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 +1,48 @@
+%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"
+%DESCRIPTION Note that the rfe rep is not appropriate here - see 
+%DESCRIPTION twolinkM for more details
+
+%% Label (twolink_lbl.txt)
+
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% %% Version control history
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% %% $Id$
+% %% $Log$
+% %% 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 - identical rods
+rod1	none	l;l;j;m
+rod2	none	l;l;j;m
+
+%Zero velocity sources
+v_x	internal	0
+
+
+%Zero force/torque sources
+F_x	0	internal
+F_a	0	internal
+F_y	0	internal
+
+
+%Torque at joints
+f_a1	external external
+f_a2	external external
+
+
+%Gravity
+g

ADDED   mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/twolink_params.r
Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/twolink_params.r
==================================================================
--- /dev/null
+++ mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/twolink_params.r
@@ -0,0 +1,24 @@
+%% Parameter file for system twolink (twolink_params.r)
+%% This file provides symbolic parameters for simplification
+
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% %% Version control history
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% %% $Id$
+% %% $Log$
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+% Useful trig simplifications
+
+
+        trig1 := {cos(~x)*cos(~y) => (cos(x+y)+cos(x-y))/2,
+                  cos(~x)*sin(~y) => (sin(x+y)-sin(x-y))/2,
+                  sin(~x)*sin(~y) => (cos(x-y)-cos(x+y))/2,
+                  cos(~x)^2       => (1+cos(2*x))/2,
+                  sin(~x)^2       => (1-cos(2*x))/2};
+       LET trig1;
+
+% Some simplifications -- see book
+j := m*l*l/3;
+
+END;

ADDED   mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/twolink_simp.r
Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/twolink_simp.r
==================================================================
--- /dev/null
+++ mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/twolink_simp.r
@@ -0,0 +1,14 @@
+%% Reduce comands to simplify output for system twolink (twolink_simp.r)
+
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% %% Version control history
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% %% $Id$
+% %% $Log$
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+%simplify the output equations
+% Joint  angles
+mttx2 := theta_1;
+mttx4 := theta_1 + theta_2;
+END;

ADDED   mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/twolink_lbl.txt
Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/twolink_lbl.txt
==================================================================
--- /dev/null
+++ mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/twolink_lbl.txt
@@ -0,0 +1,48 @@
+%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"
+%DESCRIPTION Note that the rfe rep is not appropriate here - see 
+%DESCRIPTION twolinkM for more details
+
+%% Label (twolink_lbl.txt)
+
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% %% Version control history
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% %% $Id$
+% %% $Log$
+% %% 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 - identical rods
+rod1	none	l;l;j;m
+rod2	none	l;l;j;m
+
+%Zero velocity sources
+v_x	internal	0
+
+
+%Zero force/torque sources
+F_x	0	internal
+F_a	0	internal
+F_y	0	internal
+
+
+%Torque at joints
+f_a1	external external
+f_a2	external external
+
+
+%Gravity
+g

ADDED   mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/twolink_params.r
Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/twolink_params.r
==================================================================
--- /dev/null
+++ mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/twolink_params.r
@@ -0,0 +1,24 @@
+%% Parameter file for system twolink (twolink_params.r)
+%% This file provides symbolic parameters for simplification
+
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% %% Version control history
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% %% $Id$
+% %% $Log$
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+% Useful trig simplifications
+
+
+        trig1 := {cos(~x)*cos(~y) => (cos(x+y)+cos(x-y))/2,
+                  cos(~x)*sin(~y) => (sin(x+y)-sin(x-y))/2,
+                  sin(~x)*sin(~y) => (cos(x-y)-cos(x+y))/2,
+                  cos(~x)^2       => (1+cos(2*x))/2,
+                  sin(~x)^2       => (1-cos(2*x))/2};
+       LET trig1;
+
+% Some simplifications -- see book
+j := m*l*l/3;
+
+END;

ADDED   mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/twolink_simp.r
Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/twolink_simp.r
==================================================================
--- /dev/null
+++ mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/gTwoLink/twolink_simp.r
@@ -0,0 +1,14 @@
+%% Reduce comands to simplify output for system twolink (twolink_simp.r)
+
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% %% Version control history
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% %% $Id$
+% %% $Log$
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+%simplify the output equations
+% Joint  angles
+mttx2 := theta_1;
+mttx4 := theta_1 + theta_2;
+END;