Hello everybody, I'm building a model to simulate a robot's gait. The robot can actuate a joint by torque initially, and then actuate by a track, after a specific time. I wonder if there's a way to simulate this in Simulink. I tried if-else blocks with revolution joints which have different actuation type, but it raises error "Connections of the Physical Network cross nonvirtual boundaries." Rather, let's do this way: build a pendulum, give it sinusoidal motion actuation in time 0 to 3, and a constant torque in time 3 to 10.