% Simscape(TM) Multibody(TM) version: 25.2

% 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(108).translation = [0.0 0.0 0.0];
smiData.RigidTransform(108).angle = 0.0;
smiData.RigidTransform(108).axis = [0.0 0.0 0.0];
smiData.RigidTransform(108).ID = "";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(1).translation = [238.10384792396411 659.52943725152284 38.000000000000007];  % mm
smiData.RigidTransform(1).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(1).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
smiData.RigidTransform(1).ID = "B[vantail_gauche-1:-:Levier articulé 35-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(2).translation = [-280.00000000000188 -23.609721622491861 -4.5474735088646412e-13];  % mm
smiData.RigidTransform(2).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(2).axis = [-0.57735026918962584 -0.57735026918962573 -0.57735026918962573];
smiData.RigidTransform(2).ID = "F[vantail_gauche-1:-:Levier articulé 35-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(3).translation = [-280 -48.300000000000011 -3.5527136788005009e-15];  % mm
smiData.RigidTransform(3).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(3).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
smiData.RigidTransform(3).ID = "B[bras_moteur-3:-:Levier articulé 35-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(4).translation = [-1.7696696102044101e-12 -13.439158874014879 4.7821617414684617e-13];  % mm
smiData.RigidTransform(4).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(4).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
smiData.RigidTransform(4).ID = "F[bras_moteur-3:-:Levier articulé 35-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(5).translation = [-279.99999999999994 -48.300000000000011 -3.5527136788005009e-15];  % mm
smiData.RigidTransform(5).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(5).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
smiData.RigidTransform(5).ID = "B[bras_moteur-4:-:Levier articulé 35-2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(6).translation = [2.8334099278919357e-15 -19.299999999999955 2.1432598218740547e-15];  % mm
smiData.RigidTransform(6).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(6).axis = [-0.57735026918962584 -0.57735026918962573 -0.57735026918962573];
smiData.RigidTransform(6).ID = "F[bras_moteur-4:-:Levier articulé 35-2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(7).translation = [-768.56742081448022 -541.92488687782804 -205];  % 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:-:vantail_gauche-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(8).translation = [24.999999999999886 -115 25];  % mm
smiData.RigidTransform(8).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(8).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
smiData.RigidTransform(8).ID = "F[bati-1:-:vantail_gauche-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(9).translation = [-858.06742081447908 273.07511312217201 -8.9999999999998099];  % mm
smiData.RigidTransform(9).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(9).axis = [0.57735026918962584 -0.57735026918962584 0.57735026918962584];
smiData.RigidTransform(9).ID = "B[bati-1:-:bras_moteur-3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(10).translation = [-1.5908403587325105e-13 -17.999999999999773 -1.0724047448557184e-13];  % mm
smiData.RigidTransform(10).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(10).axis = [0.57735026918962584 -0.57735026918962573 0.57735026918962573];
smiData.RigidTransform(10).ID = "F[bati-1:-:bras_moteur-3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(11).translation = [823.93257918551922 273.07511312217093 -8.9999999999998295];  % mm
smiData.RigidTransform(11).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(11).axis = [0.57735026918962584 -0.57735026918962595 0.57735026918962562];
smiData.RigidTransform(11).ID = "B[bati-1:-:bras_moteur-4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(12).translation = [-2.0505830125970577e-13 -18.000000000000739 -1.6984581348536831e-13];  % mm
smiData.RigidTransform(12).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(12).axis = [0.57735026918962584 -0.57735026918962584 0.57735026918962562];
smiData.RigidTransform(12).ID = "F[bati-1:-:bras_moteur-4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(13).translation = [-279.99999999999994 12.000000000000011 0];  % mm
smiData.RigidTransform(13).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(13).axis = [0.57735026918962584 -0.57735026918962584 0.57735026918962584];
smiData.RigidTransform(13).ID = "B[Levier articulé 35-2:-:vantail_droit-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(14).translation = [198.50000000000014 700.99999999999966 38.000000000000085];  % mm
smiData.RigidTransform(14).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(14).axis = [0.57735026918962584 -0.57735026918962584 0.57735026918962584];
smiData.RigidTransform(14).ID = "F[Levier articulé 35-2:-:vantail_droit-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(15).translation = [734.43257918551978 -541.92488687782804 -205];  % mm
smiData.RigidTransform(15).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(15).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
smiData.RigidTransform(15).ID = "B[bati-1:-:vantail_droit-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(16).translation = [555 -115 25.000000000000028];  % mm
smiData.RigidTransform(16).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(16).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
smiData.RigidTransform(16).ID = "F[bati-1:-:vantail_droit-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(17).translation = [-837.56742081447999 178.07511312217201 -592.93870789016898];  % mm
smiData.RigidTransform(17).angle = 0;  % rad
smiData.RigidTransform(17).axis = [0 0 0];
smiData.RigidTransform(17).ID = "AssemblyGround[bati-1:cadre-1:rail droit-1-3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(18).translation = [-917.545923913043 459.59001263548896 -80];  % mm
smiData.RigidTransform(18).angle = 1.5707963267948968;  % rad
smiData.RigidTransform(18).axis = [0 1 0];
smiData.RigidTransform(18).ID = "AssemblyGround[bati-1:cadre-1:bati portail-1-1:equerre2-1-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(19).translation = [891.45407608695609 442.28777173913045 -85];  % mm
smiData.RigidTransform(19).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(19).axis = [-0.57735026918962584 0.57735026918962584 0.57735026918962584];
smiData.RigidTransform(19).ID = "AssemblyGround[bati-1:cadre-1:bati portail-1-1:equerre-1-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(20).translation = [-741.54592391304402 432.28777173913051 -165];  % mm
smiData.RigidTransform(20).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(20).axis = [-0.57735026918962584 0.57735026918962584 0.57735026918962584];
smiData.RigidTransform(20).ID = "AssemblyGround[bati-1:cadre-1:bati portail-1-1:truc au dessus-1-2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(21).translation = [-808.54592391304402 -432.71222826086955 -265];  % mm
smiData.RigidTransform(21).angle = 0;  % rad
smiData.RigidTransform(21).axis = [0 0 0];
smiData.RigidTransform(21).ID = "AssemblyGround[bati-1:cadre-1:bati portail-1-1:bati-1-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(22).translation = [713.45407608695598 432.28777173913051 -245];  % mm
smiData.RigidTransform(22).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(22).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
smiData.RigidTransform(22).ID = "AssemblyGround[bati-1:cadre-1:bati portail-1-1:truc au dessus-1-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(23).translation = [-3.0214969014361452 -54.2126586169585 0];  % mm
smiData.RigidTransform(23).angle = 0;  % rad
smiData.RigidTransform(23).axis = [0 0 0];
smiData.RigidTransform(23).ID = "AssemblyGround[bati-1:cadre-1:bati portail-1-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(24).translation = [883.43257918552001 178.07511312217201 -164];  % mm
smiData.RigidTransform(24).angle = 0;  % rad
smiData.RigidTransform(24).axis = [0 0 0];
smiData.RigidTransform(24).ID = "AssemblyGround[bati-1:cadre-1:rail gauche-1-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(25).translation = [-907.5674208144801 178.07511312217201 -591.93870789016898];  % mm
smiData.RigidTransform(25).angle = 0;  % rad
smiData.RigidTransform(25).axis = [0 0 0];
smiData.RigidTransform(25).ID = "AssemblyGround[bati-1:cadre-1:rail gauche-1-2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(26).translation = [-987.56742081447999 178.07511312217201 -164];  % mm
smiData.RigidTransform(26).angle = 0;  % rad
smiData.RigidTransform(26).axis = [0 0 0];
smiData.RigidTransform(26).ID = "AssemblyGround[bati-1:cadre-1:rail gauche-1-3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(27).translation = [953.43257918552001 178.07511312217201 -165];  % mm
smiData.RigidTransform(27).angle = 0;  % rad
smiData.RigidTransform(27).axis = [0 0 0];
smiData.RigidTransform(27).ID = "AssemblyGround[bati-1:cadre-1:rail droit-1-2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(28).translation = [-917.56742081447999 178.07511312217201 -165];  % mm
smiData.RigidTransform(28).angle = 0;  % rad
smiData.RigidTransform(28).axis = [0 0 0];
smiData.RigidTransform(28).ID = "AssemblyGround[bati-1:cadre-1:rail droit-1-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(29).translation = [0 0 0];  % mm
smiData.RigidTransform(29).angle = 0;  % rad
smiData.RigidTransform(29).axis = [0 0 0];
smiData.RigidTransform(29).ID = "AssemblyGround[bati-1:cadre-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(30).translation = [0 0 0];  % mm
smiData.RigidTransform(30).angle = 0;  % rad
smiData.RigidTransform(30).axis = [0 0 0];
smiData.RigidTransform(30).ID = "AssemblyGround[bati-1:moteur-1:MOT VIDE-1-1:pièce17-1-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(31).translation = [0 0 220];  % mm
smiData.RigidTransform(31).angle = 0;  % rad
smiData.RigidTransform(31).axis = [0 0 0];
smiData.RigidTransform(31).ID = "AssemblyGround[bati-1:moteur-1:MOT VIDE-1-1:pièce10-1-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(32).translation = [0 0 249];  % mm
smiData.RigidTransform(32).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(32).axis = [0.70710678118654746 0.70710678118654757 0];
smiData.RigidTransform(32).ID = "AssemblyGround[bati-1:moteur-1:MOT VIDE-1-1:pièce 9-1-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(33).translation = [0 0 150.49999999999997];  % mm
smiData.RigidTransform(33).angle = 2.0549413197562325;  % rad
smiData.RigidTransform(33).axis = [-0.56357482288834915 -0.60395930161951461 -0.56357482288834915];
smiData.RigidTransform(33).ID = "AssemblyGround[bati-1:moteur-1:MOT VIDE-1-1:stator-1-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(34).translation = [0 0 37.000000000000007];  % mm
smiData.RigidTransform(34).angle = 1.8680552873037248;  % rad
smiData.RigidTransform(34).axis = [0.47596771570317459 0.73953327661208268 -0.47596771570317548];
smiData.RigidTransform(34).ID = "AssemblyGround[bati-1:moteur-1:MOT VIDE-1-1:pièce 16-1-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(35).translation = [0 0 -28.999999999999996];  % mm
smiData.RigidTransform(35).angle = 2.8107127758160724;  % rad
smiData.RigidTransform(35).axis = [0.69718087456987443 -0.16696603327614321 0.69718087456987443];
smiData.RigidTransform(35).ID = "AssemblyGround[bati-1:moteur-1:MOT VIDE-1-1:pièce 24-1-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(36).translation = [-35.000000000000007 -28.999999999999915 239.99999999999997];  % mm
smiData.RigidTransform(36).angle = 3.0719035042384646;  % rad
smiData.RigidTransform(36).axis = [-0.70667703803601001 0.034858683642722141 0.70667703803601001];
smiData.RigidTransform(36).ID = "AssemblyGround[bati-1:moteur-1:MOT VIDE-1-1:vis CHC M6-290-51-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(37).translation = [35 -28.999999999999915 239.99999999999997];  % mm
smiData.RigidTransform(37).angle = 3.0303127903674572;  % rad
smiData.RigidTransform(37).axis = [-0.70600913501768525 0.055697419537708723 0.70600913501768547];
smiData.RigidTransform(37).ID = "AssemblyGround[bati-1:moteur-1:MOT VIDE-1-1:vis CHC M6-290-51-4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(38).translation = [0 0 -60.000000000000028];  % mm
smiData.RigidTransform(38).angle = 0;  % rad
smiData.RigidTransform(38).axis = [0 0 0];
smiData.RigidTransform(38).ID = "AssemblyGround[bati-1:moteur-1:MOT VIDE-1-1:coussinet 26-1-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(39).translation = [0 25.000000000000021 244.00999999999999];  % mm
smiData.RigidTransform(39).angle = 2.7237372339517658;  % rad
smiData.RigidTransform(39).axis = [0.21202169609680066 -0.69103067963160514 -0.69103067963160514];
smiData.RigidTransform(39).ID = "AssemblyGround[bati-1:moteur-1:MOT VIDE-1-1:Vis FHC M6-21-2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(40).translation = [0 0 68];  % mm
smiData.RigidTransform(40).angle = 0;  % rad
smiData.RigidTransform(40).axis = [0 0 0];
smiData.RigidTransform(40).ID = "AssemblyGround[bati-1:moteur-1:MOT VIDE-1-1:pièce 18 avec engrenages-1-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(41).translation = [35 29.000000000000025 240];  % mm
smiData.RigidTransform(41).angle = 2.768288136059442;  % rad
smiData.RigidTransform(41).axis = [0.69438299617695731 0.18885049441455815 -0.69438299617695742];
smiData.RigidTransform(41).ID = "AssemblyGround[bati-1:moteur-1:MOT VIDE-1-1:vis CHC M6-290-51-2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(42).translation = [-35.000000000000007 29.000000000000025 240];  % mm
smiData.RigidTransform(42).angle = 2.8425881324704201;  % rad
smiData.RigidTransform(42).axis = [0.69903925628870789 0.15062614757956241 -0.699039256288708];
smiData.RigidTransform(42).ID = "AssemblyGround[bati-1:moteur-1:MOT VIDE-1-1:vis CHC M6-290-51-3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(43).translation = [0 -25.000000000000021 244.09999999999999];  % mm
smiData.RigidTransform(43).angle = 1.9305189198152151;  % rad
smiData.RigidTransform(43).axis = [0.69229615876391004 0.51025779198398091 0.51025779198398069];
smiData.RigidTransform(43).ID = "AssemblyGround[bati-1:moteur-1:MOT VIDE-1-1:Vis FHC M6-21-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(44).translation = [0 0 68];  % mm
smiData.RigidTransform(44).angle = 0;  % rad
smiData.RigidTransform(44).axis = [0 0 0];
smiData.RigidTransform(44).ID = "AssemblyGround[bati-1:moteur-1:MOT VIDE-1-1:pièce14-1-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(45).translation = [25 -38.20000000000001 -46.000000000000014];  % mm
smiData.RigidTransform(45).angle = 1.572994790528947;  % rad
smiData.RigidTransform(45).axis = [-0.046836303552596714 -0.046836303552597075 0.99780394935030114];
smiData.RigidTransform(45).ID = "AssemblyGround[bati-1:moteur-1:MOT VIDE-1-1:vis CHC M6x90-16-3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(46).translation = [-25 -38.20000000000001 229.99999999999997];  % mm
smiData.RigidTransform(46).angle = 1.677262143104675;  % rad
smiData.RigidTransform(46).axis = [-0.30993110598145579 -0.30993110598145618 0.89882446511553238];
smiData.RigidTransform(46).ID = "AssemblyGround[bati-1:moteur-1:MOT VIDE-1-1:vis CHC M6x90-16-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(47).translation = [-25 -38.20000000000001 -46.000000000000014];  % mm
smiData.RigidTransform(47).angle = 1.5834891334634853;  % rad
smiData.RigidTransform(47).axis = [0.11195260727912958 0.11195260727912958 0.98738707073103293];
smiData.RigidTransform(47).ID = "AssemblyGround[bati-1:moteur-1:MOT VIDE-1-1:vis CHC M6x90-16-4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(48).translation = [25 -38.20000000000001 229.99999999999997];  % mm
smiData.RigidTransform(48).angle = 1.7452197603387798;  % rad
smiData.RigidTransform(48).axis = [-0.3845485866364125 -0.38454858663641261 0.83919292718175076];
smiData.RigidTransform(48).ID = "AssemblyGround[bati-1:moteur-1:MOT VIDE-1-1:vis CHC M6x90-16-2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(49).translation = [-858.06742081447908 213.07511312217198 -11.499999999999702];  % mm
smiData.RigidTransform(49).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(49).axis = [0.57735026918962584 -0.57735026918962584 0.57735026918962584];
smiData.RigidTransform(49).ID = "AssemblyGround[bati-1:moteur-1:MOT VIDE-1-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(50).translation = [-902.5674208144801 198.07511312217198 49];  % mm
smiData.RigidTransform(50).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(50).axis = [-6.2626744926569303e-17 1 0];
smiData.RigidTransform(50).ID = "AssemblyGround[bati-1:moteur-1:support-1-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(51).translation = [0 0 2.4999999999998912];  % mm
smiData.RigidTransform(51).angle = 0;  % rad
smiData.RigidTransform(51).axis = [0 0 0];
smiData.RigidTransform(51).ID = "AssemblyGround[bati-1:moteur-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(52).translation = [0 0 0];  % mm
smiData.RigidTransform(52).angle = 0;  % rad
smiData.RigidTransform(52).axis = [0 0 0];
smiData.RigidTransform(52).ID = "AssemblyGround[bati-1:moteur-2:MOT VIDE-1-1:pièce17-1-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(53).translation = [0 0 220];  % mm
smiData.RigidTransform(53).angle = 0;  % rad
smiData.RigidTransform(53).axis = [0 0 0];
smiData.RigidTransform(53).ID = "AssemblyGround[bati-1:moteur-2:MOT VIDE-1-1:pièce10-1-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(54).translation = [0 0 249];  % mm
smiData.RigidTransform(54).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(54).axis = [0.70710678118654746 0.70710678118654757 0];
smiData.RigidTransform(54).ID = "AssemblyGround[bati-1:moteur-2:MOT VIDE-1-1:pièce 9-1-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(55).translation = [0 0 150.5];  % mm
smiData.RigidTransform(55).angle = 2.0549413197562325;  % rad
smiData.RigidTransform(55).axis = [-0.56357482288834915 -0.60395930161951461 -0.56357482288834915];
smiData.RigidTransform(55).ID = "AssemblyGround[bati-1:moteur-2:MOT VIDE-1-1:stator-1-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(56).translation = [0 0 37.000000000000007];  % mm
smiData.RigidTransform(56).angle = 1.8680552873037248;  % rad
smiData.RigidTransform(56).axis = [0.47596771570317459 0.73953327661208268 -0.47596771570317548];
smiData.RigidTransform(56).ID = "AssemblyGround[bati-1:moteur-2:MOT VIDE-1-1:pièce 16-1-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(57).translation = [0 0 -28.999999999999996];  % mm
smiData.RigidTransform(57).angle = 2.8107127758160724;  % rad
smiData.RigidTransform(57).axis = [0.69718087456987443 -0.16696603327614321 0.69718087456987443];
smiData.RigidTransform(57).ID = "AssemblyGround[bati-1:moteur-2:MOT VIDE-1-1:pièce 24-1-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(58).translation = [-35 -29.000000000000025 240];  % mm
smiData.RigidTransform(58).angle = 3.0719035042384646;  % rad
smiData.RigidTransform(58).axis = [-0.70667703803601001 0.034858683642722141 0.70667703803601001];
smiData.RigidTransform(58).ID = "AssemblyGround[bati-1:moteur-2:MOT VIDE-1-1:vis CHC M6-290-51-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(59).translation = [34.999999999999993 -29.000000000000025 240];  % mm
smiData.RigidTransform(59).angle = 3.0303127903674572;  % rad
smiData.RigidTransform(59).axis = [-0.70600913501768525 0.055697419537708723 0.70600913501768547];
smiData.RigidTransform(59).ID = "AssemblyGround[bati-1:moteur-2:MOT VIDE-1-1:vis CHC M6-290-51-4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(60).translation = [0 0 -60];  % mm
smiData.RigidTransform(60).angle = 0;  % rad
smiData.RigidTransform(60).axis = [0 0 0];
smiData.RigidTransform(60).ID = "AssemblyGround[bati-1:moteur-2:MOT VIDE-1-1:coussinet 26-1-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(61).translation = [0 25.000000000000021 244.00999999999999];  % mm
smiData.RigidTransform(61).angle = 2.7237372339517658;  % rad
smiData.RigidTransform(61).axis = [0.21202169609680066 -0.69103067963160514 -0.69103067963160514];
smiData.RigidTransform(61).ID = "AssemblyGround[bati-1:moteur-2:MOT VIDE-1-1:Vis FHC M6-21-2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(62).translation = [0 0 68];  % mm
smiData.RigidTransform(62).angle = 0;  % rad
smiData.RigidTransform(62).axis = [0 0 0];
smiData.RigidTransform(62).ID = "AssemblyGround[bati-1:moteur-2:MOT VIDE-1-1:pièce 18 avec engrenages-1-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(63).translation = [34.999999999999993 29.000000000000025 240];  % mm
smiData.RigidTransform(63).angle = 2.768288136059442;  % rad
smiData.RigidTransform(63).axis = [0.69438299617695731 0.18885049441455815 -0.69438299617695742];
smiData.RigidTransform(63).ID = "AssemblyGround[bati-1:moteur-2:MOT VIDE-1-1:vis CHC M6-290-51-2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(64).translation = [-35 29.000000000000025 240];  % mm
smiData.RigidTransform(64).angle = 2.8425881324704201;  % rad
smiData.RigidTransform(64).axis = [0.69903925628870789 0.15062614757956241 -0.699039256288708];
smiData.RigidTransform(64).ID = "AssemblyGround[bati-1:moteur-2:MOT VIDE-1-1:vis CHC M6-290-51-3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(65).translation = [0 -25.000000000000021 244.10000000000002];  % mm
smiData.RigidTransform(65).angle = 1.9305189198152151;  % rad
smiData.RigidTransform(65).axis = [0.69229615876391004 0.51025779198398091 0.51025779198398069];
smiData.RigidTransform(65).ID = "AssemblyGround[bati-1:moteur-2:MOT VIDE-1-1:Vis FHC M6-21-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(66).translation = [0 0 68];  % mm
smiData.RigidTransform(66).angle = 0;  % rad
smiData.RigidTransform(66).axis = [0 0 0];
smiData.RigidTransform(66).ID = "AssemblyGround[bati-1:moteur-2:MOT VIDE-1-1:pièce14-1-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(67).translation = [25 -38.20000000000001 -45.999999999999986];  % mm
smiData.RigidTransform(67).angle = 1.572994790528947;  % rad
smiData.RigidTransform(67).axis = [-0.046836303552596714 -0.046836303552597075 0.99780394935030114];
smiData.RigidTransform(67).ID = "AssemblyGround[bati-1:moteur-2:MOT VIDE-1-1:vis CHC M6x90-16-3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(68).translation = [-25 -38.20000000000001 229.99999999999997];  % mm
smiData.RigidTransform(68).angle = 1.677262143104675;  % rad
smiData.RigidTransform(68).axis = [-0.30993110598145579 -0.30993110598145618 0.89882446511553238];
smiData.RigidTransform(68).ID = "AssemblyGround[bati-1:moteur-2:MOT VIDE-1-1:vis CHC M6x90-16-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(69).translation = [-25 -38.20000000000001 -45.999999999999986];  % mm
smiData.RigidTransform(69).angle = 1.5834891334634853;  % rad
smiData.RigidTransform(69).axis = [0.11195260727912958 0.11195260727912958 0.98738707073103293];
smiData.RigidTransform(69).ID = "AssemblyGround[bati-1:moteur-2:MOT VIDE-1-1:vis CHC M6x90-16-4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(70).translation = [25 -38.20000000000001 229.99999999999997];  % mm
smiData.RigidTransform(70).angle = 1.7452197603387798;  % rad
smiData.RigidTransform(70).axis = [-0.3845485866364125 -0.38454858663641261 0.83919292718175076];
smiData.RigidTransform(70).ID = "AssemblyGround[bati-1:moteur-2:MOT VIDE-1-1:vis CHC M6x90-16-2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(71).translation = [-858.06742081447908 213.07511312217198 -11.499999999999702];  % mm
smiData.RigidTransform(71).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(71).axis = [0.57735026918962584 -0.57735026918962584 0.57735026918962584];
smiData.RigidTransform(71).ID = "AssemblyGround[bati-1:moteur-2:MOT VIDE-1-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(72).translation = [-902.5674208144801 198.07511312217198 49];  % mm
smiData.RigidTransform(72).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(72).axis = [2.7755575615628914e-16 1 0];
smiData.RigidTransform(72).ID = "AssemblyGround[bati-1:moteur-2:support-1-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(73).translation = [-34.134841628960075 -5.8286708792820718e-13 -20.499999999999545];  % mm
smiData.RigidTransform(73).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(73).axis = [2.7755575615628914e-16 1 0];
smiData.RigidTransform(73).ID = "AssemblyGround[bati-1:moteur-2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(74).translation = [0 -63.400000000000013 0];  % mm
smiData.RigidTransform(74).angle = 0;  % rad
smiData.RigidTransform(74).axis = [0 0 0];
smiData.RigidTransform(74).ID = "AssemblyGround[bras_moteur-4:Arbre de sortie 17-2-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(75).translation = [0 -9.0000000000000071 0];  % mm
smiData.RigidTransform(75).angle = 0;  % rad
smiData.RigidTransform(75).axis = [0 0 0];
smiData.RigidTransform(75).ID = "AssemblyGround[bras_moteur-4:Capot-2-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(76).translation = [-279.99999999999994 -36.499999999999979 0];  % mm
smiData.RigidTransform(76).angle = 2.0422133027522436;  % rad
smiData.RigidTransform(76).axis = [-0.55884938793232219 -0.55884938793232231 0.61267831952447738];
smiData.RigidTransform(76).ID = "AssemblyGround[bras_moteur-4:écrou borgne M12-2-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(77).translation = [-279.99999999999994 12.699999999999989 0];  % mm
smiData.RigidTransform(77).angle = 2.203165020322166;  % rad
smiData.RigidTransform(77).axis = [-0.60949736175467217 0.60949736175467217 -0.50697725001047977];
smiData.RigidTransform(77).ID = "AssemblyGround[bras_moteur-4:vis HM12 45-2-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(78).translation = [-279.99999999999994 10.000000000000009 0];  % mm
smiData.RigidTransform(78).angle = 0.79434154545792879;  % rad
smiData.RigidTransform(78).axis = [0 1 0];
smiData.RigidTransform(78).ID = "AssemblyGround[bras_moteur-4:Rondelle plate-2-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(79).translation = [-279.99999999999994 -21.500000000000018 0];  % mm
smiData.RigidTransform(79).angle = 0.080373572244622493;  % rad
smiData.RigidTransform(79).axis = [0 1 0];
smiData.RigidTransform(79).ID = "AssemblyGround[bras_moteur-4:Entretoise-2-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(80).translation = [0 0 0];  % mm
smiData.RigidTransform(80).angle = 0;  % rad
smiData.RigidTransform(80).axis = [0 0 0];
smiData.RigidTransform(80).ID = "AssemblyGround[bras_moteur-4:Levier 23-2-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(81).translation = [238.10384792396411 689 10.000000000000009];  % mm
smiData.RigidTransform(81).angle = 1.5707963267948966;  % rad
smiData.RigidTransform(81).axis = [0 0 1];
smiData.RigidTransform(81).ID = "AssemblyGround[vantail_gauche-1:chappe-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(82).translation = [-176.33449781659402 -225.14082969432297 -14.999999999999805];  % mm
smiData.RigidTransform(82).angle = 0;  % rad
smiData.RigidTransform(82).axis = [0 0 0];
smiData.RigidTransform(82).ID = "AssemblyGround[vantail_gauche-1:grande _porte-1:Assemblage block-1:block-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(83).translation = [-116.41438162196802 239.85917030567703 9.9800290486567604];  % mm
smiData.RigidTransform(83).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(83).axis = [5.887846720064156e-17 0.70710678118654746 -0.70710678118654757];
smiData.RigidTransform(83).ID = "AssemblyGround[vantail_gauche-1:grande _porte-1:Assemblage block-1:vis pour block-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(84).translation = [756.5 289.55259440020495 147.21059439220642];  % mm
smiData.RigidTransform(84).angle = 1.5707963267948968;  % rad
smiData.RigidTransform(84).axis = [-0 -1 -0];
smiData.RigidTransform(84).ID = "AssemblyGround[vantail_gauche-1:grande _porte-1:Assemblage block-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(85).translation = [-176.33449781659399 -225.14082969432297 -14.99999999999979];  % mm
smiData.RigidTransform(85).angle = 0;  % rad
smiData.RigidTransform(85).axis = [0 0 0];
smiData.RigidTransform(85).ID = "AssemblyGround[vantail_gauche-1:grande _porte-1:Assemblage block-5:block-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(86).translation = [-116.41438162196799 239.85917030567703 9.9800290486567746];  % mm
smiData.RigidTransform(86).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(86).axis = [5.887846720064156e-17 0.70710678118654746 -0.70710678118654757];
smiData.RigidTransform(86).ID = "AssemblyGround[vantail_gauche-1:grande _porte-1:Assemblage block-5:vis pour block-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(87).translation = [884.5 289.55259440020495 -105.4584012409814];  % mm
smiData.RigidTransform(87).angle = 1.5707963267948968;  % rad
smiData.RigidTransform(87).axis = [0 1 0];
smiData.RigidTransform(87).ID = "AssemblyGround[vantail_gauche-1:grande _porte-1:Assemblage block-5]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(88).translation = [-176.33449781659399 -225.14082969432297 -14.999999999999799];  % mm
smiData.RigidTransform(88).angle = 0;  % rad
smiData.RigidTransform(88).axis = [0 0 0];
smiData.RigidTransform(88).ID = "AssemblyGround[vantail_gauche-1:grande _porte-1:Assemblage block-4:block-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(89).translation = [-116.41438162196799 239.85917030567703 9.9800290486567604];  % mm
smiData.RigidTransform(89).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(89).axis = [5.887846720064156e-17 0.70710678118654746 -0.70710678118654757];
smiData.RigidTransform(89).ID = "AssemblyGround[vantail_gauche-1:grande _porte-1:Assemblage block-4:vis pour block-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(90).translation = [820.5 289.55259440020495 -105.4584012409814];  % mm
smiData.RigidTransform(90).angle = 1.5707963267948968;  % rad
smiData.RigidTransform(90).axis = [0 1 0];
smiData.RigidTransform(90).ID = "AssemblyGround[vantail_gauche-1:grande _porte-1:Assemblage block-4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(91).translation = [-176.33449781659399 -225.14082969432297 -14.999999999999805];  % mm
smiData.RigidTransform(91).angle = 0;  % rad
smiData.RigidTransform(91).axis = [0 0 0];
smiData.RigidTransform(91).ID = "AssemblyGround[vantail_gauche-1:grande _porte-1:Assemblage block-3:block-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(92).translation = [-116.41438162196799 239.85917030567703 9.9800290486567604];  % mm
smiData.RigidTransform(92).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(92).axis = [5.887846720064156e-17 0.70710678118654746 -0.70710678118654757];
smiData.RigidTransform(92).ID = "AssemblyGround[vantail_gauche-1:grande _porte-1:Assemblage block-3:vis pour block-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(93).translation = [852.5 289.55259440020495 -105.4584012409814];  % mm
smiData.RigidTransform(93).angle = 1.5707963267948968;  % rad
smiData.RigidTransform(93).axis = [0 1 0];
smiData.RigidTransform(93).ID = "AssemblyGround[vantail_gauche-1:grande _porte-1:Assemblage block-3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(94).translation = [-176.33449781659402 -225.14082969432297 -14.999999999999799];  % mm
smiData.RigidTransform(94).angle = 0;  % rad
smiData.RigidTransform(94).axis = [0 0 0];
smiData.RigidTransform(94).ID = "AssemblyGround[vantail_gauche-1:grande _porte-1:Assemblage block-2:block-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(95).translation = [-116.41438162196802 239.85917030567705 9.9800290486567693];  % mm
smiData.RigidTransform(95).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(95).axis = [5.887846720064156e-17 0.70710678118654746 -0.70710678118654757];
smiData.RigidTransform(95).ID = "AssemblyGround[vantail_gauche-1:grande _porte-1:Assemblage block-2:vis pour block-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(96).translation = [788.5 289.55259440020495 147.21059439220642];  % mm
smiData.RigidTransform(96).angle = 1.5707963267948968;  % rad
smiData.RigidTransform(96).axis = [-0 -1 -0];
smiData.RigidTransform(96).ID = "AssemblyGround[vantail_gauche-1:grande _porte-1:Assemblage block-2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(97).translation = [0 0 0];  % mm
smiData.RigidTransform(97).angle = 0;  % rad
smiData.RigidTransform(97).axis = [0 0 0];
smiData.RigidTransform(97).ID = "AssemblyGround[vantail_gauche-1:grande _porte-1:grand ventaille-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(98).translation = [0 0 0];  % mm
smiData.RigidTransform(98).angle = 0;  % rad
smiData.RigidTransform(98).axis = [0 0 0];
smiData.RigidTransform(98).ID = "AssemblyGround[vantail_gauche-1:grande _porte-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(99).translation = [198.50000000000006 695 10.000000000000009];  % mm
smiData.RigidTransform(99).angle = 1.5707963267948968;  % rad
smiData.RigidTransform(99).axis = [-0 -0 -1];
smiData.RigidTransform(99).ID = "AssemblyGround[vantail_droit-1:chappe-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(100).translation = [0 0 0];  % mm
smiData.RigidTransform(100).angle = 0;  % rad
smiData.RigidTransform(100).axis = [0 0 0];
smiData.RigidTransform(100).ID = "AssemblyGround[vantail_droit-1:petit ventaille-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(101).translation = [0 -63.400000000000013 0];  % mm
smiData.RigidTransform(101).angle = 0;  % rad
smiData.RigidTransform(101).axis = [0 0 0];
smiData.RigidTransform(101).ID = "AssemblyGround[bras_moteur-3:Arbre de sortie 17-2-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(102).translation = [0 -9.0000000000000071 0];  % mm
smiData.RigidTransform(102).angle = 0;  % rad
smiData.RigidTransform(102).axis = [0 0 0];
smiData.RigidTransform(102).ID = "AssemblyGround[bras_moteur-3:Capot-2-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(103).translation = [-280 -36.499999999999979 0];  % mm
smiData.RigidTransform(103).angle = 2.0422133027522436;  % rad
smiData.RigidTransform(103).axis = [-0.55884938793232219 -0.55884938793232231 0.61267831952447738];
smiData.RigidTransform(103).ID = "AssemblyGround[bras_moteur-3:écrou borgne M12-2-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(104).translation = [-280 12.699999999999989 0];  % mm
smiData.RigidTransform(104).angle = 2.203165020322166;  % rad
smiData.RigidTransform(104).axis = [-0.60949736175467217 0.60949736175467217 -0.50697725001047977];
smiData.RigidTransform(104).ID = "AssemblyGround[bras_moteur-3:vis HM12 45-2-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(105).translation = [-280 10.000000000000009 0];  % mm
smiData.RigidTransform(105).angle = 0.79434154545792868;  % rad
smiData.RigidTransform(105).axis = [0 1 0];
smiData.RigidTransform(105).ID = "AssemblyGround[bras_moteur-3:Rondelle plate-2-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(106).translation = [-280 -21.500000000000018 0];  % mm
smiData.RigidTransform(106).angle = 0.080373572244622493;  % rad
smiData.RigidTransform(106).axis = [0 1 0];
smiData.RigidTransform(106).ID = "AssemblyGround[bras_moteur-3:Entretoise-2-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(107).translation = [0 0 0];  % mm
smiData.RigidTransform(107).angle = 0;  % rad
smiData.RigidTransform(107).axis = [0 0 0];
smiData.RigidTransform(107).ID = "AssemblyGround[bras_moteur-3:Levier 23-2-1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(108).translation = [0 0 0];  % mm
smiData.RigidTransform(108).angle = 0;  % rad
smiData.RigidTransform(108).axis = [0 0 0];
smiData.RigidTransform(108).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(32).mass = 0.0;
smiData.Solid(32).CoM = [0.0 0.0 0.0];
smiData.Solid(32).MoI = [0.0 0.0 0.0];
smiData.Solid(32).PoI = [0.0 0.0 0.0];
smiData.Solid(32).color = [0.0 0.0 0.0];
smiData.Solid(32).opacity = 0.0;
smiData.Solid(32).ID = "";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(1).mass = 0.16867876140340501;  % kg
smiData.Solid(1).CoM = [-13.836545879474079 10.465381648210368 156.9880801869686];  % mm
smiData.Solid(1).MoI = [1379.1651474393175 1384.9788083597157 16.985846761856063];  % kg*mm^2
smiData.Solid(1).PoI = [-0.00093570532297825254 -0.0023392633074093435 1.0725811484612848];  % kg*mm^2
smiData.Solid(1).color = [0.74509803921568629 0.74509803921568629 0.74509803921568629];
smiData.Solid(1).opacity = 1;
smiData.Solid(1).ID = "rail droit-1*:*Défaut";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(2).mass = 0.051218285164072778;  % kg
smiData.Solid(2).CoM = [73.679740368028149 42.971052929227945 3.2464975381029202];  % mm
smiData.Solid(2).MoI = [93.412266200529217 96.508400371772382 186.98599451086008];  % kg*mm^2
smiData.Solid(2).PoI = [5.2575310467004872 -4.1186064204655821 59.823634232937223];  % kg*mm^2
smiData.Solid(2).color = [0.50196078431372548 0.25098039215686274 0];
smiData.Solid(2).opacity = 1;
smiData.Solid(2).ID = "equerre2-1*:*Défaut";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(3).mass = 0.062927662683103333;  % kg
smiData.Solid(3).CoM = [65.365484085670829 4.4386158155555586 49.732046995791819];  % mm
smiData.Solid(3).MoI = [121.38913879355977 224.98442052703797 109.54171809846865];  % kg*mm^2
smiData.Solid(3).PoI = [8.8849984170111291 38.900566002364343 -2.475768317084273];  % kg*mm^2
smiData.Solid(3).color = [0.74509803921568629 0.74509803921568629 0.74509803921568629];
smiData.Solid(3).opacity = 1;
smiData.Solid(3).ID = "equerre-1*:*Défaut";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(4).mass = 0.1315395800094839;  % kg
smiData.Solid(4).CoM = [40 85.395327493023757 5];  % mm
smiData.Solid(4).MoI = [313.31660741218604 71.497028379414971 382.62130945810964];  % kg*mm^2
smiData.Solid(4).PoI = [0 0 0];  % kg*mm^2
smiData.Solid(4).color = [0.74509803921568629 0.74509803921568629 0.74509803921568629];
smiData.Solid(4).opacity = 1;
smiData.Solid(4).ID = "truc au dessus-1*:*Défaut";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(5).mass = 46.086942852701029;  % kg
smiData.Solid(5).CoM = [630.20556185385851 207.13223872631414 109.11205570493703];  % mm
smiData.Solid(5).MoI = [5116700.4943905724 23785513.349300411 25992669.536888532];  % kg*mm^2
smiData.Solid(5).PoI = [236013.64531821085 889714.86772576941 -216351.78473517034];  % kg*mm^2
smiData.Solid(5).color = [0.50196078431372548 0.25098039215686274 0];
smiData.Solid(5).opacity = 1;
smiData.Solid(5).ID = "bati-1*:*Défaut";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(6).mass = 0.16867876140340504;  % kg
smiData.Solid(6).CoM = [13.83654587947408 10.46538164821037 157.01191981303143];  % mm
smiData.Solid(6).MoI = [1379.1651474393177 1384.9788083597159 16.985846761856067];  % kg*mm^2
smiData.Solid(6).PoI = [0.00093570532297151412 -0.0023392633074018664 -1.0725811484612842];  % kg*mm^2
smiData.Solid(6).color = [0.74509803921568629 0.74509803921568629 0.74509803921568629];
smiData.Solid(6).opacity = 1;
smiData.Solid(6).ID = "rail gauche-1*:*Défaut";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(7).mass = 0.45592850676679841;  % kg
smiData.Solid(7).CoM = [-9.7366245965587368e-06 -2.8539148216648081e-05 110.00000006200155];  % mm
smiData.Solid(7).MoI = [2340.935805269964 2329.375410862689 992.4934010022281];  % kg*mm^2
smiData.Solid(7).PoI = [0 0 0.00019525845671631252];  % kg*mm^2
smiData.Solid(7).color = [0 1 1];
smiData.Solid(7).opacity = 1;
smiData.Solid(7).ID = "pièce17-1*:*Défaut";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(8).mass = 0.15655861382790232;  % kg
smiData.Solid(8).CoM = [0.078265719368305217 0.68381479908060494 4.8394703569576887];  % mm
smiData.Solid(8).MoI = [125.05635325254978 125.63973708251635 214.00858344637066];  % kg*mm^2
smiData.Solid(8).PoI = [-0.64185744913029308 -0.020332192688207053 -0.29788977642272524];  % kg*mm^2
smiData.Solid(8).color = [0 0.50196078431372548 0.74509803921568629];
smiData.Solid(8).opacity = 1;
smiData.Solid(8).ID = "pièce10-1*:*Défaut";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(9).mass = 0.049760423360155827;  % kg
smiData.Solid(9).CoM = [-0.6313436344485247 0.3030449445352919 5.4852064931859443];  % mm
smiData.Solid(9).MoI = [25.800561139619845 32.405695790232187 56.142107413075344];  % kg*mm^2
smiData.Solid(9).PoI = [-0.037922192670251889 0.079004568063023931 -0.38651155614537164];  % kg*mm^2
smiData.Solid(9).color = [0.74509803921568629 0.74509803921568629 0.74509803921568629];
smiData.Solid(9).opacity = 1;
smiData.Solid(9).ID = "pièce 9-1*:*Défaut";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(10).mass = 0.36944151574330081;  % kg
smiData.Solid(10).CoM = [0 0 0];  % mm
smiData.Solid(10).MoI = [393.73834563760198 550.16171494434207 550.16171494434207];  % kg*mm^2
smiData.Solid(10).PoI = [0 0 0];  % kg*mm^2
smiData.Solid(10).color = [0.50196078431372548 0.25098039215686274 0];
smiData.Solid(10).opacity = 1;
smiData.Solid(10).ID = "stator-1*:*Défaut";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(11).mass = 0.0044910588146168965;  % kg
smiData.Solid(11).CoM = [-36.580157328751774 0 0];  % mm
smiData.Solid(11).MoI = [1.2099523306352358 0.62999262722987448 0.62999262722987492];  % kg*mm^2
smiData.Solid(11).PoI = [0 0 0];  % kg*mm^2
smiData.Solid(11).color = [0.74509803921568629 0.74509803921568629 0.74509803921568629];
smiData.Solid(11).opacity = 1;
smiData.Solid(11).ID = "pièce 16-1*:*Défaut";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(12).mass = 0.0076771262306468266;  % kg
smiData.Solid(12).CoM = [-36.543975924831891 0 0];  % mm
smiData.Solid(12).MoI = [5.6167030108182576 2.8513732315760003 2.8513732315759999];  % kg*mm^2
smiData.Solid(12).PoI = [0 0 0];  % kg*mm^2
smiData.Solid(12).color = [0.50196078431372548 0.25098039215686274 0.25098039215686274];
smiData.Solid(12).opacity = 1;
smiData.Solid(12).ID = "pièce 24-1*:*Défaut";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(13).mass = 0.008564658838527436;  % kg
smiData.Solid(13).CoM = [138.64954669933388 8.0454598852347681e-08 6.4817267004753939e-08];  % mm
smiData.Solid(13).MoI = [0.042401300131274099 65.120651543512096 65.120651524644003];  % kg*mm^2
smiData.Solid(13).PoI = [1.9446440655983063e-08 6.3271161953164905e-08 7.8907831390676626e-08];  % kg*mm^2
smiData.Solid(13).color = [1 1 0];
smiData.Solid(13).opacity = 1;
smiData.Solid(13).ID = "vis CHC M6-290-51*:*Défaut";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(14).mass = 0.014325662500369461;  % kg
smiData.Solid(14).CoM = [0 0 14.999999999999996];  % mm
smiData.Solid(14).MoI = [3.6888580938451354 3.6888580938451354 5.2288668126348536];  % kg*mm^2
smiData.Solid(14).PoI = [0 0 0];  % kg*mm^2
smiData.Solid(14).color = [1 0.50196078431372548 0];
smiData.Solid(14).opacity = 1;
smiData.Solid(14).ID = "coussinet 26-1*:*Défaut";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(15).mass = 0.00098743326560176521;  % kg
smiData.Solid(15).CoM = [1.7105387034725592e-07 -4.9600167180549208 -8.6960978049202456e-08];  % mm
smiData.Solid(15).MoI = [0.072591784556693739 0.012340951127419205 0.072591788172766958];  % kg*mm^2
smiData.Solid(15).PoI = [0 -2.6229524058094651e-09 -1.1057552581508244e-09];  % kg*mm^2
smiData.Solid(15).color = [1 0 0];
smiData.Solid(15).opacity = 1;
smiData.Solid(15).ID = "Vis FHC M6-21*:*Défaut";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(16).mass = 0.43096472554926657;  % kg
smiData.Solid(16).CoM = [-4.6583775625262699e-06 0.75843539556633732 -86.928305838545];  % mm
smiData.Solid(16).MoI = [905.91151833717299 894.15002438820443 697.69390464073172];  % kg*mm^2
smiData.Solid(16).PoI = [5.121597255440923 -3.1878070178691324e-05 -5.5834031537012565e-05];  % kg*mm^2
smiData.Solid(16).color = [0 0.25098039215686274 0.50196078431372548];
smiData.Solid(16).opacity = 1;
smiData.Solid(16).ID = "pièce 18 avec engrenages-1*:*Défaut";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(17).mass = 0.071015646576329819;  % kg
smiData.Solid(17).CoM = [0 0 15.38426162177187];  % mm
smiData.Solid(17).MoI = [55.094962677587361 55.094962677587326 88.080519301038194];  % kg*mm^2
smiData.Solid(17).PoI = [0 0 0];  % kg*mm^2
smiData.Solid(17).color = [0 0.50196078431372548 0.74509803921568629];
smiData.Solid(17).opacity = 1;
smiData.Solid(17).ID = "pièce14-1*:*Défaut";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(18).mass = 0.0029098048197280339;  % kg
smiData.Solid(18).CoM = [38.954545586954517 8.3160945146015601e-08 1.91479737916887e-07];  % mm
smiData.Solid(18).MoI = [0.016954431035030401 2.456051131618346 2.4560511266490859];  % kg*mm^2
smiData.Solid(18).PoI = [6.0904845081193104e-09 1.910068180538992e-08 8.4148446981089937e-09];  % kg*mm^2
smiData.Solid(18).color = [1 1 0];
smiData.Solid(18).opacity = 1;
smiData.Solid(18).ID = "vis CHC M6x90-16*:*Défaut";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(19).mass = 0.2400995577302;  % kg
smiData.Solid(19).CoM = [23.796529938089638 27.128738347906477 59.998822391255139];  % mm
smiData.Solid(19).MoI = [382.90758269139161 357.29458019485429 251.37656423828508];  % kg*mm^2
smiData.Solid(19).PoI = [0.0095768736096290101 -0.0047491069553879653 65.464889933240968];  % kg*mm^2
smiData.Solid(19).color = [0.74509803921568629 0.74509803921568629 0.74509803921568629];
smiData.Solid(19).opacity = 1;
smiData.Solid(19).ID = "support-1*:*Défaut";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(20).mass = 0.086422714926028668;  % kg
smiData.Solid(20).CoM = [-141.51454760974823 6.8744344224532954 0];  % mm
smiData.Solid(20).MoI = [10.86033686001187 729.48617969929967 720.71866859971806];  % kg*mm^2
smiData.Solid(20).PoI = [0 0 0.50727787992631879];  % kg*mm^2
smiData.Solid(20).color = [0.39654901960784317 0.79000000000000004 0.39654901960784317];
smiData.Solid(20).opacity = 1;
smiData.Solid(20).ID = "Levier articulé 35*:*Défaut";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(21).mass = 0.086883111143395281;  % kg
smiData.Solid(21).CoM = [2.5958026394328554e-11 29.427839404105718 0];  % mm
smiData.Solid(21).MoI = [69.157826907019015 20.904434613432919 69.157826907017153];  % kg*mm^2
smiData.Solid(21).PoI = [0 0 0];  % kg*mm^2
smiData.Solid(21).color = [0 0.76470588235294112 0.76470588235294112];
smiData.Solid(21).opacity = 1;
smiData.Solid(21).ID = "Arbre de sortie 17-2*:*Défaut";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(22).mass = 0.036813602872218541;  % kg
smiData.Solid(22).CoM = [-3.6716409540039647 31.705821269112693 -1.5875333706376506e-07];  % mm
smiData.Solid(22).MoI = [34.573865899882357 55.812480061125704 40.85295953653074];  % kg*mm^2
smiData.Solid(22).PoI = [1.3451208453754653e-07 2.2920856101019557e-07 -0.98765662687221845];  % kg*mm^2
smiData.Solid(22).color = [0 0.50196078431372548 1];
smiData.Solid(22).opacity = 1;
smiData.Solid(22).ID = "Capot-2*:*Défaut";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(23).mass = 0.003265540897373164;  % kg
smiData.Solid(23).CoM = [-8.458016257977155 2.9987650365788549e-06 0];  % mm
smiData.Solid(23).MoI = [0.16664042204888463 0.16848038965067427 0.16848075872608351];  % kg*mm^2
smiData.Solid(23).PoI = [1.0337119945152625e-08 0 -3.9555367982103177e-08];  % kg*mm^2
smiData.Solid(23).color = [0.50196078431372548 1 0.50196078431372548];
smiData.Solid(23).opacity = 1;
smiData.Solid(23).ID = "écrou borgne M12-2*:*Défaut";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(24).mass = 0.0076322515265828507;  % kg
smiData.Solid(24).CoM = [16.712556871800658 2.0660460162887364e-06 0];  % mm
smiData.Solid(24).MoI = [0.19372236876479934 2.4211927008830045 2.4211932352375265];  % kg*mm^2
smiData.Solid(24).PoI = [-9.1760244128484079e-09 -9.7007692327832414e-10 3.1534497462879142e-07];  % kg*mm^2
smiData.Solid(24).color = [1 0 0.50196078431372548];
smiData.Solid(24).opacity = 1;
smiData.Solid(24).ID = "vis HM12 45-2*:*Défaut";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(25).mass = 0.00082417719771519734;  % kg
smiData.Solid(25).CoM = [0 1.25 0];  % mm
smiData.Solid(25).MoI = [0.03814824352132791 0.075437969128369156 0.03814824352132791];  % kg*mm^2
smiData.Solid(25).PoI = [0 0 0];  % kg*mm^2
smiData.Solid(25).color = [1 0 1];
smiData.Solid(25).opacity = 1;
smiData.Solid(25).ID = "Rondelle plate-2*:*Défaut";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(26).mass = 0.0076420223046275958;  % kg
smiData.Solid(26).CoM = [0 7.7500000000000018 0];  % mm
smiData.Solid(26).MoI = [0.60208787188594592 0.89817643399076219 0.60208787188594615];  % kg*mm^2
smiData.Solid(26).PoI = [0 0 0];  % kg*mm^2
smiData.Solid(26).color = [0 0 1];
smiData.Solid(26).opacity = 1;
smiData.Solid(26).ID = "Entretoise-2*:*Défaut";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(27).mass = 0.17010714431083437;  % kg
smiData.Solid(27).CoM = [-111.23475945651202 4.3646194466324344 1.7936182874139852e-05];  % mm
smiData.Solid(27).MoI = [53.592368291512244 1720.655977167723 1681.0906783930855];  % kg*mm^2
smiData.Solid(27).PoI = [1.8878999686452062e-05 0.0003132418943300953 -28.811785670247829];  % kg*mm^2
smiData.Solid(27).color = [0.15294117647058825 0.57647058823529407 1];
smiData.Solid(27).opacity = 1;
smiData.Solid(27).ID = "Levier 23-2*:*Défaut";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(28).mass = 0.030409645340118079;  % kg
smiData.Solid(28).CoM = [0 0 15.180657245207023];  % mm
smiData.Solid(28).MoI = [12.144913423689944 9.4560313784010503 9.8032696300732525];  % kg*mm^2
smiData.Solid(28).PoI = [0 0 0];  % kg*mm^2
smiData.Solid(28).color = [0.74901960784313726 0.74901960784313726 0.74901960784313726];
smiData.Solid(28).opacity = 1;
smiData.Solid(28).ID = "chappe*:*Défaut";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(29).mass = 10.056010697129372;  % kg
smiData.Solid(29).CoM = [49.999999999999986 214.19176127364355 15];  % mm
smiData.Solid(29).MoI = [155821.48297996906 9139.5027696149482 163451.83297996904];  % kg*mm^2
smiData.Solid(29).PoI = [0 0 0];  % kg*mm^2
smiData.Solid(29).color = [0.77647058823529413 0.75686274509803919 0.73725490196078436];
smiData.Solid(29).opacity = 1;
smiData.Solid(29).ID = "block*:*Défaut";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(30).mass = 0.0071448815690288853;  % kg
smiData.Solid(30).CoM = [9.9672402907566653 9.9918100726891907 18.595927659641969];  % mm
smiData.Solid(30).MoI = [2.0011075605900466 2.0011179012768072 0.23681183602798112];  % kg*mm^2
smiData.Solid(30).PoI = [0.00099850807156556028 0.0039940322862741257 -2.7575164693690567e-06];  % kg*mm^2
smiData.Solid(30).color = [0.74901960784313726 0.74901960784313726 0.74901960784313726];
smiData.Solid(30).opacity = 1;
smiData.Solid(30).ID = "vis pour block*:*Défaut";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(31).mass = 76.272685828109942;  % kg
smiData.Solid(31).CoM = [471.225099422997 413.01309326442453 24.10914017980194];  % mm
smiData.Solid(31).MoI = [6686190.839758615 8580256.2831532396 15233041.261667468];  % kg*mm^2
smiData.Solid(31).PoI = [18708.359436260598 -6255.9386870566404 -545655.10944781534];  % kg*mm^2
smiData.Solid(31).color = [0.20000000000000001 0.20000000000000001 0.20000000000000001];
smiData.Solid(31).opacity = 1;
smiData.Solid(31).ID = "grand ventaille*:*Défaut";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(32).mass = 10.618135430154672;  % kg
smiData.Solid(32).CoM = [286.10328023095275 414.95858085676929 23.975612156750181];  % mm
smiData.Solid(32).MoI = [933459.91115933796 525965.46814714 1454729.4152756862];  % kg*mm^2
smiData.Solid(32).PoI = [3230.3553984377222 93.177768467035875 1499.3996083810105];  % kg*mm^2
smiData.Solid(32).color = [0 0 1];
smiData.Solid(32).opacity = 1;
smiData.Solid(32).ID = "petit ventaille*:*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 CylindricalJoint structure array by filling in null values.
smiData.CylindricalJoint(2).Rz.Pos = 0.0;
smiData.CylindricalJoint(2).Pz.Pos = 0.0;
smiData.CylindricalJoint(2).ID = "";

%This joint has been chosen as a cut joint. Simscape Multibody treats cut joints as algebraic constraints to solve closed kinematic loops. The imported model does not use the state target data for this joint.
smiData.CylindricalJoint(1).Rz.Pos = -97.996791064863061;  % deg
smiData.CylindricalJoint(1).Pz.Pos = 0;  % mm
smiData.CylindricalJoint(1).ID = "[vantail_gauche-1:-:Levier articulé 35-1]";

%This joint has been chosen as a cut joint. Simscape Multibody treats cut joints as algebraic constraints to solve closed kinematic loops. The imported model does not use the state target data for this joint.
smiData.CylindricalJoint(2).Rz.Pos = -52.895257143679146;  % deg
smiData.CylindricalJoint(2).Pz.Pos = 0;  % mm
smiData.CylindricalJoint(2).ID = "[Levier articulé 35-2:-:vantail_droit-1]";


%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 = 101.67942595869719;  % deg
smiData.RevoluteJoint(1).ID = "[bras_moteur-3:-:Levier articulé 35-1]";

smiData.RevoluteJoint(2).Rz.Pos = -61.172465384169534;  % deg
smiData.RevoluteJoint(2).ID = "[bras_moteur-4:-:Levier articulé 35-2]";

smiData.RevoluteJoint(3).Rz.Pos = 0;  % deg
smiData.RevoluteJoint(3).ID = "[bati-1:-:vantail_gauche-1]";

smiData.RevoluteJoint(4).Rz.Pos = -160.32378297643973;  % deg
smiData.RevoluteJoint(4).ID = "[bati-1:-:bras_moteur-3]";

smiData.RevoluteJoint(5).Rz.Pos = -8.2772082404903902;  % deg
smiData.RevoluteJoint(5).ID = "[bati-1:-:bras_moteur-4]";

smiData.RevoluteJoint(6).Rz.Pos = 0;  % deg
smiData.RevoluteJoint(6).ID = "[bati-1:-:vantail_droit-1]";

