ADDED   mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_lbl.txt
Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_lbl.txt
==================================================================
--- /dev/null
+++ mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyc/TwoLinkxyc_lbl.txt
@@ -0,0 +1,57 @@
+%SUMMARY twolinkxyc: two-link manipulator with collocated tip source-sensors.
+%DESCRIPTION This is related to 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 except that the  collocated  source-sensors act at the
+%DESCRIPTION tip rather than at the joints.
+
+%% Label (twolinkxyc_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 - identical rods
+rod1	none	l;l;j;m;mg
+rod2	none	l;l;j;m;mg
+
+%Zero velocity sources
+v_x	internal	0
+
+
+%Zero force/torque sources
+F_a	0	internal
+
+
+%Torque at joints
+f_a1	0	internal
+f_a2	0	internal
+
+%Forces at tip
+F_x	external	external
+F_y	external	external
+
+
+%Gravity
+g
+