robot_DataFile1.m

% Simscape(TM) Multibody(TM) version: 7.5

% 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(430).translation = [0.0 0.0 0.0];
smiData.RigidTransform(430).angle = 0.0;
smiData.RigidTransform(430).axis = [0.0 0.0 0.0];
smiData.RigidTransform(430).ID = "";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(1).translation = [0.92582332292504721 2.2947124650132795 2.2879775115024241];  % in
smiData.RigidTransform(1).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(1).axis = [-0.57735026918962518 -0.57735026918962584 0.5773502691896264];
smiData.RigidTransform(1).ID = "B[mg996r_rot_into_rot:1:-:mg996r_right_mid_top_two_servo:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(2).translation = [-1.1765541881091575 -2.6304266792992168 -0.13491207907764802];  % in
smiData.RigidTransform(2).angle = 2.094395102393193;  % rad
smiData.RigidTransform(2).axis = [0.57735026918962462 0.57735026918962506 0.57735026918962773];
smiData.RigidTransform(2).ID = "F[mg996r_rot_into_rot:1:-:mg996r_right_mid_top_two_servo:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(3).translation = [-2.6962301365088952 -2.8229397847044999 -1.3115542449091162];  % in
smiData.RigidTransform(3).angle = 3.1415926535897927;  % rad
smiData.RigidTransform(3).axis = [1 -1.8087439132814719e-30 -5.1905093814178056e-15];
smiData.RigidTransform(3).ID = "B[mg996r_two_servo_bottom_middle:2:-:mg996r_rot_into_rot:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(4).translation = [0.36676820481482397 2.2947124650132462 4.886402708352823];  % in
smiData.RigidTransform(4).angle = 2.0943951023932019;  % rad
smiData.RigidTransform(4).axis = [-0.57735026918961907 -0.57735026918962806 0.57735026918963028];
smiData.RigidTransform(4).ID = "F[mg996r_two_servo_bottom_middle:2:-:mg996r_rot_into_rot:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(5).translation = [-0.017090062901715775 2.2947124650132866 2.2879775115024281];  % in
smiData.RigidTransform(5).angle = 2.0943951023931962;  % rad
smiData.RigidTransform(5).axis = [0.57735026918962606 0.57735026918962595 0.5773502691896254];
smiData.RigidTransform(5).ID = "B[mg996r_rot_into_rot:2:-:mg996r_left_mid_top_two_servo:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(6).translation = [-6.0961352723384694 -3.9714359230918475 1.7546718191777793];  % in
smiData.RigidTransform(6).angle = 2.0943951023931855;  % rad
smiData.RigidTransform(6).axis = [-0.57735026918962584 -0.57735026918962229 0.57735026918962906];
smiData.RigidTransform(6).ID = "F[mg996r_rot_into_rot:2:-:mg996r_left_mid_top_two_servo:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(7).translation = [-2.6962301365088983 -2.822939784704507 -2.5123416464839137];  % in
smiData.RigidTransform(7).angle = 1.4474712411612928e-15;  % rad
smiData.RigidTransform(7).axis = [-0.80029216717355967 -0.59961024604375046 3.4729422348182003e-16];
smiData.RigidTransform(7).ID = "B[mg996r_two_servo_bottom_middle:1:-:mg996r_rot_into_rot:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(8).translation = [-0.83401919675994196 2.2947124650133945 4.886402708352831];  % in
smiData.RigidTransform(8).angle = 2.094395102393201;  % rad
smiData.RigidTransform(8).axis = [0.57735026918962684 0.57735026918962751 0.57735026918962296];
smiData.RigidTransform(8).ID = "F[mg996r_two_servo_bottom_middle:1:-:mg996r_rot_into_rot:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(9).translation = [-6.1650329101336245 -1.6486012774225214 1.0263253624848794];  % in
smiData.RigidTransform(9).angle = 7.858081268696957e-15;  % rad
smiData.RigidTransform(9).axis = [-0.085791226692130587 0.99631313622909723 -3.3583445796925959e-16];
smiData.RigidTransform(9).ID = "B[mg996r_left_mid_top_two_servo:1:-:mg996r_left_top_rot_frame:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(10).translation = [0.14250406760526335 -0.1160985703359719 -0.56692801035621954];  % in
smiData.RigidTransform(10).angle = 2.0943951023931904;  % rad
smiData.RigidTransform(10).axis = [-0.57735026918962429 -0.57735026918962407 0.57735026918962906];
smiData.RigidTransform(10).ID = "F[mg996r_left_mid_top_two_servo:1:-:mg996r_left_top_rot_frame:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(11).translation = [-1.1728149149851179 6.2965242014872871 5.3475343659028054];  % in
smiData.RigidTransform(11).angle = 3.14159265358979;  % rad
smiData.RigidTransform(11).axis = [-1 4.1527140647366391e-31 -2.6288420876841919e-16];
smiData.RigidTransform(11).ID = "B[mg996r_leg_top:1:-:mg996r_left_top_rot_frame:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(12).translation = [-0.24135420011131214 1.9508305635223104 -0.15354218358465055];  % in
smiData.RigidTransform(12).angle = 2.0943951023932001;  % rad
smiData.RigidTransform(12).axis = [-0.57735026918962729 -0.57735026918962418 -0.57735026918962573];
smiData.RigidTransform(12).ID = "F[mg996r_leg_top:1:-:mg996r_left_top_rot_frame:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(13).translation = [0.053378950945110304 1.1020457794405478 0.20372248134933296];  % in
smiData.RigidTransform(13).angle = 2.0943951023931948;  % rad
smiData.RigidTransform(13).axis = [-0.57735026918962551 -0.57735026918962562 -0.57735026918962618];
smiData.RigidTransform(13).ID = "B[mg996r_right_top_rot_frame:1:-:mg996r_leg_top:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(14).translation = [-1.1728149149850959 2.7532171148731264 5.9065894840130779];  % in
smiData.RigidTransform(14).angle = 3.1415926535897896;  % rad
smiData.RigidTransform(14).axis = [-1 -4.6398146526140369e-30 2.3997774828905617e-15];
smiData.RigidTransform(14).ID = "F[mg996r_right_top_rot_frame:1:-:mg996r_leg_top:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(15).translation = [-0.30253844007768604 -0.30759203362993592 0.5934343776152835];  % in
smiData.RigidTransform(15).angle = 3.1415926535897922;  % rad
smiData.RigidTransform(15).axis = [1 1.2289966061079621e-30 2.0066966032853724e-15];
smiData.RigidTransform(15).ID = "B[mg996r_right_mid_top_two_servo:1:-:mg996r_right_top_rot_frame:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(16).translation = [-0.3304793167714446 -0.40582823630747872 -0.20966334542233878];  % in
smiData.RigidTransform(16).angle = 2.0943951023931913;  % rad
smiData.RigidTransform(16).axis = [0.57735026918962362 0.57735026918962418 0.57735026918962951];
smiData.RigidTransform(16).ID = "F[mg996r_right_mid_top_two_servo:1:-:mg996r_right_top_rot_frame:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(17).translation = [-0.66825775586636238 1.4333801494183407 0.17323267261542405];  % in
smiData.RigidTransform(17).angle = 3.1415926535897927;  % rad
smiData.RigidTransform(17).axis = [-1 1.9809016894622022e-30 -5.3268871219537022e-15];
smiData.RigidTransform(17).ID = "B[mg996r_left_rot_foot_servo:1:-:mg996r_left_foot_frame:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(18).translation = [-0.5859580022378621 -0.60104987473192506 -0.39370078740156483];  % in
smiData.RigidTransform(18).angle = 2.0943951023932064;  % rad
smiData.RigidTransform(18).axis = [0.57735026918962828 0.57735026918962928 0.57735026918961962];
smiData.RigidTransform(18).ID = "F[mg996r_left_rot_foot_servo:1:-:mg996r_left_foot_frame:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(19).translation = [-2.351931608308969 1.9464337513204171 -1.5874912996179484];  % in
smiData.RigidTransform(19).angle = 2.0943951023931962;  % rad
smiData.RigidTransform(19).axis = [0.57735026918962407 0.57735026918962606 0.57735026918962717];
smiData.RigidTransform(19).ID = "B[mg996r_right_rot_foot_servo:1:-:mg996r_two_servo_bottom_middle:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(20).translation = [-5.9639466719421108 -2.8229397847045217 -0.75249912679885211];  % in
smiData.RigidTransform(20).angle = 3.1415926535897793;  % rad
smiData.RigidTransform(20).axis = [-1 -1.337076005116692e-29 1.9032015204291332e-15];
smiData.RigidTransform(20).ID = "F[mg996r_right_rot_foot_servo:1:-:mg996r_two_servo_bottom_middle:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(21).translation = [-1.8224040492538514 0.017299893052699786 -0.85914484292503601];  % in
smiData.RigidTransform(21).angle = 3.14159265358979;  % rad
smiData.RigidTransform(21).axis = [1 3.4303084994819454e-30 2.1813259876554808e-15];
smiData.RigidTransform(21).ID = "B[mg996r_right_rot_foot_servo:1:-:mg996r_right_foot_frame:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(22).translation = [0.00015081206998940333 -0.53543307474579827 -0.39370078740157965];  % in
smiData.RigidTransform(22).angle = 2.094395102393193;  % rad
smiData.RigidTransform(22).axis = [-0.5773502691896254 -0.57735026918962506 0.57735026918962695];
smiData.RigidTransform(22).ID = "F[mg996r_right_rot_foot_servo:1:-:mg996r_right_foot_frame:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(23).translation = [-0.13873019681124474 3.3625140076860522 -0.55511378407749545];  % in
smiData.RigidTransform(23).angle = 2.0943951023931944;  % rad
smiData.RigidTransform(23).axis = [-0.57735026918963062 -0.57735026918962551 0.57735026918962118];
smiData.RigidTransform(23).ID = "B[mg996r_left_rot_foot_servo:1:-:mg996r_two_servo_bottom_middle:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(24).translation = [-5.9639466719422574 -2.8229397847046744 -0.75249912679898046];  % in
smiData.RigidTransform(24).angle = 3.14159265358979;  % rad
smiData.RigidTransform(24).axis = [1 1.1033839516662846e-29 7.2969706183293952e-15];
smiData.RigidTransform(24).ID = "F[mg996r_left_rot_foot_servo:1:-:mg996r_two_servo_bottom_middle:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(25).translation = [-0.51181101599546919 -0.22178478019861236 -0.72834645669291387];  % in
smiData.RigidTransform(25).angle = 0;  % rad
smiData.RigidTransform(25).axis = [0 0 0];
smiData.RigidTransform(25).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:mg996r_top:1:servo_top_frame_with_nuts:1:servo frame with bottom:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(26).translation = [-0.51181101599546985 0.18372703082500938 -0.27559055118110348];  % in
smiData.RigidTransform(26).angle = 1.5707963267948966;  % rad
smiData.RigidTransform(26).axis = [-1 0 0];
smiData.RigidTransform(26).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:mg996r_top:1:servo_top_frame_with_nuts:1:m3x8:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(27).translation = [-0.51181101599546919 0.18372703082500974 -1.3987061727561026e-15];  % in
smiData.RigidTransform(27).angle = 1.5707963267948966;  % rad
smiData.RigidTransform(27).axis = [-1 0 0];
smiData.RigidTransform(27).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:mg996r_top:1:servo_top_frame_with_nuts:1:m3x8:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(28).translation = [-0.23622046481436643 0.18372703082500938 -1.3987061727561026e-15];  % in
smiData.RigidTransform(28).angle = 1.5707963267948966;  % rad
smiData.RigidTransform(28).axis = [-1 0 0];
smiData.RigidTransform(28).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:mg996r_top:1:servo_top_frame_with_nuts:1:m3x8:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(29).translation = [-0.78740156717657128 0.18372703082500938 -1.3987061727561026e-15];  % in
smiData.RigidTransform(29).angle = 1.5707963267948966;  % rad
smiData.RigidTransform(29).axis = [-1 0 0];
smiData.RigidTransform(29).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:mg996r_top:1:servo_top_frame_with_nuts:1:m3x8:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(30).translation = [-0.51181101599546985 0.18372703082500938 0.27559055118110348];  % in
smiData.RigidTransform(30).angle = 1.5707963267948966;  % rad
smiData.RigidTransform(30).axis = [-1 0 0];
smiData.RigidTransform(30).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:mg996r_top:1:servo_top_frame_with_nuts:1:m3x8:5]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(31).translation = [-0.92519684276712444 -0.22178478019861236 -0.47244094488189087];  % in
smiData.RigidTransform(31).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(31).axis = [0 1 0];
smiData.RigidTransform(31).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:mg996r_top:1:servo_top_frame_with_nuts:1:m4x12:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(32).translation = [-0.92519684276712444 -0.22178478019861272 -0.72834645669291387];  % in
smiData.RigidTransform(32).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(32).axis = [0 1 0];
smiData.RigidTransform(32).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:mg996r_top:1:servo_top_frame_with_nuts:1:m4 nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(33).translation = [0.44488189739035738 -0.42650918964743123 0.61023622047244119];  % in
smiData.RigidTransform(33).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(33).axis = [1 0 0];
smiData.RigidTransform(33).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:mg996r_top:1:servo_top_frame_with_nuts:1:m4 nuts:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(34).translation = [-1.4685039293812958 -0.017060370749793656 0.53149606299212648];  % in
smiData.RigidTransform(34).angle = 0;  % rad
smiData.RigidTransform(34).axis = [0 0 0];
smiData.RigidTransform(34).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:mg996r_top:1:servo_top_frame_with_nuts:1:m4 nuts:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(35).translation = [-1.4685039293812945 -0.42650918964743145 0.61023622047244119];  % in
smiData.RigidTransform(35).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(35).axis = [0 1 0];
smiData.RigidTransform(35).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:mg996r_top:1:servo_top_frame_with_nuts:1:m4 nuts:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(36).translation = [0.44488189739035738 -0.017060370749793656 0.61023622047244119];  % in
smiData.RigidTransform(36).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(36).axis = [0 1 0];
smiData.RigidTransform(36).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:mg996r_top:1:servo_top_frame_with_nuts:1:m4 nuts:5]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(37).translation = [-3.6244807344176397 2.8143050965921037 -0.96190284989392394];  % in
smiData.RigidTransform(37).angle = 2.9520216405155485e-15;  % rad
smiData.RigidTransform(37).axis = [0.15426517066189147 0.011966473345528776 -0.98795701355693022];
smiData.RigidTransform(37).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:mg996r_top:1:servo_top_frame_with_nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(38).translation = [-0.4120734846732737 0.77559054805224792 -2.0980592591341539e-15];  % in
smiData.RigidTransform(38).angle = 0;  % rad
smiData.RigidTransform(38).axis = [0 0 0];
smiData.RigidTransform(38).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:mg996r_top:1:mg996r_motor_with_screws:1:servo-motor-mg996r servo:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(39).translation = [-1.3687663980591003 -0.57086614486113851 -0.20472440944882012];  % in
smiData.RigidTransform(39).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(39).axis = [0 0.70710678118654857 0.70710678118654646];
smiData.RigidTransform(39).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:mg996r_top:1:mg996r_motor_with_screws:1:m4x8:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(40).translation = [-1.3687663980591003 -0.57086614486113851 0.20472440944881715];  % in
smiData.RigidTransform(40).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(40).axis = [0 0.70710678118654824 0.7071067811865468];
smiData.RigidTransform(40).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:mg996r_top:1:mg996r_motor_with_screws:1:m4x8:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(41).translation = [0.54461942871255287 -0.57086614486113851 0.20472440944881715];  % in
smiData.RigidTransform(41).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(41).axis = [0 0.70710678118654835 0.70710678118654668];
smiData.RigidTransform(41).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:mg996r_top:1:mg996r_motor_with_screws:1:m4x8:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(42).translation = [0.54461942871255287 -0.57086614486113707 -0.20472440944882045];  % in
smiData.RigidTransform(42).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(42).axis = [0 0.70710678118654846 0.70710678118654657];
smiData.RigidTransform(42).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:mg996r_top:1:mg996r_motor_with_screws:1:m4x8:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(43).translation = [-4.5483652350863828 2.5925203163934887 -0.57607608136923583];  % in
smiData.RigidTransform(43).angle = 3.1415926535897922;  % rad
smiData.RigidTransform(43).axis = [3.5327080320384711e-16 -0.70710678118654602 0.70710678118654913];
smiData.RigidTransform(43).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:mg996r_top:1:mg996r_motor_with_screws:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(44).translation = [-1.615355332948883 0.94391903897096152 0.7927689692838441];  % in
smiData.RigidTransform(44).angle = 3.1415926535897922;  % rad
smiData.RigidTransform(44).axis = [-1 3.1918911957972792e-16 3.2280049579664399e-15];
smiData.RigidTransform(44).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:mg996r_top:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(45).translation = [-0.41207348467327509 0.77559054805224925 -1.3987061727561026e-15];  % in
smiData.RigidTransform(45).angle = 0;  % rad
smiData.RigidTransform(45).axis = [0 0 0];
smiData.RigidTransform(45).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:mg996r_base_motor_with_axis:1:mg996r_motor_with_screws:1:servo-motor-mg996r servo:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(46).translation = [-1.3687663980591016 -0.57086614486113707 -0.2047244094488215];  % in
smiData.RigidTransform(46).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(46).axis = [0 0.70710678118654857 0.70710678118654646];
smiData.RigidTransform(46).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:mg996r_base_motor_with_axis:1:mg996r_motor_with_screws:1:m4x8:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(47).translation = [-1.3687663980591021 -0.57086614486113574 0.20472440944881592];  % in
smiData.RigidTransform(47).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(47).axis = [0 0.70710678118654824 0.7071067811865468];
smiData.RigidTransform(47).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:mg996r_base_motor_with_axis:1:mg996r_motor_with_screws:1:m4x8:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(48).translation = [0.5446194287125522 -0.57086614486113574 0.20472440944881731];  % in
smiData.RigidTransform(48).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(48).axis = [0 0.70710678118654835 0.70710678118654668];
smiData.RigidTransform(48).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:mg996r_base_motor_with_axis:1:mg996r_motor_with_screws:1:m4x8:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(49).translation = [0.5446194287125522 -0.57086614486113707 -0.2047244094488215];  % in
smiData.RigidTransform(49).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(49).axis = [0 0.70710678118654846 0.70710678118654657];
smiData.RigidTransform(49).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:mg996r_base_motor_with_axis:1:mg996r_motor_with_screws:1:m4x8:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(50).translation = [0.09695964143346833 0.72853953297077156 -0.46797270234549182];  % in
smiData.RigidTransform(50).angle = 1.5707963267948932;  % rad
smiData.RigidTransform(50).axis = [-1 1.3877787807814491e-16 -4.9435459074046577e-18];
smiData.RigidTransform(50).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:mg996r_base_motor_with_axis:1:mg996r_motor_with_screws:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(51).translation = [0.10829375058737072 -0.028024947117072242 -0.89588438020285799];  % in
smiData.RigidTransform(51).angle = 3.7278396230215195e-16;  % rad
smiData.RigidTransform(51).axis = [0 0.25128513341682096 -0.96791310649442619];
smiData.RigidTransform(51).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:mg996r_base_motor_with_axis:1:servo_frame_with_nuts:1:servo frame:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(52).translation = [1.0649866639731966 0.17669946233174788 0.44269829696249147];  % in
smiData.RigidTransform(52).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(52).axis = [0 1 0];
smiData.RigidTransform(52).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:mg996r_base_motor_with_axis:1:servo_frame_with_nuts:1:m4 nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(53).translation = [-0.84839916279845162 0.17669946233174788 0.44269829696249285];  % in
smiData.RigidTransform(53).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(53).axis = [1 0 0];
smiData.RigidTransform(53).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:mg996r_base_motor_with_axis:1:servo_frame_with_nuts:1:m4 nuts:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(54).translation = [-0.8483991627984524 -0.23274935656589096 0.44269829696249147];  % in
smiData.RigidTransform(54).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(54).axis = [0 1 0];
smiData.RigidTransform(54).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:mg996r_base_motor_with_axis:1:servo_frame_with_nuts:1:m4 nuts:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(55).translation = [1.064986663973196 -0.23274935656589235 0.44269829696249147];  % in
smiData.RigidTransform(55).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(55).axis = [1 0 0];
smiData.RigidTransform(55).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:mg996r_base_motor_with_axis:1:servo_frame_with_nuts:1:m4 nuts:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(56).translation = [0.52167957735902382 -0.02802494711707364 -0.6399788683918356];  % in
smiData.RigidTransform(56).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(56).axis = [-5.8286708792820925e-16 -1 -0];
smiData.RigidTransform(56).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:mg996r_base_motor_with_axis:1:servo_frame_with_nuts:1:m4x12:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(57).translation = [0.52167957735902382 -0.028024947117072242 -0.89588438020285799];  % in
smiData.RigidTransform(57).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(57).axis = [-0 -1 -0];
smiData.RigidTransform(57).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:mg996r_base_motor_with_axis:1:servo_frame_with_nuts:1:m4 nuts:5]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(58).translation = [-0.42340759382717608 0.75656448008784105 -0.68626154736023237];  % in
smiData.RigidTransform(58).angle = 4.2700885562506066e-16;  % rad
smiData.RigidTransform(58).axis = [0 0 -1];
smiData.RigidTransform(58).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:mg996r_base_motor_with_axis:1:servo_frame_with_nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(59).translation = [-6.6054465542321559 -3.8731639395599586 1.0261322862070217];  % in
smiData.RigidTransform(59).angle = 2.0943951023931886;  % rad
smiData.RigidTransform(59).axis = [0.57735026918962329 -0.57735026918962373 -0.57735026918963028];
smiData.RigidTransform(59).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:mg996r_base_motor_with_axis:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(60).translation = [-5.4760565321808707 -2.3966327734855128 1.7546718191777848];  % in
smiData.RigidTransform(60).angle = 2.0943951023931895;  % rad
smiData.RigidTransform(60).axis = [0.57735026918962895 -0.57735026918962462 0.57735026918962384];
smiData.RigidTransform(60).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:m3 nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(61).translation = [-5.7516470833619717 -2.396632773485512 1.7546718191777861];  % in
smiData.RigidTransform(61).angle = 2.0943951023931895;  % rad
smiData.RigidTransform(61).axis = [0.57735026918962895 -0.57735026918962462 0.57735026918962384];
smiData.RigidTransform(61).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:m3 nuts:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(62).translation = [-6.0272376345430718 -2.396632773485512 1.754671819177789];  % in
smiData.RigidTransform(62).angle = 2.0943951023931895;  % rad
smiData.RigidTransform(62).axis = [0.57735026918962895 -0.57735026918962462 0.57735026918962384];
smiData.RigidTransform(62).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:m3 nuts:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(63).translation = [-5.7516470833619699 -2.4753729309658277 2.0302623703588885];  % in
smiData.RigidTransform(63).angle = 2.0943951023931913;  % rad
smiData.RigidTransform(63).axis = [-0.57735026918962939 -0.57735026918962351 -0.57735026918962429];
smiData.RigidTransform(63).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:m3 nuts:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(64).translation = [-5.7516470833619735 -2.4753729309658281 1.4790812679966827];  % in
smiData.RigidTransform(64).angle = 2.0943951023931913;  % rad
smiData.RigidTransform(64).axis = [-0.57735026918962939 -0.57735026918962351 -0.57735026918962429];
smiData.RigidTransform(64).ID = "AssemblyGround[mg996r_left_mid_top_two_servo:1:m3 nuts:5]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(65).translation = [0.52644480119127979 1.3282248429492201 -0.17772177671687731];  % in
smiData.RigidTransform(65).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(65).axis = [1 0 0];
smiData.RigidTransform(65).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:1:two_servo_frame_with_nuts:1:m4 nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(66).translation = [-1.3869410255803747 1.7376736618468573 -0.17772177671687592];  % in
smiData.RigidTransform(66).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(66).axis = [1 0 0];
smiData.RigidTransform(66).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:1:two_servo_frame_with_nuts:1:m4 nuts:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(67).translation = [-1.3869410255803734 1.3282248429492201 -0.17772177671687592];  % in
smiData.RigidTransform(67).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(67).axis = [0 1 0];
smiData.RigidTransform(67).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:1:two_servo_frame_with_nuts:1:m4 nuts:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(68).translation = [0.52644480119127979 1.7376736618468573 -0.17772177671687592];  % in
smiData.RigidTransform(68).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(68).axis = [0 1 0];
smiData.RigidTransform(68).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:1:two_servo_frame_with_nuts:1:m4 nuts:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(69).translation = [2.010696769695218 1.5329492523980388 -1.5163044538822323];  % in
smiData.RigidTransform(69).angle = 0;  % rad
smiData.RigidTransform(69).axis = [0 0 0];
smiData.RigidTransform(69).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:1:two_servo_frame_with_nuts:1:two_servo_frame_combined:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(70).translation = [1.0540038563093899 1.3282248429492201 -0.17772177671687592];  % in
smiData.RigidTransform(70).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(70).axis = [0 1 0];
smiData.RigidTransform(70).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:1:two_servo_frame_with_nuts:1:m4 nuts:5]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(71).translation = [1.0540038563093899 1.7376736618468573 -0.17772177671687592];  % in
smiData.RigidTransform(71).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(71).axis = [1 0 0];
smiData.RigidTransform(71).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:1:two_servo_frame_with_nuts:1:m4 nuts:6]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(72).translation = [2.9673896830810444 1.3282248429492201 -0.25646193419719199];  % in
smiData.RigidTransform(72).angle = 0;  % rad
smiData.RigidTransform(72).axis = [0 0 0];
smiData.RigidTransform(72).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:1:two_servo_frame_with_nuts:1:m4 nuts:7]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(73).translation = [2.9673896830810453 1.7376736618468573 -0.25646193419719199];  % in
smiData.RigidTransform(73).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(73).axis = [0 0 1];
smiData.RigidTransform(73).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:1:two_servo_frame_with_nuts:1:m4 nuts:8]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(74).translation = [-0.8436339389661992 1.5329492523980388 -1.5950446113625469];  % in
smiData.RigidTransform(74).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(74).axis = [0 0 1];
smiData.RigidTransform(74).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:1:two_servo_frame_with_nuts:1:m4 nuts:9]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(75).translation = [2.4240825964668704 1.5329492523980388 -1.5950446113625478];  % in
smiData.RigidTransform(75).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(75).axis = [0 0 1];
smiData.RigidTransform(75).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:1:two_servo_frame_with_nuts:1:m4 nuts:10]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(76).translation = [-0.8436339389661992 1.5329492523980388 -1.2603989420712078];  % in
smiData.RigidTransform(76).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(76).axis = [0 1 0];
smiData.RigidTransform(76).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:1:two_servo_frame_with_nuts:1:m4x12:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(77).translation = [2.4240825964668717 1.5329492523980388 -1.2603989420712087];  % in
smiData.RigidTransform(77).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(77).axis = [0 1 0];
smiData.RigidTransform(77).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:1:two_servo_frame_with_nuts:1:m4x12:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(78).translation = [-5.1203127329757727 -4.3558890371025356 -1.2519427044127129];  % in
smiData.RigidTransform(78).angle = 2.4444687787825702e-15;  % rad
smiData.RigidTransform(78).axis = [-0.41506162534098517 0.30367778690310637 -0.85761509368185163];
smiData.RigidTransform(78).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:1:two_servo_frame_with_nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(79).translation = [-0.4120734846732737 0.77559054805224859 0];  % in
smiData.RigidTransform(79).angle = 0;  % rad
smiData.RigidTransform(79).axis = [0 0 0];
smiData.RigidTransform(79).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:1:mg996r_motor_with_screws:1:servo-motor-mg996r servo:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(80).translation = [-1.3687663980591016 -0.57086614486113707 -0.20472440944882012];  % in
smiData.RigidTransform(80).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(80).axis = [0 0.70710678118654846 0.70710678118654657];
smiData.RigidTransform(80).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:1:mg996r_motor_with_screws:1:m4x8:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(81).translation = [-1.3687663980591016 -0.57086614486113707 0.20472440944881731];  % in
smiData.RigidTransform(81).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(81).axis = [0 0.70710678118654813 0.70710678118654691];
smiData.RigidTransform(81).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:1:mg996r_motor_with_screws:1:m4x8:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(82).translation = [0.54461942871255287 -0.57086614486113707 0.20472440944881731];  % in
smiData.RigidTransform(82).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(82).axis = [0 0.70710678118654835 0.70710678118654668];
smiData.RigidTransform(82).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:1:mg996r_motor_with_screws:1:m4x8:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(83).translation = [0.54461942871255287 -0.57086614486113707 -0.2047244094488187];  % in
smiData.RigidTransform(83).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(83).axis = [0 0.70710678118654846 0.70710678118654657];
smiData.RigidTransform(83).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:1:mg996r_motor_with_screws:1:m4x8:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(84).translation = [-2.6975424786072755 -2.8229397847044972 -1.6540739330773406];  % in
smiData.RigidTransform(84).angle = 1.570796326794897;  % rad
smiData.RigidTransform(84).axis = [-1 9.4368957093138109e-16 7.9013514526655595e-16];
smiData.RigidTransform(84).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:1:mg996r_motor_with_screws:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(85).translation = [-0.41207348467327648 0.77559054805224925 -2.7974123455122052e-15];  % in
smiData.RigidTransform(85).angle = 0;  % rad
smiData.RigidTransform(85).axis = [0 0 0];
smiData.RigidTransform(85).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:1:mg996r_motor_with_screws:2:servo-motor-mg996r servo:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(86).translation = [-1.3687663980591032 -0.57086614486113707 -0.20472440944882012];  % in
smiData.RigidTransform(86).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(86).axis = [0 0.70710678118654857 0.70710678118654646];
smiData.RigidTransform(86).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:1:mg996r_motor_with_screws:2:m4x8:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(87).translation = [-1.3687663980591045 -0.57086614486113707 0.20472440944881731];  % in
smiData.RigidTransform(87).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(87).axis = [0 0.70710678118654824 0.7071067811865468];
smiData.RigidTransform(87).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:1:mg996r_motor_with_screws:2:m4x8:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(88).translation = [0.54461942871255009 -0.57086614486113707 0.20472440944881592];  % in
smiData.RigidTransform(88).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(88).axis = [0 0.70710678118654835 0.70710678118654668];
smiData.RigidTransform(88).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:1:mg996r_motor_with_screws:2:m4x8:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(89).translation = [0.54461942871255009 -0.57086614486113707 -0.2047244094488215];  % in
smiData.RigidTransform(89).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(89).axis = [0 0.70710678118654846 0.70710678118654657];
smiData.RigidTransform(89).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:1:mg996r_motor_with_screws:2:m4x8:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(90).translation = [-5.9626343298435893 -2.8229397847044928 -1.6540739330773364];  % in
smiData.RigidTransform(90).angle = 3.1415926535897865;  % rad
smiData.RigidTransform(90).axis = [-3.416331061712228e-15 -0.7071067811865448 0.70710678118655046];
smiData.RigidTransform(90).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:1:mg996r_motor_with_screws:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(91).translation = [-0.35433070338147715 -0.093175852225729286 -0.72834645669291531];  % in
smiData.RigidTransform(91).angle = 0;  % rad
smiData.RigidTransform(91).axis = [0 0 0];
smiData.RigidTransform(91).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:mg996r_bottom:1:servo_bottom_frame_with_nuts:1:servo frame with top:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(92).translation = [-0.62992125456258063 0.31233595879789317 -2.7974123455122052e-15];  % in
smiData.RigidTransform(92).angle = 1.5707963267948966;  % rad
smiData.RigidTransform(92).axis = [-1 0 0];
smiData.RigidTransform(92).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:mg996r_bottom:1:servo_bottom_frame_with_nuts:1:m3x8:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(93).translation = [-0.35433070338147715 0.31233595879789317 0.27559055118110065];  % in
smiData.RigidTransform(93).angle = 1.5707963267948966;  % rad
smiData.RigidTransform(93).axis = [-1 0 0];
smiData.RigidTransform(93).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:mg996r_bottom:1:servo_bottom_frame_with_nuts:1:m3x8:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(94).translation = [-0.35433070338147854 0.31233595879789317 -1.3987061727561026e-15];  % in
smiData.RigidTransform(94).angle = 1.5707963267948966;  % rad
smiData.RigidTransform(94).axis = [-1 0 0];
smiData.RigidTransform(94).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:mg996r_bottom:1:servo_bottom_frame_with_nuts:1:m3x8:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(95).translation = [-0.35433070338147715 0.31233595879789317 -0.27559055118110487];  % in
smiData.RigidTransform(95).angle = 1.5707963267948966;  % rad
smiData.RigidTransform(95).axis = [-1 0 0];
smiData.RigidTransform(95).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:mg996r_bottom:1:servo_bottom_frame_with_nuts:1:m3x8:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(96).translation = [-0.078740152200376501 0.31233595879789178 -1.3987061727561026e-15];  % in
smiData.RigidTransform(96).angle = 1.5707963267948966;  % rad
smiData.RigidTransform(96).axis = [-1 0 0];
smiData.RigidTransform(96).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:mg996r_bottom:1:servo_bottom_frame_with_nuts:1:m3x8:5]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(97).translation = [0.059055123390176621 -0.093175852225727884 -0.47244094488189087];  % in
smiData.RigidTransform(97).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(97).axis = [0 1 0];
smiData.RigidTransform(97).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:mg996r_bottom:1:servo_bottom_frame_with_nuts:1:m4x12:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(98).translation = [0.059055123390176621 -0.093175852225729286 -0.80708661417323135];  % in
smiData.RigidTransform(98).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(98).axis = [0 0 1];
smiData.RigidTransform(98).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:mg996r_bottom:1:servo_bottom_frame_with_nuts:1:m4 nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(99).translation = [-1.3110236167673051 0.11154855722308943 0.61023622047243975];  % in
smiData.RigidTransform(99).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(99).axis = [1 0 0];
smiData.RigidTransform(99).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:mg996r_bottom:1:servo_bottom_frame_with_nuts:1:m4 nuts:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(100).translation = [0.60236221000434798 0.11154855722308943 0.61023622047243975];  % in
smiData.RigidTransform(100).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(100).axis = [0 1 0];
smiData.RigidTransform(100).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:mg996r_bottom:1:servo_bottom_frame_with_nuts:1:m4 nuts:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(101).translation = [0.60236221000435086 -0.29790026167454942 0.53149606299212371];  % in
smiData.RigidTransform(101).angle = 0;  % rad
smiData.RigidTransform(101).axis = [0 0 0];
smiData.RigidTransform(101).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:mg996r_bottom:1:servo_bottom_frame_with_nuts:1:m4 nuts:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(102).translation = [-1.3110236167673051 -0.29790026167454942 0.61023622047243975];  % in
smiData.RigidTransform(102).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(102).axis = [0 1 0];
smiData.RigidTransform(102).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:mg996r_bottom:1:servo_bottom_frame_with_nuts:1:m4 nuts:5]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(103).translation = [-0.59013299321752344 -0.22961495514934116 0.30691567992929497];  % in
smiData.RigidTransform(103).angle = 1.5217523455263415e-15;  % rad
smiData.RigidTransform(103).axis = [0.39539985060526217 -0.1832902820261319 -0.90003534967028798];
smiData.RigidTransform(103).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:mg996r_bottom:1:servo_bottom_frame_with_nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(104).translation = [-0.41207348467327509 0.77559054805224925 -2.7974123455122052e-15];  % in
smiData.RigidTransform(104).angle = 0;  % rad
smiData.RigidTransform(104).axis = [0 0 0];
smiData.RigidTransform(104).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:mg996r_bottom:1:mg996r_motor_with_screws:1:servo-motor-mg996r servo:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(105).translation = [-1.3687663980591016 -0.57086614486113851 -0.2047244094488215];  % in
smiData.RigidTransform(105).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(105).axis = [0 0.70710678118654857 0.70710678118654646];
smiData.RigidTransform(105).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:mg996r_bottom:1:mg996r_motor_with_screws:1:m4x8:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(106).translation = [-1.3687663980591016 -0.57086614486113851 0.20472440944881592];  % in
smiData.RigidTransform(106).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(106).axis = [0 0.70710678118654824 0.7071067811865468];
smiData.RigidTransform(106).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:mg996r_bottom:1:mg996r_motor_with_screws:1:m4x8:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(107).translation = [0.54461942871255287 -0.57086614486113851 0.20472440944881731];  % in
smiData.RigidTransform(107).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(107).axis = [0 0.70710678118654835 0.70710678118654668];
smiData.RigidTransform(107).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:mg996r_bottom:1:mg996r_motor_with_screws:1:m4x8:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(108).translation = [0.54461942871255287 -0.57086614486113851 -0.2047244094488215];  % in
smiData.RigidTransform(108).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(108).axis = [0 0.70710678118654846 0.70710678118654657];
smiData.RigidTransform(108).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:mg996r_bottom:1:mg996r_motor_with_screws:1:m4x8:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(109).translation = [-0.53239021192572822 -0.32279080737506766 0.69274244845398447];  % in
smiData.RigidTransform(109).angle = 1.5707963267948939;  % rad
smiData.RigidTransform(109).axis = [-1 5.2041704279304164e-16 -2.4763982155927016e-16];
smiData.RigidTransform(109).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:mg996r_bottom:1:mg996r_motor_with_screws:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(110).translation = [-0.13717988603900999 1.7561709567934056 -0.86202946400678904];  % in
smiData.RigidTransform(110).angle = 8.5555395660740478e-15;  % rad
smiData.RigidTransform(110).axis = [-0.19746818320586659 -0.97313149985796654 -0.1184119951928803];
smiData.RigidTransform(110).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:mg996r_bottom:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(111).translation = [-0.57480314104106489 0.11089238866003247 -1.3987061727561026e-15];  % in
smiData.RigidTransform(111).angle = 0;  % rad
smiData.RigidTransform(111).axis = [0 0 0];
smiData.RigidTransform(111).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:mg996r_rot_frame:1:servo_handle:1:servo handle 4:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(112).translation = [-0.85039369222216699 -0.042650918426581919 0];  % in
smiData.RigidTransform(112).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(112).axis = [0 0.70710678118654768 0.70710678118654746];
smiData.RigidTransform(112).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:mg996r_rot_frame:1:servo_handle:1:m2x8:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(113).translation = [-0.57480314104106489 -0.042650918426581919 -0.27559055118110348];  % in
smiData.RigidTransform(113).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(113).axis = [0 0.70710678118654779 0.70710678118654735];
smiData.RigidTransform(113).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:mg996r_rot_frame:1:servo_handle:1:m2x8:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(114).translation = [-0.57480314104106489 -0.04265091842658332 0.27559055118110204];  % in
smiData.RigidTransform(114).angle = 1.570796326794897;  % rad
smiData.RigidTransform(114).axis = [-1 -0 -0];
smiData.RigidTransform(114).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:mg996r_rot_frame:1:servo_handle:1:m2x8:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(115).translation = [-0.29921258985996141 -0.042650918426581919 0];  % in
smiData.RigidTransform(115).angle = 1.570796326794897;  % rad
smiData.RigidTransform(115).axis = [-1 -0 -0];
smiData.RigidTransform(115).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:mg996r_rot_frame:1:servo_handle:1:m2x8:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(116).translation = [1.5289405574428203 -0.85723143460727158 -0.99585608304323969];  % in
smiData.RigidTransform(116).angle = 1.5707963267948968;  % rad
smiData.RigidTransform(116).axis = [-1.9721522630525293e-31 -6.4408920985009989e-16 -1];
smiData.RigidTransform(116).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:mg996r_rot_frame:1:servo_handle:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(117).translation = [0.48825814295324627 1.0167843048589917 -0.99585608304324114];  % in
smiData.RigidTransform(117).angle = 0;  % rad
smiData.RigidTransform(117).axis = [0 0 0];
smiData.RigidTransform(117).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:mg996r_rot_frame:1:servo frame mg996r:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(118).translation = [1.8445573555516701 -0.2824282935662053 -1.2714466342243431];  % in
smiData.RigidTransform(118).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(118).axis = [-0.57735026918962584 -0.57735026918962584 0.57735026918962562];
smiData.RigidTransform(118).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:mg996r_rot_frame:1:m2 nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(119).translation = [1.8445573555516701 -0.28242829356620669 -0.72026553186213904];  % in
smiData.RigidTransform(119).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(119).axis = [-0.57735026918962584 -0.57735026918962584 0.57735026918962562];
smiData.RigidTransform(119).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:mg996r_rot_frame:1:m2 nuts:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(120).translation = [1.8445573555516701 -0.55801884474730734 -0.99585608304323969];  % in
smiData.RigidTransform(120).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(120).axis = [-0.57735026918962584 -0.57735026918962584 0.57735026918962562];
smiData.RigidTransform(120).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:mg996r_rot_frame:1:m2 nuts:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(121).translation = [1.8445573555516714 -0.0068377423851018184 -0.99585608304324114];  % in
smiData.RigidTransform(121).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(121).axis = [-0.57735026918962584 -0.57735026918962584 0.57735026918962562];
smiData.RigidTransform(121).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:mg996r_rot_frame:1:m2 nuts:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(122).translation = [1.7658171980713568 -0.0068377423851032175 -0.99585608304324114];  % in
smiData.RigidTransform(122).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(122).axis = [0.57735026918962573 -0.57735026918962573 -0.57735026918962562];
smiData.RigidTransform(122).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:mg996r_rot_frame:1:m2 washer:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(123).translation = [1.7658171980713553 -0.28242829356620669 -1.2714466342243431];  % in
smiData.RigidTransform(123).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(123).axis = [0.57735026918962573 -0.57735026918962573 -0.57735026918962562];
smiData.RigidTransform(123).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:mg996r_rot_frame:1:m2 washer:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(124).translation = [1.7658171980713553 -0.55801884474730734 -0.99585608304323969];  % in
smiData.RigidTransform(124).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(124).axis = [0.57735026918962573 -0.57735026918962573 -0.57735026918962562];
smiData.RigidTransform(124).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:mg996r_rot_frame:1:m2 washer:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(125).translation = [1.7658171980713553 -0.28242829356620808 -0.72026553186213904];  % in
smiData.RigidTransform(125).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(125).axis = [0.57735026918962573 -0.57735026918962573 -0.57735026918962562];
smiData.RigidTransform(125).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:mg996r_rot_frame:1:m2 washer:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(126).translation = [-0.86016705389714765 -0.28242829356620669 -0.99585608304323969];  % in
smiData.RigidTransform(126).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(126).axis = [-0.57735026918962562 0.57735026918962584 -0.57735026918962595];
smiData.RigidTransform(126).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:mg996r_rot_frame:1:m4 nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(127).translation = [-1.5699017255912442 3.0800857141198486 -1.5509698671207464];  % in
smiData.RigidTransform(127).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(127).axis = [1 -1.0789980020575718e-15 3.85914110761867e-15];
smiData.RigidTransform(127).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:mg996r_rot_frame:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(128).translation = [-1.081643582638012 2.1814116454813308 -0.27952323289640035];  % in
smiData.RigidTransform(128).angle = 3.141592653589782;  % rad
smiData.RigidTransform(128).axis = [-5.8128686719883172e-15 0.70710678118654746 0.70710678118654768];
smiData.RigidTransform(128).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:m3 nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(129).translation = [-0.80605303145690987 2.1814116454813295 -0.555113784077501];  % in
smiData.RigidTransform(129).angle = 3.1415926535897793;  % rad
smiData.RigidTransform(129).axis = [-5.6852986597202657e-15 0.7071067811865468 0.70710678118654824];
smiData.RigidTransform(129).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:m3 nuts:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(130).translation = [-1.0816435826380106 2.2601518029616456 -0.55511378407750245];  % in
smiData.RigidTransform(130).angle = 3.1415926535897896;  % rad
smiData.RigidTransform(130).axis = [7.412124014794491e-16 -0.70710678118654791 0.70710678118654724];
smiData.RigidTransform(130).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:m3 nuts:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(131).translation = [-1.0816435826380078 2.2601518029616456 -0.83070433525860454];  % in
smiData.RigidTransform(131).angle = 3.1415926535897909;  % rad
smiData.RigidTransform(131).axis = [1.0936455445885156e-16 -0.70710678118654824 0.70710678118654702];
smiData.RigidTransform(131).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:m3 nuts:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(132).translation = [-1.3572341338191112 2.1814116454813295 -0.55511378407750378];  % in
smiData.RigidTransform(132).angle = 3.1415926535897789;  % rad
smiData.RigidTransform(132).axis = [-5.7098313543871968e-15 0.70710678118654724 0.70710678118654791];
smiData.RigidTransform(132).ID = "AssemblyGround[mg996r_left_rot_foot_servo:1:m3 nuts:5]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(133).translation = [-0.20209973452128852 0.69816272369324928 -0.39370078740157477];  % in
smiData.RigidTransform(133).angle = 0;  % rad
smiData.RigidTransform(133).axis = [0 0 0];
smiData.RigidTransform(133).ID = "AssemblyGround[mg996r_left_foot_frame:1:servo frame mg996 foot:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(134).translation = [-1.471784773891365 -0.32545932355084572 -0.39370078740157477];  % in
smiData.RigidTransform(134).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(134).axis = [0.57735026918962573 -0.57735026918962584 -0.57735026918962573];
smiData.RigidTransform(134).ID = "AssemblyGround[mg996r_left_foot_frame:1:m2 washer:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(135).translation = [-1.471784773891365 -0.60104987473194771 -0.66929133858267686];  % in
smiData.RigidTransform(135).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(135).axis = [0.57735026918962573 -0.57735026918962584 -0.57735026918962573];
smiData.RigidTransform(135).ID = "AssemblyGround[mg996r_left_foot_frame:1:m2 washer:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(136).translation = [-1.4717847738913663 -0.60104987473194771 -0.11811023622047272];  % in
smiData.RigidTransform(136).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(136).axis = [0.57735026918962573 -0.57735026918962584 -0.57735026918962573];
smiData.RigidTransform(136).ID = "AssemblyGround[mg996r_left_foot_frame:1:m2 washer:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(137).translation = [-1.4717847738913663 -0.8766404259130498 -0.39370078740157477];  % in
smiData.RigidTransform(137).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(137).axis = [0.57735026918962573 -0.57735026918962584 -0.57735026918962573];
smiData.RigidTransform(137).ID = "AssemblyGround[mg996r_left_foot_frame:1:m2 washer:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(138).translation = [-1.4796587896393962 -0.32545932355084711 -0.39370078740157477];  % in
smiData.RigidTransform(138).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(138).axis = [-0.57735026918962595 -0.57735026918962584 0.57735026918962562];
smiData.RigidTransform(138).ID = "AssemblyGround[mg996r_left_foot_frame:1:m2 nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(139).translation = [-1.4796587896393976 -0.8766404259130498 -0.39370078740157477];  % in
smiData.RigidTransform(139).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(139).axis = [-0.57735026918962595 -0.57735026918962584 0.57735026918962562];
smiData.RigidTransform(139).ID = "AssemblyGround[mg996r_left_foot_frame:1:m2 nuts:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(140).translation = [-1.5583989471197108 -0.60104987473194638 -0.66929133858267686];  % in
smiData.RigidTransform(140).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(140).axis = [0.57735026918962584 0.57735026918962562 0.57735026918962584];
smiData.RigidTransform(140).ID = "AssemblyGround[mg996r_left_foot_frame:1:m2 nuts:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(141).translation = [-1.4796587896393976 -0.60104987473194771 -0.11811023622047272];  % in
smiData.RigidTransform(141).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(141).axis = [-0.57735026918962595 -0.57735026918962584 0.57735026918962562];
smiData.RigidTransform(141).ID = "AssemblyGround[mg996r_left_foot_frame:1:m2 nuts:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(142).translation = [-0.57480314104106633 0.11089238866003386 1.3987061727561026e-15];  % in
smiData.RigidTransform(142).angle = 0;  % rad
smiData.RigidTransform(142).axis = [0 0 0];
smiData.RigidTransform(142).ID = "AssemblyGround[mg996r_left_foot_frame:1:servo_handle:1:servo handle 4:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(143).translation = [-0.85039369222216832 -0.042650918426579122 -1.3987061727561026e-15];  % in
smiData.RigidTransform(143).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(143).axis = [0 0.70710678118654757 0.70710678118654746];
smiData.RigidTransform(143).ID = "AssemblyGround[mg996r_left_foot_frame:1:servo_handle:1:m2x8:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(144).translation = [-0.57480314104106767 -0.042650918426580524 -0.27559055118110204];  % in
smiData.RigidTransform(144).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(144).axis = [0 0.70710678118654768 0.70710678118654735];
smiData.RigidTransform(144).ID = "AssemblyGround[mg996r_left_foot_frame:1:servo_handle:1:m2x8:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(145).translation = [-0.57480314104106767 -0.042650918426580524 0.27559055118110204];  % in
smiData.RigidTransform(145).angle = 1.5707963267948968;  % rad
smiData.RigidTransform(145).axis = [-1 -0 -0];
smiData.RigidTransform(145).ID = "AssemblyGround[mg996r_left_foot_frame:1:servo_handle:1:m2x8:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(146).translation = [-0.29921258985996424 -0.042650918426580524 0];  % in
smiData.RigidTransform(146).angle = 1.5707963267948968;  % rad
smiData.RigidTransform(146).axis = [-1 -0 -0];
smiData.RigidTransform(146).ID = "AssemblyGround[mg996r_left_foot_frame:1:servo_handle:1:m2x8:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(147).translation = [-1.2427821490108597 -0.60104987473194771 -0.96850392844263822];  % in
smiData.RigidTransform(147).angle = 2.0943951023931948;  % rad
smiData.RigidTransform(147).axis = [-0.57735026918962562 0.57735026918962584 0.57735026918962573];
smiData.RigidTransform(147).ID = "AssemblyGround[mg996r_left_foot_frame:1:servo_handle:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(148).translation = [1.067585304848792 -0.60104987473194771 -0.39370078740157338];  % in
smiData.RigidTransform(148).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(148).axis = [-0.57735026918962562 0.57735026918962584 -0.57735026918962595];
smiData.RigidTransform(148).ID = "AssemblyGround[mg996r_left_foot_frame:1:m4 nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(149).translation = [0.52644480119128256 1.3282248429492201 -0.17772177671687592];  % in
smiData.RigidTransform(149).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(149).axis = [1 0 0];
smiData.RigidTransform(149).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:2:two_servo_frame_with_nuts:1:m4 nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(150).translation = [-1.386941025580372 1.7376736618468589 -0.17772177671687731];  % in
smiData.RigidTransform(150).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(150).axis = [1 0 0];
smiData.RigidTransform(150).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:2:two_servo_frame_with_nuts:1:m4 nuts:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(151).translation = [-1.386941025580372 1.3282248429492214 -0.17772177671687592];  % in
smiData.RigidTransform(151).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(151).axis = [0 1 0];
smiData.RigidTransform(151).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:2:two_servo_frame_with_nuts:1:m4 nuts:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(152).translation = [0.52644480119128123 1.7376736618468573 -0.17772177671687731];  % in
smiData.RigidTransform(152).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(152).axis = [0 1 0];
smiData.RigidTransform(152).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:2:two_servo_frame_with_nuts:1:m4 nuts:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(153).translation = [2.010696769695218 1.5329492523980401 -1.516304453882231];  % in
smiData.RigidTransform(153).angle = 0;  % rad
smiData.RigidTransform(153).axis = [0 0 0];
smiData.RigidTransform(153).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:2:two_servo_frame_with_nuts:1:two_servo_frame_combined:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(154).translation = [1.0540038563093928 1.3282248429492201 -0.17772177671687592];  % in
smiData.RigidTransform(154).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(154).axis = [0 1 0];
smiData.RigidTransform(154).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:2:two_servo_frame_with_nuts:1:m4 nuts:5]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(155).translation = [1.0540038563093914 1.7376736618468589 -0.17772177671687731];  % in
smiData.RigidTransform(155).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(155).axis = [1 0 0];
smiData.RigidTransform(155).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:2:two_servo_frame_with_nuts:1:m4 nuts:6]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(156).translation = [2.9673896830810458 1.3282248429492214 -0.2564619341971906];  % in
smiData.RigidTransform(156).angle = 0;  % rad
smiData.RigidTransform(156).axis = [0 0 0];
smiData.RigidTransform(156).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:2:two_servo_frame_with_nuts:1:m4 nuts:7]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(157).translation = [2.9673896830810453 1.7376736618468589 -0.25646193419719199];  % in
smiData.RigidTransform(157).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(157).axis = [0 0 1];
smiData.RigidTransform(157).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:2:two_servo_frame_with_nuts:1:m4 nuts:8]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(158).translation = [-0.8436339389661992 1.5329492523980388 -1.5950446113625456];  % in
smiData.RigidTransform(158).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(158).axis = [0 0 1];
smiData.RigidTransform(158).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:2:two_servo_frame_with_nuts:1:m4 nuts:9]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(159).translation = [2.4240825964668731 1.5329492523980401 -1.5950446113625456];  % in
smiData.RigidTransform(159).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(159).axis = [0 0 1];
smiData.RigidTransform(159).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:2:two_servo_frame_with_nuts:1:m4 nuts:10]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(160).translation = [-0.8436339389661992 1.5329492523980388 -1.2603989420712078];  % in
smiData.RigidTransform(160).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(160).axis = [0 1 0];
smiData.RigidTransform(160).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:2:two_servo_frame_with_nuts:1:m4x12:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(161).translation = [2.4240825964668731 1.5329492523980388 -1.2603989420712065];  % in
smiData.RigidTransform(161).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(161).axis = [0 1 0];
smiData.RigidTransform(161).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:2:two_servo_frame_with_nuts:1:m4x12:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(162).translation = [-5.1203127329757709 -4.3558890371025347 -1.2519427044127129];  % in
smiData.RigidTransform(162).angle = 2.444282815697035e-15;  % rad
smiData.RigidTransform(162).axis = [-0.41509320357736612 0.30370089096369146 -0.85759162844079762];
smiData.RigidTransform(162).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:2:two_servo_frame_with_nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(163).translation = [-0.41207348467327509 0.77559054805224925 -2.7974123455122052e-15];  % in
smiData.RigidTransform(163).angle = 0;  % rad
smiData.RigidTransform(163).axis = [0 0 0];
smiData.RigidTransform(163).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:2:mg996r_motor_with_screws:1:servo-motor-mg996r servo:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(164).translation = [-1.3687663980591003 -0.57086614486113707 -0.2047244094488215];  % in
smiData.RigidTransform(164).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(164).axis = [0 0.70710678118654857 0.70710678118654646];
smiData.RigidTransform(164).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:2:mg996r_motor_with_screws:1:m4x8:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(165).translation = [-1.3687663980591003 -0.57086614486113574 0.20472440944881731];  % in
smiData.RigidTransform(165).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(165).axis = [0 0.70710678118654824 0.7071067811865468];
smiData.RigidTransform(165).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:2:mg996r_motor_with_screws:1:m4x8:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(166).translation = [0.54461942871255153 -0.57086614486113574 0.20472440944881731];  % in
smiData.RigidTransform(166).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(166).axis = [0 0.70710678118654835 0.70710678118654668];
smiData.RigidTransform(166).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:2:mg996r_motor_with_screws:1:m4x8:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(167).translation = [0.54461942871255153 -0.57086614486113574 -0.2047244094488215];  % in
smiData.RigidTransform(167).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(167).axis = [0 0.70710678118654846 0.70710678118654657];
smiData.RigidTransform(167).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:2:mg996r_motor_with_screws:1:m4x8:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(168).translation = [-2.6975424786072755 -2.8229397847044972 -1.6540739330773433];  % in
smiData.RigidTransform(168).angle = 1.570796326794897;  % rad
smiData.RigidTransform(168).axis = [-1 9.436895709313805e-16 7.9013514526655604e-16];
smiData.RigidTransform(168).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:2:mg996r_motor_with_screws:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(169).translation = [-0.41207348467327226 0.77559054805224925 -1.3987061727561026e-15];  % in
smiData.RigidTransform(169).angle = 0;  % rad
smiData.RigidTransform(169).axis = [0 0 0];
smiData.RigidTransform(169).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:2:mg996r_motor_with_screws:2:servo-motor-mg996r servo:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(170).translation = [-1.3687663980591003 -0.57086614486113707 -0.20472440944882012];  % in
smiData.RigidTransform(170).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(170).axis = [0 0.70710678118654857 0.70710678118654657];
smiData.RigidTransform(170).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:2:mg996r_motor_with_screws:2:m4x8:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(171).translation = [-1.3687663980590989 -0.57086614486113707 0.20472440944881592];  % in
smiData.RigidTransform(171).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(171).axis = [0 0.70710678118654824 0.70710678118654691];
smiData.RigidTransform(171).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:2:mg996r_motor_with_screws:2:m4x8:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(172).translation = [0.54461942871255431 -0.57086614486113707 0.20472440944881731];  % in
smiData.RigidTransform(172).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(172).axis = [0 0.70710678118654846 0.70710678118654668];
smiData.RigidTransform(172).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:2:mg996r_motor_with_screws:2:m4x8:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(173).translation = [0.54461942871255431 -0.57086614486113707 -0.2047244094488215];  % in
smiData.RigidTransform(173).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(173).axis = [0 0.70710678118654857 0.70710678118654657];
smiData.RigidTransform(173).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:2:mg996r_motor_with_screws:2:m4x8:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(174).translation = [-5.9626343298435875 -2.8229397847044928 -1.6540739330773406];  % in
smiData.RigidTransform(174).angle = 3.1415926535897865;  % rad
smiData.RigidTransform(174).axis = [-3.4164843910538963e-15 -0.7071067811865448 0.70710678118655035];
smiData.RigidTransform(174).ID = "AssemblyGround[mg996r_two_servo_bottom_middle:2:mg996r_motor_with_screws:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(175).translation = [-0.51181101599547063 -0.22178478019861342 -0.72834645669291387];  % in
smiData.RigidTransform(175).angle = 0;  % rad
smiData.RigidTransform(175).axis = [0 0 0];
smiData.RigidTransform(175).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:mg996r_top:1:servo_top_frame_with_nuts:1:servo frame with bottom:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(176).translation = [-0.51181101599546919 0.18372703082500905 -0.27559055118110348];  % in
smiData.RigidTransform(176).angle = 1.5707963267948966;  % rad
smiData.RigidTransform(176).axis = [-1 0 0];
smiData.RigidTransform(176).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:mg996r_top:1:servo_top_frame_with_nuts:1:m3x8:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(177).translation = [-0.51181101599546919 0.18372703082501043 0];  % in
smiData.RigidTransform(177).angle = 1.5707963267948966;  % rad
smiData.RigidTransform(177).axis = [-1 0 0];
smiData.RigidTransform(177).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:mg996r_top:1:servo_top_frame_with_nuts:1:m3x8:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(178).translation = [-0.23622046481436715 0.18372703082501043 0];  % in
smiData.RigidTransform(178).angle = 1.5707963267948966;  % rad
smiData.RigidTransform(178).axis = [-1 0 0];
smiData.RigidTransform(178).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:mg996r_top:1:servo_top_frame_with_nuts:1:m3x8:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(179).translation = [-0.78740156717657128 0.18372703082501043 0];  % in
smiData.RigidTransform(179).angle = 1.5707963267948966;  % rad
smiData.RigidTransform(179).axis = [-1 0 0];
smiData.RigidTransform(179).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:mg996r_top:1:servo_top_frame_with_nuts:1:m3x8:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(180).translation = [-0.51181101599546919 0.18372703082500905 0.27559055118110204];  % in
smiData.RigidTransform(180).angle = 1.5707963267948966;  % rad
smiData.RigidTransform(180).axis = [-1 0 0];
smiData.RigidTransform(180).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:mg996r_top:1:servo_top_frame_with_nuts:1:m3x8:5]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(181).translation = [-0.92519684276712444 -0.22178478019861203 -0.47244094488188942];  % in
smiData.RigidTransform(181).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(181).axis = [0 1 0];
smiData.RigidTransform(181).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:mg996r_top:1:servo_top_frame_with_nuts:1:m4x12:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(182).translation = [-0.92519684276712444 -0.22178478019861342 -0.72834645669291387];  % in
smiData.RigidTransform(182).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(182).axis = [0 1 0];
smiData.RigidTransform(182).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:mg996r_top:1:servo_top_frame_with_nuts:1:m4 nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(183).translation = [0.44488189739035738 -0.42650918964743212 0.61023622047243975];  % in
smiData.RigidTransform(183).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(183).axis = [1 0 0];
smiData.RigidTransform(183).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:mg996r_top:1:servo_top_frame_with_nuts:1:m4 nuts:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(184).translation = [-1.4685039293812971 -0.017060370749794707 0.53149606299212515];  % in
smiData.RigidTransform(184).angle = 0;  % rad
smiData.RigidTransform(184).axis = [0 0 0];
smiData.RigidTransform(184).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:mg996r_top:1:servo_top_frame_with_nuts:1:m4 nuts:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(185).translation = [-1.4685039293812945 -0.42650918964743073 0.61023622047244119];  % in
smiData.RigidTransform(185).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(185).axis = [0 1 0];
smiData.RigidTransform(185).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:mg996r_top:1:servo_top_frame_with_nuts:1:m4 nuts:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(186).translation = [0.44488189739035738 -0.017060370749794707 0.61023622047244119];  % in
smiData.RigidTransform(186).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(186).axis = [0 1 0];
smiData.RigidTransform(186).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:mg996r_top:1:servo_top_frame_with_nuts:1:m4 nuts:5]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(187).translation = [-3.6244807344176402 2.8143050965921024 -0.96190284989392394];  % in
smiData.RigidTransform(187).angle = 2.9520216405155485e-15;  % rad
smiData.RigidTransform(187).axis = [0.15426517066189119 0.011966473345528529 -0.98795701355693011];
smiData.RigidTransform(187).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:mg996r_top:1:servo_top_frame_with_nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(188).translation = [-0.41207348467327509 0.77559054805224925 -1.3987061727561026e-15];  % in
smiData.RigidTransform(188).angle = 0;  % rad
smiData.RigidTransform(188).axis = [0 0 0];
smiData.RigidTransform(188).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:mg996r_top:1:mg996r_motor_with_screws:1:servo-motor-mg996r servo:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(189).translation = [-1.3687663980591003 -0.57086614486113851 -0.20472440944882012];  % in
smiData.RigidTransform(189).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(189).axis = [0 0.70710678118654857 0.70710678118654646];
smiData.RigidTransform(189).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:mg996r_top:1:mg996r_motor_with_screws:1:m4x8:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(190).translation = [-1.3687663980591003 -0.57086614486113707 0.20472440944881731];  % in
smiData.RigidTransform(190).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(190).axis = [0 0.70710678118654824 0.7071067811865468];
smiData.RigidTransform(190).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:mg996r_top:1:mg996r_motor_with_screws:1:m4x8:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(191).translation = [0.54461942871255287 -0.57086614486113851 0.20472440944881731];  % in
smiData.RigidTransform(191).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(191).axis = [0 0.70710678118654835 0.70710678118654668];
smiData.RigidTransform(191).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:mg996r_top:1:mg996r_motor_with_screws:1:m4x8:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(192).translation = [0.54461942871255287 -0.57086614486113707 -0.20472440944882012];  % in
smiData.RigidTransform(192).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(192).axis = [0 0.70710678118654846 0.70710678118654657];
smiData.RigidTransform(192).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:mg996r_top:1:mg996r_motor_with_screws:1:m4x8:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(193).translation = [-4.5483652350863837 2.592520316393486 -0.57607608136923583];  % in
smiData.RigidTransform(193).angle = 3.1415926535897922;  % rad
smiData.RigidTransform(193).axis = [3.5327080320384672e-16 -0.70710678118654602 0.70710678118654913];
smiData.RigidTransform(193).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:mg996r_top:1:mg996r_motor_with_screws:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(194).translation = [2.727273527930937 -2.5752204233407836 -0.62558844972400907];  % in
smiData.RigidTransform(194).angle = 2.3548714473218733e-15;  % rad
smiData.RigidTransform(194).axis = [-0.47020445260757948 -0.87971963593045199 0.070718702663436578];
smiData.RigidTransform(194).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:mg996r_top:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(195).translation = [-0.57480314104106345 0.11089238866003386 1.3987061727561026e-15];  % in
smiData.RigidTransform(195).angle = 0;  % rad
smiData.RigidTransform(195).axis = [0 0 0];
smiData.RigidTransform(195).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:mg996r_rot_frame:1:servo_handle:1:servo handle 4:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(196).translation = [-0.85039369222216699 -0.042650918426580524 0];  % in
smiData.RigidTransform(196).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(196).axis = [0 0.70710678118654757 0.70710678118654746];
smiData.RigidTransform(196).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:mg996r_rot_frame:1:servo_handle:1:m2x8:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(197).translation = [-0.57480314104106489 -0.042650918426580524 -0.27559055118110065];  % in
smiData.RigidTransform(197).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(197).axis = [0 0.70710678118654768 0.70710678118654735];
smiData.RigidTransform(197).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:mg996r_rot_frame:1:servo_handle:1:m2x8:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(198).translation = [-0.57480314104106633 -0.042650918426580524 0.27559055118110348];  % in
smiData.RigidTransform(198).angle = 1.5707963267948968;  % rad
smiData.RigidTransform(198).axis = [-1 -0 -0];
smiData.RigidTransform(198).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:mg996r_rot_frame:1:servo_handle:1:m2x8:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(199).translation = [-0.29921258985996141 -0.042650918426580524 1.3987061727561026e-15];  % in
smiData.RigidTransform(199).angle = 1.5707963267948968;  % rad
smiData.RigidTransform(199).axis = [-1 -0 -0];
smiData.RigidTransform(199).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:mg996r_rot_frame:1:servo_handle:1:m2x8:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(200).translation = [1.5289405574428216 -0.85723143460727158 -0.99585608304324247];  % in
smiData.RigidTransform(200).angle = 1.5707963267948968;  % rad
smiData.RigidTransform(200).axis = [2.9582283945787938e-31 -6.4408920985010018e-16 -1];
smiData.RigidTransform(200).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:mg996r_rot_frame:1:servo_handle:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(201).translation = [0.48825814295324904 1.0167843048589904 -0.99585608304324247];  % in
smiData.RigidTransform(201).angle = 0;  % rad
smiData.RigidTransform(201).axis = [0 0 0];
smiData.RigidTransform(201).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:mg996r_rot_frame:1:servo frame mg996r:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(202).translation = [1.8445573555516743 -0.2824282935662053 -1.2714466342243431];  % in
smiData.RigidTransform(202).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(202).axis = [-0.57735026918962595 -0.57735026918962584 0.57735026918962562];
smiData.RigidTransform(202).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:mg996r_rot_frame:1:m2 nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(203).translation = [1.8445573555516743 -0.2824282935662053 -0.72026553186213904];  % in
smiData.RigidTransform(203).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(203).axis = [-0.57735026918962595 -0.57735026918962584 0.57735026918962562];
smiData.RigidTransform(203).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:mg996r_rot_frame:1:m2 nuts:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(204).translation = [1.8445573555516728 -0.55801884474730878 -0.99585608304324114];  % in
smiData.RigidTransform(204).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(204).axis = [-0.57735026918962595 -0.57735026918962584 0.57735026918962562];
smiData.RigidTransform(204).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:mg996r_rot_frame:1:m2 nuts:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(205).translation = [1.8445573555516743 -0.0068377423851046166 -0.99585608304324114];  % in
smiData.RigidTransform(205).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(205).axis = [-0.57735026918962595 -0.57735026918962584 0.57735026918962562];
smiData.RigidTransform(205).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:mg996r_rot_frame:1:m2 nuts:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(206).translation = [1.7658171980713582 -0.0068377423851046166 -0.99585608304324114];  % in
smiData.RigidTransform(206).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(206).axis = [0.57735026918962573 -0.57735026918962584 -0.57735026918962573];
smiData.RigidTransform(206).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:mg996r_rot_frame:1:m2 washer:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(207).translation = [1.7658171980713582 -0.2824282935662053 -1.2714466342243445];  % in
smiData.RigidTransform(207).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(207).axis = [0.57735026918962573 -0.57735026918962584 -0.57735026918962573];
smiData.RigidTransform(207).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:mg996r_rot_frame:1:m2 washer:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(208).translation = [1.7658171980713582 -0.55801884474730878 -0.99585608304324114];  % in
smiData.RigidTransform(208).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(208).axis = [0.57735026918962573 -0.57735026918962584 -0.57735026918962573];
smiData.RigidTransform(208).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:mg996r_rot_frame:1:m2 washer:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(209).translation = [1.7658171980713582 -0.2824282935662053 -0.72026553186213904];  % in
smiData.RigidTransform(209).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(209).axis = [0.57735026918962573 -0.57735026918962584 -0.57735026918962573];
smiData.RigidTransform(209).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:mg996r_rot_frame:1:m2 washer:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(210).translation = [-0.86016705389714476 -0.2824282935662053 -0.99585608304324247];  % in
smiData.RigidTransform(210).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(210).axis = [-0.57735026918962562 0.57735026918962584 -0.57735026918962595];
smiData.RigidTransform(210).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:mg996r_rot_frame:1:m4 nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(211).translation = [-0.92076007952894856 1.6640054577542132 -0.59163521657470453];  % in
smiData.RigidTransform(211).angle = 3.1415926535897913;  % rad
smiData.RigidTransform(211).axis = [6.3035676195108104e-16 1.2468937100863319e-16 -1];
smiData.RigidTransform(211).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:mg996r_rot_frame:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(212).translation = [-1.6846087736632955 0.8440715465960088 -1.5874912996179484];  % in
smiData.RigidTransform(212).angle = 1.5707963267948974;  % rad
smiData.RigidTransform(212).axis = [1 -9.8611034192703977e-16 2.9401394513462047e-15];
smiData.RigidTransform(212).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:m3 nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(213).translation = [-1.4090182224821934 0.8440715465960088 -1.311900748436845];  % in
smiData.RigidTransform(213).angle = 1.5707963267948959;  % rad
smiData.RigidTransform(213).axis = [1 -6.2797434847399131e-16 2.6174808848145265e-15];
smiData.RigidTransform(213).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:m3 nuts:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(214).translation = [-1.1334276713010913 0.8440715465960088 -1.5874912996179456];  % in
smiData.RigidTransform(214).angle = 1.570796326794897;  % rad
smiData.RigidTransform(214).axis = [1 -1.4700919755209468e-15 3.4640259410911961e-15];
smiData.RigidTransform(214).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:m3 nuts:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(215).translation = [-1.4090182224821948 0.8440715465960088 -1.5874912996179484];  % in
smiData.RigidTransform(215).angle = 1.5707963267948959;  % rad
smiData.RigidTransform(215).axis = [1 -1.4652275117328034e-15 3.568109349649818e-15];
smiData.RigidTransform(215).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:m3 nuts:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(216).translation = [-1.4090182224821934 0.8440715465960088 -1.8630818507990492];  % in
smiData.RigidTransform(216).angle = 1.5707963267948977;  % rad
smiData.RigidTransform(216).axis = [1 -1.0672459284781367e-15 4.4771044510616523e-15];
smiData.RigidTransform(216).ID = "AssemblyGround[mg996r_right_rot_foot_servo:1:m3 nuts:5]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(217).translation = [-0.38370745564656672 0.76377952367941249 -0.39370078740157338];  % in
smiData.RigidTransform(217).angle = 1.9281472477118846e-15;  % rad
smiData.RigidTransform(217).axis = [-0.045102799905326806 -0.94745655997390954 -0.31668881319539172];
smiData.RigidTransform(217).ID = "AssemblyGround[mg996r_right_foot_frame:1:servo frame mg996 foot_MIR:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(218).translation = [-0.57480314104106489 0.11089238866003526 0];  % in
smiData.RigidTransform(218).angle = 0;  % rad
smiData.RigidTransform(218).axis = [0 0 0];
smiData.RigidTransform(218).ID = "AssemblyGround[mg996r_right_foot_frame:1:servo_handle:1:servo handle 4:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(219).translation = [-0.85039369222216699 -0.042650918426579122 0];  % in
smiData.RigidTransform(219).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(219).axis = [0 0.70710678118654757 0.70710678118654746];
smiData.RigidTransform(219).ID = "AssemblyGround[mg996r_right_foot_frame:1:servo_handle:1:m2x8:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(220).translation = [-0.57480314104106489 -0.042650918426579122 -0.27559055118110204];  % in
smiData.RigidTransform(220).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(220).axis = [0 0.70710678118654768 0.70710678118654735];
smiData.RigidTransform(220).ID = "AssemblyGround[mg996r_right_foot_frame:1:servo_handle:1:m2x8:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(221).translation = [-0.57480314104106489 -0.042650918426579122 0.27559055118110204];  % in
smiData.RigidTransform(221).angle = 1.5707963267948968;  % rad
smiData.RigidTransform(221).axis = [-1 -0 -0];
smiData.RigidTransform(221).ID = "AssemblyGround[mg996r_right_foot_frame:1:servo_handle:1:m2x8:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(222).translation = [-0.29921258985996285 -0.042650918426580524 0];  % in
smiData.RigidTransform(222).angle = 1.5707963267948968;  % rad
smiData.RigidTransform(222).axis = [-1 -0 -0];
smiData.RigidTransform(222).ID = "AssemblyGround[mg996r_right_foot_frame:1:servo_handle:1:m2x8:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(223).translation = [0.65697495884300727 -0.5354330747457845 -0.96850392844263544];  % in
smiData.RigidTransform(223).angle = 2.094395102393197;  % rad
smiData.RigidTransform(223).axis = [0.57735026918962551 0.57735026918962629 -0.57735026918962551];
smiData.RigidTransform(223).ID = "AssemblyGround[mg996r_right_foot_frame:1:servo_handle:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(224).translation = [0.8938515994715438 -0.53543307474578594 -0.11811023622046851];  % in
smiData.RigidTransform(224).angle = 2.0943951023931966;  % rad
smiData.RigidTransform(224).axis = [0.57735026918962573 -0.5773502691896264 -0.57735026918962518];
smiData.RigidTransform(224).ID = "AssemblyGround[mg996r_right_foot_frame:1:m2 washer:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(225).translation = [0.89385159947154524 -0.25984252356468246 -0.39370078740157055];  % in
smiData.RigidTransform(225).angle = 2.0943951023931966;  % rad
smiData.RigidTransform(225).axis = [0.57735026918962573 -0.5773502691896264 -0.57735026918962518];
smiData.RigidTransform(225).ID = "AssemblyGround[mg996r_right_foot_frame:1:m2 washer:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(226).translation = [0.75999333175500983 -0.81102362592688804 -0.39370078740156916];  % in
smiData.RigidTransform(226).angle = 2.0943951023931939;  % rad
smiData.RigidTransform(226).axis = [0.57735026918962562 0.57735026918962551 0.57735026918962618];
smiData.RigidTransform(226).ID = "AssemblyGround[mg996r_right_foot_frame:1:m2 washer:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(227).translation = [0.89385159947154524 -0.53543307474578594 -0.66929133858267265];  % in
smiData.RigidTransform(227).angle = 2.0943951023931966;  % rad
smiData.RigidTransform(227).axis = [0.57735026918962573 -0.5773502691896264 -0.57735026918962518];
smiData.RigidTransform(227).ID = "AssemblyGround[mg996r_right_foot_frame:1:m2 washer:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(228).translation = [0.97259175695185984 -0.53543307474578594 -0.11811023622046851];  % in
smiData.RigidTransform(228).angle = 2.0943951023931962;  % rad
smiData.RigidTransform(228).axis = [-0.5773502691896264 -0.57735026918962573 0.57735026918962518];
smiData.RigidTransform(228).ID = "AssemblyGround[mg996r_right_foot_frame:1:m2 nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(229).translation = [0.97259175695185984 -0.53543307474578594 -0.66929133858267265];  % in
smiData.RigidTransform(229).angle = 2.0943951023931962;  % rad
smiData.RigidTransform(229).axis = [-0.5773502691896264 -0.57735026918962573 0.57735026918962518];
smiData.RigidTransform(229).ID = "AssemblyGround[mg996r_right_foot_frame:1:m2 nuts:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(230).translation = [0.96471774120382858 -0.81102362592688804 -0.39370078740156916];  % in
smiData.RigidTransform(230).angle = 2.0943951023931966;  % rad
smiData.RigidTransform(230).axis = [0.57735026918962573 -0.5773502691896264 -0.57735026918962518];
smiData.RigidTransform(230).ID = "AssemblyGround[mg996r_right_foot_frame:1:m2 nuts:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(231).translation = [0.97259175695185984 -0.25984252356468246 -0.39370078740157055];  % in
smiData.RigidTransform(231).angle = 2.0943951023931962;  % rad
smiData.RigidTransform(231).axis = [-0.5773502691896264 -0.57735026918962573 0.57735026918962518];
smiData.RigidTransform(231).ID = "AssemblyGround[mg996r_right_foot_frame:1:m2 nuts:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(232).translation = [-1.732132652496962 -0.53543307474578317 -0.39370078740157616];  % in
smiData.RigidTransform(232).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(232).axis = [-0.57735026918962529 0.5773502691896254 -0.57735026918962662];
smiData.RigidTransform(232).ID = "AssemblyGround[mg996r_right_foot_frame:1:m4 nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(233).translation = [-0.35433070338147998 -0.093175852225729633 -0.72834645669291387];  % in
smiData.RigidTransform(233).angle = 0;  % rad
smiData.RigidTransform(233).axis = [0 0 0];
smiData.RigidTransform(233).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:mg996r_bottom:1:servo_bottom_frame_with_nuts:1:servo frame with top:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(234).translation = [-0.62992125456258063 0.31233595879789211 0];  % in
smiData.RigidTransform(234).angle = 1.5707963267948966;  % rad
smiData.RigidTransform(234).axis = [-1 0 0];
smiData.RigidTransform(234).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:mg996r_bottom:1:servo_bottom_frame_with_nuts:1:m3x8:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(235).translation = [-0.35433070338147998 0.3123359587978925 0.27559055118110065];  % in
smiData.RigidTransform(235).angle = 1.5707963267948966;  % rad
smiData.RigidTransform(235).axis = [-1 0 0];
smiData.RigidTransform(235).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:mg996r_bottom:1:servo_bottom_frame_with_nuts:1:m3x8:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(236).translation = [-0.35433070338147998 0.3123359587978925 0];  % in
smiData.RigidTransform(236).angle = 1.5707963267948966;  % rad
smiData.RigidTransform(236).axis = [-1 0 0];
smiData.RigidTransform(236).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:mg996r_bottom:1:servo_bottom_frame_with_nuts:1:m3x8:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(237).translation = [-0.35433070338147998 0.3123359587978925 -0.27559055118110348];  % in
smiData.RigidTransform(237).angle = 1.5707963267948966;  % rad
smiData.RigidTransform(237).axis = [-1 0 0];
smiData.RigidTransform(237).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:mg996r_bottom:1:servo_bottom_frame_with_nuts:1:m3x8:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(238).translation = [-0.078740152200376501 0.3123359587978925 0];  % in
smiData.RigidTransform(238).angle = 1.5707963267948966;  % rad
smiData.RigidTransform(238).axis = [-1 0 0];
smiData.RigidTransform(238).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:mg996r_bottom:1:servo_bottom_frame_with_nuts:1:m3x8:5]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(239).translation = [0.059055123390173825 -0.09317585222572998 -0.47244094488189087];  % in
smiData.RigidTransform(239).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(239).axis = [0 1 0];
smiData.RigidTransform(239).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:mg996r_bottom:1:servo_bottom_frame_with_nuts:1:m4x12:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(240).translation = [0.05905512339017522 -0.09317585222572998 -0.80708661417322858];  % in
smiData.RigidTransform(240).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(240).axis = [0 0 1];
smiData.RigidTransform(240).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:mg996r_bottom:1:servo_bottom_frame_with_nuts:1:m4 nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(241).translation = [-1.3110236167673066 0.11154855722308873 0.61023622047244119];  % in
smiData.RigidTransform(241).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(241).axis = [1 0 0];
smiData.RigidTransform(241).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:mg996r_bottom:1:servo_bottom_frame_with_nuts:1:m4 nuts:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(242).translation = [0.60236221000434798 0.11154855722308873 0.61023622047244119];  % in
smiData.RigidTransform(242).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(242).axis = [0 1 0];
smiData.RigidTransform(242).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:mg996r_bottom:1:servo_bottom_frame_with_nuts:1:m4 nuts:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(243).translation = [0.60236221000434798 -0.29790026167454853 0.53149606299212515];  % in
smiData.RigidTransform(243).angle = 0;  % rad
smiData.RigidTransform(243).axis = [0 0 0];
smiData.RigidTransform(243).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:mg996r_bottom:1:servo_bottom_frame_with_nuts:1:m4 nuts:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(244).translation = [-1.3110236167673066 -0.29790026167454869 0.61023622047243975];  % in
smiData.RigidTransform(244).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(244).axis = [0 1 0];
smiData.RigidTransform(244).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:mg996r_bottom:1:servo_bottom_frame_with_nuts:1:m4 nuts:5]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(245).translation = [-0.59013299321752477 -0.22961495514933977 0.30691567992929497];  % in
smiData.RigidTransform(245).angle = 1.5217523455263405e-15;  % rad
smiData.RigidTransform(245).axis = [0.39539985060526189 -0.18329028202613157 -0.90003534967028809];
smiData.RigidTransform(245).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:mg996r_bottom:1:servo_bottom_frame_with_nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(246).translation = [-0.41207348467327509 0.77559054805224925 -2.4477358023231794e-15];  % in
smiData.RigidTransform(246).angle = 0;  % rad
smiData.RigidTransform(246).axis = [0 0 0];
smiData.RigidTransform(246).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:mg996r_bottom:1:mg996r_motor_with_screws:1:servo-motor-mg996r servo:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(247).translation = [-1.3687663980591016 -0.57086614486113429 -0.20472440944882081];  % in
smiData.RigidTransform(247).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(247).axis = [0 0.70710678118654857 0.70710678118654646];
smiData.RigidTransform(247).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:mg996r_bottom:1:mg996r_motor_with_screws:1:m4x8:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(248).translation = [-1.3687663980591016 -0.57086614486113574 0.20472440944881695];  % in
smiData.RigidTransform(248).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(248).axis = [0 0.70710678118654824 0.7071067811865468];
smiData.RigidTransform(248).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:mg996r_bottom:1:mg996r_motor_with_screws:1:m4x8:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(249).translation = [0.54461942871255287 -0.57086614486113574 0.20472440944881695];  % in
smiData.RigidTransform(249).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(249).axis = [0 0.70710678118654835 0.70710678118654668];
smiData.RigidTransform(249).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:mg996r_bottom:1:mg996r_motor_with_screws:1:m4x8:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(250).translation = [0.54461942871255153 -0.57086614486113574 -0.20472440944882098];  % in
smiData.RigidTransform(250).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(250).axis = [0 0.70710678118654846 0.70710678118654657];
smiData.RigidTransform(250).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:mg996r_bottom:1:mg996r_motor_with_screws:1:m4x8:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(251).translation = [-0.53239021192572822 -0.32279080737506693 0.69274244845398447];  % in
smiData.RigidTransform(251).angle = 1.5707963267948939;  % rad
smiData.RigidTransform(251).axis = [-1 5.2041704279304213e-16 -2.4763982155926996e-16];
smiData.RigidTransform(251).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:mg996r_bottom:1:mg996r_motor_with_screws:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(252).translation = [-0.83361630990501878 -0.6303828410050053 -0.44182775900692961];  % in
smiData.RigidTransform(252).angle = 3.1415926535897927;  % rad
smiData.RigidTransform(252).axis = [2.2448603982084317e-15 2.8831308134529408e-16 -1];
smiData.RigidTransform(252).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:mg996r_bottom:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(253).translation = [0.38643793787507258 -1.1343636871732452 -0.13491207907763042];  % in
smiData.RigidTransform(253).angle = 2.0943951023931975;  % rad
smiData.RigidTransform(253).axis = [-0.57735026918962518 -0.57735026918962629 -0.57735026918962584];
smiData.RigidTransform(253).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:m3 nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(254).translation = [0.11084738669397474 -1.0556235296929308 -0.41050263025873385];  % in
smiData.RigidTransform(254).angle = 2.0943951023931962;  % rad
smiData.RigidTransform(254).axis = [0.57735026918962429 -0.57735026918962606 0.57735026918962695];
smiData.RigidTransform(254).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:m3 nuts:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(255).translation = [0.11084738669397334 -1.0556235296929302 0.14067847210347026];  % in
smiData.RigidTransform(255).angle = 2.0943951023931962;  % rad
smiData.RigidTransform(255).axis = [0.57735026918962473 -0.57735026918962606 0.57735026918962651];
smiData.RigidTransform(255).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:m3 nuts:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(256).translation = [-0.16474316448712731 -1.0556235296929306 -0.13491207907763181];  % in
smiData.RigidTransform(256).angle = 2.0943951023931962;  % rad
smiData.RigidTransform(256).axis = [0.57735026918962473 -0.57735026918962606 0.57735026918962651];
smiData.RigidTransform(256).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:m3 nuts:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(257).translation = [0.11084738669397334 -1.0556235296929306 -0.13491207907763042];  % in
smiData.RigidTransform(257).angle = 2.0943951023931962;  % rad
smiData.RigidTransform(257).axis = [0.57735026918962473 -0.57735026918962606 0.57735026918962651];
smiData.RigidTransform(257).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:m3 nuts:5]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(258).translation = [-0.41207348467327576 0.77559054805224648 -2.7974123455122052e-15];  % in
smiData.RigidTransform(258).angle = 0;  % rad
smiData.RigidTransform(258).axis = [0 0 0];
smiData.RigidTransform(258).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:mg996r_base_motor_with_axis:1:mg996r_motor_with_screws:1:servo-motor-mg996r servo:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(259).translation = [-1.3687663980591023 -0.57086614486113851 -0.2047244094488215];  % in
smiData.RigidTransform(259).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(259).axis = [0 0.70710678118654868 0.70710678118654646];
smiData.RigidTransform(259).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:mg996r_base_motor_with_axis:1:mg996r_motor_with_screws:1:m4x8:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(260).translation = [-1.3687663980591023 -0.57086614486113851 0.20472440944881592];  % in
smiData.RigidTransform(260).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(260).axis = [0 0.70710678118654835 0.7071067811865468];
smiData.RigidTransform(260).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:mg996r_base_motor_with_axis:1:mg996r_motor_with_screws:1:m4x8:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(261).translation = [0.54461942871255153 -0.57086614486113851 0.20472440944881451];  % in
smiData.RigidTransform(261).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(261).axis = [0 0.70710678118654846 0.70710678118654668];
smiData.RigidTransform(261).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:mg996r_base_motor_with_axis:1:mg996r_motor_with_screws:1:m4x8:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(262).translation = [0.54461942871255153 -0.57086614486113851 -0.20472440944882292];  % in
smiData.RigidTransform(262).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(262).axis = [0 0.70710678118654857 0.70710678118654657];
smiData.RigidTransform(262).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:mg996r_base_motor_with_axis:1:mg996r_motor_with_screws:1:m4x8:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(263).translation = [0.096959641433467622 0.72853953297077156 -0.46797270234549326];  % in
smiData.RigidTransform(263).angle = 1.5707963267948932;  % rad
smiData.RigidTransform(263).axis = [-1 1.3877787807814457e-16 -4.9435459074044497e-18];
smiData.RigidTransform(263).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:mg996r_base_motor_with_axis:1:mg996r_motor_with_screws:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(264).translation = [0.10829375058737141 -0.028024947117072242 -0.89588438020285732];  % in
smiData.RigidTransform(264).angle = 3.7278396230215126e-16;  % rad
smiData.RigidTransform(264).axis = [0 0.2512851334168214 -0.96791310649442608];
smiData.RigidTransform(264).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:mg996r_base_motor_with_axis:1:servo_frame_with_nuts:1:servo frame:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(265).translation = [1.0649866639731944 0.17669946233174647 0.44269829696249074];  % in
smiData.RigidTransform(265).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(265).axis = [0 1 0];
smiData.RigidTransform(265).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:mg996r_base_motor_with_axis:1:servo_frame_with_nuts:1:m4 nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(266).translation = [-0.84839916279845307 0.17669946233174647 0.44269829696249219];  % in
smiData.RigidTransform(266).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(266).axis = [1 0 0];
smiData.RigidTransform(266).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:mg996r_base_motor_with_axis:1:servo_frame_with_nuts:1:m4 nuts:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(267).translation = [-0.84839916279845307 -0.23274935656589235 0.44269829696249219];  % in
smiData.RigidTransform(267).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(267).axis = [0 1 0];
smiData.RigidTransform(267).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:mg996r_base_motor_with_axis:1:servo_frame_with_nuts:1:m4 nuts:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(268).translation = [1.0649866639731953 -0.23274935656589235 0.44269829696249219];  % in
smiData.RigidTransform(268).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(268).axis = [1 0 0];
smiData.RigidTransform(268).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:mg996r_base_motor_with_axis:1:servo_frame_with_nuts:1:m4 nuts:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(269).translation = [0.52167957735902315 -0.028024947117072242 -0.63997886839183427];  % in
smiData.RigidTransform(269).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(269).axis = [-5.8286708792820916e-16 -1 -0];
smiData.RigidTransform(269).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:mg996r_base_motor_with_axis:1:servo_frame_with_nuts:1:m4x12:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(270).translation = [0.52167957735902382 -0.028024947117072242 -0.89588438020285732];  % in
smiData.RigidTransform(270).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(270).axis = [-0 -1 -0];
smiData.RigidTransform(270).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:mg996r_base_motor_with_axis:1:servo_frame_with_nuts:1:m4 nuts:5]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(271).translation = [-0.42340759382717608 0.75656448008784105 -0.6862615473602337];  % in
smiData.RigidTransform(271).angle = 4.2700885562506066e-16;  % rad
smiData.RigidTransform(271).axis = [0 0 -1];
smiData.RigidTransform(271).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:mg996r_base_motor_with_axis:1:servo_frame_with_nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(272).translation = [-0.74295208417619818 -2.5321546957673724 -0.8634516120484006];  % in
smiData.RigidTransform(272).angle = 2.094395102393197;  % rad
smiData.RigidTransform(272).axis = [0.57735026918962484 -0.57735026918962806 -0.57735026918962462];
smiData.RigidTransform(272).ID = "AssemblyGround[mg996r_right_mid_top_two_servo:1:mg996r_base_motor_with_axis:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(273).translation = [0.053378950945111706 0.89338436211771499 -0.20966334542232082];  % in
smiData.RigidTransform(273).angle = 1.2046419595578161e-15;  % rad
smiData.RigidTransform(273).axis = [0.96916147434438005 0.175683955211767 0.17280389037223023];
smiData.RigidTransform(273).ID = "AssemblyGround[mg996r_right_top_rot_frame:1:servo frame mg996 centered_MIR:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(274).translation = [-1.2241801041729987 -0.40582823630747605 -0.4852538966034215];  % in
smiData.RigidTransform(274).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(274).axis = [-0.57735026918962551 -0.57735026918962606 0.57735026918962573];
smiData.RigidTransform(274).ID = "AssemblyGround[mg996r_right_top_rot_frame:1:m2 nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(275).translation = [-1.2241801041729974 -0.68141878748857776 -0.20966334542232082];  % in
smiData.RigidTransform(275).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(275).axis = [-0.57735026918962551 -0.57735026918962606 0.57735026918962573];
smiData.RigidTransform(275).ID = "AssemblyGround[mg996r_right_top_rot_frame:1:m2 nuts:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(276).translation = [0.32896950212621379 0.76740011014921095 0.20372248134933296];  % in
smiData.RigidTransform(276).angle = 1.5707963267948983;  % rad
smiData.RigidTransform(276).axis = [1 -3.8163916471488117e-17 -4.6143644460982773e-16];
smiData.RigidTransform(276).ID = "AssemblyGround[mg996r_right_top_rot_frame:1:m2 nuts:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(277).translation = [-0.22221160023599176 0.76740011014921095 0.20372248134933296];  % in
smiData.RigidTransform(277).angle = 1.5707963267948983;  % rad
smiData.RigidTransform(277).axis = [1 -3.8163916471488117e-17 -4.6143644460982773e-16];
smiData.RigidTransform(277).ID = "AssemblyGround[mg996r_right_top_rot_frame:1:m2 nuts:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(278).translation = [-0.22221160023599176 0.77527412589724298 0.20372248134933296];  % in
smiData.RigidTransform(278).angle = 3.1415926535897927;  % rad
smiData.RigidTransform(278).axis = [-2.6985964133626246e-17 -0.70710678118654813 0.70710678118654691];
smiData.RigidTransform(278).ID = "AssemblyGround[mg996r_right_top_rot_frame:1:m2 washer:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(279).translation = [0.32896950212621379 0.77527412589724243 0.20372248134933296];  % in
smiData.RigidTransform(279).angle = 3.1415926535897927;  % rad
smiData.RigidTransform(279).axis = [-2.6985964133626246e-17 -0.70710678118654813 0.70710678118654691];
smiData.RigidTransform(279).ID = "AssemblyGround[mg996r_right_top_rot_frame:1:m2 washer:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(280).translation = [0.053378950945111706 0.77527412589724265 -0.071868069831767703];  % in
smiData.RigidTransform(280).angle = 3.1415926535897927;  % rad
smiData.RigidTransform(280).axis = [-2.6985964133626246e-17 -0.70710678118654813 0.70710678118654691];
smiData.RigidTransform(280).ID = "AssemblyGround[mg996r_right_top_rot_frame:1:m2 washer:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(281).translation = [-1.2163060884249661 -0.40582823630747605 -0.4852538966034215];  % in
smiData.RigidTransform(281).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(281).axis = [0.57735026918962606 -0.5773502691896254 -0.57735026918962573];
smiData.RigidTransform(281).ID = "AssemblyGround[mg996r_right_top_rot_frame:1:m2 washer:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(282).translation = [0.053378950945111706 0.77527412589724209 0.479313032530435];  % in
smiData.RigidTransform(282).angle = 3.1415926535897927;  % rad
smiData.RigidTransform(282).axis = [-2.6985964133626246e-17 -0.70710678118654813 0.70710678118654691];
smiData.RigidTransform(282).ID = "AssemblyGround[mg996r_right_top_rot_frame:1:m2 washer:5]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(283).translation = [-1.2163060884249675 -0.13023768512637537 -0.20966334542232082];  % in
smiData.RigidTransform(283).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(283).axis = [0.57735026918962606 -0.5773502691896254 -0.57735026918962573];
smiData.RigidTransform(283).ID = "AssemblyGround[mg996r_right_top_rot_frame:1:m2 washer:6]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(284).translation = [-1.2163060884249661 -0.40582823630747639 0.065927205758781235];  % in
smiData.RigidTransform(284).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(284).axis = [0.57735026918962606 -0.5773502691896254 -0.57735026918962573];
smiData.RigidTransform(284).ID = "AssemblyGround[mg996r_right_top_rot_frame:1:m2 washer:7]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(285).translation = [-1.2163060884249661 -0.68141878748857776 -0.20966334542232082];  % in
smiData.RigidTransform(285).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(285).axis = [0.57735026918962606 -0.5773502691896254 -0.57735026918962573];
smiData.RigidTransform(285).ID = "AssemblyGround[mg996r_right_top_rot_frame:1:m2 washer:8]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(286).translation = [-1.2241801041729987 -0.13023768512637537 -0.20966334542232082];  % in
smiData.RigidTransform(286).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(286).axis = [-0.57735026918962551 -0.57735026918962606 0.57735026918962573];
smiData.RigidTransform(286).ID = "AssemblyGround[mg996r_right_top_rot_frame:1:m2 nuts:5]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(287).translation = [-1.2241801041729974 -0.40582823630747672 0.065927205758781235];  % in
smiData.RigidTransform(287).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(287).axis = [-0.57735026918962551 -0.57735026918962606 0.57735026918962573];
smiData.RigidTransform(287).ID = "AssemblyGround[mg996r_right_top_rot_frame:1:m2 nuts:6]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(288).translation = [0.053378950945111706 0.77527412589724343 -0.071868069831767703];  % in
smiData.RigidTransform(288).angle = 3.1415926535897927;  % rad
smiData.RigidTransform(288).axis = [-2.6985964133626246e-17 -0.70710678118654813 0.70710678118654691];
smiData.RigidTransform(288).ID = "AssemblyGround[mg996r_right_top_rot_frame:1:m2 nuts:7]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(289).translation = [0.053378950945111706 0.76740011014921061 0.479313032530435];  % in
smiData.RigidTransform(289).angle = 1.5707963267948983;  % rad
smiData.RigidTransform(289).axis = [1 -3.8163916471488117e-17 -4.6143644460982773e-16];
smiData.RigidTransform(289).ID = "AssemblyGround[mg996r_right_top_rot_frame:1:m2 nuts:8]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(290).translation = [1.401804147795507 -0.40582823630747744 -0.20966334542232082];  % in
smiData.RigidTransform(290).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(290).axis = [0.57735026918962606 -0.5773502691896254 -0.57735026918962573];
smiData.RigidTransform(290).ID = "AssemblyGround[mg996r_right_top_rot_frame:1:m4 nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(291).translation = [-0.57480314104106633 0.11089238866003366 0];  % in
smiData.RigidTransform(291).angle = 0;  % rad
smiData.RigidTransform(291).axis = [0 0 0];
smiData.RigidTransform(291).ID = "AssemblyGround[mg996r_right_top_rot_frame:1:servo_handle:1:servo handle 4:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(292).translation = [-0.85039369222216699 -0.042650918426580434 0];  % in
smiData.RigidTransform(292).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(292).axis = [0 0.70710678118654757 0.70710678118654746];
smiData.RigidTransform(292).ID = "AssemblyGround[mg996r_right_top_rot_frame:1:servo_handle:1:m2x8:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(293).translation = [-0.57480314104106633 -0.042650918426580524 -0.27559055118110204];  % in
smiData.RigidTransform(293).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(293).axis = [0 0.70710678118654768 0.70710678118654735];
smiData.RigidTransform(293).ID = "AssemblyGround[mg996r_right_top_rot_frame:1:servo_handle:1:m2x8:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(294).translation = [-0.57480314104106489 -0.042650918426580482 0.27559055118110204];  % in
smiData.RigidTransform(294).angle = 1.5707963267948968;  % rad
smiData.RigidTransform(294).axis = [-1 -0 -0];
smiData.RigidTransform(294).ID = "AssemblyGround[mg996r_right_top_rot_frame:1:servo_handle:1:m2x8:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(295).translation = [-0.29921258985996285 -0.042650918426580454 0];  % in
smiData.RigidTransform(295).angle = 1.5707963267948968;  % rad
smiData.RigidTransform(295).axis = [-1 -0 -0];
smiData.RigidTransform(295).ID = "AssemblyGround[mg996r_right_top_rot_frame:1:servo_handle:1:m2x8:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(296).translation = [0.62818209198617514 1.0042767507777475 0.20372248134933296];  % in
smiData.RigidTransform(296).angle = 3.1415926535897913;  % rad
smiData.RigidTransform(296).axis = [-1 2.4980018054066081e-16 3.5768470305516468e-16];
smiData.RigidTransform(296).ID = "AssemblyGround[mg996r_right_top_rot_frame:1:servo_handle:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(297).translation = [-0.57480314104106522 0.11089238866003386 1.3987061727561026e-15];  % in
smiData.RigidTransform(297).angle = 0;  % rad
smiData.RigidTransform(297).axis = [0 0 0];
smiData.RigidTransform(297).ID = "AssemblyGround[mg996r_right_top_rot_frame:1:servo_handle:2:servo handle 4:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(298).translation = [-0.85039369222216787 -0.042650918426580524 1.3987061727561026e-15];  % in
smiData.RigidTransform(298).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(298).axis = [0 0.70710678118654757 0.70710678118654746];
smiData.RigidTransform(298).ID = "AssemblyGround[mg996r_right_top_rot_frame:1:servo_handle:2:m2x8:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(299).translation = [-0.57480314104106522 -0.042650918426581919 -0.27559055118110065];  % in
smiData.RigidTransform(299).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(299).axis = [0 0.70710678118654768 0.70710678118654735];
smiData.RigidTransform(299).ID = "AssemblyGround[mg996r_right_top_rot_frame:1:servo_handle:2:m2x8:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(300).translation = [-0.57480314104106556 -0.042650918426580524 0.27559055118110348];  % in
smiData.RigidTransform(300).angle = 1.5707963267948968;  % rad
smiData.RigidTransform(300).axis = [-1 -0 -0];
smiData.RigidTransform(300).ID = "AssemblyGround[mg996r_right_top_rot_frame:1:servo_handle:2:m2x8:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(301).translation = [-0.29921258985996285 -0.042650918426581919 1.3987061727561026e-15];  % in
smiData.RigidTransform(301).angle = 1.5707963267948968;  % rad
smiData.RigidTransform(301).axis = [-1 -0 -0];
smiData.RigidTransform(301).ID = "AssemblyGround[mg996r_right_top_rot_frame:1:servo_handle:2:m2x8:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(302).translation = [-0.98730346354446097 -0.98063137734854089 -0.20966334542232082];  % in
smiData.RigidTransform(302).angle = 3.1415926535897927;  % rad
smiData.RigidTransform(302).axis = [-0.70710678118654735 0.70710678118654768 2.2829576282744724e-16];
smiData.RigidTransform(302).ID = "AssemblyGround[mg996r_right_top_rot_frame:1:servo_handle:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(303).translation = [-0.24135420011127365 1.1831140280892027 -0.56692801035630969];  % in
smiData.RigidTransform(303).angle = 4.7851458632747159e-16;  % rad
smiData.RigidTransform(303).axis = [0.6710793287874196 -0.73225327399530238 -0.11600722907382505];
smiData.RigidTransform(303).ID = "AssemblyGround[mg996r_left_top_rot_frame:2:servo frame mg996 centered:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(304).translation = [-0.57480314104106345 0.11089238866003362 6.9935308637805131e-16];  % in
smiData.RigidTransform(304).angle = 0;  % rad
smiData.RigidTransform(304).axis = [0 0 0];
smiData.RigidTransform(304).ID = "AssemblyGround[mg996r_left_top_rot_frame:2:servo_handle:1:servo handle 4:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(305).translation = [-0.85039369222216699 -0.042650918426580434 0];  % in
smiData.RigidTransform(305).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(305).axis = [0 0.70710678118654757 0.70710678118654746];
smiData.RigidTransform(305).ID = "AssemblyGround[mg996r_left_top_rot_frame:2:servo_handle:1:m2x8:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(306).translation = [-0.57480314104106489 -0.042650918426580503 -0.27559055118110204];  % in
smiData.RigidTransform(306).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(306).axis = [0 0.70710678118654768 0.70710678118654735];
smiData.RigidTransform(306).ID = "AssemblyGround[mg996r_left_top_rot_frame:2:servo_handle:1:m2x8:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(307).translation = [-0.57480314104106345 -0.042650918426580454 0.27559055118110276];  % in
smiData.RigidTransform(307).angle = 1.5707963267948968;  % rad
smiData.RigidTransform(307).axis = [-1 -0 -0];
smiData.RigidTransform(307).ID = "AssemblyGround[mg996r_left_top_rot_frame:2:servo_handle:1:m2x8:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(308).translation = [-0.29921258985996141 -0.042650918426580454 0];  % in
smiData.RigidTransform(308).angle = 1.5707963267948968;  % rad
smiData.RigidTransform(308).axis = [-1 -0 -0];
smiData.RigidTransform(308).ID = "AssemblyGround[mg996r_left_top_rot_frame:2:servo_handle:1:m2x8:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(309).translation = [0.33344894092979122 1.2940064167492358 -0.15354218358465591];  % in
smiData.RigidTransform(309).angle = 3.1415926535897922;  % rad
smiData.RigidTransform(309).axis = [-1 3.7470027081099033e-16 3.3375397530161483e-16];
smiData.RigidTransform(309).ID = "AssemblyGround[mg996r_left_top_rot_frame:2:servo_handle:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(310).translation = [-0.57480314104106633 0.11089238866003386 3.4967654318902565e-16];  % in
smiData.RigidTransform(310).angle = 0;  % rad
smiData.RigidTransform(310).axis = [0 0 0];
smiData.RigidTransform(310).ID = "AssemblyGround[mg996r_left_top_rot_frame:2:servo_handle:2:servo handle 4:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(311).translation = [-0.85039369222216765 -0.042650918426580524 6.9935308637805131e-16];  % in
smiData.RigidTransform(311).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(311).axis = [0 0.70710678118654757 0.70710678118654746];
smiData.RigidTransform(311).ID = "AssemblyGround[mg996r_left_top_rot_frame:2:servo_handle:2:m2x8:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(312).translation = [-0.57480314104106489 -0.042650918426580524 -0.27559055118110204];  % in
smiData.RigidTransform(312).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(312).axis = [0 0.70710678118654768 0.70710678118654735];
smiData.RigidTransform(312).ID = "AssemblyGround[mg996r_left_top_rot_frame:2:servo_handle:2:m2x8:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(313).translation = [-0.57480314104106489 -0.042650918426580524 0.27559055118110309];  % in
smiData.RigidTransform(313).angle = 1.5707963267948968;  % rad
smiData.RigidTransform(313).axis = [-1 -0 -0];
smiData.RigidTransform(313).ID = "AssemblyGround[mg996r_left_top_rot_frame:2:servo_handle:2:m2x8:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(314).translation = [-0.29921258985996285 -0.042650918426581919 6.9935308637805131e-16];  % in
smiData.RigidTransform(314).angle = 1.5707963267948968;  % rad
smiData.RigidTransform(314).axis = [-1 -0 -0];
smiData.RigidTransform(314).ID = "AssemblyGround[mg996r_left_top_rot_frame:2:servo_handle:2:m2x8:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(315).translation = [0.79932821437830037 -0.11609857033599347 -1.141731151397376];  % in
smiData.RigidTransform(315).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(315).axis = [0.57735026918962629 0.57735026918962551 -0.57735026918962551];
smiData.RigidTransform(315).ID = "AssemblyGround[mg996r_left_top_rot_frame:2:servo_handle:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(316).translation = [1.0362048550068368 -0.11609857033599487 -0.29133745917520765];  % in
smiData.RigidTransform(316).angle = 2.0943951023931962;  % rad
smiData.RigidTransform(316).axis = [0.57735026918962595 -0.57735026918962595 -0.57735026918962551];
smiData.RigidTransform(316).ID = "AssemblyGround[mg996r_left_top_rot_frame:2:m2 washer:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(317).translation = [1.0362048550068368 0.15949198084510841 -0.56692801035630824];  % in
smiData.RigidTransform(317).angle = 2.0943951023931962;  % rad
smiData.RigidTransform(317).axis = [0.57735026918962595 -0.57735026918962595 -0.57735026918962551];
smiData.RigidTransform(317).ID = "AssemblyGround[mg996r_left_top_rot_frame:2:m2 washer:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(318).translation = [-0.24135420011127365 1.0571297761206986 0.12204836759644616];  % in
smiData.RigidTransform(318).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(318).axis = [-6.9726111936841947e-32 0.70710678118654724 0.70710678118654779];
smiData.RigidTransform(318).ID = "AssemblyGround[mg996r_left_top_rot_frame:2:m2 washer:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(319).translation = [-0.24135420011127226 1.0571297761206992 -0.42913273476575864];  % in
smiData.RigidTransform(319).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(319).axis = [-6.9726111936841947e-32 0.70710678118654724 0.70710678118654779];
smiData.RigidTransform(319).ID = "AssemblyGround[mg996r_left_top_rot_frame:2:m2 washer:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(320).translation = [1.0362048550068368 -0.39168912151709656 -0.56692801035630824];  % in
smiData.RigidTransform(320).angle = 2.0943951023931962;  % rad
smiData.RigidTransform(320).axis = [0.57735026918962595 -0.57735026918962595 -0.57735026918962551];
smiData.RigidTransform(320).ID = "AssemblyGround[mg996r_left_top_rot_frame:2:m2 washer:5]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(321).translation = [1.0362048550068368 -0.11609857033599418 -0.84251856153741311];  % in
smiData.RigidTransform(321).angle = 2.0943951023931962;  % rad
smiData.RigidTransform(321).axis = [0.57735026918962595 -0.57735026918962595 -0.57735026918962551];
smiData.RigidTransform(321).ID = "AssemblyGround[mg996r_left_top_rot_frame:2:m2 washer:6]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(322).translation = [0.034236351069829807 1.057129776120699 -0.1535421835846566];  % in
smiData.RigidTransform(322).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(322).axis = [-6.9726111936841947e-32 0.70710678118654724 0.70710678118654779];
smiData.RigidTransform(322).ID = "AssemblyGround[mg996r_left_top_rot_frame:2:m2 washer:7]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(323).translation = [-0.51694475129237571 1.057129776120699 -0.1535421835846566];  % in
smiData.RigidTransform(323).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(323).axis = [-6.9726111936841947e-32 0.70710678118654724 0.70710678118654779];
smiData.RigidTransform(323).ID = "AssemblyGround[mg996r_left_top_rot_frame:2:m2 washer:8]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(324).translation = [-0.24135420011127365 0.97838961864038365 0.12204836759644616];  % in
smiData.RigidTransform(324).angle = 1.5707963267948959;  % rad
smiData.RigidTransform(324).axis = [-1 -9.8607613152626476e-32 -1.1102230246251585e-16];
smiData.RigidTransform(324).ID = "AssemblyGround[mg996r_left_top_rot_frame:2:m2 nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(325).translation = [1.1149450124871529 -0.39168912151709695 -0.56692801035630824];  % in
smiData.RigidTransform(325).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(325).axis = [-0.57735026918962595 -0.57735026918962595 0.57735026918962529];
smiData.RigidTransform(325).ID = "AssemblyGround[mg996r_left_top_rot_frame:2:m2 nuts:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(326).translation = [1.1149450124871516 -0.11609857033599522 -0.29133745917520765];  % in
smiData.RigidTransform(326).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(326).axis = [-0.57735026918962595 -0.57735026918962595 0.57735026918962529];
smiData.RigidTransform(326).ID = "AssemblyGround[mg996r_left_top_rot_frame:2:m2 nuts:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(327).translation = [1.1149450124871516 0.15949198084510841 -0.56692801035630824];  % in
smiData.RigidTransform(327).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(327).axis = [-0.57735026918962595 -0.57735026918962595 0.57735026918962529];
smiData.RigidTransform(327).ID = "AssemblyGround[mg996r_left_top_rot_frame:2:m2 nuts:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(328).translation = [1.1149450124871516 -0.11609857033599418 -0.84251856153741311];  % in
smiData.RigidTransform(328).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(328).axis = [-0.57735026918962595 -0.57735026918962595 0.57735026918962529];
smiData.RigidTransform(328).ID = "AssemblyGround[mg996r_left_top_rot_frame:2:m2 nuts:5]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(329).translation = [0.034236351069829807 0.97838961864038398 -0.1535421835846566];  % in
smiData.RigidTransform(329).angle = 1.5707963267948959;  % rad
smiData.RigidTransform(329).axis = [-1 -9.8607613152626476e-32 -1.1102230246251585e-16];
smiData.RigidTransform(329).ID = "AssemblyGround[mg996r_left_top_rot_frame:2:m2 nuts:6]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(330).translation = [-0.24135420011127365 0.97838961864038432 -0.42913273476575864];  % in
smiData.RigidTransform(330).angle = 1.5707963267948959;  % rad
smiData.RigidTransform(330).axis = [-1 -9.8607613152626476e-32 -1.1102230246251585e-16];
smiData.RigidTransform(330).ID = "AssemblyGround[mg996r_left_top_rot_frame:2:m2 nuts:7]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(331).translation = [-0.51694475129237571 0.97838961864038432 -0.15354218358465591];  % in
smiData.RigidTransform(331).angle = 1.5707963267948959;  % rad
smiData.RigidTransform(331).axis = [-1 -9.8607613152626476e-32 -1.1102230246251585e-16];
smiData.RigidTransform(331).ID = "AssemblyGround[mg996r_left_top_rot_frame:2:m2 nuts:8]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(332).translation = [-1.5897793969616676 -0.11609857033599418 -0.56692801035631113];  % in
smiData.RigidTransform(332).angle = 2.0943951023931948;  % rad
smiData.RigidTransform(332).axis = [-0.57735026918962551 0.57735026918962573 -0.57735026918962618];
smiData.RigidTransform(332).ID = "AssemblyGround[mg996r_left_top_rot_frame:2:m4 nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(333).translation = [-0.29460003198267615 -0.088529472211444929 0.28959705245564171];  % in
smiData.RigidTransform(333).angle = 3.1085726902746327e-16;  % rad
smiData.RigidTransform(333).axis = [0.45676487660646503 0.81474571363566328 0.357148805977277];
smiData.RigidTransform(333).ID = "AssemblyGround[mg996r_leg_top:1:servo_leg_top_frame_with_nuts:1:arduino_with_case:1:arduino_mega_case:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(334).translation = [1.585321227859847 -0.025537346227192906 -0.76040294754436022];  % in
smiData.RigidTransform(334).angle = 1.5707963267948974;  % rad
smiData.RigidTransform(334).axis = [1.0029418887357114e-16 1 6.591949208711083e-17];
smiData.RigidTransform(334).ID = "AssemblyGround[mg996r_leg_top:1:servo_leg_top_frame_with_nuts:1:arduino_with_case:1:arduino_mega:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(335).translation = [1.7821716215606309 0.017769740386979746 1.2344789422194207];  % in
smiData.RigidTransform(335).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(335).axis = [9.8130778667735933e-17 -0.70710678118654757 0.70710678118654746];
smiData.RigidTransform(335).ID = "AssemblyGround[mg996r_leg_top:1:servo_leg_top_frame_with_nuts:1:arduino_with_case:1:m3x16:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(336).translation = [1.7821716215606302 0.017769740386979746 -0.65528483730813714];  % in
smiData.RigidTransform(336).angle = 1.5707963267948968;  % rad
smiData.RigidTransform(336).axis = [1 1.3877787807814454e-16 -1.3877787807814454e-16];
smiData.RigidTransform(336).ID = "AssemblyGround[mg996r_leg_top:1:servo_leg_top_frame_with_nuts:1:arduino_with_case:1:m3x16:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(337).translation = [-1.964678772140154 0.041391787631074428 1.2395970524556403];  % in
smiData.RigidTransform(337).angle = 2.0943951023931962;  % rad
smiData.RigidTransform(337).axis = [0.57735026918962562 0.57735026918962584 -0.57735026918962584];
smiData.RigidTransform(337).ID = "AssemblyGround[mg996r_leg_top:1:servo_leg_top_frame_with_nuts:1:arduino_with_case:1:m2x16:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(338).translation = [-2.214678772140156 0.041391787631075476 -0.66040294754435691];  % in
smiData.RigidTransform(338).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(338).axis = [0.57735026918962618 -0.57735026918962562 0.5773502691896254];
smiData.RigidTransform(338).ID = "AssemblyGround[mg996r_leg_top:1:servo_leg_top_frame_with_nuts:1:arduino_with_case:1:m2x16:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(339).translation = [-1.7944979933547012 3.5591049054627106 -1.412098428886146];  % in
smiData.RigidTransform(339).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(339).axis = [-0.57735026918962551 -0.57735026918962573 0.57735026918962595];
smiData.RigidTransform(339).ID = "AssemblyGround[mg996r_leg_top:1:servo_leg_top_frame_with_nuts:1:arduino_with_case:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(340).translation = [-0.8045674867552276 3.2645048734800359 0.04650978348277883];  % in
smiData.RigidTransform(340).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(340).axis = [-0.57735026918962595 0.57735026918962562 0.57735026918962573];
smiData.RigidTransform(340).ID = "AssemblyGround[mg996r_leg_top:1:servo_leg_top_frame_with_nuts:1:breadboard:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(341).translation = [-0.66290699249158391 -0.3325175539808487 -1.0629921259842519];  % in
smiData.RigidTransform(341).angle = 0;  % rad
smiData.RigidTransform(341).axis = [0 0 0];
smiData.RigidTransform(341).ID = "AssemblyGround[mg996r_leg_top:1:servo_leg_top_frame_with_nuts:1:servo_leg_top_frame_with_nuts_without_arduino:1:top_of_leg_servo_frame:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(342).translation = [0.2870930075084161 -2.2525962941383311 -0.86614173228346514];  % in
smiData.RigidTransform(342).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(342).axis = [0 1 0];
smiData.RigidTransform(342).ID = "AssemblyGround[mg996r_leg_top:1:servo_leg_top_frame_with_nuts:1:servo_leg_top_frame_with_nuts_without_arduino:1:m2 nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(343).translation = [-1.6129069924915853 -2.0025962941383306 -0.86614173228346436];  % in
smiData.RigidTransform(343).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(343).axis = [0 1 0];
smiData.RigidTransform(343).ID = "AssemblyGround[mg996r_leg_top:1:servo_leg_top_frame_with_nuts:1:servo_leg_top_frame_with_nuts_without_arduino:1:m2 nuts:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(344).translation = [-1.6077888822553628 1.7442540995624582 -0.86614173228346469];  % in
smiData.RigidTransform(344).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(344).axis = [0 1 0];
smiData.RigidTransform(344).ID = "AssemblyGround[mg996r_leg_top:1:servo_leg_top_frame_with_nuts:1:servo_leg_top_frame_with_nuts_without_arduino:1:m3 nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(345).translation = [0.28197489727219499 1.7442540995624563 -0.86614173228346436];  % in
smiData.RigidTransform(345).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(345).axis = [0 1 0];
smiData.RigidTransform(345).ID = "AssemblyGround[mg996r_leg_top:1:servo_leg_top_frame_with_nuts:1:servo_leg_top_frame_with_nuts_without_arduino:1:m3 nuts:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(346).translation = [-1.619599905877412 -2.3088955067367554 0.94488188976377963];  % in
smiData.RigidTransform(346).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(346).axis = [0 1 0];
smiData.RigidTransform(346).ID = "AssemblyGround[mg996r_leg_top:1:servo_leg_top_frame_with_nuts:1:servo_leg_top_frame_with_nuts_without_arduino:1:m4 nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(347).translation = [-1.619599905877412 -1.8994466878391179 0.94488188976377963];  % in
smiData.RigidTransform(347).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(347).axis = [0 1 0];
smiData.RigidTransform(347).ID = "AssemblyGround[mg996r_leg_top:1:servo_leg_top_frame_with_nuts:1:servo_leg_top_frame_with_nuts_without_arduino:1:m4 nuts:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(348).translation = [-1.6195999058774104 1.2344115798774176 0.94488188976377963];  % in
smiData.RigidTransform(348).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(348).axis = [1 0 0];
smiData.RigidTransform(348).ID = "AssemblyGround[mg996r_leg_top:1:servo_leg_top_frame_with_nuts:1:servo_leg_top_frame_with_nuts_without_arduino:1:m4 nuts:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(349).translation = [-1.619599905877412 1.6438603987750557 0.94488188976377963];  % in
smiData.RigidTransform(349).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(349).axis = [1 0 0];
smiData.RigidTransform(349).ID = "AssemblyGround[mg996r_leg_top:1:servo_leg_top_frame_with_nuts:1:servo_leg_top_frame_with_nuts_without_arduino:1:m4 nuts:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(350).translation = [0.29378592089424266 1.2344115798774169 0.94488188976377963];  % in
smiData.RigidTransform(350).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(350).axis = [0 1 0];
smiData.RigidTransform(350).ID = "AssemblyGround[mg996r_leg_top:1:servo_leg_top_frame_with_nuts:1:servo_leg_top_frame_with_nuts_without_arduino:1:m4 nuts:5]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(351).translation = [0.29378592089424266 -1.8994466878391179 0.94488188976377963];  % in
smiData.RigidTransform(351).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(351).axis = [1 0 0];
smiData.RigidTransform(351).ID = "AssemblyGround[mg996r_leg_top:1:servo_leg_top_frame_with_nuts:1:servo_leg_top_frame_with_nuts_without_arduino:1:m4 nuts:6]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(352).translation = [0.29378592089424266 -2.3088955067367554 0.94488188976377963];  % in
smiData.RigidTransform(352).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(352).axis = [1 0 0];
smiData.RigidTransform(352).ID = "AssemblyGround[mg996r_leg_top:1:servo_leg_top_frame_with_nuts:1:servo_leg_top_frame_with_nuts_without_arduino:1:m4 nuts:7]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(353).translation = [0.29378592089424266 1.6438603987750557 0.94488188976377963];  % in
smiData.RigidTransform(353).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(353).axis = [0 1 0];
smiData.RigidTransform(353).ID = "AssemblyGround[mg996r_leg_top:1:servo_leg_top_frame_with_nuts:1:servo_leg_top_frame_with_nuts_without_arduino:1:m4 nuts:8]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(354).translation = [-1.4211880533187604 3.5970224274608857 0.04650978348277883];  % in
smiData.RigidTransform(354).angle = 7.4593109467002705e-16;  % rad
smiData.RigidTransform(354).axis = [0 0 -1];
smiData.RigidTransform(354).ID = "AssemblyGround[mg996r_leg_top:1:servo_leg_top_frame_with_nuts:1:servo_leg_top_frame_with_nuts_without_arduino:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(355).translation = [0.49789430405357121 1.2603657847001761 4.2380324564357821];  % in
smiData.RigidTransform(355).angle = 1.4448393667237117e-15;  % rad
smiData.RigidTransform(355).axis = [0.041689341389251365 0.072091981585397646 -0.99652633934363277];
smiData.RigidTransform(355).ID = "AssemblyGround[mg996r_leg_top:1:servo_leg_top_frame_with_nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(356).translation = [-0.41207348467327648 0.77559054805224859 -1.3987061727561026e-15];  % in
smiData.RigidTransform(356).angle = 0;  % rad
smiData.RigidTransform(356).axis = [0 0 0];
smiData.RigidTransform(356).ID = "AssemblyGround[mg996r_leg_top:1:mg996r_motor_with_screws:1:servo-motor-mg996r servo:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(357).translation = [-1.3687663980591003 -0.57086614486113674 -0.2047244094488215];  % in
smiData.RigidTransform(357).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(357).axis = [0 0.70710678118654857 0.70710678118654646];
smiData.RigidTransform(357).ID = "AssemblyGround[mg996r_leg_top:1:mg996r_motor_with_screws:1:m4x8:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(358).translation = [-1.3687663980591003 -0.57086614486113674 0.20472440944881731];  % in
smiData.RigidTransform(358).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(358).axis = [0 0.70710678118654824 0.7071067811865468];
smiData.RigidTransform(358).ID = "AssemblyGround[mg996r_leg_top:1:mg996r_motor_with_screws:1:m4x8:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(359).translation = [0.54461942871255287 -0.57086614486113707 0.20472440944881731];  % in
smiData.RigidTransform(359).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(359).axis = [0 0.70710678118654835 0.70710678118654668];
smiData.RigidTransform(359).ID = "AssemblyGround[mg996r_leg_top:1:mg996r_motor_with_screws:1:m4x8:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(360).translation = [0.54461942871255287 -0.57086614486113696 -0.2047244094488215];  % in
smiData.RigidTransform(360).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(360).axis = [0 0.70710678118654846 0.70710678118654657];
smiData.RigidTransform(360).ID = "AssemblyGround[mg996r_leg_top:1:mg996r_motor_with_screws:1:m4x8:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(361).translation = [-1.1741272570835022 2.7532171148731321 5.0050146777345867];  % in
smiData.RigidTransform(361).angle = 1.5707963267948917;  % rad
smiData.RigidTransform(361).axis = [-1 -1.1824308893126961e-15 1.2032101142746415e-15];
smiData.RigidTransform(361).ID = "AssemblyGround[mg996r_leg_top:1:mg996r_motor_with_screws:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(362).translation = [-0.41207348467327509 0.77559054805224859 -2.7974123455122052e-15];  % in
smiData.RigidTransform(362).angle = 0;  % rad
smiData.RigidTransform(362).axis = [0 0 0];
smiData.RigidTransform(362).ID = "AssemblyGround[mg996r_leg_top:1:mg996r_motor_with_screws:2:servo-motor-mg996r servo:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(363).translation = [-1.3687663980591016 -0.57086614486113674 -0.20472440944882081];  % in
smiData.RigidTransform(363).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(363).axis = [0 0.70710678118654857 0.70710678118654646];
smiData.RigidTransform(363).ID = "AssemblyGround[mg996r_leg_top:1:mg996r_motor_with_screws:2:m4x8:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(364).translation = [-1.3687663980591003 -0.57086614486113674 0.20472440944881662];  % in
smiData.RigidTransform(364).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(364).axis = [0 0.70710678118654824 0.7071067811865468];
smiData.RigidTransform(364).ID = "AssemblyGround[mg996r_leg_top:1:mg996r_motor_with_screws:2:m4x8:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(365).translation = [0.54461942871255287 -0.57086614486113696 0.20472440944881592];  % in
smiData.RigidTransform(365).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(365).axis = [0 0.70710678118654835 0.70710678118654668];
smiData.RigidTransform(365).ID = "AssemblyGround[mg996r_leg_top:1:mg996r_motor_with_screws:2:m4x8:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(366).translation = [0.54461942871255153 -0.57086614486113696 -0.2047244094488215];  % in
smiData.RigidTransform(366).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(366).axis = [0 0.70710678118654846 0.70710678118654657];
smiData.RigidTransform(366).ID = "AssemblyGround[mg996r_leg_top:1:mg996r_motor_with_screws:2:m4x8:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(367).translation = [-1.1741272570834937 6.2965242014872898 5.0050146777345832];  % in
smiData.RigidTransform(367).angle = 1.5707963267948923;  % rad
smiData.RigidTransform(367).axis = [-1 1.1193303228740364e-15 -1.3549174044066123e-15];
smiData.RigidTransform(367).ID = "AssemblyGround[mg996r_leg_top:1:mg996r_motor_with_screws:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(368).translation = [-0.017090062901718574 2.2947124650132795 3.5871901099276235];  % in
smiData.RigidTransform(368).angle = 1.6893421233672918e-15;  % rad
smiData.RigidTransform(368).axis = [0.59724737471217215 0.7439012662431046 -0.29984409195667644];
smiData.RigidTransform(368).ID = "AssemblyGround[mg996r_rot_into_rot:1:two_servo_frame_mg996r_combined:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(369).translation = [-0.57480314104106767 0.11089238866003526 0];  % in
smiData.RigidTransform(369).angle = 0;  % rad
smiData.RigidTransform(369).axis = [0 0 0];
smiData.RigidTransform(369).ID = "AssemblyGround[mg996r_rot_into_rot:1:servo_handle:1:servo handle 4:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(370).translation = [-0.85039369222216832 -0.042650918426580524 1.3987061727561026e-15];  % in
smiData.RigidTransform(370).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(370).axis = [0 0.70710678118654757 0.70710678118654746];
smiData.RigidTransform(370).ID = "AssemblyGround[mg996r_rot_into_rot:1:servo_handle:1:m2x8:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(371).translation = [-0.57480314104106633 -0.042650918426579122 -0.27559055118110204];  % in
smiData.RigidTransform(371).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(371).axis = [0 0.70710678118654768 0.70710678118654735];
smiData.RigidTransform(371).ID = "AssemblyGround[mg996r_rot_into_rot:1:servo_handle:1:m2x8:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(372).translation = [-0.57480314104106633 -0.042650918426579122 0.27559055118110204];  % in
smiData.RigidTransform(372).angle = 1.5707963267948968;  % rad
smiData.RigidTransform(372).axis = [-1 -0 -0];
smiData.RigidTransform(372).ID = "AssemblyGround[mg996r_rot_into_rot:1:servo_handle:1:m2x8:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(373).translation = [-0.29921258985996352 -0.042650918426580524 1.3987061727561026e-15];  % in
smiData.RigidTransform(373).angle = 1.5707963267948968;  % rad
smiData.RigidTransform(373).axis = [-1 -0 -0];
smiData.RigidTransform(373).ID = "AssemblyGround[mg996r_rot_into_rot:1:servo_handle:1:m2x8:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(374).translation = [1.0235923515878527 2.2947124650132809 4.3115995673117551];  % in
smiData.RigidTransform(374).angle = 2.0943951023931993;  % rad
smiData.RigidTransform(374).axis = [0.57735026918962729 0.57735026918962662 -0.5773502691896234];
smiData.RigidTransform(374).ID = "AssemblyGround[mg996r_rot_into_rot:1:servo_handle:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(375).translation = [-0.57480314104106489 0.11089238866003386 1.3987061727561026e-15];  % in
smiData.RigidTransform(375).angle = 0;  % rad
smiData.RigidTransform(375).axis = [0 0 0];
smiData.RigidTransform(375).ID = "AssemblyGround[mg996r_rot_into_rot:1:servo_handle:2:servo handle 4:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(376).translation = [-0.85039369222216699 -0.042650918426579122 6.9935308637805131e-16];  % in
smiData.RigidTransform(376).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(376).axis = [0 0.70710678118654757 0.70710678118654746];
smiData.RigidTransform(376).ID = "AssemblyGround[mg996r_rot_into_rot:1:servo_handle:2:m2x8:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(377).translation = [-0.57480314104106345 -0.042650918426579122 -0.27559055118110137];  % in
smiData.RigidTransform(377).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(377).axis = [0 0.70710678118654768 0.70710678118654735];
smiData.RigidTransform(377).ID = "AssemblyGround[mg996r_rot_into_rot:1:servo_handle:2:m2x8:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(378).translation = [-0.57480314104106489 -0.042650918426579122 0.27559055118110348];  % in
smiData.RigidTransform(378).angle = 1.5707963267948968;  % rad
smiData.RigidTransform(378).axis = [-1 -0 -0];
smiData.RigidTransform(378).ID = "AssemblyGround[mg996r_rot_into_rot:1:servo_handle:2:m2x8:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(379).translation = [-0.29921258985996141 -0.042650918426579122 6.9935308637805131e-16];  % in
smiData.RigidTransform(379).angle = 1.5707963267948968;  % rad
smiData.RigidTransform(379).axis = [-1 -0 -0];
smiData.RigidTransform(379).ID = "AssemblyGround[mg996r_rot_into_rot:1:servo_handle:2:m2x8:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(380).translation = [1.0235923515878498 1.7199093239722134 2.2879775115024228];  % in
smiData.RigidTransform(380).angle = 1.5707963267948959;  % rad
smiData.RigidTransform(380).axis = [2.2938752890296138e-16 5.2972710190992919e-17 -1];
smiData.RigidTransform(380).ID = "AssemblyGround[mg996r_rot_into_rot:1:servo_handle:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(381).translation = [1.2604689922163892 2.2947124650132809 2.0123869603213209];  % in
smiData.RigidTransform(381).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(381).axis = [0.57735026918962562 -0.5773502691896254 -0.57735026918962618];
smiData.RigidTransform(381).ID = "AssemblyGround[mg996r_rot_into_rot:1:m2 washer:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(382).translation = [1.2604689922163919 2.5703030161943805 4.8864027083528194];  % in
smiData.RigidTransform(382).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(382).axis = [0.57735026918962562 -0.57735026918962529 -0.5773502691896264];
smiData.RigidTransform(382).ID = "AssemblyGround[mg996r_rot_into_rot:1:m2 washer:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(383).translation = [1.252594976468355 2.5703030161943818 2.2879775115024237];  % in
smiData.RigidTransform(383).angle = 2.0943951023931944;  % rad
smiData.RigidTransform(383).axis = [-0.57735026918962551 0.57735026918962729 -0.57735026918962462];
smiData.RigidTransform(383).ID = "AssemblyGround[mg996r_rot_into_rot:1:m2 washer:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(384).translation = [1.2604689922163876 2.2947124650132795 2.5635680626835256];  % in
smiData.RigidTransform(384).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(384).axis = [0.57735026918962562 -0.5773502691896254 -0.57735026918962618];
smiData.RigidTransform(384).ID = "AssemblyGround[mg996r_rot_into_rot:1:m2 washer:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(385).translation = [1.2604689922163919 2.2947124650132782 5.1619932595339195];  % in
smiData.RigidTransform(385).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(385).axis = [0.57735026918962562 -0.57735026918962529 -0.5773502691896264];
smiData.RigidTransform(385).ID = "AssemblyGround[mg996r_rot_into_rot:1:m2 washer:5]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(386).translation = [1.2604689922163876 2.0191219138321777 2.2879775115024228];  % in
smiData.RigidTransform(386).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(386).axis = [0.57735026918962562 -0.5773502691896254 -0.57735026918962618];
smiData.RigidTransform(386).ID = "AssemblyGround[mg996r_rot_into_rot:1:m2 washer:6]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(387).translation = [1.2604689922163919 2.019121913832175 4.8864027083528176];  % in
smiData.RigidTransform(387).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(387).axis = [0.57735026918962562 -0.57735026918962529 -0.5773502691896264];
smiData.RigidTransform(387).ID = "AssemblyGround[mg996r_rot_into_rot:1:m2 washer:7]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(388).translation = [1.2604689922163905 2.2947124650132795 4.6108121571717158];  % in
smiData.RigidTransform(388).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(388).axis = [0.57735026918962562 -0.57735026918962529 -0.5773502691896264];
smiData.RigidTransform(388).ID = "AssemblyGround[mg996r_rot_into_rot:1:m2 washer:8]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(389).translation = [1.2604689922163919 2.5703030161943805 4.8864027083528194];  % in
smiData.RigidTransform(389).angle = 2.0943951023931962;  % rad
smiData.RigidTransform(389).axis = [0.57735026918962629 0.57735026918962551 0.57735026918962551];
smiData.RigidTransform(389).ID = "AssemblyGround[mg996r_rot_into_rot:1:m2 nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(390).translation = [1.2604689922163905 2.2947124650132795 4.6108121571717149];  % in
smiData.RigidTransform(390).angle = 2.0943951023931962;  % rad
smiData.RigidTransform(390).axis = [0.57735026918962629 0.57735026918962551 0.57735026918962551];
smiData.RigidTransform(390).ID = "AssemblyGround[mg996r_rot_into_rot:1:m2 nuts:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(391).translation = [1.2604689922163919 2.019121913832175 4.8864027083528176];  % in
smiData.RigidTransform(391).angle = 2.0943951023931962;  % rad
smiData.RigidTransform(391).axis = [0.57735026918962629 0.57735026918962551 0.57735026918962551];
smiData.RigidTransform(391).ID = "AssemblyGround[mg996r_rot_into_rot:1:m2 nuts:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(392).translation = [1.2604689922163919 2.2947124650132782 5.1619932595339195];  % in
smiData.RigidTransform(392).angle = 2.0943951023931962;  % rad
smiData.RigidTransform(392).axis = [0.57735026918962629 0.57735026918962551 0.57735026918962551];
smiData.RigidTransform(392).ID = "AssemblyGround[mg996r_rot_into_rot:1:m2 nuts:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(393).translation = [1.2604689922163876 2.0191219138321777 2.2879775115024223];  % in
smiData.RigidTransform(393).angle = 2.0943951023931962;  % rad
smiData.RigidTransform(393).axis = [0.57735026918962618 0.57735026918962551 0.57735026918962562];
smiData.RigidTransform(393).ID = "AssemblyGround[mg996r_rot_into_rot:1:m2 nuts:5]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(394).translation = [1.2604689922163876 2.2947124650132809 2.5635680626835264];  % in
smiData.RigidTransform(394).angle = 2.0943951023931962;  % rad
smiData.RigidTransform(394).axis = [0.57735026918962618 0.57735026918962551 0.57735026918962562];
smiData.RigidTransform(394).ID = "AssemblyGround[mg996r_rot_into_rot:1:m2 nuts:6]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(395).translation = [1.2604689922163892 2.2947124650132809 2.0123869603213209];  % in
smiData.RigidTransform(395).angle = 2.094395102393197;  % rad
smiData.RigidTransform(395).axis = [0.57735026918962673 0.57735026918962529 0.57735026918962529];
smiData.RigidTransform(395).ID = "AssemblyGround[mg996r_rot_into_rot:1:m2 nuts:7]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(396).translation = [1.2604689922163863 2.5703030161943818 2.2879775115024241];  % in
smiData.RigidTransform(396).angle = 2.0943951023931962;  % rad
smiData.RigidTransform(396).axis = [0.57735026918962618 0.57735026918962551 0.57735026918962562];
smiData.RigidTransform(396).ID = "AssemblyGround[mg996r_rot_into_rot:1:m2 nuts:8]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(397).translation = [-1.3655152597521139 2.2947124650132795 2.2879775115024277];  % in
smiData.RigidTransform(397).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(397).axis = [-0.57735026918962562 0.57735026918962629 -0.57735026918962551];
smiData.RigidTransform(397).ID = "AssemblyGround[mg996r_rot_into_rot:1:m4 nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(398).translation = [-1.2867751022717964 2.2947124650132795 4.8864027083528203];  % in
smiData.RigidTransform(398).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(398).axis = [0.57735026918962562 -0.57735026918962529 -0.5773502691896264];
smiData.RigidTransform(398).ID = "AssemblyGround[mg996r_rot_into_rot:1:m4 nuts:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(399).translation = [-0.017090062901721371 2.2947124650132795 3.5871901099276227];  % in
smiData.RigidTransform(399).angle = 1.6893421233672916e-15;  % rad
smiData.RigidTransform(399).axis = [0.59724737471217237 0.74390126624310449 -0.29984409195667611];
smiData.RigidTransform(399).ID = "AssemblyGround[mg996r_rot_into_rot:2:two_servo_frame_mg996r_combined:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(400).translation = [-0.57480314104106489 0.11089238866003107 1.3987061727561026e-15];  % in
smiData.RigidTransform(400).angle = 0;  % rad
smiData.RigidTransform(400).axis = [0 0 0];
smiData.RigidTransform(400).ID = "AssemblyGround[mg996r_rot_into_rot:2:servo_handle:1:servo handle 4:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(401).translation = [-0.85039369222216554 -0.042650918426581919 1.3987061727561026e-15];  % in
smiData.RigidTransform(401).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(401).axis = [0 0.70710678118654757 0.70710678118654746];
smiData.RigidTransform(401).ID = "AssemblyGround[mg996r_rot_into_rot:2:servo_handle:1:m2x8:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(402).translation = [-0.57480314104106345 -0.042650918426581919 -0.27559055118110204];  % in
smiData.RigidTransform(402).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(402).axis = [0 0.70710678118654768 0.70710678118654735];
smiData.RigidTransform(402).ID = "AssemblyGround[mg996r_rot_into_rot:2:servo_handle:1:m2x8:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(403).translation = [-0.57480314104106489 -0.042650918426580524 0.27559055118110348];  % in
smiData.RigidTransform(403).angle = 1.5707963267948968;  % rad
smiData.RigidTransform(403).axis = [-1 -0 -0];
smiData.RigidTransform(403).ID = "AssemblyGround[mg996r_rot_into_rot:2:servo_handle:1:m2x8:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(404).translation = [-0.29921258985996285 -0.042650918426580524 0];  % in
smiData.RigidTransform(404).angle = 1.5707963267948968;  % rad
smiData.RigidTransform(404).axis = [-1 -0 -0];
smiData.RigidTransform(404).ID = "AssemblyGround[mg996r_rot_into_rot:2:servo_handle:1:m2x8:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(405).translation = [1.0235923515878513 2.2947124650132809 4.3115995673117551];  % in
smiData.RigidTransform(405).angle = 2.0943951023931993;  % rad
smiData.RigidTransform(405).axis = [0.57735026918962729 0.57735026918962662 -0.5773502691896234];
smiData.RigidTransform(405).ID = "AssemblyGround[mg996r_rot_into_rot:2:servo_handle:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(406).translation = [-0.57480314104106633 0.11089238866003247 0];  % in
smiData.RigidTransform(406).angle = 0;  % rad
smiData.RigidTransform(406).axis = [0 0 0];
smiData.RigidTransform(406).ID = "AssemblyGround[mg996r_rot_into_rot:2:servo_handle:2:servo handle 4:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(407).translation = [-0.85039369222216832 -0.042650918426581919 0];  % in
smiData.RigidTransform(407).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(407).axis = [0 0.70710678118654757 0.70710678118654746];
smiData.RigidTransform(407).ID = "AssemblyGround[mg996r_rot_into_rot:2:servo_handle:2:m2x8:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(408).translation = [-0.57480314104106633 -0.042650918426581919 -0.27559055118110204];  % in
smiData.RigidTransform(408).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(408).axis = [0 0.70710678118654768 0.70710678118654735];
smiData.RigidTransform(408).ID = "AssemblyGround[mg996r_rot_into_rot:2:servo_handle:2:m2x8:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(409).translation = [-0.57480314104106489 -0.042650918426581919 0.27559055118110276];  % in
smiData.RigidTransform(409).angle = 1.5707963267948968;  % rad
smiData.RigidTransform(409).axis = [-1 -0 -0];
smiData.RigidTransform(409).ID = "AssemblyGround[mg996r_rot_into_rot:2:servo_handle:2:m2x8:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(410).translation = [-0.29921258985996285 -0.042650918426581919 0];  % in
smiData.RigidTransform(410).angle = 1.5707963267948968;  % rad
smiData.RigidTransform(410).axis = [-1 -0 -0];
smiData.RigidTransform(410).ID = "AssemblyGround[mg996r_rot_into_rot:2:servo_handle:2:m2x8:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(411).translation = [1.0235923515878498 1.7199093239722134 2.2879775115024223];  % in
smiData.RigidTransform(411).angle = 1.5707963267948959;  % rad
smiData.RigidTransform(411).axis = [2.2938752890296089e-16 5.2972710190993018e-17 -1];
smiData.RigidTransform(411).ID = "AssemblyGround[mg996r_rot_into_rot:2:servo_handle:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(412).translation = [1.2604689922163876 2.2947124650132795 2.0123869603213205];  % in
smiData.RigidTransform(412).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(412).axis = [0.57735026918962562 -0.5773502691896254 -0.57735026918962618];
smiData.RigidTransform(412).ID = "AssemblyGround[mg996r_rot_into_rot:2:m2 washer:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(413).translation = [1.2604689922163905 2.5703030161943818 4.8864027083528185];  % in
smiData.RigidTransform(413).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(413).axis = [0.57735026918962562 -0.57735026918962529 -0.5773502691896264];
smiData.RigidTransform(413).ID = "AssemblyGround[mg996r_rot_into_rot:2:m2 washer:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(414).translation = [1.2525949764683537 2.5703030161943832 2.2879775115024241];  % in
smiData.RigidTransform(414).angle = 2.0943951023931944;  % rad
smiData.RigidTransform(414).axis = [-0.57735026918962551 0.57735026918962729 -0.57735026918962462];
smiData.RigidTransform(414).ID = "AssemblyGround[mg996r_rot_into_rot:2:m2 washer:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(415).translation = [1.2604689922163863 2.2947124650132795 2.5635680626835251];  % in
smiData.RigidTransform(415).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(415).axis = [0.57735026918962562 -0.5773502691896254 -0.57735026918962618];
smiData.RigidTransform(415).ID = "AssemblyGround[mg996r_rot_into_rot:2:m2 washer:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(416).translation = [1.2604689922163892 2.2947124650132769 5.1619932595339204];  % in
smiData.RigidTransform(416).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(416).axis = [0.57735026918962562 -0.57735026918962529 -0.5773502691896264];
smiData.RigidTransform(416).ID = "AssemblyGround[mg996r_rot_into_rot:2:m2 washer:5]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(417).translation = [1.260468992216385 2.0191219138321777 2.2879775115024223];  % in
smiData.RigidTransform(417).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(417).axis = [0.57735026918962562 -0.5773502691896254 -0.57735026918962618];
smiData.RigidTransform(417).ID = "AssemblyGround[mg996r_rot_into_rot:2:m2 washer:6]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(418).translation = [1.2604689922163892 2.019121913832175 4.8864027083528168];  % in
smiData.RigidTransform(418).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(418).axis = [0.57735026918962562 -0.57735026918962529 -0.5773502691896264];
smiData.RigidTransform(418).ID = "AssemblyGround[mg996r_rot_into_rot:2:m2 washer:7]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(419).translation = [1.2604689922163892 2.2947124650132795 4.6108121571717149];  % in
smiData.RigidTransform(419).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(419).axis = [0.57735026918962562 -0.57735026918962529 -0.5773502691896264];
smiData.RigidTransform(419).ID = "AssemblyGround[mg996r_rot_into_rot:2:m2 washer:8]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(420).translation = [1.2604689922163905 2.5703030161943818 4.8864027083528185];  % in
smiData.RigidTransform(420).angle = 2.0943951023931962;  % rad
smiData.RigidTransform(420).axis = [0.57735026918962629 0.57735026918962551 0.57735026918962551];
smiData.RigidTransform(420).ID = "AssemblyGround[mg996r_rot_into_rot:2:m2 nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(421).translation = [1.2604689922163892 2.2947124650132795 4.6108121571717149];  % in
smiData.RigidTransform(421).angle = 2.0943951023931962;  % rad
smiData.RigidTransform(421).axis = [0.57735026918962629 0.57735026918962551 0.57735026918962551];
smiData.RigidTransform(421).ID = "AssemblyGround[mg996r_rot_into_rot:2:m2 nuts:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(422).translation = [1.2604689922163892 2.019121913832175 4.8864027083528159];  % in
smiData.RigidTransform(422).angle = 2.0943951023931962;  % rad
smiData.RigidTransform(422).axis = [0.57735026918962629 0.57735026918962551 0.57735026918962551];
smiData.RigidTransform(422).ID = "AssemblyGround[mg996r_rot_into_rot:2:m2 nuts:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(423).translation = [1.2604689922163892 2.2947124650132769 5.1619932595339204];  % in
smiData.RigidTransform(423).angle = 2.0943951023931962;  % rad
smiData.RigidTransform(423).axis = [0.57735026918962629 0.57735026918962551 0.57735026918962551];
smiData.RigidTransform(423).ID = "AssemblyGround[mg996r_rot_into_rot:2:m2 nuts:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(424).translation = [1.260468992216385 2.0191219138321777 2.2879775115024223];  % in
smiData.RigidTransform(424).angle = 2.0943951023931962;  % rad
smiData.RigidTransform(424).axis = [0.57735026918962618 0.57735026918962551 0.57735026918962562];
smiData.RigidTransform(424).ID = "AssemblyGround[mg996r_rot_into_rot:2:m2 nuts:5]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(425).translation = [1.2604689922163863 2.2947124650132795 2.563568062683526];  % in
smiData.RigidTransform(425).angle = 2.0943951023931962;  % rad
smiData.RigidTransform(425).axis = [0.57735026918962618 0.57735026918962551 0.57735026918962562];
smiData.RigidTransform(425).ID = "AssemblyGround[mg996r_rot_into_rot:2:m2 nuts:6]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(426).translation = [1.2604689922163892 2.2947124650132795 2.0123869603213205];  % in
smiData.RigidTransform(426).angle = 2.094395102393197;  % rad
smiData.RigidTransform(426).axis = [0.57735026918962673 0.57735026918962529 0.57735026918962529];
smiData.RigidTransform(426).ID = "AssemblyGround[mg996r_rot_into_rot:2:m2 nuts:7]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(427).translation = [1.260468992216385 2.5703030161943818 2.2879775115024241];  % in
smiData.RigidTransform(427).angle = 2.0943951023931962;  % rad
smiData.RigidTransform(427).axis = [0.57735026918962618 0.57735026918962551 0.57735026918962562];
smiData.RigidTransform(427).ID = "AssemblyGround[mg996r_rot_into_rot:2:m2 nuts:8]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(428).translation = [-1.3655152597521152 2.2947124650132795 2.2879775115024281];  % in
smiData.RigidTransform(428).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(428).axis = [-0.57735026918962562 0.57735026918962629 -0.57735026918962551];
smiData.RigidTransform(428).ID = "AssemblyGround[mg996r_rot_into_rot:2:m4 nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(429).translation = [-1.286775102271797 2.2947124650132782 4.8864027083528212];  % in
smiData.RigidTransform(429).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(429).axis = [0.57735026918962562 -0.57735026918962529 -0.5773502691896264];
smiData.RigidTransform(429).ID = "AssemblyGround[mg996r_rot_into_rot:2:m4 nuts:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(430).translation = [-0.26793446085974304 0.057972936459329945 -12.620655298751508];  % in
smiData.RigidTransform(430).angle = 7.0087407659682694e-15;  % rad
smiData.RigidTransform(430).axis = [0.34181155833326987 -0.92519857190846333 0.16484071441340445];
smiData.RigidTransform(430).ID = "SixDofRigidTransform[mg996r_left_mid_top_two_servo: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(26).mass = 0.0;
smiData.Solid(26).CoM = [0.0 0.0 0.0];
smiData.Solid(26).MoI = [0.0 0.0 0.0];
smiData.Solid(26).PoI = [0.0 0.0 0.0];
smiData.Solid(26).color = [0.0 0.0 0.0];
smiData.Solid(26).opacity = 0.0;
smiData.Solid(26).ID = "";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(1).mass = 0.048699031176338184;  % lbm
smiData.Solid(1).CoM = [0.022920079416910592 6.8675052866420971 15.53605994260989];  % mm
smiData.Solid(1).MoI = [10.933297174421314 33.859667314999889 29.472534491334766];  % lbm*mm^2
smiData.Solid(1).PoI = [-0.78288334010414229 0.015666848859348714 0.0076654109345640938];  % lbm*mm^2
smiData.Solid(1).color = [0 0 0];
smiData.Solid(1).opacity = 1;
smiData.Solid(1).ID = "servo frame with bottom.ipt_{A1616319-40D2-D75D-06BB-218270CC2BB7}";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(2).mass = 0.0020354621454343478;  % lbm
smiData.Solid(2).CoM = [4.3783861961128184e-10 0 3.9144637716665649];  % mm
smiData.Solid(2).MoI = [0.022437992550548569 0.022437991931048722 0.0047968440284892723];  % lbm*mm^2
smiData.Solid(2).PoI = [0 6.4796323074957759e-13 0];  % lbm*mm^2
smiData.Solid(2).color = [0.74509803921568629 0.73725490196078436 0.72941176470588232];
smiData.Solid(2).opacity = 1;
smiData.Solid(2).ID = "m3x8.ipt_{D5FEBD6B-4FF0-ED39-0577-6B878C08EE5C}";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(3).mass = 0.0048359592964844359;  % lbm
smiData.Solid(3).CoM = [5.4533251934989598e-10 0 6.0122058633974484];  % mm
smiData.Solid(3).MoI = [0.11479239812928159 0.11479239586515796 0.017531316372874466];  % lbm*mm^2
smiData.Solid(3).PoI = [0 2.6189374972575052e-12 0];  % lbm*mm^2
smiData.Solid(3).color = [0.74509803921568629 0.73725490196078436 0.72941176470588232];
smiData.Solid(3).opacity = 1;
smiData.Solid(3).ID = "m4x12.ipt_{9FE0C83A-4BEE-D42F-F1EF-41B77B8F9DCC}";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(4).mass = 0.00092804064624098595;  % lbm
smiData.Solid(4).CoM = [1.0170376762912321e-10 2.8457643605576457e-12 1.0000000000000002];  % mm
smiData.Solid(4).MoI = [0.0041409382984596999 0.0041409381839635478 0.0076631827182625876];  % lbm*mm^2
smiData.Solid(4).PoI = [0 0 0];  % lbm*mm^2
smiData.Solid(4).color = [0.74509803921568629 0.73725490196078436 0.72941176470588232];
smiData.Solid(4).opacity = 1;
smiData.Solid(4).ID = "m4 nuts.ipt_{24799405-4DC7-1EC7-E408-7AB1A993D6B2}";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(5).mass = 0.12125117465032392;  % lbm
smiData.Solid(5).CoM = [0.20021599479763097 -19.39362495242662 5.1750781008548253e-14];  % mm
smiData.Solid(5).MoI = [19.022033233423524 21.055312161801272 32.124604098575858];  % lbm*mm^2
smiData.Solid(5).PoI = [0 0 0.47948017143346655];  % lbm*mm^2
smiData.Solid(5).color = [0 0 0];
smiData.Solid(5).opacity = 1;
smiData.Solid(5).ID = "servo-motor-mg996r servo.ipt_{BB917800-48A6-3779-5599-1893BAD47CA0}";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(6).mass = 0.0040337730861562905;  % lbm
smiData.Solid(6).CoM = [5.7495369524218172e-10 0 4.403535665718878];  % mm
smiData.Solid(6).MoI = [0.054403381696591424 0.054403379610667671 0.01615149829594574];  % lbm*mm^2
smiData.Solid(6).PoI = [0 1.6454956910847012e-12 0];  % lbm*mm^2
smiData.Solid(6).color = [0.74509803921568629 0.73725490196078436 0.72941176470588232];
smiData.Solid(6).opacity = 1;
smiData.Solid(6).ID = "m4x8.ipt_{7D3EA0E3-4A1D-B600-9698-D09BB7351B45}";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(7).mass = 0.024248592917530776;  % lbm
smiData.Solid(7).CoM = [-0.046030945627471502 3.8710544312355143e-12 13.29470539981665];  % mm
smiData.Solid(7).MoI = [5.15274388990278 20.280069340289334 16.771025365797261];  % lbm*mm^2
smiData.Solid(7).PoI = [-4.9116319325069091e-13 -0.013165081056322532 0];  % lbm*mm^2
smiData.Solid(7).color = [0 0 0];
smiData.Solid(7).opacity = 1;
smiData.Solid(7).ID = "servo frame.ipt_{1CEF2640-460B-BFB3-A331-47817913818A}";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(8).mass = 0.00057668495429950839;  % lbm
smiData.Solid(8).CoM = [6.7829187335529042e-11 1.2414571635912237e-13 1.0000000000000002];  % mm
smiData.Solid(8).MoI = [0.0016030618793518095 0.0016030618431261713 0.0028216670862783082];  % lbm*mm^2
smiData.Solid(8).PoI = [0 0 0];  % lbm*mm^2
smiData.Solid(8).color = [0.74509803921568629 0.73725490196078436 0.72941176470588232];
smiData.Solid(8).opacity = 1;
smiData.Solid(8).ID = "m3 nuts.ipt_{43EC4205-44C4-9655-2A6B-DCAFA6B066BB}";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(9).mass = 0.043433175973411224;  % lbm
smiData.Solid(9).CoM = [-31.000000000002107 0 12.687803818310003];  % mm
smiData.Solid(9).MoI = [9.2776884534372979 88.479129361037366 82.119737733941363];  % lbm*mm^2
smiData.Solid(9).PoI = [0 -9.9628038263391365e-13 0];  % lbm*mm^2
smiData.Solid(9).color = [0 0 0];
smiData.Solid(9).opacity = 1;
smiData.Solid(9).ID = "two_servo_frame_combined.ipt_{464DC533-463A-5110-AD30-5FBA11A637DF}";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(10).mass = 0.048699031176338184;  % lbm
smiData.Solid(10).CoM = [-0.022920079416778937 6.8675052866420971 15.53605994260989];  % mm
smiData.Solid(10).MoI = [10.933297174421314 33.859667314997992 29.472534491332876];  % lbm*mm^2
smiData.Solid(10).PoI = [-0.78288334010414229 -0.01566684886087601 -0.0076654109359225652];  % lbm*mm^2
smiData.Solid(10).color = [0 0 0];
smiData.Solid(10).opacity = 1;
smiData.Solid(10).ID = "servo frame with top.ipt_{8DE505C8-4AE8-0537-3FA0-CEB6ECE0F2E5}";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(11).mass = 0.001930143276347849;  % lbm
smiData.Solid(11).CoM = [2.1773506359343549e-09 -1.5128381604436838 -1.0030704222194755e-14];  % mm
smiData.Solid(11).MoI = [0.045970445907304695 0.086914560477938163 0.045970433192531732];  % lbm*mm^2
smiData.Solid(11).PoI = [0 1.5093045681691907e-13 -9.1636202439232467e-13];  % lbm*mm^2
smiData.Solid(11).color = [1 0.96862745098039216 0.72549019607843135];
smiData.Solid(11).opacity = 1;
smiData.Solid(11).ID = "servo handle 4.ipt_{7A51F761-4128-B6EA-451B-9D9665B88074}";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(12).mass = 0.00068598473594812552;  % lbm
smiData.Solid(12).CoM = [2.6526945692871331e-10 0 3.8094942636384914];  % mm
smiData.Solid(12).MoI = [0.0062953631327718838 0.0062953630563736367 0.00059155860170883017];  % lbm*mm^2
smiData.Solid(12).PoI = [0 1.1395937227173008e-13 0];  % lbm*mm^2
smiData.Solid(12).color = [0.74509803921568629 0.73725490196078436 0.72941176470588232];
smiData.Solid(12).opacity = 1;
smiData.Solid(12).ID = "m2x8.ipt_{CD40E0BE-4F81-6F72-28CA-E0B41F3C16F2}";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(13).mass = 0.024612700744000515;  % lbm
smiData.Solid(13).CoM = [-3.8097178016575266e-12 -14.219714396086365 0];  % mm
smiData.Solid(13).MoI = [5.924662038851622 17.853466914844965 22.120707489416674];  % lbm*mm^2
smiData.Solid(13).PoI = [0 0 5.0386503886683429e-13];  % lbm*mm^2
smiData.Solid(13).color = [0 0 0];
smiData.Solid(13).opacity = 1;
smiData.Solid(13).ID = "servo frame mg996r.ipt_{6CD7138C-4D17-0BC3-7BFE-2CAFBC4ED0FB}";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(14).mass = 0.00031915123964126689;  % lbm
smiData.Solid(14).CoM = [3.5082810833568195e-11 0 1.0000000000000002];  % mm
smiData.Solid(14).MoI = [0.0005070262311127104 0.00050702622419850323 0.00080128496221703585];  % lbm*mm^2
smiData.Solid(14).PoI = [0 0 0];  % lbm*mm^2
smiData.Solid(14).color = [0.74509803921568629 0.73725490196078436 0.72941176470588232];
smiData.Solid(14).opacity = 1;
smiData.Solid(14).ID = "m2 nuts.ipt_{4D966734-4D0E-DB44-177A-539447CCF4A2}";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(15).mass = 4.8853591785898573e-05;  % lbm
smiData.Solid(15).CoM = [-2.9744593068237004e-10 0 0.10000000000000002];  % mm
smiData.Solid(15).MoI = [9.1061041913683937e-05 9.1061065392226005e-05 0.00018179641669400395];  % lbm*mm^2
smiData.Solid(15).PoI = [0 0 0];  % lbm*mm^2
smiData.Solid(15).color = [0.74509803921568629 0.73725490196078436 0.72941176470588232];
smiData.Solid(15).opacity = 1;
smiData.Solid(15).ID = "m2 washer.ipt_{A2D521C3-45BC-8D72-FB4F-6C8772DFEC39}";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(16).mass = 0.019337154368017057;  % kg
smiData.Solid(16).CoM = [3.7833392170665098e-12 -11.427190596141873 7.8239327159642187];  % mm
smiData.Solid(16).MoI = [5.5951600533849195 14.777602713975515 15.794503390634141];  % kg*mm^2
smiData.Solid(16).PoI = [-0.74446705889589215 1.4757459940874686e-12 5.2130216039750011e-12];  % kg*mm^2
smiData.Solid(16).color = [0 0 0];
smiData.Solid(16).opacity = 1;
smiData.Solid(16).ID = "servo frame mg996 foot.ipt_{7722BBDA-40CB-8128-ADE5-5CB983DFBAE2}";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(17).mass = 0.019337154368017057;  % kg
smiData.Solid(17).CoM = [3.7927388176058058e-12 -11.427190596141866 7.8239327159642187];  % mm
smiData.Solid(17).MoI = [5.595160053384916 14.777602713975494 15.794503390634112];  % kg*mm^2
smiData.Solid(17).PoI = [-0.74446705889589249 1.4808033145746633e-12 4.6002258509036489e-12];  % kg*mm^2
smiData.Solid(17).color = [0 0 0];
smiData.Solid(17).opacity = 1;
smiData.Solid(17).ID = "servo frame mg996 foot_MIR.ipt_{9B496984-4737-0380-0AB3-489DADA512FF}";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(18).mass = 0.019424550235248791;  % kg
smiData.Solid(18).CoM = [5.4272394555529704e-12 -11.382525704506437 7.8359730061241564];  % mm
smiData.Solid(18).MoI = [5.6059636068902892 14.781307603636277 15.804683888892765];  % kg*mm^2
smiData.Solid(18).PoI = [-0.74677835654470637 1.3877245986668608e-12 4.8926813281368002e-12];  % kg*mm^2
smiData.Solid(18).color = [0 0 0];
smiData.Solid(18).opacity = 1;
smiData.Solid(18).ID = "servo frame mg996 centered_MIR.ipt_{1CC09894-492D-25B1-2EC4-20B6984CFE78}";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(19).mass = 0.019424550235248791;  % kg
smiData.Solid(19).CoM = [2.9428738082265678e-12 -11.382525704506428 7.8359730061241564];  % mm
smiData.Solid(19).MoI = [5.6059636068902785 14.781307603683921 15.804683888940401];  % kg*mm^2
smiData.Solid(19).PoI = [-0.74677835654470681 -8.3711843135330375e-13 -9.8115659839429295e-14];  % kg*mm^2
smiData.Solid(19).color = [0 0 0];
smiData.Solid(19).opacity = 1;
smiData.Solid(19).ID = "servo frame mg996 centered.ipt_{53924448-4648-0839-DF25-DD89487D7F2E}";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(20).mass = 0.14251432161638461;  % lbm
smiData.Solid(20).CoM = [-0.046007146129080745 -3.9000000000000004 2.2494052181517958e-14];  % mm
smiData.Solid(20).MoI = [39.554604178094102 191.07291607953968 152.96340712263574];  % lbm*mm^2
smiData.Solid(20).PoI = [0 0.016542897173808583 0];  % lbm*mm^2
smiData.Solid(20).color = [0 0 0];
smiData.Solid(20).opacity = 1;
smiData.Solid(20).ID = "arduino_mega_case.ipt_{B51069BA-4D47-AC27-B297-A083ACE72A76}";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(21).mass = 0.035607085918424326;  % lbm
smiData.Solid(21).CoM = [-26.877623666836506 1.5106668502079375 -47.769352640252038];  % mm
smiData.Solid(21).MoI = [39.37233334870804 48.679618521836126 10.026913652160736];  % lbm*mm^2
smiData.Solid(21).PoI = [-0.50406756064219826 0.016731597454270806 0.084181618145419745];  % lbm*mm^2
smiData.Solid(21).color = [0.0039215686274509803 0.24313725490196078 0.94509803921568625];
smiData.Solid(21).opacity = 0.51999998092651367;
smiData.Solid(21).ID = "arduino_mega.ipt_{CD7AEEEA-4A1E-EF21-415C-47B069B1F09A}";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(22).mass = 0.0030452767701675027;  % lbm
smiData.Solid(22).CoM = [3.9667537096898519e-10 0 7.4743705735456683];  % mm
smiData.Solid(22).MoI = [0.10631746649897157 0.1063174657327549 0.0059328854079556959];  % lbm*mm^2
smiData.Solid(22).PoI = [0 1.5474476948043361e-12 0];  % lbm*mm^2
smiData.Solid(22).color = [0.74509803921568629 0.73725490196078436 0.72941176470588232];
smiData.Solid(22).opacity = 1;
smiData.Solid(22).ID = "m3x16.ipt_{170B0F6D-4D7F-EA01-A722-23BCA005FBF8}";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(23).mass = 0.0011142901981806242;  % lbm
smiData.Solid(23).CoM = [2.43692872243498e-10 0 7.5727213760630381];  % mm
smiData.Solid(23).MoI = [0.033961086005824835 0.033961085901769314 0.00080571131899644967];  % lbm*mm^2
smiData.Solid(23).PoI = [0 2.5887233714397945e-13 0];  % lbm*mm^2
smiData.Solid(23).color = [0.74509803921568629 0.73725490196078436 0.72941176470588232];
smiData.Solid(23).opacity = 1;
smiData.Solid(23).ID = "m2x16.ipt_{2B1B09A7-4AE9-E617-9097-4BB65ABCC1F4}";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(24).mass = 0.093001564378166257;  % lbm
smiData.Solid(24).CoM = [0 -4.6499999999999995 -1.3474857972731411e-14];  % mm
smiData.Solid(24).MoI = [55.355228629617351 77.284299998256117 23.269688919150035];  % lbm*mm^2
smiData.Solid(24).PoI = [0 0 0];  % lbm*mm^2
smiData.Solid(24).color = [0.94509803921568625 0.94901960784313721 0.97254901960784312];
smiData.Solid(24).opacity = 1;
smiData.Solid(24).ID = "breadboard.ipt_{EB9AF6A4-4F76-401C-F285-71BD453966C8}";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(25).mass = 0.17743933305881116;  % lbm
smiData.Solid(25).CoM = [0.35012252205440308 -0.014212175436369674 21.111648759558204];  % mm
smiData.Solid(25).MoI = [257.0882681464056 194.44515263646412 318.91795611466068];  % lbm*mm^2
smiData.Solid(25).PoI = [-0.049456634872002567 -0.36581680504171993 -0.0072455913603708365];  % lbm*mm^2
smiData.Solid(25).color = [0 0 0];
smiData.Solid(25).opacity = 1;
smiData.Solid(25).ID = "top_of_leg_servo_frame.ipt_{FD159005-4183-E075-987E-06ABF08C0E18}";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(26).mass = 0.022599495078621697;  % kg
smiData.Solid(26).CoM = [1.6085450227425364e-14 0 0];  % mm
smiData.Solid(26).MoI = [9.8958270103011934 24.588632291360828 16.207330032641526];  % kg*mm^2
smiData.Solid(26).PoI = [0 0 0];  % kg*mm^2
smiData.Solid(26).color = [0 0 0];
smiData.Solid(26).opacity = 1;
smiData.Solid(26).ID = "two_servo_frame_mg996r_combined.ipt_{5837DB26-4DA6-2047-5775-C9BCBFD39532}";


%============= 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(12).Rz.Pos = 0.0;
smiData.RevoluteJoint(12).ID = "";

smiData.RevoluteJoint(1).Rz.Pos = 89.999999999999815;  % deg
smiData.RevoluteJoint(1).ID = "[mg996r_rot_into_rot:1:-:mg996r_right_mid_top_two_servo:1]";

smiData.RevoluteJoint(2).Rz.Pos = -89.805312403014142;  % deg
smiData.RevoluteJoint(2).ID = "[mg996r_two_servo_bottom_middle:2:-:mg996r_rot_into_rot:1]";

smiData.RevoluteJoint(3).Rz.Pos = -89.999999999999815;  % deg
smiData.RevoluteJoint(3).ID = "[mg996r_rot_into_rot:2:-:mg996r_left_mid_top_two_servo:1]";

smiData.RevoluteJoint(4).Rz.Pos = 89.790999096881563;  % deg
smiData.RevoluteJoint(4).ID = "[mg996r_two_servo_bottom_middle:1:-:mg996r_rot_into_rot:2]";

smiData.RevoluteJoint(5).Rz.Pos = 89.999999999999801;  % deg
smiData.RevoluteJoint(5).ID = "[mg996r_left_mid_top_two_servo:1:-:mg996r_left_top_rot_frame:2]";

smiData.RevoluteJoint(6).Rz.Pos = -92.626250316271154;  % deg
smiData.RevoluteJoint(6).ID = "[mg996r_leg_top:1:-:mg996r_left_top_rot_frame:2]";

smiData.RevoluteJoint(7).Rz.Pos = -87.37374968372913;  % deg
smiData.RevoluteJoint(7).ID = "[mg996r_right_top_rot_frame:1:-:mg996r_leg_top:1]";

smiData.RevoluteJoint(8).Rz.Pos = -90.000000000000142;  % deg
smiData.RevoluteJoint(8).ID = "[mg996r_right_mid_top_two_servo:1:-:mg996r_right_top_rot_frame:1]";

smiData.RevoluteJoint(9).Rz.Pos = 90.000000000000313;  % deg
smiData.RevoluteJoint(9).ID = "[mg996r_left_rot_foot_servo:1:-:mg996r_left_foot_frame:1]";

smiData.RevoluteJoint(10).Rz.Pos = -0.19468759698554922;  % deg
smiData.RevoluteJoint(10).ID = "[mg996r_right_rot_foot_servo:1:-:mg996r_two_servo_bottom_middle:2]";

smiData.RevoluteJoint(11).Rz.Pos = 90.000000000000014;  % deg
smiData.RevoluteJoint(11).ID = "[mg996r_right_rot_foot_servo:1:-:mg996r_right_foot_frame:1]";

smiData.RevoluteJoint(12).Rz.Pos = -0.20900090311844119;  % deg
smiData.RevoluteJoint(12).ID = "[mg996r_left_rot_foot_servo:1:-:mg996r_two_servo_bottom_middle:1]";