% Simscape(TM) Multibody(TM) version: 24.1 % 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(13).translation = [0.0 0.0 0.0]; smiData.RigidTransform(13).angle = 0.0; smiData.RigidTransform(13).axis = [0.0 0.0 0.0]; smiData.RigidTransform(13).ID = ""; %Translation Method - Cartesian %Rotation Method - Arbitrary Axis smiData.RigidTransform(1).translation = [75 118 0]; % mm smiData.RigidTransform(1).angle = 2.0943951023931953; % rad smiData.RigidTransform(1).axis = [0.57735026918962584 0.57735026918962584 0.57735026918962584]; smiData.RigidTransform(1).ID = "B[Part1-1:-:Part2-2]"; %Translation Method - Cartesian %Rotation Method - Arbitrary Axis smiData.RigidTransform(2).translation = [75.000000000001009 40.000000000000867 7.1054273576010019e-14]; % mm smiData.RigidTransform(2).angle = 2.0943951023931953; % rad smiData.RigidTransform(2).axis = [0.57735026918962584 0.57735026918962584 0.57735026918962584]; smiData.RigidTransform(2).ID = "F[Part1-1:-:Part2-2]"; %Translation Method - Cartesian %Rotation Method - Arbitrary Axis smiData.RigidTransform(3).translation = [0 -20 0]; % mm smiData.RigidTransform(3).angle = 2.0943951023931953; % rad smiData.RigidTransform(3).axis = [0.57735026918962584 -0.57735026918962584 0.57735026918962584]; smiData.RigidTransform(3).ID = "B[Part1-1:-:Part6-1]"; %Translation Method - Cartesian %Rotation Method - Arbitrary Axis smiData.RigidTransform(4).translation = [-2.8751969826412148e-15 17.000000000000007 -3.296202164021464e-16]; % mm smiData.RigidTransform(4).angle = 2.0943951023931957; % rad smiData.RigidTransform(4).axis = [0.57735026918962584 -0.57735026918962573 0.57735026918962573]; smiData.RigidTransform(4).ID = "F[Part1-1:-:Part6-1]"; %Translation Method - Cartesian %Rotation Method - Arbitrary Axis smiData.RigidTransform(5).translation = [50.999999999999993 350.00000000000006 0]; % mm smiData.RigidTransform(5).angle = 2.0943951023931957; % rad smiData.RigidTransform(5).axis = [0.57735026918962584 0.57735026918962573 0.57735026918962573]; smiData.RigidTransform(5).ID = "B[Part2-2:-:Part3-1]"; %Translation Method - Cartesian %Rotation Method - Arbitrary Axis smiData.RigidTransform(6).translation = [25.000000000004391 91.999999999999375 -29.99999999999595]; % mm smiData.RigidTransform(6).angle = 2.0943951023931957; % rad smiData.RigidTransform(6).axis = [-0.57735026918962595 -0.57735026918962573 -0.57735026918962551]; smiData.RigidTransform(6).ID = "F[Part2-2:-:Part3-1]"; %Translation Method - Cartesian %Rotation Method - Arbitrary Axis smiData.RigidTransform(7).translation = [184.99999999999991 40.999999999999993 -89.999999999999972]; % mm smiData.RigidTransform(7).angle = 2.0943951023931957; % rad smiData.RigidTransform(7).axis = [-0.57735026918962584 -0.57735026918962584 0.57735026918962562]; smiData.RigidTransform(7).ID = "B[Part3-1:-:Part4-1]"; %Translation Method - Cartesian %Rotation Method - Arbitrary Axis smiData.RigidTransform(8).translation = [-6.3948846218409017e-14 -13.499999999999979 6.0396132539608516e-14]; % mm smiData.RigidTransform(8).angle = 2.0943951023931953; % rad smiData.RigidTransform(8).axis = [-0.57735026918962562 -0.57735026918962595 -0.57735026918962562]; smiData.RigidTransform(8).ID = "F[Part3-1:-:Part4-1]"; %Translation Method - Cartesian %Rotation Method - Arbitrary Axis smiData.RigidTransform(9).translation = [0 -120.00000000000003 40.999999999999979]; % mm smiData.RigidTransform(9).angle = 0; % rad smiData.RigidTransform(9).axis = [0 0 0]; smiData.RigidTransform(9).ID = "B[Part4-1:-:Part5-1]"; %Translation Method - Cartesian %Rotation Method - Arbitrary Axis smiData.RigidTransform(10).translation = [3.5527136788005009e-15 20.000000000000014 41.000000000000114]; % mm smiData.RigidTransform(10).angle = 8.8441129854381473e-17; % rad smiData.RigidTransform(10).axis = [-0.91390198232176745 -0.40593492915533153 1.6405154625126646e-17]; smiData.RigidTransform(10).ID = "F[Part4-1:-:Part5-1]"; %Translation Method - Cartesian %Rotation Method - Arbitrary Axis smiData.RigidTransform(11).translation = [0 130.00000000000003 0]; % mm smiData.RigidTransform(11).angle = 2.0943951023931953; % rad smiData.RigidTransform(11).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584]; smiData.RigidTransform(11).ID = "B[Part5-1:-:endeff-1]"; %Translation Method - Cartesian %Rotation Method - Arbitrary Axis smiData.RigidTransform(12).translation = [-6.3948846218409017e-13 25.000000000000622 34.999999999999844]; % mm smiData.RigidTransform(12).angle = 3.1415926535897909; % rad smiData.RigidTransform(12).axis = [1 4.9648118886361412e-32 3.9562974184758634e-17]; smiData.RigidTransform(12).ID = "F[Part5-1:-:endeff-1]"; %Translation Method - Cartesian %Rotation Method - Arbitrary Axis smiData.RigidTransform(13).translation = [0 0 0]; % mm smiData.RigidTransform(13).angle = 0; % rad smiData.RigidTransform(13).axis = [0 0 0]; smiData.RigidTransform(13).ID = "RootGround[Part6-1]"; %============= 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(7).mass = 0.0; smiData.Solid(7).CoM = [0.0 0.0 0.0]; smiData.Solid(7).MoI = [0.0 0.0 0.0]; smiData.Solid(7).PoI = [0.0 0.0 0.0]; smiData.Solid(7).color = [0.0 0.0 0.0]; smiData.Solid(7).opacity = 0.0; smiData.Solid(7).ID = ""; %Inertia Type - Custom %Visual Properties - Simple smiData.Solid(1).mass = 0.67439399486253959; % kg smiData.Solid(1).CoM = [0 61.005720294764231 0]; % mm smiData.Solid(1).MoI = [1101.39548973004 627.49253506761693 1186.4058245221549]; % kg*mm^2 smiData.Solid(1).PoI = [0 0 0]; % kg*mm^2 smiData.Solid(1).color = [0.792156862745098 0.81960784313725488 0.93333333333333335]; smiData.Solid(1).opacity = 1; smiData.Solid(1).ID = "Part5*:*Default"; %Inertia Type - Custom %Visual Properties - Simple smiData.Solid(2).mass = 0.62285410556128129; % kg smiData.Solid(2).CoM = [-0.00016723593567597464 32.101564133618453 3.234812767011968e-07]; % mm smiData.Solid(2).MoI = [3531.8428712368295 5034.003016900675 3996.1469289938859]; % kg*mm^2 smiData.Solid(2).PoI = [2.7451171043934451e-06 -2.1964307244155057e-05 0.011278945371573366]; % kg*mm^2 smiData.Solid(2).color = [0.792156862745098 0.81960784313725488 0.93333333333333335]; smiData.Solid(2).opacity = 1; smiData.Solid(2).ID = "Part1*:*Default"; %Inertia Type - Custom %Visual Properties - Simple smiData.Solid(3).mass = 1.5104271956898518; % kg smiData.Solid(3).CoM = [59.771856235652656 40.999997887296196 -81.382687363282074]; % mm smiData.Solid(3).MoI = [2315.6668164974994 6162.2317958192825 5532.7876270343286]; % kg*mm^2 smiData.Solid(3).PoI = [0.00014695443055660838 452.58511868552978 -0.00054850318412456584]; % kg*mm^2 smiData.Solid(3).color = [0.792156862745098 0.81960784313725488 0.93333333333333335]; smiData.Solid(3).opacity = 1; smiData.Solid(3).ID = "Part3*:*Default"; %Inertia Type - Custom %Visual Properties - Simple smiData.Solid(4).mass = 0.38774100078751123; % kg smiData.Solid(4).CoM = [0 -37.095364558529745 0]; % mm smiData.Solid(4).MoI = [688.3071421620632 483.49901924073487 616.90625153416158]; % kg*mm^2 smiData.Solid(4).PoI = [0 5.684412482497774e-05 0]; % kg*mm^2 smiData.Solid(4).color = [0.792156862745098 0.81960784313725488 0.93333333333333335]; smiData.Solid(4).opacity = 1; smiData.Solid(4).ID = "Part4*:*Default"; %Inertia Type - Custom %Visual Properties - Simple smiData.Solid(5).mass = 2.6938088670202358; % kg smiData.Solid(5).CoM = [0 14.996717558487683 0]; % mm smiData.Solid(5).MoI = [20383.446706575043 40363.996217240812 20383.446706575047]; % kg*mm^2 smiData.Solid(5).PoI = [0 0 0]; % kg*mm^2 smiData.Solid(5).color = [0.792156862745098 0.81960784313725488 0.93333333333333335]; smiData.Solid(5).opacity = 1; smiData.Solid(5).ID = "Part6*:*Default"; %Inertia Type - Custom %Visual Properties - Simple smiData.Solid(6).mass = 2.659856105252477; % kg smiData.Solid(6).CoM = [0 134.04322902555614 0]; % mm smiData.Solid(6).MoI = [20140.272359275168 4698.3252067324247 20408.630105096719]; % kg*mm^2 smiData.Solid(6).PoI = [0 0 0]; % kg*mm^2 smiData.Solid(6).color = [0.792156862745098 0.81960784313725488 0.93333333333333335]; smiData.Solid(6).opacity = 1; smiData.Solid(6).ID = "Part2*:*Default"; %Inertia Type - Custom %Visual Properties - Simple smiData.Solid(7).mass = 0.12401825229575324; % kg smiData.Solid(7).CoM = [0 25 0]; % mm smiData.Solid(7).MoI = [51.877268580827362 51.877268580827369 52.080265371757562]; % kg*mm^2 smiData.Solid(7).PoI = [0 0 0]; % kg*mm^2 smiData.Solid(7).color = [0.792156862745098 0.81960784313725488 0.93333333333333335]; smiData.Solid(7).opacity = 1; smiData.Solid(7).ID = "endeff*:*Default"; %============= 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(6).Rz.Pos = 0.0; smiData.RevoluteJoint(6).ID = ""; smiData.RevoluteJoint(1).Rz.Pos = 10.451475829210002; % deg smiData.RevoluteJoint(1).ID = "[Part1-1:-:Part2-2]"; smiData.RevoluteJoint(2).Rz.Pos = 81.089395384599527; % deg smiData.RevoluteJoint(2).ID = "[Part1-1:-:Part6-1]"; smiData.RevoluteJoint(3).Rz.Pos = 132.74544196400097; % deg smiData.RevoluteJoint(3).ID = "[Part2-2:-:Part3-1]"; smiData.RevoluteJoint(4).Rz.Pos = -172.41747859154884; % deg smiData.RevoluteJoint(4).ID = "[Part3-1:-:Part4-1]"; smiData.RevoluteJoint(5).Rz.Pos = 147.88394908021928; % deg smiData.RevoluteJoint(5).ID = "[Part4-1:-:Part5-1]"; smiData.RevoluteJoint(6).Rz.Pos = -129.49240599732923; % deg smiData.RevoluteJoint(6).ID = "[Part5-1:-:endeff-1]";