function [system] = LoadStandingSystem(model, load_path)
    % Load the hybrid system model 
    
    if nargin < 2
        load_path = [];
    end
    
    doubleStance = sys.domains.DoubleStance(model, load_path);
%     rightStance = sys.domains.RightStance(model, load_path);
%     leftStance = sys.domains.LeftStance(model, load_path);
%     
%     
%     
%     leftImpact = RigidImpact('LeftImpact', rightStance, 'leftFootHeight'); % To leftStance
%     leftImpact.addImpactConstraint(struct2array(leftStance.HolonomicConstraints), load_path);
%     
%     rightImpact = RigidImpact('RightImpact', leftStance, 'rightFootHeight'); % To rightStance
%     rightImpact.addImpactConstraint(struct2array(rightStance.HolonomicConstraints), load_path);
%     
    io_control  = IOFeedback('IO');

    system = HybridSystem('atlas');
    system = addVertex(system, 'DoubleStance', 'Domain', doubleStance, ...
        'Control', io_control);
%     system = addVertex(system, 'RightStance', 'Domain', rightStance, ...
%         'Control', io_control);
%     system = addVertex(system, 'LeftStance', 'Domain', leftStance, ...
%         'Control', io_control);
% 
%     srcs = {'RightStance'
%         'LeftStance'};
% 
%     tars = {'LeftStance'
%         'RightStance'};
% 
%     system = addEdge(system, srcs, tars);
%     system = setEdgeProperties(system, srcs, tars, ...
%         'Guard', {leftImpact, rightImpact});
    
    
end

