% Simscape(TM) Multibody(TM) version: 4.9

% 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 = [-11.897715053763358 0 0];  % mm
smiData.RigidTransform(1).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(1).axis = [-0.57735026918962584 -0.57735026918962584 0.57735026918962584];
smiData.RigidTransform(1).ID = 'B[sphere-1:-:poignet-1]';

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(2).translation = [-3.5527136788005009e-14 -44.102284946236637 44.999999999999986];  % mm
smiData.RigidTransform(2).angle = 2.0943951023931962;  % rad
smiData.RigidTransform(2).axis = [-0.57735026918962595 -0.57735026918962551 -0.57735026918962573];
smiData.RigidTransform(2).ID = 'F[sphere-1:-:poignet-1]';

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(3).translation = [0 0 64];  % mm
smiData.RigidTransform(3).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(3).axis = [1 0 0];
smiData.RigidTransform(3).ID = 'B[chaise-1:-:bati-1]';

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(4).translation = [-1.9539337796459993e-14 -1.4210854715202004e-14 -64];  % mm
smiData.RigidTransform(4).angle = 8.1926097629661226e-16;  % rad
smiData.RigidTransform(4).axis = [-0.26003594872731878 -0.96559893608551739 1.028542976366455e-16];
smiData.RigidTransform(4).ID = 'F[chaise-1:-:bati-1]';

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(5).translation = [0 0 0];  % mm
smiData.RigidTransform(5).angle = 0;  % rad
smiData.RigidTransform(5).axis = [0 0 0];
smiData.RigidTransform(5).ID = 'B[bras-1:-:chaise-1]';

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(6).translation = [-7.5939254884360707e-14 57.999999999999886 353.00000000000006];  % mm
smiData.RigidTransform(6).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(6).axis = [0.57735026918962573 -0.57735026918962573 0.57735026918962562];
smiData.RigidTransform(6).ID = 'F[bras-1:-:chaise-1]';

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(7).translation = [0 0 0];  % mm
smiData.RigidTransform(7).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(7).axis = [-0.57735026918962584 -0.57735026918962584 0.57735026918962584];
smiData.RigidTransform(7).ID = 'B[bati-1:-:]';

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(8).translation = [-128.82954374505218 0 0];  % mm
smiData.RigidTransform(8).angle = 1.5707963267948966;  % rad
smiData.RigidTransform(8).axis = [-7.4146453600654953e-17 -1 -2.4027138372907887e-16];
smiData.RigidTransform(8).ID = 'F[bati-1:-:]';

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(9).translation = [210.71075268817202 0 48.000000000000014];  % mm
smiData.RigidTransform(9).angle = 0;  % rad
smiData.RigidTransform(9).axis = [0 0 0];
smiData.RigidTransform(9).ID = 'B[avant bras-1:-:poignet-1]';

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(10).translation = [5.5511151231257827e-17 -5.8023030824472244e-14 -6.9999999999999849];  % mm
smiData.RigidTransform(10).angle = 3.697832168482238e-17;  % rad
smiData.RigidTransform(10).axis = [-0.99762904276872533 -0.068820731065258489 1.2694206709095354e-18];
smiData.RigidTransform(10).ID = 'F[avant bras-1:-:poignet-1]';

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(11).translation = [281.99999999999994 0 0];  % mm
smiData.RigidTransform(11).angle = 0;  % rad
smiData.RigidTransform(11).axis = [0 0 0];
smiData.RigidTransform(11).ID = 'B[bras-1:-:avant bras-1]';

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(12).translation = [-106.78924731182805 2.7276599656876283e-14 37.000000000000028];  % mm
smiData.RigidTransform(12).angle = 1.2143064415319338e-16;  % rad
smiData.RigidTransform(12).axis = [0.0001172590734078054 0.99999999312515497 7.1194223594132731e-21];
smiData.RigidTransform(12).ID = 'F[bras-1:-:avant bras-1]';

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(13).translation = [-128.82954374505218 0 0];  % mm
smiData.RigidTransform(13).angle = 1.5707963267948968;  % rad
smiData.RigidTransform(13).axis = [1 -1.6652427572140261e-16 -1.3877787734828476e-16];
smiData.RigidTransform(13).ID = 'RootGround[bati-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(6).mass = 0.0;
smiData.Solid(6).CoM = [0.0 0.0 0.0];
smiData.Solid(6).MoI = [0.0 0.0 0.0];
smiData.Solid(6).PoI = [0.0 0.0 0.0];
smiData.Solid(6).color = [0.0 0.0 0.0];
smiData.Solid(6).opacity = 0.0;
smiData.Solid(6).ID = '';

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(1).mass = 5.5649661309075009;  % kg
smiData.Solid(1).CoM = [13.947329222260223 1.7221923273403454 73.969728157571168];  % mm
smiData.Solid(1).MoI = [30005.693205382941 151867.58537026582 143649.43768189158];  % kg*mm^2
smiData.Solid(1).PoI = [-810.55924681529882 -8858.7046326783766 -1392.2465229587115];  % kg*mm^2
smiData.Solid(1).color = [0.89803921568627454 0.91764705882352937 0.92941176470588238];
smiData.Solid(1).opacity = 1;
smiData.Solid(1).ID = 'bras*:*Défaut';

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(2).mass = 1.8424860004287908;  % kg
smiData.Solid(2).CoM = [18.663344986038691 -0.00019380608295110742 99.829651664470376];  % mm
smiData.Solid(2).MoI = [3663.5450553416122 23143.368394426201 22600.516490455091];  % kg*mm^2
smiData.Solid(2).PoI = [-0.0038243779380794968 61.225255676957858 0.055603542153092864];  % kg*mm^2
smiData.Solid(2).color = [0.89803921568627454 0.91764705882352937 0.92941176470588238];
smiData.Solid(2).opacity = 1;
smiData.Solid(2).ID = 'avant bras*:*Défaut';

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(3).mass = 0.12615401081623093;  % kg
smiData.Solid(3).CoM = [48.468831011126454 0 0];  % mm
smiData.Solid(3).MoI = [11.900019072577345 203.54028757091217 203.54028757091217];  % kg*mm^2
smiData.Solid(3).PoI = [0 0 0];  % kg*mm^2
smiData.Solid(3).color = [0.89803921568627454 0.91764705882352937 0.92941176470588238];
smiData.Solid(3).opacity = 1;
smiData.Solid(3).ID = 'sphere*:*Défaut';

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(4).mass = 0.10857522424716802;  % kg
smiData.Solid(4).CoM = [0 -36.461525852781598 45.000000000000007];  % mm
smiData.Solid(4).MoI = [202.96519187623176 205.87251486464456 105.55857071799548];  % kg*mm^2
smiData.Solid(4).PoI = [0 0 0];  % kg*mm^2
smiData.Solid(4).color = [0.89803921568627454 0.91764705882352937 0.92941176470588238];
smiData.Solid(4).opacity = 1;
smiData.Solid(4).ID = 'poignet*:*Défaut';

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(5).mass = 14.374025527242807;  % kg
smiData.Solid(5).CoM = [-26.709066453346672 -116.44799269584385 236.1091741894096];  % mm
smiData.Solid(5).MoI = [260620.83334554304 240171.91051588135 136890.93723652139];  % kg*mm^2
smiData.Solid(5).PoI = [34425.123712696375 16094.054994755112 -22328.889822980225];  % kg*mm^2
smiData.Solid(5).color = [0.89803921568627454 0.91764705882352937 0.92941176470588238];
smiData.Solid(5).opacity = 1;
smiData.Solid(5).ID = 'chaise*:*Défaut';

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(6).mass = 10.948971951767058;  % kg
smiData.Solid(6).CoM = [0 0 88.626543346207654];  % mm
smiData.Solid(6).MoI = [49284.971751952522 49284.971751952522 42696.2785874049];  % kg*mm^2
smiData.Solid(6).PoI = [0 0 0];  % kg*mm^2
smiData.Solid(6).color = [0.89803921568627454 0.91764705882352937 0.92941176470588238];
smiData.Solid(6).opacity = 1;
smiData.Solid(6).ID = 'bati*:*Défaut';


%============= 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 PrismaticJoint structure array by filling in null values.
smiData.PrismaticJoint(1).Pz.Pos = 0.0;
smiData.PrismaticJoint(1).ID = '';

smiData.PrismaticJoint(1).Pz.Pos = 0;  % m
smiData.PrismaticJoint(1).ID = '[bati-1:-:]';


%Initialize the RevoluteJoint structure array by filling in null values.
smiData.RevoluteJoint(5).Rz.Pos = 0.0;
smiData.RevoluteJoint(5).ID = '';

smiData.RevoluteJoint(1).Rz.Pos = 18.297523398476649;  % deg
smiData.RevoluteJoint(1).ID = '[sphere-1:-:poignet-1]';

smiData.RevoluteJoint(2).Rz.Pos = 0;  % deg
smiData.RevoluteJoint(2).ID = '[chaise-1:-:bati-1]';

smiData.RevoluteJoint(3).Rz.Pos = 89.999999999999957;  % deg
smiData.RevoluteJoint(3).ID = '[bras-1:-:chaise-1]';

smiData.RevoluteJoint(4).Rz.Pos = 89.999999999999986;  % deg
smiData.RevoluteJoint(4).ID = '[avant bras-1:-:poignet-1]';

smiData.RevoluteJoint(5).Rz.Pos = -9.9220636575368734e-17;  % deg
smiData.RevoluteJoint(5).ID = '[bras-1:-:avant bras-1]';

