diff --git a/simscape_subsystems/nano_hexapod_D.slx b/simscape_subsystems/nano_hexapod_D.slx
index f29df82..45d54cf 100644
Binary files a/simscape_subsystems/nano_hexapod_D.slx and b/simscape_subsystems/nano_hexapod_D.slx differ
diff --git a/simscape_subsystems/nano_hexapod_F.slx b/simscape_subsystems/nano_hexapod_F.slx
index 5ba00b0..af52af7 100644
Binary files a/simscape_subsystems/nano_hexapod_F.slx and b/simscape_subsystems/nano_hexapod_F.slx differ
diff --git a/simscape_subsystems/nano_hexapod_fixed_base.slx b/simscape_subsystems/nano_hexapod_fixed_base.slx
new file mode 100644
index 0000000..21c3c81
Binary files /dev/null and b/simscape_subsystems/nano_hexapod_fixed_base.slx differ
diff --git a/simscape_subsystems/nano_hexapod_leg_rigid.slx b/simscape_subsystems/nano_hexapod_leg_rigid.slx
index 59b5341..68b4435 100644
Binary files a/simscape_subsystems/nano_hexapod_leg_rigid.slx and b/simscape_subsystems/nano_hexapod_leg_rigid.slx differ
diff --git a/simscape_subsystems/nano_hexapod_mobile_platform.slx b/simscape_subsystems/nano_hexapod_mobile_platform.slx
new file mode 100644
index 0000000..5b3385e
Binary files /dev/null and b/simscape_subsystems/nano_hexapod_mobile_platform.slx differ
diff --git a/simscape_subsystems/nano_hexapod_rigid.slx b/simscape_subsystems/nano_hexapod_rigid.slx
index 33a6251..a4c890c 100644
Binary files a/simscape_subsystems/nano_hexapod_rigid.slx and b/simscape_subsystems/nano_hexapod_rigid.slx differ
diff --git a/simscape_subsystems/nano_hexapod_rigid_simple.slx b/simscape_subsystems/nano_hexapod_rigid_simple.slx
index 3233c31..f71ff77 100644
Binary files a/simscape_subsystems/nano_hexapod_rigid_simple.slx and b/simscape_subsystems/nano_hexapod_rigid_simple.slx differ