G ports in simulink?

I am trying to implement a humanoid-type robot and need to model the contact forces between the ground and the robot feet. I found a video on youtube showing a solution using spheres and spatial contact forces at the corners of the feet to create the reaction and friction forces needed to walk but the model in the video has G-ports coming out of the ground rigid block and the Spherical solids. The lines are also dashed and not solid. What are G-ports and how are they created? I have attached a picture referencing what it is I am referring too.

Answer 1

[J Chen]

To get the G port: open the Spherical Solid block. Expand the Export under the Geometry and check the Entire Geometry box.