Initial commit R2023b

mathworks · Dec 6, 2023 · 44d257e · 44d257e
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diff --git a/CAD/youBot.slx b/CAD/youBot.slx
diff --git a/CAD/youBot_damping.slx b/CAD/youBot_damping.slx
diff --git a/Libraries/CFL_Core/Libraries/Contact_Forces_Lib.slx b/Libraries/CFL_Core/Libraries/Contact_Forces_Lib.slx
diff --git a/Libraries/CFL_Core/Libraries/Extrusions/Extr_Data_Block_NotchCircle.m b/Libraries/CFL_Core/Libraries/Extrusions/Extr_Data_Block_NotchCircle.m
@@ -17,7 +17,7 @@
 %   add 'plot' as the final argument
 %   >> Extr_Data_Block_NotchCircle(2,1,0.7,45,0.2,'plot')
 
-% Copyright 2012-2022 The MathWorks, Inc.
+% Copyright 2012-2023 The MathWorks, Inc.
 
 % Default data to show diagram
 if (nargin == 0)

diff --git a/Libraries/CFL_Core/Libraries/Extrusions/Extr_Data_Box.m b/Libraries/CFL_Core/Libraries/Extrusions/Extr_Data_Box.m
@@ -16,7 +16,7 @@
 %   add 'plot' as the final argument
 %   >> Extr_Data_Box(10,5,'plot')
 
-% Copyright 2013-2022 The MathWorks, Inc.
+% Copyright 2013-2023 The MathWorks, Inc.
 
 % Default data to show diagram
 if (nargin == 0)

diff --git a/Libraries/CFL_Core/Libraries/Extrusions/Extr_Data_Cam_Circles.m b/Libraries/CFL_Core/Libraries/Extrusions/Extr_Data_Cam_Circles.m
@@ -19,7 +19,7 @@
 %   add 'plot' as the final argument
 %   >> Extr_Data_Cam_Circles(4,3,5,1,0,'plot')
 
-% Copyright 2012-2022 The MathWorks, Inc.
+% Copyright 2012-2023 The MathWorks, Inc.
 
 % Default data to show diagram
 if (nargin == 0)

diff --git a/Libraries/CFL_Core/Libraries/Extrusions/Extr_Data_Cam_Roller_Curve.m b/Libraries/CFL_Core/Libraries/Extrusions/Extr_Data_Cam_Roller_Curve.m
@@ -18,7 +18,7 @@
 %   add 'plot' as the final argument
 %   >> Extr_Data_Cam_Roller_Curve([sind(1:4:360)' 1.5*cosd(1:4:360)'],0.2,'Outside','plot')
 
-% Copyright 2017-2022 The MathWorks, Inc.
+% Copyright 2017-2023 The MathWorks, Inc.
 
 % Default data to show diagram
 if (nargin == 0)

diff --git a/Libraries/CFL_Core/Libraries/Extrusions/Extr_Data_Custom.m b/Libraries/CFL_Core/Libraries/Extrusions/Extr_Data_Custom.m
@@ -2,7 +2,7 @@ function Extr_Data_Custom(xy_data)
 %Extr_Data_Custom 	Plot custom extrusion data.
 %   This function plots x-y data for a custom extrusion.
 
-% Copyright 2012-2022 The MathWorks, Inc.
+% Copyright 2012-2023 The MathWorks, Inc.
 
 % Plot diagram to show parameters and extrusion
 

diff --git a/Libraries/CFL_Core/Libraries/Extrusions/Extr_Data_Ellipse.m b/Libraries/CFL_Core/Libraries/Extrusions/Extr_Data_Ellipse.m
@@ -17,7 +17,7 @@
 %   add 'plot' as the final argument
 %   >> Extr_Data_Ellipse(5,2,60,315,1,'plot')
 
-% Copyright 2012-2022 The MathWorks, Inc.
+% Copyright 2012-2023 The MathWorks, Inc.
 
 % Default data to show diagram
 if (nargin == 0)

diff --git a/Libraries/CFL_Core/Libraries/Extrusions/Extr_Data_Frustum_Conical.m b/Libraries/CFL_Core/Libraries/Extrusions/Extr_Data_Frustum_Conical.m
@@ -16,7 +16,7 @@
 %   add 'plot' as the final argument
 %   >> Extr_Data_Frustum_Conical(5,60,4,4,'plot')
 
-% Copyright 2017-2022 The MathWorks, Inc.
+% Copyright 2017-2023 The MathWorks, Inc.
 
 % Default data to show diagram
 showplot = 'n';

diff --git a/Libraries/CFL_Core/Libraries/Extrusions/Extr_Data_Link2Hole.m b/Libraries/CFL_Core/Libraries/Extrusions/Extr_Data_Link2Hole.m
@@ -15,7 +15,7 @@
 %   add 'plot' as the final argument
 %   >> Extr_Data_Link2Hole(10,5,2,'plot')
 
-% Copyright 2012-2022 The MathWorks, Inc.
+% Copyright 2012-2023 The MathWorks, Inc.
 
 % Default data to show diagram
 if (nargin == 0)

diff --git a/Libraries/CFL_Core/Libraries/Extrusions/Extr_Data_LinkHoles.m b/Libraries/CFL_Core/Libraries/Extrusions/Extr_Data_LinkHoles.m
@@ -17,7 +17,7 @@
 %   add 'plot' as the final argument
 %   >> Extr_Data_LinkHoles(10,5,1,3,'plot')
 %
-% Copyright 2014-2022 The MathWorks, Inc.
+% Copyright 2014-2023 The MathWorks, Inc.
 
 % Default data to show diagram
 if (nargin == 0)

diff --git a/Libraries/CFL_Core/Libraries/Extrusions/Extr_Data_Ring.m b/Libraries/CFL_Core/Libraries/Extrusions/Extr_Data_Ring.m
@@ -16,7 +16,7 @@
 %   add 'plot' as the final argument
 %   >> Extr_Data_Ring(10,5,45,315,'plot')
 
-% Copyright 2012-2022 The MathWorks, Inc.
+% Copyright 2012-2023 The MathWorks, Inc.
 
 % Default data to show diagram
 if (nargin == 0)

diff --git a/Libraries/CFL_Core/Libraries/Extrusions/Extr_Data_TriangleRounded_Holes.m b/Libraries/CFL_Core/Libraries/Extrusions/Extr_Data_TriangleRounded_Holes.m
@@ -19,7 +19,7 @@
 %   add 'plot' as the final argument
 %   >> Extr_Data_TriangleRounded_Holes(6,4,0.33,1,2,'plot')
 %
-% Copyright 2014-2022 The MathWorks, Inc.
+% Copyright 2014-2023 The MathWorks, Inc.
 
 % Default data to show diagram
 if (nargin == 0)

diff --git a/Libraries/CFL_Core/Libraries/Help/Box_to_Belt_Contact.m b/Libraries/CFL_Core/Libraries/Help/Box_to_Belt_Contact.m
@@ -6,7 +6,7 @@
 % 
 % This is part of the <matlab:web('Contact_Forces_Demo_Script.html'); Simscape Multibody Contact Forces Library>
 %
-% Copyright 2014-2022 The MathWorks, Inc.
+% Copyright 2014-2023 The MathWorks, Inc.
 
 
 

diff --git a/Libraries/CFL_Core/Libraries/Help/Box_to_Box_Contact.m b/Libraries/CFL_Core/Libraries/Help/Box_to_Box_Contact.m
@@ -4,7 +4,7 @@
 % 
 % This is part of the <matlab:web('Contact_Forces_Demo_Script.html'); Simscape Multibody Contact Forces Library>
 %
-% Copyright 2014-2022 The MathWorks, Inc.
+% Copyright 2014-2023 The MathWorks, Inc.
 
 
 

diff --git a/Libraries/CFL_Core/Libraries/Help/Box_to_Box_Contact_Forces_BoxB_Corners.m b/Libraries/CFL_Core/Libraries/Help/Box_to_Box_Contact_Forces_BoxB_Corners.m
@@ -5,7 +5,7 @@
 % 
 % This is part of the <matlab:web('Contact_Forces_Demo_Script.html'); Simscape Multibody Contact Forces Library>
 %
-% Copyright 2014-2022 The MathWorks, Inc.
+% Copyright 2014-2023 The MathWorks, Inc.
 
 
 

diff --git a/Libraries/CFL_Core/Libraries/Help/Box_to_Box_Contact_Forces_BoxF_Corners.m b/Libraries/CFL_Core/Libraries/Help/Box_to_Box_Contact_Forces_BoxF_Corners.m
@@ -5,7 +5,7 @@
 % 
 % This is part of the <matlab:web('Contact_Forces_Demo_Script.html'); Simscape Multibody Contact Forces Library>
 %
-% Copyright 2014-2022 The MathWorks, Inc.
+% Copyright 2014-2023 The MathWorks, Inc.
 
 
 

diff --git a/Libraries/CFL_Core/Libraries/Help/Circle_to_Circle_Contact.m b/Libraries/CFL_Core/Libraries/Help/Circle_to_Circle_Contact.m
@@ -5,7 +5,7 @@
 % 
 % This is part of the <matlab:web('Contact_Forces_Demo_Script.html'); Simscape Multibody Contact Forces Library>
 %
-% Copyright 2014-2022 The MathWorks, Inc.
+% Copyright 2014-2023 The MathWorks, Inc.
 
 
 

diff --git a/Libraries/CFL_Core/Libraries/Help/Circle_to_Finite_Line_Contact.m b/Libraries/CFL_Core/Libraries/Help/Circle_to_Finite_Line_Contact.m
@@ -5,7 +5,7 @@
 % 
 % This is part of the <matlab:web('Contact_Forces_Demo_Script.html'); Simscape Multibody Contact Forces Library>
 %
-% Copyright 2014-2022 The MathWorks, Inc.
+% Copyright 2014-2023 The MathWorks, Inc.
 
 
 

diff --git a/Libraries/CFL_Core/Libraries/Help/Circle_to_Ring_Contact.m b/Libraries/CFL_Core/Libraries/Help/Circle_to_Ring_Contact.m
@@ -5,7 +5,7 @@
 % 
 % This is part of the <matlab:web('Contact_Forces_Demo_Script.html'); Simscape Multibody Contact Forces Library>
 %
-% Copyright 2014-2022 The MathWorks, Inc.
+% Copyright 2014-2023 The MathWorks, Inc.
 
 
 

diff --git a/Libraries/CFL_Core/Libraries/Help/Contact_Forces_Library_Use.m b/Libraries/CFL_Core/Libraries/Help/Contact_Forces_Library_Use.m
@@ -1,6 +1,6 @@
 %% Using the Simscape Multibody Contact Forces Library
 % 
-% Copyright 2014-2022 The MathWorks, Inc.
+% Copyright 2014-2023 The MathWorks, Inc.
 
 
 

diff --git a/Libraries/CFL_Core/Libraries/Help/Face_to_Plane_Contact.m b/Libraries/CFL_Core/Libraries/Help/Face_to_Plane_Contact.m
@@ -7,7 +7,7 @@
 %
 % This is part of the <matlab:web('Contact_Forces_Demo_Script.html'); Simscape Multibody Contact Forces Library>
 %
-% Copyright 2014-2022 The MathWorks, Inc.
+% Copyright 2014-2023 The MathWorks, Inc.
 
 
 

diff --git a/Libraries/CFL_Core/Libraries/Help/Force_Laws.m b/Libraries/CFL_Core/Libraries/Help/Force_Laws.m
@@ -4,7 +4,7 @@
 % <matlab:web('Contact_Forces_Demo_Script.html'); Simscape Multibody
 % Contact Forces Library>.  It applies for 2D and 3D contact forces.
 %
-% Copyright 2014-2022 The MathWorks, Inc.
+% Copyright 2014-2023 The MathWorks, Inc.
 
 
 

diff --git a/Libraries/CFL_Core/Libraries/Help/Friction_Laws.m b/Libraries/CFL_Core/Libraries/Help/Friction_Laws.m
@@ -4,7 +4,7 @@
 % <matlab:web('Contact_Forces_Demo_Script.html'); Simscape Multibody
 % Contact Forces Library>.  It applies for 2D and 3D contact forces.
 %
-% Copyright 2014-2022 The MathWorks, Inc.
+% Copyright 2014-2023 The MathWorks, Inc.
 
 
 

diff --git a/Libraries/CFL_Core/Libraries/Help/Sphere_in_Sphere_Contact.m b/Libraries/CFL_Core/Libraries/Help/Sphere_in_Sphere_Contact.m
@@ -6,7 +6,7 @@
 %
 % This is part of the <matlab:web('Contact_Forces_Demo_Script.html'); Simscape Multibody Contact Forces Library>
 %
-% Copyright 2014-2022 The MathWorks, Inc.
+% Copyright 2014-2023 The MathWorks, Inc.
 
 
 

diff --git a/Libraries/CFL_Core/Libraries/Help/Sphere_to_Belt_Contact.m b/Libraries/CFL_Core/Libraries/Help/Sphere_to_Belt_Contact.m
@@ -6,7 +6,7 @@
 % 
 % This is part of the <matlab:web('Contact_Forces_Demo_Script.html'); Simscape Multibody Contact Forces Library>
 %
-% Copyright 2014-2022 The MathWorks, Inc.
+% Copyright 2014-2023 The MathWorks, Inc.
 
 
 

diff --git a/Libraries/CFL_Core/Libraries/Help/Sphere_to_Cone_Contact.m b/Libraries/CFL_Core/Libraries/Help/Sphere_to_Cone_Contact.m
@@ -5,7 +5,7 @@
 %
 % This is part of the <matlab:web('Contact_Forces_Demo_Script.html'); Simscape Multibody Contact Forces Library>
 %
-% Copyright 2014-2022 The MathWorks, Inc.
+% Copyright 2014-2023 The MathWorks, Inc.
 
 
 

diff --git a/Libraries/CFL_Core/Libraries/Help/Sphere_to_Plane_Contact.m b/Libraries/CFL_Core/Libraries/Help/Sphere_to_Plane_Contact.m
@@ -5,7 +5,7 @@
 % 
 % This is part of the <matlab:web('Contact_Forces_Demo_Script.html'); Simscape Multibody Contact Forces Library>
 %
-% Copyright 2014-2022 The MathWorks, Inc.
+% Copyright 2014-2023 The MathWorks, Inc.
 
 
 

diff --git a/Libraries/CFL_Core/Libraries/Help/Sphere_to_Sphere_Contact.m b/Libraries/CFL_Core/Libraries/Help/Sphere_to_Sphere_Contact.m
@@ -4,7 +4,7 @@
 % 
 % This is part of the <matlab:web('Contact_Forces_Demo_Script.html'); Simscape Multibody Contact Forces Library>
 %
-% Copyright 2014-2022 The MathWorks, Inc.
+% Copyright 2014-2023 The MathWorks, Inc.
 
 
 

diff --git a/Libraries/CFL_Core/Libraries/Help/Sphere_to_Tube_Contact.m b/Libraries/CFL_Core/Libraries/Help/Sphere_to_Tube_Contact.m
@@ -5,7 +5,7 @@
 % 
 % This is part of the <matlab:web('Contact_Forces_Demo_Script.html'); Simscape Multibody Contact Forces Library>
 %
-% Copyright 2014-2022 The MathWorks, Inc.
+% Copyright 2014-2023 The MathWorks, Inc.
 
 
 

diff --git a/Libraries/CFL_Core/Libraries/Help/html/Box_to_Belt_Contact.html b/Libraries/CFL_Core/Libraries/Help/html/Box_to_Belt_Contact.html
@@ -66,7 +66,7 @@
 
 
 
-  </style></head><body><div class="content"><h1>Box to Belt Contact Forces (2D)</h1><!--introduction--><p>This block models planar contact forces between a box and a conveyor belt.  The conveyor belt moves at the speed specified by the input signal in m/s.</p><p>This is part of the <a href="matlab:web('Contact_Forces_Demo_Script.html');">Simscape Multibody Contact Forces Library</a></p><!--/introduction--><p><img vspace="5" hspace="5" src="Box_to_Belt_Help_IMAGE.png" alt=""> </p><p>Frames connected to ports:</p><div><ol><li>Located at center of box and belt</li><li>Box and belt are in XY plane of frame</li></ol></div><p>Output signal is a bus with intermediate calculations and total force.</p><p class="footer">Copyright 2014-2022 The MathWorks, Inc.<br><a href="http://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2017a</a><br></p></div><!--
+  </style></head><body><div class="content"><h1>Box to Belt Contact Forces (2D)</h1><!--introduction--><p>This block models planar contact forces between a box and a conveyor belt.  The conveyor belt moves at the speed specified by the input signal in m/s.</p><p>This is part of the <a href="matlab:web('Contact_Forces_Demo_Script.html');">Simscape Multibody Contact Forces Library</a></p><!--/introduction--><p><img vspace="5" hspace="5" src="Box_to_Belt_Help_IMAGE.png" alt=""> </p><p>Frames connected to ports:</p><div><ol><li>Located at center of box and belt</li><li>Box and belt are in XY plane of frame</li></ol></div><p>Output signal is a bus with intermediate calculations and total force.</p><p class="footer">Copyright 2014-2023 The MathWorks, Inc.<br><a href="http://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2017a</a><br></p></div><!--
 ##### SOURCE BEGIN #####
 %% Box to Belt Contact Forces (2D)
 % 
@@ -76,7 +76,7 @@
 % 
 % This is part of the <matlab:web('Contact_Forces_Demo_Script.html'); Simscape Multibody Contact Forces Library>
 %
-% Copyright 2014-2022 The MathWorks, Inc.
+% Copyright 2014-2023 The MathWorks, Inc.
 
 
 

diff --git a/Libraries/CFL_Core/Libraries/Help/html/Box_to_Box_Contact.html b/Libraries/CFL_Core/Libraries/Help/html/Box_to_Box_Contact.html
@@ -66,15 +66,15 @@
 
 
 
-  </style></head><body><div class="content"><h1>Box to Box Contact Force (2D)</h1><!--introduction--><p>This subsystem models planar contact forces between two boxes.</p><p>This is part of the <a href="matlab:web('Contact_Forces_Demo_Script.html');">Simscape Multibody Contact Forces Library</a></p><!--/introduction--><p><img vspace="5" hspace="5" src="Box_to_Box_Contact_Forces_Help_IMAGE.png" alt=""> </p><p>Frames connected to ports:</p><div><ol><li>Located at center of boxes</li><li>Box is in XY plane of frame</li></ol></div><p>Output signal is a bus with intermediate calculations and total force.</p><p class="footer">Copyright 2014-2022 The MathWorks, Inc.<br><a href="http://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2017a</a><br></p></div><!--
+  </style></head><body><div class="content"><h1>Box to Box Contact Force (2D)</h1><!--introduction--><p>This subsystem models planar contact forces between two boxes.</p><p>This is part of the <a href="matlab:web('Contact_Forces_Demo_Script.html');">Simscape Multibody Contact Forces Library</a></p><!--/introduction--><p><img vspace="5" hspace="5" src="Box_to_Box_Contact_Forces_Help_IMAGE.png" alt=""> </p><p>Frames connected to ports:</p><div><ol><li>Located at center of boxes</li><li>Box is in XY plane of frame</li></ol></div><p>Output signal is a bus with intermediate calculations and total force.</p><p class="footer">Copyright 2014-2023 The MathWorks, Inc.<br><a href="http://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2017a</a><br></p></div><!--
 ##### SOURCE BEGIN #####
 %% Box to Box Contact Force (2D)
 % 
 % This subsystem models planar contact forces between two boxes. 
 % 
 % This is part of the <matlab:web('Contact_Forces_Demo_Script.html'); Simscape Multibody Contact Forces Library>
 %
-% Copyright 2014-2022 The MathWorks, Inc.
+% Copyright 2014-2023 The MathWorks, Inc.
 
 
 

diff --git a/Libraries/CFL_Core/Libraries/Help/html/Box_to_Box_Contact_Forces_BoxB_Corners.html b/Libraries/CFL_Core/Libraries/Help/html/Box_to_Box_Contact_Forces_BoxB_Corners.html
@@ -66,7 +66,7 @@
 
 
 
-  </style></head><body><div class="content"><h1>Box to Box Contact Force, Base Corners to Follower Faces (2D)</h1><!--introduction--><p>This subsystem models planar contact forces the corners of the Base box and the faces of the Follower Box. It is used within the <a href="matlab:web('Box_to_Box_Contact.html');">Box to Box Contact Force</a></p><p>This is part of the <a href="matlab:web('Contact_Forces_Demo_Script.html');">Simscape Multibody Contact Forces Library</a></p><!--/introduction--><p><img vspace="5" hspace="5" src="Box_to_Box_Contact_Forces_BoxB_Corners_Help_IMAGE.png" alt=""> </p><p>Frames connected to ports:</p><div><ol><li>Located at center of boxes</li><li>Box is in XY plane of frame</li></ol></div><p>Output signal is a bus with intermediate calculations and total force.</p><p class="footer">Copyright 2014-2022 The MathWorks, Inc.<br><a href="http://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2017a</a><br></p></div><!--
+  </style></head><body><div class="content"><h1>Box to Box Contact Force, Base Corners to Follower Faces (2D)</h1><!--introduction--><p>This subsystem models planar contact forces the corners of the Base box and the faces of the Follower Box. It is used within the <a href="matlab:web('Box_to_Box_Contact.html');">Box to Box Contact Force</a></p><p>This is part of the <a href="matlab:web('Contact_Forces_Demo_Script.html');">Simscape Multibody Contact Forces Library</a></p><!--/introduction--><p><img vspace="5" hspace="5" src="Box_to_Box_Contact_Forces_BoxB_Corners_Help_IMAGE.png" alt=""> </p><p>Frames connected to ports:</p><div><ol><li>Located at center of boxes</li><li>Box is in XY plane of frame</li></ol></div><p>Output signal is a bus with intermediate calculations and total force.</p><p class="footer">Copyright 2014-2023 The MathWorks, Inc.<br><a href="http://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2017a</a><br></p></div><!--
 ##### SOURCE BEGIN #####
 %% Box to Box Contact Force, Base Corners to Follower Faces (2D)
 % 
@@ -75,7 +75,7 @@
 % 
 % This is part of the <matlab:web('Contact_Forces_Demo_Script.html'); Simscape Multibody Contact Forces Library>
 %
-% Copyright 2014-2022 The MathWorks, Inc.
+% Copyright 2014-2023 The MathWorks, Inc.
 
 
 

diff --git a/Libraries/CFL_Core/Libraries/Help/html/Box_to_Box_Contact_Forces_BoxF_Corners.html b/Libraries/CFL_Core/Libraries/Help/html/Box_to_Box_Contact_Forces_BoxF_Corners.html
@@ -66,7 +66,7 @@
 
 
 
-  </style></head><body><div class="content"><h1>Box to Box Contact Force, Follower Corners to Base Faces (2D)</h1><!--introduction--><p>This subsystem models planar contact forces the corners of the Follower box and the faces of the Base Box. It is used within the <a href="matlab:web('Box_to_Box_Contact.html');">Box to Box Contact Force</a></p><p>This is part of the <a href="matlab:web('Contact_Forces_Demo_Script.html');">Simscape Multibody Contact Forces Library</a></p><!--/introduction--><p><img vspace="5" hspace="5" src="Box_to_Box_Contact_Forces_BoxF_Corners_Help_IMAGE.png" alt=""> </p><p>Frames connected to ports:</p><div><ol><li>Located at center of boxes</li><li>Box is in XY plane of frame</li></ol></div><p>Output signal is a bus with intermediate calculations and total force.</p><p class="footer">Copyright 2014-2022 The MathWorks, Inc.<br><a href="http://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2017a</a><br></p></div><!--
+  </style></head><body><div class="content"><h1>Box to Box Contact Force, Follower Corners to Base Faces (2D)</h1><!--introduction--><p>This subsystem models planar contact forces the corners of the Follower box and the faces of the Base Box. It is used within the <a href="matlab:web('Box_to_Box_Contact.html');">Box to Box Contact Force</a></p><p>This is part of the <a href="matlab:web('Contact_Forces_Demo_Script.html');">Simscape Multibody Contact Forces Library</a></p><!--/introduction--><p><img vspace="5" hspace="5" src="Box_to_Box_Contact_Forces_BoxF_Corners_Help_IMAGE.png" alt=""> </p><p>Frames connected to ports:</p><div><ol><li>Located at center of boxes</li><li>Box is in XY plane of frame</li></ol></div><p>Output signal is a bus with intermediate calculations and total force.</p><p class="footer">Copyright 2014-2023 The MathWorks, Inc.<br><a href="http://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2017a</a><br></p></div><!--
 ##### SOURCE BEGIN #####
 %% Box to Box Contact Force, Follower Corners to Base Faces (2D)
 % 
@@ -75,7 +75,7 @@
 % 
 % This is part of the <matlab:web('Contact_Forces_Demo_Script.html'); Simscape Multibody Contact Forces Library>
 %
-% Copyright 2014-2022 The MathWorks, Inc.
+% Copyright 2014-2023 The MathWorks, Inc.
 
 
 

diff --git a/Libraries/CFL_Core/Libraries/Help/html/Circle_to_Circle_Contact.html b/Libraries/CFL_Core/Libraries/Help/html/Circle_to_Circle_Contact.html
@@ -66,7 +66,7 @@
 
 
 
-  </style></head><body><div class="content"><h1>Circle to Circle Contact Force (2D)</h1><!--introduction--><p>This block implements a 2D contact force between two circles. It acts to repel frames CirB and CirF.</p><p>This is part of the <a href="matlab:web('Contact_Forces_Demo_Script.html');">Simscape Multibody Contact Forces Library</a></p><!--/introduction--><p><img vspace="5" hspace="5" src="Circle_to_Circle_Help_IMAGE.png" alt=""> </p><p>Frames connected to ports:</p><div><ol><li>Located at center of circle</li><li>Circle is in XY plane of frame</li><li>Active range: counter-clockwise from -x axis of CirB</li></ol></div><p>Output signal is a bus with intermediate calculations and total force.</p><p class="footer">Copyright 2014-2022 The MathWorks, Inc.<br><a href="http://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2017a</a><br></p></div><!--
+  </style></head><body><div class="content"><h1>Circle to Circle Contact Force (2D)</h1><!--introduction--><p>This block implements a 2D contact force between two circles. It acts to repel frames CirB and CirF.</p><p>This is part of the <a href="matlab:web('Contact_Forces_Demo_Script.html');">Simscape Multibody Contact Forces Library</a></p><!--/introduction--><p><img vspace="5" hspace="5" src="Circle_to_Circle_Help_IMAGE.png" alt=""> </p><p>Frames connected to ports:</p><div><ol><li>Located at center of circle</li><li>Circle is in XY plane of frame</li><li>Active range: counter-clockwise from -x axis of CirB</li></ol></div><p>Output signal is a bus with intermediate calculations and total force.</p><p class="footer">Copyright 2014-2023 The MathWorks, Inc.<br><a href="http://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2017a</a><br></p></div><!--
 ##### SOURCE BEGIN #####
 %% Circle to Circle Contact Force (2D)
 % 
@@ -75,7 +75,7 @@
 % 
 % This is part of the <matlab:web('Contact_Forces_Demo_Script.html'); Simscape Multibody Contact Forces Library>
 %
-% Copyright 2014-2022 The MathWorks, Inc.
+% Copyright 2014-2023 The MathWorks, Inc.
 
 
 

diff --git a/Libraries/CFL_Core/Libraries/Help/html/Circle_to_Finite_Line_Contact.html b/Libraries/CFL_Core/Libraries/Help/html/Circle_to_Finite_Line_Contact.html
@@ -66,7 +66,7 @@
 
 
 
-  </style></head><body><div class="content"><h1>Circle to Finite Line Contact Force (2D)</h1><!--introduction--><p>This block implements a 2D contact force between a circle and a finite line.  The force is active above and below the line.</p><p>This is part of the <a href="matlab:web('Contact_Forces_Demo_Script.html');">Simscape Multibody Contact Forces Library</a></p><!--/introduction--><p><img vspace="5" hspace="5" src="Circle_to_Finite_Line_Help_IMAGE.png" alt=""> </p><p>Frame connected to LinB port:</p><div><ol><li>Located at midpoint of line.</li><li>X-axis is normal to the finite line.</li><li>Y-axis is along the finite line.</li></ol></div><p>Frame connected to the CirF port:</p><div><ol><li>Z-axis aligned with frame attached to LinB port.</li></ol></div><p>Output signal is a bus with intermediate calculations and total force.</p><p class="footer">Copyright 2014-2022 The MathWorks, Inc.<br><a href="http://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2017a</a><br></p></div><!--
+  </style></head><body><div class="content"><h1>Circle to Finite Line Contact Force (2D)</h1><!--introduction--><p>This block implements a 2D contact force between a circle and a finite line.  The force is active above and below the line.</p><p>This is part of the <a href="matlab:web('Contact_Forces_Demo_Script.html');">Simscape Multibody Contact Forces Library</a></p><!--/introduction--><p><img vspace="5" hspace="5" src="Circle_to_Finite_Line_Help_IMAGE.png" alt=""> </p><p>Frame connected to LinB port:</p><div><ol><li>Located at midpoint of line.</li><li>X-axis is normal to the finite line.</li><li>Y-axis is along the finite line.</li></ol></div><p>Frame connected to the CirF port:</p><div><ol><li>Z-axis aligned with frame attached to LinB port.</li></ol></div><p>Output signal is a bus with intermediate calculations and total force.</p><p class="footer">Copyright 2014-2023 The MathWorks, Inc.<br><a href="http://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2017a</a><br></p></div><!--
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 %% Circle to Finite Line Contact Force (2D)
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 % 
 % This is part of the <matlab:web('Contact_Forces_Demo_Script.html'); Simscape Multibody Contact Forces Library>
 %
-% Copyright 2014-2022 The MathWorks, Inc.
+% Copyright 2014-2023 The MathWorks, Inc.