% Simscape(TM) Multibody(TM) version: 7.1

% This is a model data file derived from a Simscape Multibody Import XML file using the smimport function.
% The data in this file sets the block parameter values in an imported Simscape Multibody model.
% For more information on this file, see the smimport function help page in the Simscape Multibody documentation.
% You can modify numerical values, but avoid any other changes to this file.
% Do not add code to this file. Do not edit the physical units shown in comments.

%%%VariableName:smiData


%============= RigidTransform =============%

%Initialize the RigidTransform structure array by filling in null values.
smiData.RigidTransform(5).translation = [0.0 0.0 0.0];
smiData.RigidTransform(5).angle = 0.0;
smiData.RigidTransform(5).axis = [0.0 0.0 0.0];
smiData.RigidTransform(5).ID = '';

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(1).translation = [0 0 8.8817841970012523e-15];  % mm
smiData.RigidTransform(1).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(1).axis = [-0.57735026918962584 -0.57735026918962562 -0.57735026918962584];
smiData.RigidTransform(1).ID = 'B[motor_10_mm:1:-:motor:1]';

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(2).translation = [2.6669709045278871e-16 78.699999999999335 2.9189436784958046e-13];  % mm
smiData.RigidTransform(2).angle = 2.0943951023931944;  % rad
smiData.RigidTransform(2).axis = [-0.57735026918962529 -0.57735026918962484 -0.57735026918962706];
smiData.RigidTransform(2).ID = 'F[motor_10_mm:1:-:motor:1]';

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(3).translation = [0 -4.4408920985006262e-15 8.8817841970012523e-15];  % mm
smiData.RigidTransform(3).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(3).axis = [-0.57735026918962562 -0.57735026918962595 -0.57735026918962562];
smiData.RigidTransform(3).ID = 'B[motor:1:-:motor_case:1]';

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(4).translation = [-2.0272672429655411e-14 68.699999999999704 1.0993667359078946e-14];  % mm
smiData.RigidTransform(4).angle = 2.0943951023931975;  % rad
smiData.RigidTransform(4).axis = [0.57735026918962673 -0.57735026918962595 0.57735026918962473];
smiData.RigidTransform(4).ID = 'F[motor:1:-:motor_case:1]';

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(5).translation = [51.001688499803173 -35.348170827747808 -69.918954824840185];  % mm
smiData.RigidTransform(5).angle = 1.4207780799067006e-15;  % rad
smiData.RigidTransform(5).axis = [-0.98618283355632796 -0.054943525328095363 0.15628380537769329];
smiData.RigidTransform(5).ID = 'RootGround[motor_case:1]';


%============= Solid =============%
%Center of Mass (CoM) %Moments of Inertia (MoI) %Product of Inertia (PoI)

%Initialize the Solid structure array by filling in null values.
smiData.Solid(3).mass = 0.0;
smiData.Solid(3).CoM = [0.0 0.0 0.0];
smiData.Solid(3).MoI = [0.0 0.0 0.0];
smiData.Solid(3).PoI = [0.0 0.0 0.0];
smiData.Solid(3).color = [0.0 0.0 0.0];
smiData.Solid(3).opacity = 0.0;
smiData.Solid(3).ID = '';

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(1).mass = 0.35854580610881875;  % kg
smiData.Solid(1).CoM = [24.346758227900537 58.485232167672649 6.8146432770117331e-05];  % mm
smiData.Solid(1).MoI = [1077.7596174824309 534.0517448568645 643.49180683554209];  % kg*mm^2
smiData.Solid(1).PoI = [-0.0040121246672738756 -0.00025800614220415863 -33.638683314004261];  % kg*mm^2
smiData.Solid(1).color = [0 0.50196078431372548 1];
smiData.Solid(1).opacity = 1;
smiData.Solid(1).ID = 'motor_case.ipt_{26647895-47A6-9116-626C-4092FE10E826}';

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(2).mass = 0.26530096396507385;  % kg
smiData.Solid(2).CoM = [4.5938817097974596 -1.934914702470373 -0.00027433760470232786];  % mm
smiData.Solid(2).MoI = [398.24376222449354 101.23775643286609 421.65925685670845];  % kg*mm^2
smiData.Solid(2).PoI = [-0.0019771300770629625 -0.001568506513363134 33.105855116242324];  % kg*mm^2
smiData.Solid(2).color = [0.74901960784313726 0.74901960784313726 0.74901960784313726];
smiData.Solid(2).opacity = 1;
smiData.Solid(2).ID = 'motor.ipt_{BF83287C-4B3C-9460-89D0-D49CD9DD3329}';

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(3).mass = 0.0054821052888346837;  % kg
smiData.Solid(3).CoM = [-0.0011989865392541151 12.10494998702891 0.066530466714463693];  % mm
smiData.Solid(3).MoI = [0.42325682567940159 0.27327475179426136 0.42583240166963254];  % kg*mm^2
smiData.Solid(3).PoI = [-0.0011175617589239116 -1.3712625591418167e-05 2.4119154644580037e-05];  % kg*mm^2
smiData.Solid(3).color = [0 0.50196078431372548 1];
smiData.Solid(3).opacity = 1;
smiData.Solid(3).ID = 'motor_10_mm.ipt_{EBE1A410-4170-8198-FD3B-FBA1527ED16E}';


%============= Joint =============%
%X Revolute Primitive (Rx) %Y Revolute Primitive (Ry) %Z Revolute Primitive (Rz)
%X Prismatic Primitive (Px) %Y Prismatic Primitive (Py) %Z Prismatic Primitive (Pz) %Spherical Primitive (S)
%Constant Velocity Primitive (CV) %Lead Screw Primitive (LS)
%Position Target (Pos)

%Initialize the RevoluteJoint structure array by filling in null values.
smiData.RevoluteJoint(1).Rz.Pos = 0.0;
smiData.RevoluteJoint(1).ID = '';

smiData.RevoluteJoint(1).Rz.Pos = -1.4452356019797594;  % deg
smiData.RevoluteJoint(1).ID = '[motor_10_mm:1:-:motor:1]';

