      Position		      [260, 190, 300, 230]
	      DialogController	      "MECH.DynMechDlgSource"
	      SourceBlock	      "mblibv1/Sensors & \nActuators/Joint Sen"
"sor"
	      SourceType	      "msb"
	      ShowPortLabels	      "FromPortIcon"
	      SystemSampleTime	      "-1"
	      FunctionWithSeparateData off
	      RTWMemSecFuncInitTerm   "Inherit from model"
	      RTWMemSecFuncExecute    "Inherit from model"
	      RTWMemSecDataConstants  "Inherit from model"
	      RTWMemSecDataInternal   "Inherit from model"
	      RTWMemSecDataParameters "Inherit from model"
	      PhysicalDomain	      "Mechanical"
	      PortType		      "blob"
	      Muxed		      "off"
	      Pose		      "off"
	      Angle		      "on"
	      AngleUnits	      "rad"
	      ArcVelocity	      "on"
	      ArcVelocityUnits	      "rad/s"
	      ArcAcceleration	      "off"
	      ArcAccelerationUnits    "deg/s^2"
	      CoordPosition	      "on"
	      CoordPositionUnits      "m"
	      Velocity		      "off"
	      VelocityUnits	      "m/s"
	      Acceleration	      "off"
	      AccelerationUnits	      "m/s^2"
	      Quaternion	      "on"
	      QuaternionDT	      "off"
	      QuaternionDDT	      "off"
	      QuaternionUnits	      "off"
	      OutputVector	      "[ 1 1 ]"
	      ActiveIO		      "on"
	      Width		      "2"
	      ClassName		      "JointSensor"
	      DialogClass	      "MechanicalSensorBlock"
	      Primitive		      "R1"
	      Force		      "off"
	      ForceUnits	      "N"
	      Torque		      "off"
	      TorqueUnits	      "N-m"
	      ReferenceFrame	      "Absolute (INERTIAL)"
	      ReactionSensedSide      "Base"
	      ReactionReferenceFrame  "Absolute (World)"
	      ReactionForce	      "off"
	      ReactionForceUnits      "N"
	      ReactionMoment	      "off"
	      ReactionMomentUnits     "N-m"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "Machine\nEnvironment"
	      Tag		      "Factory ground"
	      Ports		      [0, 0, 0, 0, 0, 0, 1]
	      Position		      [125, 330, 165, 350]
	      Orientation	      "up"
	      ShowName		      off
	      DialogController	      "MECH.DialogSource"
	      SourceBlock	      "mblibv1/Bodies/Machine\nEnvironment"
	      SourceType	      "Mechanical"
	      ShowPortLabels	      "FromPortIcon"
	      SystemSampleTime	      "-1"
	      FunctionWithSeparateData off
	      RTWMemSecFuncInitTerm   "Inherit from model"
	      RTWMemSecFuncExecute    "Inherit from model"
	      RTWMemSecDataConstants  "Inherit from model"
	      RTWMemSecDataInternal   "Inherit from model"
	      RTWMemSecDataParameters "Inherit from model"
	      PortType		      "env"
	      PhysicalDomain	      "Mechanical"
	      ClassName		      "Environment"
	      DialogTemplateClass     "MECH.MachineEnvironment"
	      SyncWhenCopied	      "off"
	      Gravity		      "[0 -9.81 0]"
	      GravityUnits	      "m/s^2"
	      GravityAsSignal	      off
	      Dimensionality	      "3D Only"
	      AnalysisType	      "Forward dynamics"
	      LinearAssemblyTolerance "1e-3"
	      LinearAssemblyToleranceUnits "m"
	      AngularAssemblyTolerance "1e-3"
	      AngularAssemblyToleranceUnits "rad"
	      ConstraintSolverType    "Stabilizing"
	      ConstraintRelTolerance  "1e-4"
	      ConstraintAbsTolerance  "1e-4"
	      UseRobustSingularityHandling off
	      StatePerturbationType   "Fixed"
	      PerturbationSize	      "1e-5"
	      VisualizeMachine	      on
	    }
	    Block {
	      BlockType		      PMIOPort
	      Name		      "Conn1"
	      Position		      [60, 30, 90, 45]
	      Orientation	      "down"
	      Port		      "1"
	      Side		      "Right"
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "L Ankle Angle"
	      Position		      [360, 193, 390, 207]
	      IconDisplay	      "Port number"
	      BusOutputAsStruct	      off
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "L Ankle Velocity"
	      Position		      [450, 213, 480, 227]
	      Port		      "2"
	      IconDisplay	      "Port number"
	      BusOutputAsStruct	      off
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "L Ankle Joint"
	      SrcPort		      LConn1
	      DstBlock		      "Ground"
	      DstPort		      RConn1
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "Initial Conditions"
	      SrcPort		      RConn1
	      Points		      [-75, 0]
	      DstBlock		      "L Ankle Joint"
	      DstPort		      LConn2
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "L Ankle Actuator"
	      SrcPort		      RConn1
	      Points		      [-30, 0]
	      DstBlock		      "L Ankle Joint"
	      DstPort		      RConn2
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "L Ankle Sensor"
	      SrcPort		      LConn1
	      Points		      [-145, 0]
	      DstBlock		      "L Ankle Joint"
	      DstPort		      LConn3
	    }
	    Line {
	      SrcBlock		      "L Ankle Sensor"
	      SrcPort		      2
	      DstBlock		      "L Ankle Velocity"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "L Ankle Sensor"
	      SrcPort		      1
	      DstBlock		      "L Ankle Angle"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "L Ankle Torque"
	      SrcPort		      1
	      DstBlock		      "L Ankle Actuator"
	      DstPort		      1
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "Conn1"
	      SrcPort		      RConn1
	      DstBlock		      "L Ankle Joint"
	      DstPort		      RConn1
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "Machine\nEnvironment"
	      SrcPort		      RConn1
	      Points		      [0, 0]
	      DstBlock		      "Ground"
	      DstPort		      LConn1
	    }
	  }
	}
	Block {
	  BlockType		  Reference
	  Name			  "R Calf"
	  Ports			  [0, 0, 0, 0, 0, 2, 1]
	  Position		  [1032, 505, 1088, 585]
	  Orientation		  "up"
	  ForegroundColor	  "red"
	  DialogController	  "MECH.DynMechDlgSource"
	  SourceBlock		  "mblibv1/Bodies/Body"
	  SourceType		  "msb"
	  PhysicalDomain	  "mechanical"
	  SubClassName		  "Unknown"
	  LeftPortType		  "workingframe"
	  RightPortType		  "workingframe"
	  LConnTagsString	  "CS1|CS3"
	  RConnTagsString	  "CS4"
	  ClassName		  "Body"
	  DialogClass		  "MechanicalBodyBlock"
	  Mass			  "6.8952"
	  MassUnits		  "kg"
	  InertiaUnits		  "kg*m^2"
	  Inertia		  "[.1535 0 0;0 .1535 0;0 0 .1535]"
	  Shape			  "Cylinder"
	  ShapeDims		  "[1 1]"
	  ShapeUnits		  "m"
	  ShapeUse		  "false"
	  Density		  "1"
	  DensityUnits		  "kg/m^3"
	  DensityUse		  "false"
	  CG			  "Left$CG$[0 .1426 0]$World$World$m$[0 0 0]$E"
"uler X-Y-Z$deg$WORLD$false"
	  WorkingFrames		  "Right$CS4$[0 .3810 0]$World$World$m$[0 0 0]"
"$Euler X-Y-Z$deg$WORLD$true#Right$CS2$[0 .3810 0]$World$World$m$[0 0 0]$Euler"
" X-Y-Z$deg$WORLD$false#Left$CS1$[0 0 0]$World$World$m$[0 0 0]$Euler X-Y-Z$deg"
"$WORLD$true#Left$CS3$[0 0 0]$World$World$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$true"
	  CGPos			  "[0 .1426 0]"
	  CGRot			  "[0 0 0]"
	  CS0Pos		  "[]"
	  CS0Rot		  "[]"
	  CS1Pos		  "[0 0 0]"
	  CS1Rot		  "[0 0 0]"
	  CS2Pos		  "[0 .3810 0]"
	  CS2Rot		  "[0 0 0]"
	  CS3Pos		  "[0 0 0]"
	  CS3Rot		  "[0 0 0]"
	  CS4Pos		  "[0 .3810 0]"
	  CS4Rot		  "[0 0 0]"
	  CS5Pos		  "[]"
	  CS5Rot		  "[]"
	  CS6Pos		  "[]"
	  CS6Rot		  "[]"
	  CS7Pos		  "[]"
	  CS7Rot		  "[]"
	  CS8Pos		  "[]"
	  CS8Rot		  "[]"
	  CS9Pos		  "[]"
	  CS9Rot		  "[]"
	  CS10Pos		  "[]"
	  CS10Rot		  "[]"
	  CS11Pos		  "[]"
	  CS11Rot		  "[]"
	  CS12Pos		  "[]"
	  CS12Rot		  "[]"
	  CS13Pos		  "[]"
	  CS13Rot		  "[]"
	  CS14Pos		  "[]"
	  CS14Rot		  "[]"
	  CS15Pos		  "[]"
	  CS15Rot		  "[]"
	  CS16Pos		  "[]"
	  CS16Rot		  "[]"
	  CS17Pos		  "[]"
	  CS17Rot		  "[]"
	  CS18Pos		  "[]"
	  CS18Rot		  "[]"
	  CS19Pos		  "[]"
	  CS19Rot		  "[]"
	  CS20Pos		  "[]"
	  CS20Rot		  "[]"
	}
	Block {
	  BlockType		  SubSystem
	  Name			  "R Hip"
	  Ports			  [1, 2, 0, 0, 0, 1, 1]
	  Position		  [865, 39, 1005, 131]
	  MinAlgLoopOccurrences	  off
	  RTWSystemCode		  "Auto"
	  FunctionWithSeparateData off
	  MaskHideContents	  off
	  System {
	    Name		    "R Hip"
	    Location		    [122, 328, 801, 621]
	    Open		    off
	    ModelBrowserVisibility  off
	    ModelBrowserWidth	    200
	    ScreenColor		    "white"
	    PaperOrientation	    "landscape"
	    PaperPositionMode	    "auto"
	    PaperType		    "usletter"
	    PaperUnits		    "inches"
	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
	    TiledPageScale	    1
	    ShowPageBoundaries	    off
	    ZoomFactor		    "100"
	    Block {
	      BlockType		      Inport
	      Name		      "R Hip Torque"
	      Position		      [575, 163, 605, 177]
	      Orientation	      "left"
	      NamePlacement	      "alternate"
	      IconDisplay	      "Port number"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "R Hip Actuator"
	      Ports		      [1, 0, 0, 0, 0, 0, 1]
	      Position		      [455, 150, 495, 190]
	      Orientation	      "left"
	      NamePlacement	      "alternate"
	      DialogController	      "MECH.DynMechDlgSource"
	      SourceBlock	      "mblibv1/Sensors & \nActuators/Joint Act"
"uator"
	      SourceType	      "msb"
	      ShowPortLabels	      "FromPortIcon"
	      SystemSampleTime	      "-1"
	      FunctionWithSeparateData off
	      RTWMemSecFuncInitTerm   "Inherit from model"
	      RTWMemSecFuncExecute    "Inherit from model"
	      RTWMemSecDataConstants  "Inherit from model"
	      RTWMemSecDataInternal   "Inherit from model"
	      RTWMemSecDataParameters "Inherit from model"
	      PhysicalDomain	      "Mechanical"
	      PortType		      "blob"
	      ActuationStyle	      "Force"
	      AngleUnits	      "deg"
	      ArcVelocityUnits	      "deg/s"
	      ArcAccelerationUnits    "deg/s^2"
	      CoordPositionUnits      "m"
	      VelocityUnits	      "m/s"
	      AccelerationUnits	      "m/s^2"
	      ForceUnits	      "N"
	      TorqueUnits	      "N-m"
	      ActiveIO		      "on"
	      Width		      "1"
	      ClassName		      "JointActuator"
	      DialogClass	      "MechanicalActuatorBlock"
	      Primitive		      "R1"
	      ReferenceFrame	      "Absolute (INERTIAL)"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "R Hip Initial Condition"
	      Ports		      [0, 0, 0, 0, 0, 0, 1]
	      Position		      [250, 160, 290, 200]
	      Orientation	      "up"
	      DialogController	      "MECH.DynMechDlgSource"
	      SourceBlock	      "mblibv1/Sensors & \nActuators/Joint Ini"
"tial Condition"
	      SourceType	      "msb"
	      ShowPortLabels	      "FromPortIcon"
	      SystemSampleTime	      "-1"
	      FunctionWithSeparateData off
	      RTWMemSecFuncInitTerm   "Inherit from model"
	      RTWMemSecFuncExecute    "Inherit from model"
	      RTWMemSecDataConstants  "Inherit from model"
	      RTWMemSecDataInternal   "Inherit from model"
	      RTWMemSecDataParameters "Inherit from model"
	      PhysicalDomain	      "mechanical"
	      ClassName		      "InitialCondition"
	      DialogClass	      "InitialConditionBlock"
	      InitialConditions	      "P1$false$0$m$deg$0$m/s$deg/s#P2$false$0"
"$m$deg$0$m/s$deg/s#P3$false$0$m$deg$0$m/s$deg/s#R1$true$0$m$rad$0$m/s$rad/s#R"
"2$false$0$m$deg$0$m/s$deg/s#R3$false$0$m$deg$0$m/s$deg/s#S$false$0$m$deg$0$m/"
"s$deg/s"
	      P1PIC		      "0"
	      P1VIC		      "0"
	      P2PIC		      "0"
	      P2VIC		      "0"
	      P3PIC		      "0"
	      P3VIC		      "0"
	      R1PIC		      "0"
	      R1VIC		      "0"
	      R2PIC		      "0"
	      R2VIC		      "0"
	      R3PIC		      "0"
	      R3VIC		      "0"
	      SPIC		      "0"
	      SVIC		      "0"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "R Hip Joint"
	      Ports		      [0, 0, 0, 0, 0, 3, 2]
	      Position		      [335, 74, 385, 126]
	      DialogController	      "MECH.DynMechDlgSource"
	      SourceBlock	      "mblibv1/Joints/Revolute"
	      SourceType	      "msb"
	      PhysicalDomain	      "mechanical"
	      SubClassName	      "Unknown"
	      LeftPortType	      "blob"
	      RightPortType	      "blob"
	      LConnTagsString	      "__newl0|SA1|SA2"
	      RConnTagsString	      "__newr0|SA1"
	      NumSAPorts	      "3"
	      CutJoint		      "off"
	      MarkAsCut		      "off"
	      Primitives	      "prismatic"
	      PrimitiveProps	      "R1$World$[0 0 1]$revolute"
	      ClassName		      "Joint"
	      DialogClass	      "JointBlock"
	      R1Axis		      "[0 0 1]"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "R Hip Sensor"
	      Ports		      [0, 2, 0, 0, 0, 1]
	      Position		      [200, 80, 240, 120]
	      Orientation	      "left"
	      NamePlacement	      "alternate"
	      DialogController	      "MECH.DynMechDlgSource"
	      SourceBlock	      "mblibv1/Sensors & \nActuators/Joint Sen"
"sor"
	      SourceType	      "msb"
	      ShowPortLabels	      "FromPortIcon"
	      SystemSampleTime	      "-1"
	      FunctionWithSeparateData off
	      RTWMemSecFuncInitTerm   "Inherit from model"
	      RTWMemSecFuncExecute    "Inherit from model"
	      RTWMemSecDataConstants  "Inherit from model"
	      RTWMemSecDataInternal   "Inherit from model"
	      RTWMemSecDataParameters "Inherit from model"
	      PhysicalDomain	      "Mechanical"
	      PortType		      "blob"
	      Muxed		      "off"
	      Pose		      "off"
	      Angle		      "on"
	      AngleUnits	      "rad"
	      ArcVelocity	      "on"
	      ArcVelocityUnits	      "rad/s"
	      ArcAcceleration	      "off"
	      ArcAccelerationUnits    "deg/s^2"
	      CoordPosition	      "on"
	      CoordPositionUnits      "m"
	      Velocity		      "off"
	      VelocityUnits	      "m/s"
	      Acceleration	      "off"
	      AccelerationUnits	      "m/s^2"
	      Quaternion	      "on"
	      QuaternionDT	      "off"
	      QuaternionDDT	      "off"
	      QuaternionUnits	      "off"
	      OutputVector	      "[ 1 1 ]"
	      ActiveIO		      "on"
	      Width		      "2"
	      ClassName		      "JointSensor"
	      DialogClass	      "MechanicalSensorBlock"
	      Primitive		      "R1"
	      Force		      "off"
	      ForceUnits	      "N"
	      Torque		      "off"
	      TorqueUnits	      "N-m"
	      ReferenceFrame	      "Absolute (INERTIAL)"
	      ReactionSensedSide      "Base"
	      ReactionReferenceFrame  "Absolute (World)"
	      ReactionForce	      "off"
	      ReactionForceUnits      "N"
	      ReactionMoment	      "off"
	      ReactionMomentUnits     "N-m"
	    }
	    Block {
	      BlockType		      PMIOPort
	      Name		      "Conn1"
	      Position		      [475, 23, 505, 37]
	      Orientation	      "left"
	      Port		      "1"
	      Side		      "Left"
	    }
	    Block {
	      BlockType		      PMIOPort
	      Name		      "Conn2"
	      Position		      [265, 38, 295, 52]
	      Port		      "2"
	      Side		      "Right"
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "R Hip Angle"
	      Position		      [45, 83, 75, 97]
	      Orientation	      "left"
	      NamePlacement	      "alternate"
	      IconDisplay	      "Port number"
	      BusOutputAsStruct	      off
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "R Hip Velocity"
	      Position		      [105, 103, 135, 117]
	      Orientation	      "left"
	      NamePlacement	      "alternate"
	      Port		      "2"
	      IconDisplay	      "Port number"
	      BusOutputAsStruct	      off
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "R Hip Actuator"
	      SrcPort		      RConn1
	      Points		      [-10, 0; 0, -55]
	      DstBlock		      "R Hip Joint"
	      DstPort		      RConn2
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "R Hip Sensor"
	      SrcPort		      LConn1
	      DstBlock		      "R Hip Joint"
	      DstPort		      LConn2
	    }
	    Line {
	      SrcBlock		      "R Hip Sensor"
	      SrcPort		      2
	      DstBlock		      "R Hip Velocity"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "R Hip Sensor"
	      SrcPort		      1
	      DstBlock		      "R Hip Angle"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "R Hip Torque"
	      SrcPort		      1
	      DstBlock		      "R Hip Actuator"
	      DstPort		      1
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "R Hip Initial Condition"
	      SrcPort		      RConn1
	      Points		      [0, -30]
	      DstBlock		      "R Hip Joint"
	      DstPort		      LConn3
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "Conn1"
	      SrcPort		      RConn1
	      Points		      [-30, 0; 0, 60]
	      DstBlock		      "R Hip Joint"
	      DstPort		      RConn1
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "Conn2"
	      SrcPort		      RConn1
	      Points		      [5, 0; 0, 40]
	      DstBlock		      "R Hip Joint"
	      DstPort		      LConn1
	    }
	  }
	}
	Block {
	  BlockType		  SubSystem
	  Name			  "R Knee"
	  Ports			  [1, 2, 0, 0, 0, 1, 1]
	  Position		  [1240, 282, 1410, 388]
	  MinAlgLoopOccurrences	  off
	  RTWSystemCode		  "Auto"
	  FunctionWithSeparateData off
	  MaskHideContents	  off
	  System {
	    Name		    "R Knee"
	    Location		    [519, 257, 1009, 638]
	    Open		    off
	    ModelBrowserVisibility  off
	    ModelBrowserWidth	    200
	    ScreenColor		    "white"
	    PaperOrientation	    "landscape"
	    PaperPositionMode	    "auto"
	    PaperType		    "usletter"
	    PaperUnits		    "inches"
	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
	    TiledPageScale	    1
	    ShowPageBoundaries	    off
	    ZoomFactor		    "100"
	    Block {
	      BlockType		      Inport
	      Name		      "R Knee Torque"
	      Position		      [365, 73, 395, 87]
	      Orientation	      "left"
	      NamePlacement	      "alternate"
	      IconDisplay	      "Port number"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "R Knee Actuator"
	      Ports		      [1, 0, 0, 0, 0, 0, 1]
	      Position		      [235, 60, 275, 100]
	      Orientation	      "left"
	      NamePlacement	      "alternate"
	      DialogController	      "MECH.DynMechDlgSource"
	      SourceBlock	      "mblibv1/Sensors & \nActuators/Joint Act"
"uator"
	      SourceType	      "msb"
	      ShowPortLabels	      "FromPortIcon"
	      SystemSampleTime	      "-1"
	      FunctionWithSeparateData off
	      RTWMemSecFuncInitTerm   "Inherit from model"
	      RTWMemSecFuncExecute    "Inherit from model"
	      RTWMemSecDataConstants  "Inherit from model"
	      RTWMemSecDataInternal   "Inherit from model"
	      RTWMemSecDataParameters "Inherit from model"
	      PhysicalDomain	      "Mechanical"
	      PortType		      "blob"
	      ActuationStyle	      "Force"
	      AngleUnits	      "deg"
	      ArcVelocityUnits	      "deg/s"
	      ArcAccelerationUnits    "deg/s^2"
	      CoordPositionUnits      "m"
	      VelocityUnits	      "m/s"
	      AccelerationUnits	      "m/s^2"
	      ForceUnits	      "N"
	      TorqueUnits	      "N-m"
	      ActiveIO		      "on"
	      Width		      "1"
	      ClassName		      "JointActuator"
	      DialogClass	      "MechanicalActuatorBlock"
	      Primitive		      "R1"
	      ReferenceFrame	      "Absolute (INERTIAL)"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "R Knee Initial Condition"
	      Ports		      [0, 0, 0, 0, 0, 0, 1]
	      Position		      [185, 125, 225, 165]
	      Orientation	      "left"
	      NamePlacement	      "alternate"
	      DialogController	      "MECH.DynMechDlgSource"
	      SourceBlock	      "mblibv1/Sensors & \nActuators/Joint Ini"
"tial Condition"
	      SourceType	      "msb"
	      ShowPortLabels	      "FromPortIcon"
	      SystemSampleTime	      "-1"
	      FunctionWithSeparateData off
	      RTWMemSecFuncInitTerm   "Inherit from model"
	      RTWMemSecFuncExecute    "Inherit from model"
	      RTWMemSecDataConstants  "Inherit from model"
	      RTWMemSecDataInternal   "Inherit from model"
	      RTWMemSecDataParameters "Inherit from model"
	      PhysicalDomain	      "mechanical"
	      ClassName		      "InitialCondition"
	      DialogClass	      "InitialConditionBlock"
	      InitialConditions	      "P1$false$0$m$deg$0$m/s$deg/s#P2$false$0"
"$m$deg$0$m/s$deg/s#P3$false$0$m$deg$0$m/s$deg/s#R1$true$0$m$rad$0$m/s$rad/s#R"
"2$false$0$m$deg$0$m/s$deg/s#R3$false$0$m$deg$0$m/s$deg/s#S$false$0$m$deg$0$m/"
"s$deg/s"
	      P1PIC		      "0"
	      P1VIC		      "0"
	      P2PIC		      "0"
	      P2VIC		      "0"
	      P3PIC		      "0"
	      P3VIC		      "0"
	      R1PIC		      "0"
	      R1VIC		      "0"
	      R2PIC		      "0"
	      R2VIC		      "0"
	      R3PIC		      "0"
	      R3VIC		      "0"
	      SPIC		      "0"
	      SVIC		      "0"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "R Knee Joint"
	      Ports		      [0, 0, 0, 0, 0, 3, 2]
	      Position		      [78, 160, 132, 210]
	      Orientation	      "down"
	      NamePlacement	      "alternate"
	      DialogController	      "MECH.DynMechDlgSource"
	      SourceBlock	      "mblibv1/Joints/Revolute"
	      SourceType	      "msb"
	      PhysicalDomain	      "mechanical"
	      SubClassName	      "Unknown"
	      LeftPortType	      "blob"
	      RightPortType	      "blob"
	      LConnTagsString	      "__newl0|SA1|SA2"
	      RConnTagsString	      "__newr0|SA1"
	      NumSAPorts	      "3"
	      CutJoint		      "off"
	      MarkAsCut		      "off"
	      Primitives	      "prismatic"
	      PrimitiveProps	      "R1$World$[0 0 1]$revolute"
	      ClassName		      "Joint"
	      DialogClass	      "JointBlock"
	      R1Axis		      "[0 0 1]"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "R Knee Sensor"
	      Ports		      [0, 2, 0, 0, 0, 1]
	      Position		      [160, 240, 200, 280]
	      DialogController	      "MECH.DynMechDlgSource"
	      SourceBlock	      "mblibv1/Sensors & \nActuators/Joint Sen"
"sor"
	      SourceType	      "msb"
	      ShowPortLabels	      "FromPortIcon"
	      SystemSampleTime	      "-1"
	      FunctionWithSeparateData off
	      RTWMemSecFuncInitTerm   "Inherit from model"
	      RTWMemSecFuncExecute    "Inherit from model"
	      RTWMemSecDataConstants  "Inherit from model"
	      RTWMemSecDataInternal   "Inherit from model"
	      RTWMemSecDataParameters "Inherit from model"
	      PhysicalDomain	      "Mechanical"
	      PortType		      "blob"
	      Muxed		      "off"
	      Pose		      "off"
	      Angle		      "on"
	      AngleUnits	      "rad"
	      ArcVelocity	      "on"
	      ArcVelocityUnits	      "rad/s"
	      ArcAcceleration	      "off"
	      ArcAccelerationUnits    "deg/s^2"
	      CoordPosition	      "on"
	      CoordPositionUnits      "m"
	      Velocity		      "off"
	      VelocityUnits	      "m/s"
	      Acceleration	      "off"
	      AccelerationUnits	      "m/s^2"
	      Quaternion	      "on"
	      QuaternionDT	      "off"
	      QuaternionDDT	      "off"
	      QuaternionUnits	      "off"
	      OutputVector	      "[ 1 1 ]"
	      ActiveIO		      "on"
	      Width		      "2"
	      ClassName		      "JointSensor"
	      DialogClass	      "MechanicalSensorBlock"
	      Primitive		      "R1"
	      Force		      "off"
	      ForceUnits	      "N"
	      Torque		      "off"
	      TorqueUnits	      "N-m"
	      ReferenceFrame	      "Absolute (INERTIAL)"
	      ReactionSensedSide      "Base"
	      ReactionReferenceFrame  "Absolute (World)"
	      ReactionForce	      "off"
	      ReactionForceUnits      "N"
	      ReactionMoment	      "off"
	      ReactionMomentUnits     "N-m"
	    }
	    Block {
	      BlockType		      PMIOPort
	      Name		      "Conn1"
	      Position		      [70, 285, 100, 300]
	      Orientation	      "up"
	      Port		      "1"
	      Side		      "Left"
	    }
	    Block {
	      BlockType		      PMIOPort
	      Name		      "Conn2"
	      Position		      [35, 65, 65, 80]
	      Orientation	      "down"
	      Port		      "2"
	      Side		      "Right"
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "R Knee Angle"
	      Position		      [255, 243, 285, 257]
	      IconDisplay	      "Port number"
	      BusOutputAsStruct	      off
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "R Knee Velocity"
	      Position		      [315, 263, 345, 277]
	      Port		      "2"
	      IconDisplay	      "Port number"
	      BusOutputAsStruct	      off
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "R Knee Joint"
	      SrcPort		      LConn2
	      Points		      [0, -65]
	      DstBlock		      "R Knee Actuator"
	      DstPort		      RConn1
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "R Knee Joint"
	      SrcPort		      RConn2
	      Points		      [0, 35]
	      DstBlock		      "R Knee Sensor"
	      DstPort		      LConn1
	    }
	    Line {
	      SrcBlock		      "R Knee Sensor"
	      SrcPort		      2
	      DstBlock		      "R Knee Velocity"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "R Knee Sensor"
	      SrcPort		      1
	      DstBlock		      "R Knee Angle"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "R Knee Torque"
	      SrcPort		      1
	      DstBlock		      "R Knee Actuator"
	      DstPort		      1
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "R Knee Joint"
	      SrcPort		      LConn3
	      DstBlock		      "R Knee Initial Condition"
	      DstPort		      RConn1
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "Conn2"
	      SrcPort		      RConn1
	      Points		      [0, 25; 35, 0]
	      DstBlock		      "R Knee Joint"
	      DstPort		      LConn1
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "Conn1"
	      SrcPort		      RConn1
	      Points		      [0, -20; 10, 0]
	      DstBlock		      "R Knee Joint"
	      DstPort		      RConn1
	    }
	  }
	}
	Block {
	  BlockType		  Reference
	  Name			  "R Thigh"
	  Ports			  [0, 0, 0, 0, 0, 2, 1]
	  Position		  [1047, 160, 1103, 240]
	  Orientation		  "up"
	  ForegroundColor	  "red"
	  DialogController	  "MECH.DynMechDlgSource"
	  SourceBlock		  "mblibv1/Bodies/Body"
	  SourceType		  "msb"
	  PhysicalDomain	  "mechanical"
	  SubClassName		  "Unknown"
	  LeftPortType		  "workingframe"
	  RightPortType		  "workingframe"
	  LConnTagsString	  "CS3|CS1"
	  RConnTagsString	  "CS2"
	  ClassName		  "Body"
	  DialogClass		  "MechanicalBodyBlock"
	  Mass			  "5.676"
	  MassUnits		  "kg"
	  InertiaUnits		  "kg*m^2"
	  Inertia		  "[0.09592 0 0;0 0.09592 0;0 0 0.09592]"
	  Shape			  "Cylinder"
	  ShapeDims		  "[1 1]"
	  ShapeUnits		  "m"
	  ShapeUse		  "false"
	  Density		  "1"
	  DensityUnits		  "kg/m^3"
	  DensityUse		  "false"
	  CG			  "Left$CG$[0 .583 0]$World$World$m$[0 0 0]$Eu"
"ler X-Y-Z$deg$WORLD$false"
	  WorkingFrames		  "Left$CS3$[0 .3810 0]$World$World$m$[0 0 0]$"
"Euler X-Y-Z$deg$WORLD$true#Right$CS2$[0 .7728 0]$World$World$m$[0 0 0]$Euler "
"X-Y-Z$deg$WORLD$true#Right$CS4$[0 .7728 0]$World$World$m$[0 0 0]$Euler X-Y-Z$"
"deg$WORLD$false#Left$CS1$[0 .3810 0]$World$World$m$[0 0 0]$Euler X-Y-Z$deg$WO"
"RLD$true"
	  CGPos			  "[0 .583 0]"
	  CGRot			  "[0 0 0]"
	  CS0Pos		  "[]"
	  CS0Rot		  "[]"
	  CS1Pos		  "[0 .3810 0]"
	  CS1Rot		  "[0 0 0]"
	  CS2Pos		  "[0 .7728 0]"
	  CS2Rot		  "[0 0 0]"
	  CS3Pos		  "[0 .3810 0]"
	  CS3Rot		  "[0 0 0]"
	  CS4Pos		  "[0 .7728 0]"
	  CS4Rot		  "[0 0 0]"
	  CS5Pos		  "[]"
	  CS5Rot		  "[]"
	  CS6Pos		  "[]"
	  CS6Rot		  "[]"
	  CS7Pos		  "[]"
	  CS7Rot		  "[]"
	  CS8Pos		  "[]"
	  CS8Rot		  "[]"
	  CS9Pos		  "[]"
	  CS9Rot		  "[]"
	  CS10Pos		  "[]"
	  CS10Rot		  "[]"
	  CS11Pos		  "[]"
	  CS11Rot		  "[]"
	  CS12Pos		  "[]"
	  CS12Rot		  "[]"
	  CS13Pos		  "[]"
	  CS13Rot		  "[]"
	  CS14Pos		  "[]"
	  CS14Rot		  "[]"
	  CS15Pos		  "[]"
	  CS15Rot		  "[]"
	  CS16Pos		  "[]"
	  CS16Rot		  "[]"
	  CS17Pos		  "[]"
	  CS17Rot		  "[]"
	  CS18Pos		  "[]"
	  CS18Rot		  "[]"
	  CS19Pos		  "[]"
	  CS19Rot		  "[]"
	  CS20Pos		  "[]"
	  CS20Rot		  "[]"
	}
	Block {
	  BlockType		  SubSystem
	  Name			  "Right Ankle"
	  Ports			  [1, 2, 0, 0, 0, 0, 1]
	  Position		  [1290, 545, 1430, 645]
	  Orientation		  "left"
	  MinAlgLoopOccurrences	  off
	  RTWSystemCode		  "Auto"
	  FunctionWithSeparateData off
	  MaskHideContents	  off
	  System {
	    Name		    "Right Ankle"
	    Location		    [747, 178, 1630, 562]
	    Open		    on
	    ModelBrowserVisibility  off
	    ModelBrowserWidth	    200
	    ScreenColor		    "white"
	    PaperOrientation	    "landscape"
	    PaperPositionMode	    "auto"
	    PaperType		    "usletter"
	    PaperUnits		    "inches"
	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
	    TiledPageScale	    1
	    ShowPageBoundaries	    off
	    ZoomFactor		    "100"
	    Block {
	      BlockType		      Inport
	      Name		      "R Ankle Torque"
	      Position		      [360, 88, 390, 102]
	      Orientation	      "left"
	      NamePlacement	      "alternate"
	      IconDisplay	      "Port number"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "Ground"
	      Ports		      [0, 0, 0, 0, 0, 0, 1]
	      Position		      [30, 295, 70, 335]
	      Orientation	      "up"
	      UserDataPersistent      on
	      UserData		      "DataTag1"
	      DialogController	      "MECH.DynMechDlgSource"
	      SourceBlock	      "mblibv1/Bodies/Ground"
	      SourceType	      "msb"
	      ShowPortLabels	      "FromPortIcon"
	      SystemSampleTime	      "-1"
	      FunctionWithSeparateData off
	      RTWMemSecFuncInitTerm   "Inherit from model"
	      RTWMemSecFuncExecute    "Inherit from model"
	      RTWMemSecDataConstants  "Inherit from model"
	      RTWMemSecDataInternal   "Inherit from model"
	      RTWMemSecDataParameters "Inherit from model"
	      LeftPortType	      "env"
	      RightPortType	      "workingframe"
	      PhysicalDomain	      "Mechanical"
	      DialogClass	      "GroundBlock"
	      ClassName		      "Ground"
	      CoordPosition	      "[0 0 0]"
	      CoordPositionUnits      "m"
	      StateVectorMgrId	      "-1"
	      MachineId		      "[0 0]"
	      ShowEnvPort	      off
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "R Ankle Joint"
	      Ports		      [0, 0, 0, 0, 0, 2, 2]
	      Position		      [37, 170, 93, 220]
	      Orientation	      "up"
	      DialogController	      "MECH.DynMechDlgSource"
	      SourceBlock	      "mblibv1/Joints/Planar"
	      SourceType	      "msb"
	      PhysicalDomain	      "mechanical"
	      SubClassName	      "Unknown"
	      LeftPortType	      "blob"
	      RightPortType	      "blob"
	      LConnTagsString	      "__newl0|SA1"
	      RConnTagsString	      "__newr0|SA1"
	      NumSAPorts	      "2"
	      CutJoint		      "off"
	      MarkAsCut		      "off"
	      Primitives	      "prismatic_prismatic"
	      PrimitiveProps	      "P1$World$[1 0 0]$prismatic#P2$World$[0 "
"1 0]$prismatic#R1$World$[0 0 1]$revolute"
	      ClassName		      "PlanarJoint"
	      DialogClass	      "JointBlock"
	      P1Axis		      "[1 0 0]"
	      P2Axis		      "[0 1 0]"
	      R1Axis		      "[0 0 1]"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "R Ankle Sensor"
	      Ports		      [0, 2, 0, 0, 0, 1]
	      Position		      [255, 280, 295, 320]
	      DialogController	      "MECH.DynMechDlgSource"
	      SourceBlock	      "mblibv1/Sensors & \nActuators/Joint Sen"
"sor"
	      SourceType	      "msb"
	      ShowPortLabels	      "FromPortIcon"
	      SystemSampleTime	      "-1"
	      FunctionWithSeparateData off
	      RTWMemSecFuncInitTerm   "Inherit from model"
	      RTWMemSecFuncExecute    "Inherit from model"
	      RTWMemSecDataConstants  "Inherit from model"
	      RTWMemSecDataInternal   "Inherit from model"
	      RTWMemSecDataParameters "Inherit from model"
	      PhysicalDomain	      "Mechanical"
	      PortType		      "blob"
	      Muxed		      "off"
	      Pose		      "off"
	      Angle		      "on"
	      AngleUnits	      "rad"
	      ArcVelocity	      "on"
	      ArcVelocityUnits	      "rad/s"
	      ArcAcceleration	      "off"
	      ArcAccelerationUnits    "deg/s^2"
	      CoordPosition	      "on"
	      CoordPositionUnits      "m"
	      Velocity		      "off"
	      VelocityUnits	      "m/s"
	      Acceleration	      "off"
	      AccelerationUnits	      "m/s^2"
	      Quaternion	      "on"
	      QuaternionDT	      "off"
	      QuaternionDDT	      "off"
	      QuaternionUnits	      "off"
	      OutputVector	      "[ 1 1 ]"
	      ActiveIO		      "on"
	      Width		      "2"
	      ClassName		      "JointSensor"
	      DialogClass	      "MechanicalSensorBlock"
	      Primitive		      "R1"
	      Force		      "off"
	      ForceUnits	      "N"
	      Torque		      "off"
	      TorqueUnits	      "N-m"
	      ReferenceFrame	      "Absolute (INERTIAL)"
	      ReactionSensedSide      "Base"
	      ReactionReferenceFrame  "Absolute (World)"
	      ReactionForce	      "off"
	      ReactionForceUnits      "N"
	      ReactionMoment	      "off"
	      ReactionMomentUnits     "N-m"
	    }
	    Block {
	      BlockType		      Reference
	      Name		      "R Knee Actuator1"
	      Ports		      [1, 0, 0, 0, 0, 0, 1]
	      Position		      [250, 75, 290, 115]
	      Orientation	      "left"
	      NamePlacement	      "alternate"
	      DialogController	      "MECH.DynMechDlgSource"
	      SourceBlock	      "mblibv1/Sensors & \nActuators/Joint Act"
"uator"
	      SourceType	      "msb"
	      ShowPortLabels	      "FromPortIcon"
	      SystemSampleTime	      "-1"
	      FunctionWithSeparateData off
	      RTWMemSecFuncInitTerm   "Inherit from model"
	      RTWMemSecFuncExecute    "Inherit from model"
	      RTWMemSecDataConstants  "Inherit from model"
	      RTWMemSecDataInternal   "Inherit from model"
	      RTWMemSecDataParameters "Inherit from model"
	      PhysicalDomain	      "Mechanical"
	      PortType		      "blob"
	      ActuationStyle	      "Force"
	      AngleUnits	      "deg"
	      ArcVelocityUnits	      "deg/s"
	      ArcAccelerationUnits    "deg/s^2"
	      CoordPositionUnits      "m"
	      VelocityUnits	      "m/s"
	      AccelerationUnits	      "m/s^2"
	      ForceUnits	      "N"
	      TorqueUnits	      "N-m"
	      ActiveIO		      "on"
	      Width		      "1"
	      ClassName		      "JointActuator"
	      DialogClass	      "MechanicalActuatorBlock"
	      Primitive		      "R1"
	      ReferenceFrame	      "Absolute (INERTIAL)"
	    }
	    Block {
	      BlockType		      PMIOPort
	      Name		      "Conn1"
	      Position		      [35, 35, 65, 50]
	      Orientation	      "down"
	      Port		      "1"
	      Side		      "Right"
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "R Ankle Angle"
	      Position		      [345, 283, 375, 297]
	      IconDisplay	      "Port number"
	      BusOutputAsStruct	      off
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "R Ankle Velocity"
	      Position		      [405, 303, 435, 317]
	      Port		      "2"
	      IconDisplay	      "Port number"
	      BusOutputAsStruct	      off
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "R Ankle Joint"
	      SrcPort		      RConn2
	      Points		      [0, -60]
	      DstBlock		      "R Knee Actuator1"
	      DstPort		      RConn1
	    }
	    Line {
	      SrcBlock		      "R Ankle Torque"
	      SrcPort		      1
	      DstBlock		      "R Knee Actuator1"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "R Ankle Sensor"
	      SrcPort		      2
	      DstBlock		      "R Ankle Velocity"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "R Ankle Sensor"
	      SrcPort		      1
	      DstBlock		      "R Ankle Angle"
	      DstPort		      1
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "Conn1"
	      SrcPort		      RConn1
	      DstBlock		      "R Ankle Joint"
	      DstPort		      RConn1
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "R Ankle Sensor"
	      SrcPort		      LConn1
	      Points		      [-155, 0; 0, -65]
	      DstBlock		      "R Ankle Joint"
	      DstPort		      LConn2
	    }
	    Line {
	      LineType		      "Connection"
	      SrcBlock		      "Ground"
	      SrcPort		      RConn1
	      DstBlock		      "R Ankle Joint"
	      DstPort		      LConn1
	    }
	  }
	}
	Block {
	  BlockType		  Reference
	  Name			  "Torso"
	  Ports			  [0, 0, 0, 0, 0, 1, 2]
	  Position		  [645, 67, 725, 123]
	  ForegroundColor	  "red"
	  DialogController	  "MECH.DynMechDlgSource"
	  SourceBlock		  "mblibv1/Bodies/Body"
	  SourceType		  "msb"
	  PhysicalDomain	  "mechanical"
	  SubClassName		  "Unknown"
	  LeftPortType		  "workingframe"
	  RightPortType		  "workingframe"
	  LConnTagsString	  "CS1"
	  RConnTagsString	  "CS2|CS3"
	  ClassName		  "Body"
	  DialogClass		  "MechanicalBodyBlock"
	  Mass			  "50"
	  MassUnits		  "kg"
	  InertiaUnits		  "kg*m^2"
	  Inertia		  "[1.5 0 0;0 1.5 0;0 0 1.5]"
	  Shape			  "Cylinder"
	  ShapeDims		  "[1 1]"
	  ShapeUnits		  "m"
	  ShapeUse		  "false"
	  Density		  "1"
	  DensityUnits		  "kg/m^3"
	  DensityUse		  "false"
	  CG			  "Left$CG$[0 1.0596 0]$World$World$m$[0 0 0]$"
"Euler X-Y-Z$deg$WORLD$false"
	  WorkingFrames		  "Right$CS2$[0 1.5728 0]$World$World$m$[0 0 0"
"]$Euler X-Y-Z$deg$WORLD$true#Right$CS3$[0 .7728 0]$World$World$m$[0 0 0]$Eule"
"r X-Y-Z$deg$WORLD$true#Left$CS1$[0 .7728 0]$World$World$m$[0 0 0]$Euler X-Y-Z"
"$deg$WORLD$true"
	  CGPos			  "[0 1.0596 0]"
	  CGRot			  "[0 0 0]"
	  CS0Pos		  "[]"
	  CS0Rot		  "[]"
	  CS1Pos		  "[0 .7728 0]"
	  CS1Rot		  "[0 0 0]"
	  CS2Pos		  "[0 1.5728 0]"
	  CS2Rot		  "[0 0 0]"
	  CS3Pos		  "[0 .7728 0]"
	  CS3Rot		  "[0 0 0]"
	  CS4Pos		  "[]"
	  CS4Rot		  "[]"
	  CS5Pos		  "[]"
	  CS5Rot		  "[]"
	  CS6Pos		  "[]"
	  CS6Rot		  "[]"
	  CS7Pos		  "[]"
	  CS7Rot		  "[]"
	  CS8Pos		  "[]"
	  CS8Rot		  "[]"
	  CS9Pos		  "[]"
	  CS9Rot		  "[]"
	  CS10Pos		  "[]"
	  CS10Rot		  "[]"
	  CS11Pos		  "[]"
	  CS11Rot		  "[]"
	  CS12Pos		  "[]"
	  CS12Rot		  "[]"
	  CS13Pos		  "[]"
	  CS13Rot		  "[]"
	  CS14Pos		  "[]"
	  CS14Rot		  "[]"
	  CS15Pos		  "[]"
	  CS15Rot		  "[]"
	  CS16Pos		  "[]"
	  CS16Rot		  "[]"
	  CS17Pos		  "[]"
	  CS17Rot		  "[]"
	  CS18Pos		  "[]"
	  CS18Rot		  "[]"
	  CS19Pos		  "[]"
	  CS19Rot		  "[]"
	  CS20Pos		  "[]"
	  CS20Rot		  "[]"
	}
	Block {
	  BlockType		  Outport
	  Name			  "L Ankle Angle"
	  Position		  [325, 678, 355, 692]
	  NamePlacement		  "alternate"
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	}
	Block {
	  BlockType		  Outport
	  Name			  "L Ankle Velocity"
	  Position		  [325, 708, 355, 722]
	  NamePlacement		  "alternate"
	  Port			  "2"
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	}
	Block {
	  BlockType		  Outport
	  Name			  "L Knee Angle"
	  Position		  [625, 418, 655, 432]
	  Port			  "3"
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	}
	Block {
	  BlockType		  Outport
	  Name			  "L Knee Velocity"
	  Position		  [625, 448, 655, 462]
	  Port			  "4"
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	}
	Block {
	  BlockType		  Outport
	  Name			  "L Hip Angle"
	  Position		  [540, 148, 570, 162]
	  Port			  "5"
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	}
	Block {
	  BlockType		  Outport
	  Name			  "L Hip Velocity"
	  Position		  [540, 178, 570, 192]
	  Port			  "6"
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	}
	Block {
	  BlockType		  Outport
	  Name			  "R Hip Angle"
	  Position		  [1115, 48, 1145, 62]
	  Port			  "7"
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	}
	Block {
	  BlockType		  Outport
	  Name			  "R Hip Velocity"
	  Position		  [1115, 78, 1145, 92]
	  Port			  "8"
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	}
	Block {
	  BlockType		  Outport
	  Name			  "R Knee Angle"
	  Position		  [1465, 293, 1495, 307]
	  Port			  "9"
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	}
	Block {
	  BlockType		  Outport
	  Name			  "R Knee Velocity"
	  Position		  [1470, 328, 1500, 342]
	  Port			  "10"
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	}
	Block {
	  BlockType		  Outport
	  Name			  "R Ankle Angle"
	  Position		  [1175, 553, 1205, 567]
	  Orientation		  "left"
	  NamePlacement		  "alternate"
	  Port			  "11"
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	}
	Block {
	  BlockType		  Outport
	  Name			  "R Ankle Velocity"
	  Position		  [1225, 588, 1255, 602]
	  Orientation		  "left"
	  NamePlacement		  "alternate"
	  Port			  "12"
	  IconDisplay		  "Port number"
	  BusOutputAsStruct	  off
	}
	Line {
	  LineType		  "Connection"
	  SrcBlock		  "L Thigh"
	  SrcPort		  RConn2
	  DstBlock		  "L Hip"
	  DstPort		  LConn1
	}
	Line {
	  LineType		  "Connection"
	  SrcBlock		  "L Hip"
	  SrcPort		  RConn1
	  Points		  [100, 0; 0, -120]
	  DstBlock		  "Torso"
	  DstPort		  LConn1
	}
	Line {
	  LineType		  "Connection"
	  SrcBlock		  "L Calf"
	  SrcPort		  RConn1
	  Points		  [0, -55]
	  DstBlock		  "L Knee"
	  DstPort		  LConn1
	}
	Line {
	  LineType		  "Connection"
	  SrcBlock		  "L Knee"
	  SrcPort		  RConn1
	  Points		  [125, 0; 0, -100]
	  DstBlock		  "L Thigh"
	  DstPort		  LConn1
	}
	Line {
	  LineType		  "Connection"
	  SrcBlock		  "L Calf"
	  SrcPort		  LConn1
	  Points		  [0, 100]
	  DstBlock		  "Left Ankle"
	  DstPort		  RConn1
	}
	Line {
	  LineType		  "Connection"
	  SrcBlock		  "R Calf"
	  SrcPort		  LConn2
	  Points		  [0, 30]
	  DstBlock		  "Right Ankle"
	  DstPort		  RConn1
	}
	Line {
	  LineType		  "Connection"
	  SrcBlock		  "R Hip"
	  SrcPort		  LConn1
	  DstBlock		  "Torso"
	  DstPort		  RConn2
	}
	Line {
	  LineType		  "Connection"
	  SrcBlock		  "R Hip"
	  SrcPort		  RConn1
	  Points		  [55, 0]
	  DstBlock		  "R Thigh"
	  DstPort		  RConn1
	}
	Line {
	  LineType		  "Connection"
	  SrcBlock		  "R Thigh"
	  SrcPort		  LConn1
	  Points		  [0, 110]
	  DstBlock		  "R Knee"
	  DstPort		  LConn1
	}
	Line {
	  LineType		  "Connection"
	  SrcBlock		  "R Knee"
	  SrcPort		  RConn1
	  Points		  [20, 0; 0, 55; -385, 0]
	  DstBlock		  "R Calf"
	  DstPort		  RConn1
	}
	Line {
	  SrcBlock		  "Left Ankle"
	  SrcPort		  1
	  DstBlock		  "L Ankle Angle"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Left Ankle"
	  SrcPort		  2
	  DstBlock		  "L Ankle Velocity"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "L Ankle Torque"
	  SrcPort		  1
	  DstBlock		  "Left Ankle"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "L Knee"
	  SrcPort		  1
	  DstBlock		  "L Knee Angle"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "L Knee"
	  SrcPort		  2
	  DstBlock		  "L Knee Velocity"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "L Knee Torque"
	  SrcPort		  1
	  DstBlock		  "L Knee"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "L Hip Torque"
	  SrcPort		  1
	  DstBlock		  "L Hip"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "L Hip"
	  SrcPort		  1
	  DstBlock		  "L Hip Angle"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "L Hip"
	  SrcPort		  2
	  DstBlock		  "L Hip Velocity"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "R Hip Torque"
	  SrcPort		  1
	  DstBlock		  "R Hip"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "R Hip"
	  SrcPort		  1
	  DstBlock		  "R Hip Angle"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "R Hip"
	  SrcPort		  2
	  DstBlock		  "R Hip Velocity"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "R Knee Torque"
	  SrcPort		  1
	  DstBlock		  "R Knee"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "R Knee"
	  SrcPort		  1
	  DstBlock		  "R Knee Angle"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "R Knee"
	  SrcPort		  2
	  DstBlock		  "R Knee Velocity"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "R Ankle Torque"
	  SrcPort		  1
	  DstBlock		  "Right Ankle"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Right Ankle"
	  SrcPort		  1
	  DstBlock		  "R Ankle Angle"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Right Ankle"
	  SrcPort		  2
	  DstBlock		  "R Ankle Velocity"
	  DstPort		  1
	}
	Line {
	  LineType		  "Connection"
	  SrcBlock		  "L Calf"
	  SrcPort		  LConn2
	  Points		  [0, 35; 335, 0]
	  DstBlock		  "Ground Contact Force"
	  DstPort		  LConn1
	}
	Line {
	  LineType		  "Connection"
	  SrcBlock		  "L Thigh"
	  SrcPort		  RConn1
	  Points		  [-265, 0; 0, 530; 880, 0; 0, -85]
	  DstBlock		  "Ground Contact Force"
	  DstPort		  LConn6
	}
	Line {
	  LineType		  "Connection"
	  SrcBlock		  "Torso"
	  SrcPort		  RConn1
	  Points		  "[0, -30; -720, 0; 0, 765; 935, 0; 0, -105; "
"-90, 0]"
	  DstBlock		  "Ground Contact Force"
	  DstPort		  LConn5
	}
	Line {
	  LineType		  "Connection"
	  SrcBlock		  "Ground Contact Force"
	  SrcPort		  LConn4
	  Points		  "[0, -20; 140, 0; 0, 115; 640, 0; 0, -550; -"
"530, 0]"
	  DstBlock		  "R Thigh"
	  DstPort		  LConn2
	}
	Line {
	  LineType		  "Connection"
	  SrcBlock		  "Ground Contact Force"
	  SrcPort		  LConn3
	  Points		  [0, -30; 230, 0]
	  DstBlock		  "R Calf"
	  DstPort		  LConn1
	}
	Line {
	  LineType		  "Connection"
	  SrcBlock		  "Ground Contact Force"
	  SrcPort		  LConn2
	  Points		  [0, -195; -360, 0]
	  DstBlock		  "L Calf"
	  DstPort		  RConn2
	}
      }
    }
    Block {
      BlockType		      Clock
      Name		      "Clock"
      Position		      [950, 325, 970, 345]
      Decimation	      "10"
    }
    Block {
      BlockType		      Clock
      Name		      "Clock1"
      Position		      [730, 465, 750, 485]
      Orientation	      "left"
      Decimation	      "10"
    }
    Block {
      BlockType		      Clock
      Name		      "Clock2"
      Position		      [305, 285, 325, 305]
      Orientation	      "left"
      Decimation	      "10"
    }
    Block {
      BlockType		      Clock
      Name		      "Clock3"
      Position		      [190, 455, 210, 475]
      Orientation	      "left"
      Decimation	      "10"
    }
    Block {
      BlockType		      Clock
      Name		      "Clock4"
      Position		      [770, 670, 790, 690]
      Orientation	      "left"
      Decimation	      "10"
    }
    Block {
      BlockType		      Clock
      Name		      "Clock5"
      Position		      [845, 605, 865, 625]
      Orientation	      "left"
      Decimation	      "10"
    }
    Block {
      BlockType		      Clock
      Name		      "Clock6"
      Position		      [550, 655, 570, 675]
      Orientation	      "left"
      Decimation	      "10"
    }
    Block {
      BlockType		      Constant
      Name		      "Constant1"
      Position		      [355, 310, 385, 340]
      Orientation	      "left"
      Value		      "[0,-15,-5]"
    }
    Block {
      BlockType		      Constant
      Name		      "Constant2"
      Position		      [740, 420, 770, 450]
      Orientation	      "left"
      Value		      "[0,-25,0]"
    }
    Block {
      BlockType		      Constant
      Name		      "Constant3"
      Position		      [915, 590, 945, 620]
      Orientation	      "left"
      Value		      "[0,0,0]"
    }
    Block {
      BlockType		      Constant
      Name		      "Constant4"
      Position		      [90, 285, 120, 315]
      Orientation	      "left"
      Value		      "[0,25,0]"
    }
    Block {
      BlockType		      Constant
      Name		      "Constant5"
      Position		      [95, 415, 125, 445]
      Orientation	      "down"
      NamePlacement	      "alternate"
      Value		      "[0,30,0]"
    }
    Block {
      BlockType		      Constant
      Name		      "Constant6"
      Position		      [780, 615, 810, 645]
      Orientation	      "left"
      Value		      "[0,-6,-1]"
    }
    Block {
      BlockType		      Demux
      Name		      "Demux"
      Ports		      [1, 3]
      Position		      [520, 455, 530, 525]
      Orientation	      "left"
      BackgroundColor	      "black"
      NamePlacement	      "alternate"
      ShowName		      off
      Outputs		      "3"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      Demux
      Name		      "Demux2"
      Ports		      [1, 3]
      Position		      [355, 425, 370, 475]
      BackgroundColor	      "black"
      NamePlacement	      "alternate"
      ShowName		      off
      Outputs		      "3"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      Gain
      Name		      "Gain"
      Position		      [790, 455, 820, 485]
      Orientation	      "left"
      NamePlacement	      "alternate"
      Gain		      "-K"
      Multiplication	      "Matrix(K*u)"
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Gain
      Name		      "Gain1"
      Position		      [825, 505, 855, 535]
      Orientation	      "left"
      NamePlacement	      "alternate"
      Gain		      "-K"
      Multiplication	      "Matrix(K*u)"
      ParameterDataTypeMode   "Inherit via internal rule"
      OutDataTypeMode	      "Inherit via internal rule"
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Mux
      Name		      "Mux"
      Ports		      [6, 1]
      Position		      [890, 53, 910, 237]
      ShowName		      off
      Inputs		      "6"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux1"
      Ports		      [6, 1]
      Position		      [960, 369, 980, 476]
      ShowName		      off
      Inputs		      "6"
    }
    Block {
      BlockType		      Saturate
      Name		      "Saturation"
      Position		      [420, 170, 450, 200]
      Orientation	      "up"
      NamePlacement	      "alternate"
      UpperLimit	      "74"
      LowerLimit	      "-74"
    }
    Block {
      BlockType		      Switch
      Name		      "Switch"
      Position		      [655, 460, 685, 490]
      Orientation	      "left"
      NamePlacement	      "alternate"
      Threshold		      "1"
      InputSameDT	      off
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Switch
      Name		      "Switch1"
      Position		      [215, 280, 245, 310]
      Orientation	      "left"
      Threshold		      "1.1"
      InputSameDT	      off
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Switch
      Name		      "Switch2"
      Position		      [730, 565, 760, 595]
      Orientation	      "left"
      NamePlacement	      "alternate"
      Threshold		      "1.2"
      InputSameDT	      off
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Switch
      Name		      "Switch3"
      Position		      [130, 355, 160, 385]
      Orientation	      "down"
      Threshold		      "6"
      InputSameDT	      off
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Switch
      Name		      "Switch4"
      Position		      [120, 485, 150, 515]
      Orientation	      "down"
      NamePlacement	      "alternate"
      Threshold		      "6.2"
      InputSameDT	      off
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Switch
      Name		      "Switch5"
      Position		      [670, 650, 700, 680]
      Orientation	      "left"
      Threshold		      "5"
      InputSameDT	      off
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Switch
      Name		      "Switch6"
      Position		      [465, 650, 495, 680]
      Orientation	      "left"
      NamePlacement	      "alternate"
      Threshold		      "6.1"
      InputSameDT	      off
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      Switch
      Name		      "Switch7"
      Position		      [220, 540, 250, 570]
      Orientation	      "down"
      NamePlacement	      "alternate"
      Threshold		      "6.22"
      InputSameDT	      off
      SaturateOnIntegerOverflow	off
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace"
      Position		      [1030, 220, 1090, 250]
      VariableName	      "Output"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace1"
      Position		      [1035, 320, 1095, 350]
      VariableName	      "time"
      MaxDataPoints	      "inf"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Line {
      SrcBlock		      "Biped Model"
      SrcPort		      1
      Points		      [0, 20]
      DstBlock		      "Mux"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Biped Model"
      SrcPort		      2
      Points		      [0, 20]
      DstBlock		      "Mux"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Biped Model"
      SrcPort		      3
      Points		      [0, 20]
      DstBlock		      "Mux"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Biped Model"
      SrcPort		      4
      Points		      [0, 20]
      DstBlock		      "Mux"
      DstPort		      4
    }
    Line {
      SrcBlock		      "Biped Model"
      SrcPort		      5
      Points		      [0, 20]
      DstBlock		      "Mux"
      DstPort		      5
    }
    Line {
      SrcBlock		      "Biped Model"
      SrcPort		      6
      Points		      [0, 20]
      DstBlock		      "Mux"
      DstPort		      6
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      Points		      [0, 90; 15, 0]
      Branch {
	DstBlock		"To Workspace"
	DstPort			1
      }
      Branch {
	Points			[0, 235]
	DstBlock		"Gain"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Clock"
      SrcPort		      1
      DstBlock		      "To Workspace1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      1
      Points		      [-80, 0]
      DstBlock		      "Saturation"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mux1"
      SrcPort		      1
      Points		      [0, 95]
      DstBlock		      "Gain1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Biped Model"
      SrcPort		      11
      Points		      [135, 0]
      DstBlock		      "Mux1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Biped Model"
      SrcPort		      12
      Points		      [0, 20]
      DstBlock		      "Mux1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Biped Model"
      SrcPort		      9
      Points		      [50, 0; 0, 125]
      DstBlock		      "Mux1"
      DstPort		      3
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