That would depend on the logic you want to implement, but you could try one of these:
- [heel==1 & toe==1 | velocity>0]
- [(heel==1 toe==1) | velocity>0]
Alternatively, you can define your logic by using a transition path with multiple transitions joined by connective junctions. For more information, see https://www.mathworks.com/help/stateflow/ug/connective-junctions.html.