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diff --git a/Models/Bouncing_Ball/sm_contact_ball.slx b/Models/Bouncing_Ball/sm_contact_ball.slx
diff --git a/Models/Contact_Pairs/sm_contact_pairs.slx b/Models/Contact_Pairs/sm_contact_pairs.slx
diff --git a/Models/Mesh_Grid/Overview/html/sm_membrane_ball.html b/Models/Mesh_Grid/Overview/html/sm_membrane_ball.html
@@ -0,0 +1,148 @@
+
+<!DOCTYPE html
+  PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
+<html><head>
+      <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+   <!--
+This HTML was auto-generated from MATLAB code.
+To make changes, update the MATLAB code and republish this document.
+      --><title>Ball on Grid Surface</title><meta name="generator" content="MATLAB 9.11"><link rel="schema.DC" href="http://purl.org/dc/elements/1.1/"><meta name="DC.date" content="2021-09-17"><meta name="DC.source" content="sm_membrane_ball.m"><style type="text/css">
+html,body,div,span,applet,object,iframe,h1,h2,h3,h4,h5,h6,p,blockquote,pre,a,abbr,acronym,address,big,cite,code,del,dfn,em,font,img,ins,kbd,q,s,samp,small,strike,strong,tt,var,b,u,i,center,dl,dt,dd,ol,ul,li,fieldset,form,label,legend,table,caption,tbody,tfoot,thead,tr,th,td{margin:0;padding:0;border:0;outline:0;font-size:100%;vertical-align:baseline;background:transparent}body{line-height:1}ol,ul{list-style:none}blockquote,q{quotes:none}blockquote:before,blockquote:after,q:before,q:after{content:'';content:none}:focus{outine:0}ins{text-decoration:none}del{text-decoration:line-through}table{border-collapse:collapse;border-spacing:0}
+
+html { min-height:100%; margin-bottom:1px; }
+html body { height:100%; margin:0px; font-family:Arial, Helvetica, sans-serif; font-size:10px; color:#000; line-height:140%; background:#fff none; overflow-y:scroll; }
+html body td { vertical-align:top; text-align:left; }
+
+h1 { padding:0px; margin:0px 0px 25px; font-family:Arial, Helvetica, sans-serif; font-size:1.5em; color:#d55000; line-height:100%; font-weight:normal; }
+h2 { padding:0px; margin:0px 0px 8px; font-family:Arial, Helvetica, sans-serif; font-size:1.2em; color:#000; font-weight:bold; line-height:140%; border-bottom:1px solid #d6d4d4; display:block; }
+h3 { padding:0px; margin:0px 0px 5px; font-family:Arial, Helvetica, sans-serif; font-size:1.1em; color:#000; font-weight:bold; line-height:140%; }
+
+a { color:#005fce; text-decoration:none; }
+a:hover { color:#005fce; text-decoration:underline; }
+a:visited { color:#004aa0; text-decoration:none; }
+
+p { padding:0px; margin:0px 0px 20px; }
+img { padding:0px; margin:0px 0px 20px; border:none; }
+p img, pre img, tt img, li img, h1 img, h2 img { margin-bottom:0px; }
+
+ul { padding:0px; margin:0px 0px 20px 23px; list-style:square; }
+ul li { padding:0px; margin:0px 0px 7px 0px; }
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+ul li ol li { list-style:decimal; }
+ol { padding:0px; margin:0px 0px 20px 0px; list-style:decimal; }
+ol li { padding:0px; margin:0px 0px 7px 23px; list-style-type:decimal; }
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+tt { font-size: 1.2em; }
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+pre.codeinput { padding:10px; border:1px solid #d3d3d3; background:#f7f7f7; }
+pre.codeoutput { padding:10px 11px; margin:0px 0px 20px; color:#4c4c4c; }
+pre.error { color:red; }
+
+@media print { pre.codeinput, pre.codeoutput { word-wrap:break-word; width:100%; } }
+
+span.keyword { color:#0000FF }
+span.comment { color:#228B22 }
+span.string { color:#A020F0 }
+span.untermstring { color:#B20000 }
+span.syscmd { color:#B28C00 }
+span.typesection { color:#A0522D }
+
+.footer { width:auto; padding:10px 0px; margin:25px 0px 0px; border-top:1px dotted #878787; font-size:0.8em; line-height:140%; font-style:italic; color:#878787; text-align:left; float:none; }
+.footer p { margin:0px; }
+.footer a { color:#878787; }
+.footer a:hover { color:#878787; text-decoration:underline; }
+.footer a:visited { color:#878787; }
+
+table th { padding:7px 5px; text-align:left; vertical-align:middle; border: 1px solid #d6d4d4; font-weight:bold; }
+table td { padding:7px 5px; text-align:left; vertical-align:top; border:1px solid #d6d4d4; }
+
+
+
+
+
+  </style></head><body><div class="content"><h1>Ball on Grid Surface</h1><!--introduction--><p>This example models contact between spheres and a grid surface.  The geometry of the sphere is modeled as a point cloud and the surface is modeled using the Grid Surface block.</p><!--/introduction--><h2>Contents</h2><div><ul><li><a href="#1">Model</a></li><li><a href="#3">Simulation Results from Simscape Logging: Membrane (1), 100 points</a></li><li><a href="#4">Simulation Results from Simscape Logging: Membrane (1), 200 points</a></li><li><a href="#5">Simulation Results from Simscape Logging: Membrane (6), 200 points</a></li><li><a href="#6">Simulation Results from Simscape Logging: Membrane (6), 200 points, Short Stem</a></li></ul></div><h2 id="1">Model</h2><img vspace="5" hspace="5" src="sm_membrane_ball_01.png" alt=""> <p><img vspace="5" hspace="5" src="sm_membrane_ball_mechExpAnim_membr1.png" alt=""> </p><h2 id="3">Simulation Results from Simscape Logging: Membrane (1), 100 points</h2><p>Plot ball velocities as the ball falls on the first eigenfunction of the L-shaped membrane.  100 points are used for the point cloud.</p><img vspace="5" hspace="5" src="sm_membrane_ball_02.png" alt=""> <h2 id="4">Simulation Results from Simscape Logging: Membrane (1), 200 points</h2><p>Plot ball velocities as the ball falls on the first eigenfunction of the L-shaped membrane.  100 points are used for the point cloud.</p><img vspace="5" hspace="5" src="sm_membrane_ball_03.png" alt=""> <h2 id="5">Simulation Results from Simscape Logging: Membrane (6), 200 points</h2><p>Plot ball velocities as the ball falls on the first eigenfunction of the L-shaped membrane.  100 points are used for the point cloud.</p><img vspace="5" hspace="5" src="sm_membrane_ball_04.png" alt=""> <h2 id="6">Simulation Results from Simscape Logging: Membrane (6), 200 points, Short Stem</h2><p>Plot ball velocities as the ball falls on the first eigenfunction of the L-shaped membrane.  100 points are used for the point cloud.</p><img vspace="5" hspace="5" src="sm_membrane_ball_05.png" alt=""> <p class="footer">Copyright 2021 The MathWorks, Inc.<br><a href="https://www.mathworks.com/products/matlab/">Published with MATLAB&reg; R2021b</a><br></p></div><!--
+##### SOURCE BEGIN #####
+%% Ball on Grid Surface
+% 
+% This example models contact between spheres and a grid surface.  The
+% geometry of the sphere is modeled as a point cloud and the surface is
+% modeled using the Grid Surface block.
+%
+% Copyright 2021 The MathWorks, Inc.
+
+
+
+%% Model
+
+open_system('sm_membrane_ball')
+
+set_param(find_system('sm_membrane_ball','FindAll', 'on','type','annotation','Tag','ModelFeatures'),'Interpreter','off')
+
+%%
+%
+% <<sm_membrane_ball_mechExpAnim_membr1.png>>
+%
+
+%% Simulation Results from Simscape Logging: Membrane (1), 100 points
+%
+% Plot ball velocities as the ball falls on the first eigenfunction of the
+% L-shaped membrane.  100 points are used for the point cloud.
+%
+
+[grid_x, grid_y, grid_h] = membrane_grid_params(1,[1 1 1]);
+sphere_ptcld  = Point_Cloud_Data_Sphere(sphere_radius,100);
+sim('sm_membrane_ball');
+sm_membrane_ball_plot1ballvel;
+
+%% Simulation Results from Simscape Logging: Membrane (1), 200 points
+%
+% Plot ball velocities as the ball falls on the first eigenfunction of the
+% L-shaped membrane.  100 points are used for the point cloud.
+%
+
+[grid_x, grid_y, grid_h] = membrane_grid_params(1,[1 1 1]);
+sphere_ptcld  = Point_Cloud_Data_Sphere(sphere_radius,200);
+sim('sm_membrane_ball');
+sm_membrane_ball_plot1ballvel;
+
+%% Simulation Results from Simscape Logging: Membrane (6), 200 points
+%
+% Plot ball velocities as the ball falls on the first eigenfunction of the
+% L-shaped membrane.  100 points are used for the point cloud.
+%
+
+[grid_x, grid_y, grid_h] = membrane_grid_params(6,[1 1 1]);
+sphere_ptcld  = Point_Cloud_Data_Sphere(sphere_radius,200);
+sim('sm_membrane_ball');
+sm_membrane_ball_plot1ballvel;
+
+%% Simulation Results from Simscape Logging: Membrane (6), 200 points, Short Stem
+%
+% Plot ball velocities as the ball falls on the first eigenfunction of the
+% L-shaped membrane.  100 points are used for the point cloud.
+%
+
+[grid_x, grid_y, grid_h] = membrane_grid_params(6,[1 1 1]);
+sphere_ptcld  = Point_Cloud_Data_Sphere(sphere_radius,200);
+stem_len = 0.2;
+[ptcld_stem, extr_data_stem] = stem_params(stem_len,stem_rmax,stem_rmin);
+
+sim('sm_membrane_ball');
+sm_membrane_ball_plot1ballvel;
+
+
+%%
+
+%clear all
+close all
+bdclose all
+
+##### SOURCE END #####
+--></body></html>
diff --git a/Models/Mesh_Grid/Overview/html/sm_membrane_ball.png b/Models/Mesh_Grid/Overview/html/sm_membrane_ball.png
diff --git a/Models/Mesh_Grid/Overview/html/sm_membrane_ball_01.png b/Models/Mesh_Grid/Overview/html/sm_membrane_ball_01.png
diff --git a/Models/Mesh_Grid/Overview/html/sm_membrane_ball_02.png b/Models/Mesh_Grid/Overview/html/sm_membrane_ball_02.png
diff --git a/Models/Mesh_Grid/Overview/html/sm_membrane_ball_03.png b/Models/Mesh_Grid/Overview/html/sm_membrane_ball_03.png
diff --git a/Models/Mesh_Grid/Overview/html/sm_membrane_ball_04.png b/Models/Mesh_Grid/Overview/html/sm_membrane_ball_04.png
diff --git a/Models/Mesh_Grid/Overview/html/sm_membrane_ball_05.png b/Models/Mesh_Grid/Overview/html/sm_membrane_ball_05.png
diff --git a/Models/Mesh_Grid/Overview/html/sm_membrane_ball_mechExpAnim_membr1.png b/Models/Mesh_Grid/Overview/html/sm_membrane_ball_mechExpAnim_membr1.png
diff --git a/Models/Mesh_Grid/Overview/sm_membrane_ball.m b/Models/Mesh_Grid/Overview/sm_membrane_ball.m
@@ -0,0 +1,74 @@
+%% Ball on Grid Surface
+% 
+% This example models contact between spheres and a grid surface.  The
+% geometry of the sphere is modeled as a point cloud and the surface is
+% modeled using the Grid Surface block.
+%
+% Copyright 2021 The MathWorks, Inc.
+
+
+
+%% Model
+
+open_system('sm_membrane_ball')
+
+set_param(find_system('sm_membrane_ball','FindAll', 'on','type','annotation','Tag','ModelFeatures'),'Interpreter','off')
+
+%%
+%
+% <<sm_membrane_ball_mechExpAnim_membr1.png>>
+%
+
+%% Simulation Results from Simscape Logging: Membrane (1), 100 points
+%
+% Plot ball velocities as the ball falls on the first eigenfunction of the
+% L-shaped membrane.  100 points are used for the point cloud.
+%
+
+[grid_x, grid_y, grid_h] = membrane_grid_params(1,[1 1 1]);
+sphere_ptcld  = Point_Cloud_Data_Sphere(sphere_radius,100);
+sim('sm_membrane_ball');
+sm_membrane_ball_plot1ballvel;
+
+%% Simulation Results from Simscape Logging: Membrane (1), 200 points
+%
+% Plot ball velocities as the ball falls on the first eigenfunction of the
+% L-shaped membrane.  100 points are used for the point cloud.
+%
+
+[grid_x, grid_y, grid_h] = membrane_grid_params(1,[1 1 1]);
+sphere_ptcld  = Point_Cloud_Data_Sphere(sphere_radius,200);
+sim('sm_membrane_ball');
+sm_membrane_ball_plot1ballvel;
+
+%% Simulation Results from Simscape Logging: Membrane (6), 200 points
+%
+% Plot ball velocities as the ball falls on the first eigenfunction of the
+% L-shaped membrane.  100 points are used for the point cloud.
+%
+
+[grid_x, grid_y, grid_h] = membrane_grid_params(6,[1 1 1]);
+sphere_ptcld  = Point_Cloud_Data_Sphere(sphere_radius,200);
+sim('sm_membrane_ball');
+sm_membrane_ball_plot1ballvel;
+
+%% Simulation Results from Simscape Logging: Membrane (6), 200 points, Short Stem
+%
+% Plot ball velocities as the ball falls on the first eigenfunction of the
+% L-shaped membrane.  100 points are used for the point cloud.
+%
+
+[grid_x, grid_y, grid_h] = membrane_grid_params(6,[1 1 1]);
+sphere_ptcld  = Point_Cloud_Data_Sphere(sphere_radius,200);
+stem_len = 0.2;
+[ptcld_stem, extr_data_stem] = stem_params(stem_len,stem_rmax,stem_rmin);
+
+sim('sm_membrane_ball');
+sm_membrane_ball_plot1ballvel;
+
+
+%%
+
+%clear all
+close all
+bdclose all
diff --git a/Models/Mesh_Grid/membrane_grid_params.m b/Models/Mesh_Grid/membrane_grid_params.m
@@ -0,0 +1,54 @@
+function [grid_x, grid_y, grid_h] = membrane_grid_params(K,scale_xyz,varargin)
+% Generate grid surface points from L-shaped membrane eigenfunctions.
+%
+% Copyright 2021 The MathWorks, Inc.
+
+% Default data to show diagram
+if (nargin == 0)
+    K=1;
+    scale_xyz = [1 1 1];
+    showplot = 'plot';
+end
+
+% Check if plot should be produced
+if (isempty(varargin))
+    showplot = 'n';
+else
+    showplot = varargin;
+end
+
+grid_h = membrane(K)*scale_xyz(3);
+grid_x = linspace(-1,1,size(grid_h,1))*scale_xyz(1);
+grid_y = linspace(-1,1,size(grid_h,2))*scale_xyz(2);
+
+% Plot diagram to show parameters and extrusion
+if (nargin == 0 || strcmpi(showplot,'plot'))
+
+    % Figure name
+    figString = ['h1_' mfilename];
+    % Only create a figure if no figure exists
+    figExist = 0;
+    fig_hExist = evalin('base',['exist(''' figString ''')']);
+    if (fig_hExist)
+        figExist = evalin('base',['ishandle(' figString ') && strcmp(get(' figString ', ''type''), ''figure'')']);
+    end
+    if ~figExist
+        fig_h = figure('Name',figString);
+        assignin('base',figString,fig_h);
+    else
+        fig_h = evalin('base',figString);
+    end
+    figure(fig_h)
+    clf(fig_h)
+
+    %temp_colororder = get(gca,'defaultAxesColorOrder');
+
+    surf(grid_x, grid_y, grid_h,'LineWidth',0.01,'EdgeColor',[0.6 0.6 0.6])
+    box on
+
+    title(['[grid\_x, grid\_y, grid\_h]  = membrane\_grid\_params(K, scale\_xyz);']);
+    hold off
+    box on
+    axis equal
+    grid off
+end
diff --git a/Models/Mesh_Grid/sm_membrane_ball.slx b/Models/Mesh_Grid/sm_membrane_ball.slx
diff --git a/Models/Mesh_Grid/sm_membrane_ball_params.m b/Models/Mesh_Grid/sm_membrane_ball_params.m
@@ -0,0 +1,27 @@
+% Load parameters for sm_membrane_ball
+% Copyright 2021 The MathWorks, Inc.
+
+% Contact parameters
+sph_mem_k     = 2e4;
+sph_mem_b     = 5e2;
+sph_mem_trs_w = 1e-4;
+
+% Define membrane
+[grid_x, grid_y, grid_h] = membrane_grid_params(1,[1 1 1]);
+
+% Define spheres
+sphere_radius = 0.1;
+sphere_ptcld  = Point_Cloud_Data_Sphere(sphere_radius,200);
+sphere_half_extr_data =[0 0;cos(0:pi/2/20:pi/2)' sin(0:pi/2/20:pi/2)']*sphere_radius;
+
+% Expression to only use points on half the sphere
+%sphere_ptcld_half = sphere_ptcld(sphere_ptcld(:,3)>0,:);
+
+% Parameters for stem
+stem_len  = 0.4;
+stem_rmax = sphere_radius;
+stem_rmin = 0.03;
+
+% Generate point cloud and extrusion for stem
+[ptcld_stem, extr_data_stem] = stem_params(stem_len,stem_rmax,stem_rmin);
+
diff --git a/Models/Mesh_Grid/sm_membrane_ball_plot1ballvel.m b/Models/Mesh_Grid/sm_membrane_ball_plot1ballvel.m
@@ -0,0 +1,57 @@
+% Code to plot simulation results from sm_membrane_ball
+%% Plot Description:
+%
+% Plot ball velocities as the ball falls on the first eigenfunction of the
+% L-shaped membrane.  100 points are used for the point cloud.
+%
+% Copyright 2021 The MathWorks, Inc.
+
+% Generate simulation results if they don't exist
+if ~exist('simlog_sm_membrane_ball', 'var')
+    sim('sm_membrane_ball')
+end
+
+% Reuse figure if it exists, else create new figure
+if ~exist('h1_sm_membrane_ball', 'var') || ...
+        ~isgraphics(h1_sm_membrane_ball, 'figure')
+    h1_sm_membrane_ball = figure('Name', 'sm_membrane_ball');
+end
+figure(h1_sm_membrane_ball)
+clf(h1_sm_membrane_ball)
+
+temp_colororder = get(gca,'defaultAxesColorOrder');
+
+% Get simulation results
+simlog_t   = simlog_sm_membrane_ball.Joint_Ball_1.Pz.v.series.time;
+simlog_b1z = simlog_sm_membrane_ball.Joint_Ball_1.Pz.v.series.values;
+simlog_b2z = simlog_sm_membrane_ball.Joint_Weight.Pz.v.series.values;
+simlog_b1x = simlog_sm_membrane_ball.Joint_Ball_1.Px.v.series.values;
+simlog_b2x = simlog_sm_membrane_ball.Joint_Weight.Px.v.series.values;
+
+% Plot results
+simlog_handles(1) = subplot(2, 1, 1);
+plot(simlog_t, simlog_b2z, 'LineWidth', 1,'DisplayName','Ball 1')
+hold on
+plot(simlog_t, simlog_b1z, 'LineWidth', 1,'DisplayName','Ball 2')
+hold off
+grid on
+title('Ball Vertical Velocity')
+ylabel('Velocity (m/s)')
+legend('Location','Best');
+
+simlog_handles(2) = subplot(2, 1, 2);
+plot(simlog_t, simlog_b2x, 'LineWidth', 1,'DisplayName','Ball 1')
+hold on
+plot(simlog_t, simlog_b1x, 'LineWidth', 1,'DisplayName','Ball 2')
+hold off
+grid on
+title('Ball Velocity Along Global X')
+ylabel('Velocity (m/s)')
+xlabel('Time (s)')
+
+linkaxes(simlog_handles, 'x')
+
+% Remove temporary variables
+clear simlog_t simlog_handles
+clear simlog_R1i simlog_C1v temp_colororder
+