ADDED   mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_input.txt
Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_input.txt
==================================================================
--- /dev/null
+++ mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_input.txt
@@ -0,0 +1,14 @@
+# Numerical parameter file (TwoLink_input.txt)
+# Generated by MTT at Fri Jun 13 16:56:09 BST 1997
+
+# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+# %% Version control history
+# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+# %% $Id$
+# %% $Log$
+# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+# Set the inputs
+u(1) =	(t<1.0);		# Torque on Joint 1
+u(2) =	-(t>10.0)&&(t<11.0);	# Torque on Joint 2
+u(3) =	0.0;			# Gravity

ADDED   mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_lbl.txt
Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_lbl.txt
==================================================================
--- /dev/null
+++ mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_lbl.txt
@@ -0,0 +1,52 @@
+%SUMMARY TwoLink: two-link manipulator from Section 10.5 of "Metamodelling"
+%DESCRIPTION This is a heirachical version of the 
+%DESCRIPTION example from Section 10.5 of "Metamodelling".
+%DESCRIPTION It uses two compound components: ROD and GRA
+%DESCRIPTION ROD is essentially as described in Figure 10.2
+%DESCRIPTION GRAV represents gravity by a vertical accelleration
+%DESCRIPTION as in Section 10.9 of "Metamodelling"
+
+
+%% Label (TwoLink_lbl.txt)
+
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% %% Version control history
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% %% $Id$
+% %% $Log$
+% %% Revision 1.2  1996/12/05  12:39:49  peterg
+% %% Documentation
+% %%
+% %% Revision 1.1  1996/12/05 12:17:15  peterg
+% %% Initial revision
+% %%
+% %% Revision 1.1  1996/11/14  10:48:42  peterg
+% %% Initial revision
+% %%
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+%% Each line should be of one of the following forms:
+%	a comment (ie starting with %)
+%	Component-name	CR_name	arg1,arg2,..argn
+%	blank
+
+%Rod parameters - uniform rods
+rod1	none	l_1;l_1;j_1;m_1
+rod2	none	l_2;l_2;j_2;m_2
+
+%Zero velocity sources
+v_x	internal	0
+v_y	internal	0
+
+
+%Zero force/torque sources
+F_x	0	internal
+F_a	0	internal
+F_y	0	internal
+
+
+%Torque/velocity at joints
+f_a1	external external
+f_a2	external external
+
+

ADDED   mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_numpar.txt
Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_numpar.txt
==================================================================
--- /dev/null
+++ mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_numpar.txt
@@ -0,0 +1,18 @@
+# Numerical parameter file (TwoLink_numpar.txt)
+# Generated by MTT at Mon Jan 19 13:53:15 GMT 1998
+
+# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+# %% Version control history
+# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+# %% $Id$
+# %% $Log$
+# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+# Parameters
+j_1 = 	1.0; # Parameter j_1 for TwoLink
+j_2 = 	1.0; # Parameter j_2 for TwoLink
+l_1 = 	1.0; # Parameter l_1 for TwoLink
+l_2 = 	1.0; # Parameter l_2 for TwoLink
+m_1 = 	1.0; # Parameter m_1 for TwoLink
+m_2 = 	1.0; # Parameter m_2 for TwoLink
+

ADDED   mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_simpar.txt
Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_simpar.txt
==================================================================
--- /dev/null
+++ mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_simpar.txt
@@ -0,0 +1,14 @@
+# Simulation parameters for system TwoLink (TwoLink_simpar.txt)
+# Generated by MTT on Mon Jul 27 08:16:50 BST 1998.
+###############################################################
+## Version control history
+###############################################################
+## $Id$
+## $Log$
+###############################################################
+
+
+LAST=50.0;
+DT=0.1;
+STEPFACTOR=10;
+METHOD="Euler";