robot_DataFile6.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 = [23.515912402296237 58.285696611337308 58.114628792161582];  % mm
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 = [-29.884476377972653 -66.812837654199967 -3.4267668085724523];  % mm
smiData.RigidTransform(2).angle = 2.0943951023931926;  % rad
smiData.RigidTransform(2).axis = [0.57735026918962451 0.57735026918962484 0.57735026918962784];
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 = [-68.484245467326019 -71.702670531494249 -33.313477820691446];  % mm
smiData.RigidTransform(3).angle = 3.1415926535897927;  % rad
smiData.RigidTransform(3).axis = [1 -1.8087439132813927e-30 -5.1905093814175903e-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 = [9.3159124022963073 58.285696611336647 124.11462879216241];  % mm
smiData.RigidTransform(4).angle = 2.094395102393205;  % rad
smiData.RigidTransform(4).axis = [-0.5773502691896184 -0.57735026918962906 0.57735026918962995];
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 = [-0.43408759770358074 58.285696611337542 58.114628792161838];  % mm
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 = [-154.84183591739716 -100.87447244653356 44.568664207115759];  % mm
smiData.RigidTransform(6).angle = 2.094395102393185;  % rad
smiData.RigidTransform(6).axis = [-0.57735026918962584 -0.5773502691896224 0.57735026918962917];
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 = [-68.484245467326033 -71.702670531494419 -63.813477820691453];  % mm
smiData.RigidTransform(7).angle = 9.6488337753622764e-16;  % rad
smiData.RigidTransform(7).axis = [-0.431081307967702 -0.90231308641782171 1.8765549106094017e-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 = [-21.184087597702515 58.285696611341109 124.11462879216239];  % mm
smiData.RigidTransform(8).angle = 2.0943951023932006;  % rad
smiData.RigidTransform(8).axis = [0.57735026918962862 0.57735026918962751 0.57735026918962118];
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 = [-156.59183591739404 -41.87447244653201 26.068664207115972];  % mm
smiData.RigidTransform(9).angle = 7.1186419565661174e-15;  % rad
smiData.RigidTransform(9).axis = [-0.094702674414765306 0.99550560192230508 -3.3556225655350991e-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 = [3.6196033171737945 -2.9489036865334399 -14.399971463047997];  % mm
smiData.RigidTransform(10).angle = 2.0943951023931922;  % rad
smiData.RigidTransform(10).axis = [-0.57735026918962484 -0.57735026918962462 0.57735026918962773];
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 = [-29.789498840621995 159.93171471777714 135.82737289393111];  % mm
smiData.RigidTransform(11).angle = 3.14159265358979;  % rad
smiData.RigidTransform(11).axis = [-1 4.3345297457207166e-31 -2.7439390355888468e-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 = [-6.1303966828271754 49.551096313467632 -3.899971463050349];  % mm
smiData.RigidTransform(12).angle = 2.0943951023932001;  % rad
smiData.RigidTransform(12).axis = [-0.5773502691896274 -0.57735026918962262 -0.57735026918962729];
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 = [1.3558253540058374 27.991962797789878 5.1745510262730576];  % mm
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 = [-29.789498840621263 69.93171471777751 150.02737289393315];  % mm
smiData.RigidTransform(14).angle = 3.1415926535897918;  % rad
smiData.RigidTransform(14).axis = [-1 -2.3360811226251361e-30 3.7046790539535747e-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 = [-7.6844763779732617 -7.8128376542003686 15.073233191428201];  % mm
smiData.RigidTransform(15).angle = 3.1415926535897922;  % rad
smiData.RigidTransform(15).axis = [1 1.2289966061079305e-30 2.0066966032853148e-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 = [-8.3941746459946156 -10.308037202210013 -5.3254489737273953];  % mm
smiData.RigidTransform(16).angle = 2.0943951023931926;  % rad
smiData.RigidTransform(16).axis = [0.57735026918962418 0.57735026918962484 0.57735026918962828];
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 = [-96.18062215810815 -6.3966355803898267 -18.842143219577743];  % mm
smiData.RigidTransform(17).angle = 2.0943951023931948;  % rad
smiData.RigidTransform(17).axis = [0.57735026918962562 0.57735026918962562 0.57735026918962618];
smiData.RigidTransform(17).ID = "B[mg996r_left_foot_frame:1:-:mg996r_left_rot_foot_servo:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(18).translation = [-16.973746999003879 36.407855795226588 18.600109884430289];  % mm
smiData.RigidTransform(18).angle = 3.1415926535897909;  % rad
smiData.RigidTransform(18).axis = [-1 -5.4498748102848717e-30 4.5354391913493248e-15];
smiData.RigidTransform(18).ID = "F[mg996r_left_foot_frame:1:-:mg996r_left_rot_foot_servo:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(19).translation = [-59.73906285104789 49.43941728353856 -40.322279010295894];  % mm
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 = [-151.48424546733074 -71.702670531495386 -19.113477820690278];  % mm
smiData.RigidTransform(20).angle = 3.1415926535897762;  % rad
smiData.RigidTransform(20).axis = [-1 -2.7909247704194749e-29 3.3163760407683403e-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 = [-46.289062851047973 0.43941728353861009 -21.82227901029588];  % mm
smiData.RigidTransform(21).angle = 3.14159265358979;  % rad
smiData.RigidTransform(21).axis = [1 3.5189209825631597e-30 2.2376744799863932e-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 = [94.370297220686396 -19.5604053636876 8.5997525986158365];  % mm
smiData.RigidTransform(22).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(22).axis = [-0.57735026918962662 -0.57735026918962584 0.57735026918962484];
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 = [-3.5237469990055814 85.407855795225657 -14.099890115568421];  % mm
smiData.RigidTransform(23).angle = 2.0943951023931935;  % rad
smiData.RigidTransform(23).axis = [-0.57735026918963162 -0.57735026918962495 0.57735026918962062];
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 = [-151.48424546733372 -71.70267053149945 -19.113477820694555];  % mm
smiData.RigidTransform(24).angle = 3.1415926535897878;  % rad
smiData.RigidTransform(24).axis = [1 2.8493598846124208e-29 1.0097899824714172e-14];
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 = [-12.999999806284954 -5.633333417044728 -18.500000000000014];  % mm
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 = [-12.999999806284954 4.6666665829552656 -7.0000000000000284];  % mm
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 = [-12.999999806284919 4.6666665829552656 0];  % mm
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 = [-5.9999998062848903 4.6666665829552567 0];  % mm
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 = [-19.999999806284912 4.6666665829552567 0];  % mm
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 = [-12.999999806284919 4.6666665829552656 7.0000000000000284];  % mm
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 = [-23.499999806284961 -5.6333334170447458 -12.000000000000028];  % mm
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 = [-23.499999806284961 -5.633333417044728 -18.500000000000014];  % mm
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 = [11.300000193715078 -10.833333417044742 15.500000000000007];  % mm
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 = [-37.299999806284916 -0.43333341704473227 13.499999999999979];  % mm
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 = [-37.299999806284916 -10.833333417044724 15.499999999999972];  % mm
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 = [11.300000193715078 -0.43333341704474115 15.500000000000007];  % mm
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 = [-92.061810654208045 71.483349453439459 -24.432332387305706];  % mm
smiData.RigidTransform(37).angle = 2.9520216405155493e-15;  % rad
smiData.RigidTransform(37).axis = [0.15426517066189135 0.011966473345528781 -0.98795701355693011];
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 = [-10.466666510701224 19.699999920527098 -5.3290705182007514e-14];  % mm
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 = [-34.766666510701221 -14.500000079472919 -5.2000000000000579];  % mm
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 = [-34.766666510701221 -14.500000079472919 5.1999999999999602];  % mm
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 = [13.833333489298774 -14.500000079472883 5.1999999999999602];  % mm
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 = [13.833333489298809 -14.500000079472883 -5.2000000000000579];  % mm
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 = [-115.52847697119411 65.850016036394663 -14.632332466778593];  % mm
smiData.RigidTransform(43).angle = 3.1415926535897922;  % rad
smiData.RigidTransform(43).axis = [3.5327080320384706e-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 = [-41.030025456901662 23.975543589862447 20.136331819809676];  % mm
smiData.RigidTransform(44).angle = 3.1415926535897922;  % rad
smiData.RigidTransform(44).axis = [-1 3.1918911957972792e-16 3.2280049579664395e-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 = [-10.466666510701174 19.699999920527098 -7.1054273576010019e-14];  % mm
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 = [-34.766666510701178 -14.500000079472883 -5.2000000000000313];  % mm
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 = [-34.766666510701178 -14.500000079472848 5.1999999999999602];  % mm
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 = [13.833333489298825 -14.500000079472883 5.1999999999999602];  % mm
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 = [13.833333489298827 -14.500000079472883 -5.2000000000000668];  % mm
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 = [2.4627748924101001 18.504904137457672 -11.886506639575529];  % mm
smiData.RigidTransform(50).angle = 1.5707963267948932;  % rad
smiData.RigidTransform(50).axis = [-1 1.3877787807814479e-16 -4.9435459074049042e-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 = [2.7506612649192341 -0.71183365677359944 -22.755463257152577];  % mm
smiData.RigidTransform(51).angle = 3.727839623021517e-16;  % rad
smiData.RigidTransform(51).axis = [0 0.25128513341682102 -0.9679131064944263];
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 = [27.050661264919171 4.4881663432263963 11.244536742847302];  % mm
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 = [-21.549338735080713 4.4881663432263963 11.244536742847302];  % mm
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 = [-21.549338735080706 -5.9118336567735952 11.244536742847302];  % mm
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 = [27.050661264919171 -5.9118336567736307 11.244536742847266];  % mm
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 = [13.250661264919215 -0.71183365677363497 -16.255463257152662];  % mm
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 = [13.250661264919206 -0.71183365677359944 -22.755463257152613];  % mm
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 = [-10.754552883210259 19.2167377942312 -17.431043302949902];  % mm
smiData.RigidTransform(58).angle = 4.2700885562506086e-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 = [-167.77834247749681 -98.378364064822946 26.063760069658422];  % mm
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 = [-139.09183591739418 -60.87447244653201 44.568664207115702];  % mm
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 = [-146.09183591739412 -60.874472446531989 44.568664207115773];  % mm
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 = [-153.09183591739409 -60.874472446531989 44.568664207115809];  % mm
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 = [-146.09183591739409 -62.874472446532003 51.568664207115766];  % mm
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 = [-146.09183591739421 -62.87447244653201 37.568664207115745];  % mm
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 = [13.371697950258543 33.736911010910191 -4.5141331286086839];  % mm
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 = [-35.228302049741451 44.136911010910183 -4.5141331286086839];  % mm
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 = [-35.228302049741451 33.736911010910191 -4.5141331286086839];  % mm
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 = [13.371697950258543 44.136911010910183 -4.5141331286086839];  % mm
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 = [51.071697950258574 38.936911010910187 -38.51413312860867];  % mm
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 = [26.771697950258549 33.736911010910191 -4.5141331286086483];  % mm
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 = [26.771697950258559 44.136911010910183 -4.5141331286086839];  % mm
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 = [75.37169795025855 33.736911010910191 -6.5141331286086412];  % mm
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 = [75.37169795025855 44.136911010910183 -6.5141331286086768];  % mm
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 = [-21.428302049741408 38.936911010910187 -40.514133128608663];  % mm
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 = [61.571697950258567 38.936911010910187 -40.514133128608663];  % mm
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 = [-21.428302049741426 38.936911010910187 -32.014133128608648];  % mm
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 = [61.571697950258574 38.936911010910187 -32.014133128608648];  % mm
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 = [-130.05594341758461 -110.63958154240439 -31.799344692082947];  % mm
smiData.RigidTransform(78).angle = 2.4444687787825698e-15;  % rad
smiData.RigidTransform(78).axis = [-0.41506162534098484 0.30367778690310637 -0.85761509368185174];
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 = [-10.466666510701197 19.699999920527098 -3.5527136788005009e-14];  % mm
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 = [-34.766666510701192 -14.500000079472919 -5.2000000000000313];  % mm
smiData.RigidTransform(80).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(80).axis = [0 0.70710678118654857 0.70710678118654646];
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 = [-34.766666510701192 -14.500000079472919 5.1999999999999602];  % mm
smiData.RigidTransform(81).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(81).axis = [0 0.70710678118654824 0.7071067811865468];
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 = [13.833333489298818 -14.500000079472919 5.1999999999999247];  % mm
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 = [13.833333489298809 -14.500000079472919 -5.2000000000000313];  % mm
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 = [-68.517578956624803 -71.702670531494235 -42.013477900164489];  % mm
smiData.RigidTransform(84).angle = 1.570796326794897;  % rad
smiData.RigidTransform(84).axis = [-1 9.4368957093138089e-16 7.9013514526655604e-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 = [-10.466666510701188 19.699999920527134 -7.1054273576010019e-14];  % mm
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 = [-34.766666510701185 -14.500000079472848 -5.2000000000000313];  % mm
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 = [-34.766666510701185 -14.500000079472848 5.1999999999999247];  % mm
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 = [13.833333489298809 -14.500000079472848 5.1999999999999602];  % mm
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 = [13.833333489298809 -14.500000079472883 -5.2000000000000668];  % mm
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 = [-151.45091197802714 -71.702670531494093 -42.013477900164418];  % mm
smiData.RigidTransform(90).angle = 3.1415926535897865;  % rad
smiData.RigidTransform(90).axis = [-3.4163310617122284e-15 -0.70710678118654491 0.70710678118655035];
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 = [-8.9999998658895208 -2.3666666465335595 -18.500000000000014];  % mm
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 = [-15.999999865889514 7.9333333534664519 0];  % mm
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 = [-8.9999998658895208 7.9333333534664519 6.9999999999999929];  % mm
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 = [-8.9999998658895208 7.9333333534664519 0];  % mm
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 = [-8.9999998658895208 7.9333333534664163 -6.9999999999999929];  % mm
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 = [-1.9999998658895279 7.9333333534664519 0];  % mm
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 = [1.5000001341104507 -2.3666666465335595 -11.999999999999993];  % mm
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 = [1.5000001341104507 -2.3666666465335595 -20.499999999999972];  % mm
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 = [-33.299999865889518 2.8333333534664362 15.500000000000007];  % mm
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 = [15.300000134110476 2.8333333534664362 15.500000000000007];  % mm
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 = [15.300000134110476 -7.5666666465335553 13.499999999999979];  % mm
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 = [-33.299999865889518 -7.5666666465335553 15.500000000000007];  % mm
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 = [-14.989378027725131 -5.8322198607932663 7.7956582702041288];  % mm
smiData.RigidTransform(103).angle = 1.5217523455263415e-15;  % rad
smiData.RigidTransform(103).axis = [0.39539985060526189 -0.18329028202613176 -0.90003534967028809];
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 = [-10.466666510701224 19.699999920527098 -7.1054273576010019e-14];  % mm
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 = [-34.766666510701185 -14.500000079472883 -5.2000000000001023];  % mm
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 = [-34.766666510701185 -14.500000079472883 5.1999999999999247];  % mm
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 = [13.833333489298809 -14.500000079472883 5.1999999999999247];  % mm
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 = [13.833333489298809 -14.500000079472883 -5.2000000000001023];  % mm
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 = [-13.522711382913535 -8.1988865073266837 17.595658190731207];  % mm
smiData.RigidTransform(109).angle = 1.5707963267948939;  % rad
smiData.RigidTransform(109).axis = [-1 5.2041704279304154e-16 -2.4763982155926976e-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 = [-3.4843691053907833 44.606742302552504 -21.895548385772443];  % mm
smiData.RigidTransform(110).angle = 8.5555395660740446e-15;  % rad
smiData.RigidTransform(110).axis = [-0.1974681832058667 -0.97313149985796665 -0.11841199519288029];
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 = [-14.599999782443049 2.8166666719648603 0];  % mm
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 = [-21.59999978244306 -1.0833333280351098 3.5527136788005009e-14];  % mm
smiData.RigidTransform(112).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(112).axis = [0 0.70710678118654757 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 = [-14.599999782443049 -1.0833333280351098 -6.9999999999999929];  % mm
smiData.RigidTransform(113).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(113).axis = [0 0.70710678118654768 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 = [-14.599999782443049 -1.0833333280351098 7.0000000000000284];  % mm
smiData.RigidTransform(114).angle = 1.5707963267948968;  % 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 = [-7.5999997824430743 -1.0833333280351098 3.5527136788005009e-14];  % mm
smiData.RigidTransform(115).angle = 1.5707963267948968;  % 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 = [38.835090159047603 -21.7736784390247 -25.294744509298326];  % mm
smiData.RigidTransform(116).angle = 1.5707963267948968;  % rad
smiData.RigidTransform(116).axis = [-0 -6.4408920985009979e-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 = [12.401756831012456 25.826321343418375 -25.294744509298361];  % mm
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 = [46.851756831012459 -7.1736786565816324 -32.294744509298354];  % mm
smiData.RigidTransform(118).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(118).axis = [-0.57735026918962595 -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 = [46.851756831012459 -7.1736786565816324 -18.294744509298333];  % mm
smiData.RigidTransform(119).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(119).axis = [-0.57735026918962595 -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 = [46.851756831012459 -14.173678656581625 -25.294744509298326];  % mm
smiData.RigidTransform(120).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(120).axis = [-0.57735026918962595 -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 = [46.851756831012459 -0.1736786565816395 -25.294744509298326];  % mm
smiData.RigidTransform(121).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(121).axis = [-0.57735026918962595 -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 = [44.851756831012466 -0.1736786565816395 -25.294744509298326];  % mm
smiData.RigidTransform(122).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(122).axis = [0.57735026918962573 -0.57735026918962584 -0.57735026918962573];
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 = [44.851756831012466 -7.1736786565816324 -32.294744509298354];  % mm
smiData.RigidTransform(123).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(123).axis = [0.57735026918962573 -0.57735026918962584 -0.57735026918962573];
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 = [44.851756831012466 -14.173678656581608 -25.294744509298326];  % mm
smiData.RigidTransform(124).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(124).axis = [0.57735026918962573 -0.57735026918962584 -0.57735026918962573];
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 = [44.851756831012466 -7.1736786565816324 -18.294744509298333];  % mm
smiData.RigidTransform(125).angle = 2.0943951023931957;  % rad
smiData.RigidTransform(125).axis = [0.57735026918962573 -0.57735026918962584 -0.57735026918962573];
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 = [-21.848243168987516 -7.1736786565816324 -25.294744509298361];  % mm
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 = [-39.875503830017571 78.234177138644085 -39.39463462486696];  % mm
smiData.RigidTransform(127).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(127).axis = [1 -1.078998002057572e-15 3.8591411076186707e-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 = [-27.473746999005471 55.407855795225736 -7.0998901155686056];  % mm
smiData.RigidTransform(128).angle = 3.141592653589782;  % rad
smiData.RigidTransform(128).axis = [-5.8128686719883148e-15 0.70710678118654735 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 = [-20.473746999005442 55.407855795225714 -14.099890115568527];  % mm
smiData.RigidTransform(129).angle = 3.1415926535897793;  % rad
smiData.RigidTransform(129).axis = [-5.6852986597202634e-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 = [-27.473746999005435 57.407855795225728 -14.099890115568563];  % mm
smiData.RigidTransform(130).angle = 3.1415926535897896;  % rad
smiData.RigidTransform(130).axis = [7.4121240147945018e-16 -0.70710678118654791 0.70710678118654713];
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 = [-27.4737469990054 57.407855795225764 -21.099890115568556];  % mm
smiData.RigidTransform(131).angle = 3.1415926535897909;  % rad
smiData.RigidTransform(131).axis = [1.0936455445885205e-16 -0.70710678118654824 0.70710678118654691];
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 = [-34.473746999005392 55.407855795225757 -14.099890115568599];  % mm
smiData.RigidTransform(132).angle = 3.1415926535897789;  % rad
smiData.RigidTransform(132).axis = [-5.7098313543871944e-15 0.70710678118654724 0.70710678118654779];
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 = [-104.48062215810809 0.60336441961023723 -18.842143219577778];  % mm
smiData.RigidTransform(133).angle = 2.0943951023931988;  % rad
smiData.RigidTransform(133).axis = [0.57735026918962518 -0.57735026918962529 -0.57735026918962673];
smiData.RigidTransform(133).ID = "AssemblyGround[mg996r_left_foot_frame:1:m2 washer:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(134).translation = [-104.4806221581082 -13.396635580389784 -18.842143219577849];  % mm
smiData.RigidTransform(134).angle = 2.0943951023931988;  % rad
smiData.RigidTransform(134).axis = [0.57735026918962518 -0.57735026918962529 -0.57735026918962673];
smiData.RigidTransform(134).ID = "AssemblyGround[mg996r_left_foot_frame:1:m2 washer:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(135).translation = [-104.4806221581082 -6.3966355803897557 -25.842143219577807];  % mm
smiData.RigidTransform(135).angle = 2.0943951023931988;  % rad
smiData.RigidTransform(135).axis = [0.57735026918962518 -0.57735026918962529 -0.57735026918962673];
smiData.RigidTransform(135).ID = "AssemblyGround[mg996r_left_foot_frame:1:m2 washer:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(136).translation = [-104.48062215810816 -6.3966355803898267 -11.842143219577785];  % mm
smiData.RigidTransform(136).angle = 2.0943951023931988;  % rad
smiData.RigidTransform(136).axis = [0.57735026918962518 -0.57735026918962529 -0.57735026918962673];
smiData.RigidTransform(136).ID = "AssemblyGround[mg996r_left_foot_frame:1:m2 washer:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(137).translation = [-104.68062215810812 0.60336441961023723 -18.842143219577814];  % mm
smiData.RigidTransform(137).angle = 2.0943951023931935;  % rad
smiData.RigidTransform(137).axis = [-0.57735026918962618 -0.57735026918962606 0.57735026918962495];
smiData.RigidTransform(137).ID = "AssemblyGround[mg996r_left_foot_frame:1:m2 nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(138).translation = [-104.68062215810812 -6.3966355803898267 -11.842143219577821];  % mm
smiData.RigidTransform(138).angle = 2.0943951023931939;  % rad
smiData.RigidTransform(138).axis = [-0.57735026918962729 -0.57735026918962529 0.57735026918962473];
smiData.RigidTransform(138).ID = "AssemblyGround[mg996r_left_foot_frame:1:m2 nuts:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(139).translation = [-106.68062215810819 -13.396635580389784 -18.842143219577849];  % mm
smiData.RigidTransform(139).angle = 2.0943951023931944;  % rad
smiData.RigidTransform(139).axis = [0.57735026918962784 0.57735026918962418 0.5773502691896254];
smiData.RigidTransform(139).ID = "AssemblyGround[mg996r_left_foot_frame:1:m2 nuts:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(140).translation = [-104.68062215810819 -6.3966355803897557 -25.842143219577807];  % mm
smiData.RigidTransform(140).angle = 2.0943951023931908;  % rad
smiData.RigidTransform(140).axis = [-0.57735026918962606 -0.57735026918962673 0.5773502691896244];
smiData.RigidTransform(140).ID = "AssemblyGround[mg996r_left_foot_frame:1:m2 nuts:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(141).translation = [-14.599999782443049 2.8166666719648603 3.5527136788005009e-14];  % mm
smiData.RigidTransform(141).angle = 0;  % rad
smiData.RigidTransform(141).axis = [0 0 0];
smiData.RigidTransform(141).ID = "AssemblyGround[mg996r_left_foot_frame:1:servo_handle:1:servo handle 4:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(142).translation = [-21.599999782443042 -1.0833333280351454 0];  % mm
smiData.RigidTransform(142).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(142).axis = [0 0.70710678118654757 0.70710678118654746];
smiData.RigidTransform(142).ID = "AssemblyGround[mg996r_left_foot_frame:1:servo_handle:1:m2x8:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(143).translation = [-14.599999782443085 -1.0833333280351454 -6.9999999999999929];  % mm
smiData.RigidTransform(143).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(143).axis = [0 0.70710678118654768 0.70710678118654735];
smiData.RigidTransform(143).ID = "AssemblyGround[mg996r_left_foot_frame:1:servo_handle:1:m2x8:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(144).translation = [-14.599999782443049 -1.0833333280351454 6.9999999999999929];  % mm
smiData.RigidTransform(144).angle = 1.5707963267948968;  % rad
smiData.RigidTransform(144).axis = [-1 -0 -0];
smiData.RigidTransform(144).ID = "AssemblyGround[mg996r_left_foot_frame:1:servo_handle:1:m2x8:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(145).translation = [-7.5999997824430565 -1.0833333280351454 0];  % mm
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:m2x8:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(146).translation = [-98.663955486143294 -6.3966355803898622 -33.442143002020757];  % mm
smiData.RigidTransform(146).angle = 2.0943951023931895;  % rad
smiData.RigidTransform(146).axis = [-0.57735026918962606 0.57735026918962595 0.57735026918962518];
smiData.RigidTransform(146).ID = "AssemblyGround[mg996r_left_foot_frame:1:servo_handle:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(147).translation = [-38.280622158108116 -6.3966355803899688 -18.842143219577778];  % mm
smiData.RigidTransform(147).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(147).axis = [-0.57735026918962384 0.57735026918962762 -0.57735026918962584];
smiData.RigidTransform(147).ID = "AssemblyGround[mg996r_left_foot_frame:1:m4 nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(148).translation = [-71.380622158108039 29.603364419610259 -18.842143219577672];  % mm
smiData.RigidTransform(148).angle = 3.9460533291902569e-15;  % rad
smiData.RigidTransform(148).axis = [0.72332540443403215 0.063842478871763864 -0.68754963252979218];
smiData.RigidTransform(148).ID = "AssemblyGround[mg996r_left_foot_frame:1:servo frame 20kg foot:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(149).translation = [13.371697950258543 33.736911010910191 -4.5141331286086483];  % mm
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 = [-35.228302049741451 44.136911010910183 -4.5141331286086483];  % mm
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 = [-35.228302049741451 33.736911010910156 -4.5141331286086483];  % mm
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 = [13.371697950258543 44.136911010910183 -4.5141331286086483];  % mm
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 = [51.071697950258546 38.936911010910151 -38.51413312860867];  % mm
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 = [26.771697950258549 33.736911010910191 -4.5141331286086483];  % mm
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 = [26.771697950258542 44.136911010910147 -4.5141331286086483];  % mm
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 = [75.371697950258564 33.736911010910156 -6.5141331286086768];  % mm
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 = [75.37169795025855 44.136911010910183 -6.5141331286086768];  % mm
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 = [-21.428302049741443 38.936911010910222 -40.514133128608663];  % mm
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 = [61.571697950258546 38.936911010910187 -40.514133128608627];  % mm
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 = [-21.428302049741461 38.936911010910187 -32.014133128608684];  % mm
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 = [61.571697950258567 38.936911010910187 -32.014133128608648];  % mm
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 = [-130.05594341758461 -110.63958154240437 -31.799344692082911];  % mm
smiData.RigidTransform(162).angle = 2.4442828156970342e-15;  % rad
smiData.RigidTransform(162).axis = [-0.41509320357736595 0.30370089096369152 -0.85759162844079795];
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 = [-10.466666510701179 19.699999920527134 -7.1054273576010019e-14];  % mm
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 = [-34.766666510701171 -14.500000079472883 -5.2000000000000668];  % mm
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 = [-34.766666510701192 -14.500000079472848 5.1999999999998892];  % mm
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 = [13.833333489298823 -14.500000079472848 5.1999999999999247];  % mm
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 = [13.833333489298823 -14.500000079472848 -5.2000000000000668];  % mm
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 = [-68.517578956624817 -71.702670531494221 -42.013477900164418];  % mm
smiData.RigidTransform(168).angle = 1.570796326794897;  % rad
smiData.RigidTransform(168).axis = [-1 9.4390641136587917e-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 = [-10.46666651070117 19.699999920527134 -3.5527136788005009e-14];  % mm
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 = [-34.766666510701185 -14.500000079472848 -5.2000000000000313];  % mm
smiData.RigidTransform(170).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(170).axis = [0 0.70710678118654857 0.70710678118654646];
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 = [-34.766666510701185 -14.500000079472848 5.1999999999999957];  % mm
smiData.RigidTransform(171).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(171).axis = [0 0.70710678118654824 0.7071067811865468];
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 = [13.833333489298809 -14.500000079472883 5.1999999999999602];  % mm
smiData.RigidTransform(172).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(172).axis = [0 0.70710678118654835 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 = [13.833333489298827 -14.500000079472883 -5.2000000000000668];  % mm
smiData.RigidTransform(173).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(173).axis = [0 0.70710678118654846 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 = [-151.45091197802716 -71.702670531494149 -42.013477900164347];  % mm
smiData.RigidTransform(174).angle = 3.1415926535897865;  % rad
smiData.RigidTransform(174).axis = [-3.4164843910538955e-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 = [-12.999999806284883 -5.6333334170447458 -18.499999999999979];  % mm
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 = [-12.999999806284883 4.6666665829553011 -6.9999999999999929];  % mm
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 = [-12.999999806284883 4.6666665829553011 3.5527136788005009e-14];  % mm
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 = [-5.9999998062848903 4.6666665829553011 3.5527136788005009e-14];  % mm
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 = [-19.999999806284912 4.6666665829552656 3.5527136788005009e-14];  % mm
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 = [-12.999999806284848 4.6666665829552656 6.9999999999999929];  % mm
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 = [-23.49999980628489 -5.6333334170447458 -11.999999999999993];  % mm
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 = [-23.49999980628489 -5.6333334170447458 -18.500000000000014];  % mm
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 = [11.300000193715114 -10.833333417044706 15.500000000000007];  % mm
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 = [-37.29999980628488 -0.43333341704471451 13.500000000000014];  % mm
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 = [-37.29999980628488 -10.833333417044742 15.500000000000007];  % mm
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 = [11.300000193715114 -0.43333341704471451 15.500000000000043];  % mm
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 = [-92.061810654208074 71.483349453439445 -24.432332387305706];  % mm
smiData.RigidTransform(187).angle = 2.9520216405155481e-15;  % rad
smiData.RigidTransform(187).axis = [0.15426517066189122 0.011966473345529333 -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 = [-10.466666510701188 19.699999920527098 -7.1054273576010019e-14];  % mm
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 = [-34.766666510701185 -14.500000079472883 -5.2000000000000668];  % mm
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 = [-34.766666510701185 -14.500000079472848 5.1999999999999602];  % mm
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 = [13.833333489298774 -14.500000079472883 5.1999999999999602];  % mm
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 = [13.833333489298809 -14.500000079472883 -5.2000000000000668];  % mm
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 = [-115.52847697119415 65.850016036394621 -14.632332466778628];  % mm
smiData.RigidTransform(193).angle = 3.1415926535897922;  % rad
smiData.RigidTransform(193).axis = [3.5327080320384677e-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 = [69.272747609445702 -65.410598752855947 -15.889946622989832];  % mm
smiData.RigidTransform(194).angle = 2.3548714473218737e-15;  % rad
smiData.RigidTransform(194).axis = [-0.47020445260757965 -0.87971963593045177 0.070718702663436619];
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 = [-14.599999782443049 2.8166666719648958 0];  % mm
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 = [-21.59999978244306 -1.0833333280350743 0];  % mm
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 = [-14.599999782443032 -1.0833333280351454 -6.9999999999999929];  % mm
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 = [-14.599999782443032 -1.0833333280351098 6.9999999999999929];  % mm
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 = [-7.5999997824430388 -1.0833333280350743 0];  % mm
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 = [38.835090159047603 -21.7736784390247 -25.294744509298326];  % mm
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 = [12.40175683101242 25.826321343418357 -25.294744509298326];  % mm
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 = [46.851756831012459 -7.1736786565816324 -32.294744509298354];  % mm
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 = [46.851756831012459 -7.1736786565816324 -18.294744509298333];  % mm
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 = [46.851756831012459 -14.173678656581625 -25.29474450929829];  % mm
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 = [46.851756831012459 -0.17367865658162174 -25.294744509298326];  % mm
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 = [44.851756831012466 -0.17367865658162174 -25.294744509298326];  % mm
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 = [44.85175683101243 -7.1736786565816324 -32.294744509298319];  % mm
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 = [44.851756831012466 -14.173678656581625 -25.29474450929829];  % mm
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 = [44.85175683101243 -7.1736786565816324 -18.294744509298297];  % mm
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 = [-21.848243168987516 -7.1736786565816324 -25.294744509298326];  % mm
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 = [-23.387306020035368 42.265738626956981 -15.027534500997497];  % mm
smiData.RigidTransform(211).angle = 3.1415926535897913;  % rad
smiData.RigidTransform(211).axis = [6.3035676195108065e-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 = [-42.789062851047817 21.439417283538553 -40.322279010295894];  % mm
smiData.RigidTransform(212).angle = 1.5707963267948974;  % rad
smiData.RigidTransform(212).axis = [1 -9.8611034192704056e-16 2.9401394513462032e-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 = [-35.789062851047824 21.439417283538589 -33.322279010295901];  % mm
smiData.RigidTransform(213).angle = 1.5707963267948959;  % rad
smiData.RigidTransform(213).axis = [1 -6.2797434847399111e-16 2.6174808848145257e-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 = [-28.789062851047831 21.439417283538589 -40.322279010295858];  % mm
smiData.RigidTransform(214).angle = 1.570796326794897;  % rad
smiData.RigidTransform(214).axis = [1 -1.470091975520946e-15 3.4640259410911949e-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 = [-35.789062851047859 21.439417283538589 -40.322279010295894];  % mm
smiData.RigidTransform(215).angle = 1.5707963267948959;  % rad
smiData.RigidTransform(215).axis = [1 -1.4652275117328022e-15 3.5681093496498164e-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 = [-35.789062851047788 21.439417283538607 -47.322279010295851];  % mm
smiData.RigidTransform(216).angle = 1.5707963267948977;  % rad
smiData.RigidTransform(216).axis = [1 -1.0672459284781365e-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 = [-14.599999782443085 2.8166666719648248 -3.5527136788005009e-14];  % mm
smiData.RigidTransform(217).angle = 0;  % rad
smiData.RigidTransform(217).axis = [0 0 0];
smiData.RigidTransform(217).ID = "AssemblyGround[mg996r_right_foot_frame:1:servo_handle:1:servo handle 4:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(218).translation = [-21.599999782443042 -1.0833333280351809 0];  % mm
smiData.RigidTransform(218).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(218).axis = [0 0.70710678118654757 0.70710678118654746];
smiData.RigidTransform(218).ID = "AssemblyGround[mg996r_right_foot_frame:1:servo_handle:1:m2x8:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(219).translation = [-14.599999782443085 -1.0833333280351809 -7.0000000000000284];  % mm
smiData.RigidTransform(219).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(219).axis = [0 0.70710678118654768 0.70710678118654735];
smiData.RigidTransform(219).ID = "AssemblyGround[mg996r_right_foot_frame:1:servo_handle:1:m2x8:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(220).translation = [-14.599999782443085 -1.0833333280352164 6.9999999999999929];  % mm
smiData.RigidTransform(220).angle = 1.5707963267948968;  % rad
smiData.RigidTransform(220).axis = [-1 -0 -0];
smiData.RigidTransform(220).ID = "AssemblyGround[mg996r_right_foot_frame:1:servo_handle:1:m2x8:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(221).translation = [-7.5999997824430565 -1.0833333280351809 0];  % mm
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:m2x8:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(222).translation = [111.05363054872164 -19.560405363686968 -6.0002471838285132];  % mm
smiData.RigidTransform(222).angle = 2.0943951023932001;  % rad
smiData.RigidTransform(222).axis = [0.57735026918962551 0.57735026918962795 -0.57735026918962384];
smiData.RigidTransform(222).ID = "AssemblyGround[mg996r_right_foot_frame:1:servo_handle:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(223).translation = [117.07029722068661 -19.56040536368711 1.599752598614792];  % mm
smiData.RigidTransform(223).angle = 2.0943951023931975;  % rad
smiData.RigidTransform(223).axis = [0.57735026918962584 -0.57735026918962595 -0.57735026918962551];
smiData.RigidTransform(223).ID = "AssemblyGround[mg996r_right_foot_frame:1:m2 washer:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(224).translation = [117.07029722068657 -12.560405363687153 8.5997525986147849];  % mm
smiData.RigidTransform(224).angle = 2.0943951023931975;  % rad
smiData.RigidTransform(224).axis = [0.57735026918962584 -0.57735026918962595 -0.57735026918962551];
smiData.RigidTransform(224).ID = "AssemblyGround[mg996r_right_foot_frame:1:m2 washer:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(225).translation = [116.87029722068661 -26.560405363687032 8.5997525986144652];  % mm
smiData.RigidTransform(225).angle = 2.0943951023931962;  % rad
smiData.RigidTransform(225).axis = [-0.5773502691896254 0.57735026918962662 -0.57735026918962529];
smiData.RigidTransform(225).ID = "AssemblyGround[mg996r_right_foot_frame:1:m2 washer:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(226).translation = [117.07029722068661 -19.56040536368711 15.599752598614742];  % mm
smiData.RigidTransform(226).angle = 2.0943951023931975;  % rad
smiData.RigidTransform(226).axis = [0.57735026918962584 -0.57735026918962595 -0.57735026918962551];
smiData.RigidTransform(226).ID = "AssemblyGround[mg996r_right_foot_frame:1:m2 washer:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(227).translation = [119.07029722068664 -19.56040536368711 1.5997525986148275];  % mm
smiData.RigidTransform(227).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(227).axis = [-0.57735026918962629 -0.57735026918962618 0.57735026918962484];
smiData.RigidTransform(227).ID = "AssemblyGround[mg996r_right_foot_frame:1:m2 nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(228).translation = [119.07029722068657 -19.56040536368711 15.599752598614778];  % mm
smiData.RigidTransform(228).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(228).axis = [-0.57735026918962629 -0.57735026918962618 0.57735026918962484];
smiData.RigidTransform(228).ID = "AssemblyGround[mg996r_right_foot_frame:1:m2 nuts:2]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(229).translation = [117.07029722068665 -26.560405363687032 8.5997525986141099];  % mm
smiData.RigidTransform(229).angle = 2.0943951023931979;  % rad
smiData.RigidTransform(229).axis = [0.57735026918962706 0.57735026918962595 0.57735026918962429];
smiData.RigidTransform(229).ID = "AssemblyGround[mg996r_right_foot_frame:1:m2 nuts:3]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(230).translation = [119.0702972206866 -12.560405363687153 8.5997525986148204];  % mm
smiData.RigidTransform(230).angle = 2.0943951023931953;  % rad
smiData.RigidTransform(230).axis = [-0.57735026918962629 -0.57735026918962618 0.57735026918962484];
smiData.RigidTransform(230).ID = "AssemblyGround[mg996r_right_foot_frame:1:m2 nuts:4]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(231).translation = [50.670297220686749 -19.560405363687039 8.5997525986145718];  % mm
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:m4 nuts:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(232).translation = [83.770297220686672 16.439594636312655 8.5997525986145718];  % mm
smiData.RigidTransform(232).angle = 7.9103496936701786e-16;  % rad
smiData.RigidTransform(232).axis = [0.86173780295962121 -0.50117391067533956 0.078947262198963017];
smiData.RigidTransform(232).ID = "AssemblyGround[mg996r_right_foot_frame:1:servo frame 20kg foot flipped:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(233).translation = [-8.9999998658895919 -2.3666666465335506 -18.499999999999979];  % mm
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 = [-15.999999865889514 7.9333333534664607 0];  % mm
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 = [-8.9999998658895919 7.9333333534664607 6.9999999999999929];  % mm
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 = [-8.9999998658895564 7.9333333534664607 0];  % mm
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 = [-8.9999998658895564 7.9333333534664607 -6.9999999999999929];  % mm
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 = [-1.9999998658895279 7.9333333534664607 0];  % mm
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 = [1.5000001341104152 -2.3666666465335329 -11.999999999999993];  % mm
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 = [1.5000001341104152 -2.3666666465335329 -20.500000000000007];  % mm
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 = [-33.299999865889554 2.8333333534664629 15.500000000000007];  % mm
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 = [15.300000134110476 2.8333333534664629 15.500000000000007];  % mm
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 = [15.300000134110441 -7.5666666465335286 13.500000000000014];  % mm
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 = [-33.299999865889625 -7.5666666465335464 15.500000000000007];  % mm
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 = [-14.989378027725166 -5.8322198607932219 7.7956582702040933];  % mm
smiData.RigidTransform(245).angle = 1.5217523455263407e-15;  % rad
smiData.RigidTransform(245).axis = [0.39539985060526184 -0.18329028202613204 -0.90003534967028798];
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 = [-10.466666510701188 19.699999920527134 -5.3290705182007514e-14];  % mm
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 = [-34.766666510701185 -14.500000079472883 -5.200000000000049];  % mm
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 = [-34.766666510701114 -14.500000079472848 5.1999999999999424];  % mm
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 = [13.833333489298845 -14.500000079472883 5.1999999999999424];  % mm
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 = [13.833333489298809 -14.500000079472848 -5.200000000000049];  % mm
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 = [-13.522711382913499 -8.1988865073267192 17.595658190731207];  % mm
smiData.RigidTransform(251).angle = 1.5707963267948939;  % rad
smiData.RigidTransform(251).axis = [-1 5.2041704279304223e-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 = [-21.173854271587516 -16.011724161527134 -11.222425078776013];  % mm
smiData.RigidTransform(252).angle = 3.1415926535897927;  % rad
smiData.RigidTransform(252).axis = [2.2448603982084321e-15 2.8831308134529403e-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 = [9.8155236220268094 -28.812837654200436 -3.4267668085718483];  % mm
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 = [2.8155236220269231 -26.81283765420045 -10.426766808571841];  % mm
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 = [2.8155236220268876 -26.812837654200436 3.5732331914281446];  % mm
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 = [-4.1844763779730698 -26.812837654200443 -3.4267668085718483];  % mm
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 = [2.8155236220268876 -26.812837654200443 -3.4267668085718128];  % mm
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 = [-10.466666510701174 19.699999920527134 -7.1054273576010019e-14];  % mm
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 = [-34.766666510701185 -14.500000079472848 -5.2000000000000313];  % mm
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 = [-34.766666510701185 -14.500000079472812 5.1999999999999247];  % mm
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 = [13.833333489298825 -14.500000079472848 5.1999999999999247];  % mm
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 = [13.833333489298823 -14.500000079472848 -5.2000000000000313];  % mm
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 = [2.4627748924101045 18.504904137457636 -11.886506639575529];  % mm
smiData.RigidTransform(263).angle = 1.5707963267948932;  % rad
smiData.RigidTransform(263).axis = [-1 1.3877787807814489e-16 -4.9435459074044374e-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 = [2.7506612649192386 -0.7118336567736705 -22.755463257152542];  % mm
smiData.RigidTransform(264).angle = 3.7278396230215087e-16;  % rad
smiData.RigidTransform(264).axis = [0 0.25128513341682168 -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 = [27.050661264919174 4.4881663432263608 11.244536742847302];  % mm
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 = [-21.54933873508071 4.4881663432263963 11.244536742847302];  % mm
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 = [-21.549338735080703 -5.9118336567736307 11.244536742847302];  % mm
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 = [27.050661264919171 -5.9118336567736662 11.244536742847302];  % mm
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 = [13.25066126491922 -0.7118336567736705 -16.255463257152591];  % mm
smiData.RigidTransform(269).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(269).axis = [-5.8286708792820896e-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 = [13.250661264919209 -0.7118336567736705 -22.755463257152542];  % mm
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 = [-10.754552883210255 19.2167377942312 -17.431043302949902];  % mm
smiData.RigidTransform(271).angle = 4.2700885562506106e-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 = [-18.8709829380754 -64.316729272491244 -21.931670946029378];  % mm
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 = [1.3558253540058729 22.691962797789955 -5.3254489737269495];  % mm
smiData.RigidTransform(273).angle = 1.2046419595578163e-15;  % rad
smiData.RigidTransform(273).axis = [0.96916147434437983 0.175683955211767 0.17280389037223035];
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 = [-31.094174645994102 -10.308037202209892 -12.325448973726907];  % mm
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 = [-31.094174645994102 -17.308037202209885 -5.3254489737269139];  % mm
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 = [8.3558253540058303 19.491962797789988 5.1745510262730576];  % mm
smiData.RigidTransform(276).angle = 1.5707963267948983;  % rad
smiData.RigidTransform(276).axis = [1 -3.8163916471488012e-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 = [-5.6441746459941555 19.491962797789988 5.1745510262730576];  % mm
smiData.RigidTransform(277).angle = 1.5707963267948983;  % rad
smiData.RigidTransform(277).axis = [1 -3.8163916471488012e-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 = [-5.6441746459941555 19.691962797790001 5.1745510262730576];  % mm
smiData.RigidTransform(278).angle = 3.1415926535897927;  % rad
smiData.RigidTransform(278).axis = [-2.6985964133626175e-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 = [8.3558253540058303 19.691962797789984 5.1745510262730576];  % mm
smiData.RigidTransform(279).angle = 3.1415926535897927;  % rad
smiData.RigidTransform(279).axis = [-2.6985964133626175e-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 = [1.3558253540058729 19.691962797789966 -1.8254489737269353];  % mm
smiData.RigidTransform(280).angle = 3.1415926535897927;  % rad
smiData.RigidTransform(280).axis = [-2.6985964133626175e-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 = [-30.89417464599407 -10.308037202209892 -12.325448973726907];  % mm
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 = [1.3558253540058729 19.691962797789966 12.174551026273015];  % mm
smiData.RigidTransform(282).angle = 3.1415926535897927;  % rad
smiData.RigidTransform(282).axis = [-2.6985964133626175e-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 = [-30.894174645994141 -3.3080372022099347 -5.3254489737269139];  % mm
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 = [-30.894174645994106 -10.30803720220991 1.6745510262730434];  % mm
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 = [-30.894174645994106 -17.308037202209885 -5.3254489737269139];  % mm
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 = [-31.094174645994137 -3.3080372022099347 -5.3254489737269139];  % mm
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 = [-31.094174645994102 -10.30803720220991 1.6745510262730434];  % mm
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 = [1.3558253540058729 19.691962797789984 -1.8254489737269353];  % mm
smiData.RigidTransform(288).angle = 3.1415926535897927;  % rad
smiData.RigidTransform(288).axis = [-2.6985964133626175e-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 = [1.3558253540058729 19.491962797789952 12.174551026273015];  % mm
smiData.RigidTransform(289).angle = 1.5707963267948983;  % rad
smiData.RigidTransform(289).axis = [1 -3.8163916471488012e-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 = [35.605825354005916 -10.30803720220991 -5.3254489737269495];  % mm
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 = [-14.599999782443049 2.8166666719648781 3.5527136788005009e-14];  % mm
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 = [-21.599999782443042 -1.0833333280351454 3.5527136788005009e-14];  % mm
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 = [-14.599999782443049 -1.0833333280351276 -6.9999999999999574];  % mm
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 = [-14.599999782443014 -1.0833333280351454 7.0000000000000284];  % mm
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 = [-7.5999997824430565 -1.0833333280351454 3.5527136788005009e-14];  % mm
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 = [15.955825136448922 25.508629469754798 5.1745510262730576];  % mm
smiData.RigidTransform(296).angle = 3.1415926535897913;  % rad
smiData.RigidTransform(296).axis = [-1 2.4980018054066071e-16 3.5768470305516477e-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 = [-14.599999782443049 2.8166666719648603 0];  % mm
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 = [-21.599999782443042 -1.0833333280351098 0];  % mm
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 = [-14.599999782443049 -1.0833333280351454 -6.9999999999999929];  % mm
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 = [-14.599999782443032 -1.0833333280351098 7.0000000000000284];  % mm
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 = [-7.5999997824430565 -1.0833333280351454 0];  % mm
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 = [-25.077507974029274 -24.908036984652952 -5.3254489737269495];  % mm
smiData.RigidTransform(302).angle = 3.1415926535897927;  % rad
smiData.RigidTransform(302).axis = [-0.70710678118654735 0.70710678118654768 2.2829576282744719e-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 = [-6.1303966828263512 30.051096313465742 -14.399971463050285];  % mm
smiData.RigidTransform(303).angle = 4.7851458632747149e-16;  % rad
smiData.RigidTransform(303).axis = [0.67107932878742027 -0.73225327399530182 -0.11600722907382549];
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 = [-14.599999782443049 2.8166666719648603 3.5527136788005009e-14];  % mm
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 = [-21.599999782443078 -1.0833333280351454 3.5527136788005009e-14];  % mm
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 = [-14.599999782443049 -1.0833333280351276 -6.9999999999999929];  % mm
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 = [-14.599999782443049 -1.0833333280351276 6.9999999999999929];  % mm
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 = [-7.5999997824430565 -1.0833333280351276 0];  % mm
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 = [8.4696030996166982 32.867762985430588 -3.899971463050278];  % mm
smiData.RigidTransform(309).angle = 3.1415926535897922;  % rad
smiData.RigidTransform(309).axis = [-1 3.7470027081099043e-16 3.3375397530161503e-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 = [-14.599999782443049 2.8166666719648603 0];  % mm
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 = [-21.599999782443078 -1.0833333280351809 0];  % mm
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 = [-14.599999782443049 -1.0833333280351454 -7.0000000000000107];  % mm
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 = [-14.599999782443049 -1.0833333280351454 7.0000000000000018];  % mm
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 = [-7.5999997824430565 -1.0833333280351809 1.7763568394002505e-14];  % mm
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 = [20.302936645208831 -2.9489036865342477 -28.999971245493299];  % mm
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 = [26.319603317173659 -2.9489036865342655 -7.3999714630502567];  % mm
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 = [26.319603317173659 4.0510963134657452 -14.39997146305025];  % mm
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 = [-6.1303966828263512 26.851096313465739 3.1000285369497149];  % mm
smiData.RigidTransform(318).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(318).axis = [-1.1330493189736816e-31 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 = [-6.1303966828263157 26.851096313465757 -10.899971463050271];  % mm
smiData.RigidTransform(319).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(319).axis = [-1.1330493189736816e-31 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 = [26.319603317173659 -9.9489036865342584 -14.399971463050285];  % mm
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 = [26.319603317173659 -2.9489036865342477 -21.399971463050242];  % mm
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 = [0.86960331717367723 26.851096313465739 -3.899971463050278];  % mm
smiData.RigidTransform(322).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(322).axis = [-1.1330493189736816e-31 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 = [-13.130396682826309 26.851096313465757 -3.899971463050278];  % mm
smiData.RigidTransform(323).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(323).axis = [-1.1330493189736816e-31 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 = [-6.1303966828263512 24.851096313465746 3.1000285369497149];  % mm
smiData.RigidTransform(324).angle = 1.5707963267948959;  % rad
smiData.RigidTransform(324).axis = [-1 -1.6023737137301802e-31 -1.1102230246251605e-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 = [28.319603317173687 -9.9489036865342584 -14.399971463050285];  % mm
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 = [28.319603317173652 -2.9489036865342655 -7.3999714630502567];  % mm
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 = [28.319603317173687 4.0510963134657452 -14.39997146305025];  % mm
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 = [28.319603317173652 -2.9489036865342477 -21.399971463050242];  % mm
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 = [0.86960331717367723 24.851096313465746 -3.899971463050278];  % mm
smiData.RigidTransform(329).angle = 1.5707963267948959;  % rad
smiData.RigidTransform(329).axis = [-1 -1.6023737137301802e-31 -1.1102230246251605e-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 = [-6.1303966828263512 24.851096313465746 -10.899971463050271];  % mm
smiData.RigidTransform(330).angle = 1.5707963267948959;  % rad
smiData.RigidTransform(330).axis = [-1 -1.6023737137301802e-31 -1.1102230246251605e-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 = [-13.130396682826309 24.851096313465764 -3.899971463050278];  % mm
smiData.RigidTransform(331).angle = 1.5707963267948959;  % rad
smiData.RigidTransform(331).axis = [-1 -1.6023737137301802e-31 -1.1102230246251605e-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 = [-40.380396682826358 -2.9489036865342477 -14.399971463050321];  % mm
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 = [-7.4828408123599388 -2.2486485941707102 7.3557651323732642];  % mm
smiData.RigidTransform(333).angle = 3.165362729677738e-16;  % rad
smiData.RigidTransform(333).axis = [0.44857001947453734 0.82204961522059972 0.35074116916078912];
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 = [40.267159187640118 -0.64864859417070875 -19.314234867626787];  % mm
smiData.RigidTransform(334).angle = 1.5707963267948974;  % rad
smiData.RigidTransform(334).axis = [1.0029418887357058e-16 1 6.5919492087110929e-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 = [45.267159187640047 0.45135140582928557 31.355765132373286];  % mm
smiData.RigidTransform(335).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(335).axis = [1.0058404813442933e-16 -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 = [45.267159187639976 0.45135140582928557 -16.644234867626722];  % mm
smiData.RigidTransform(336).angle = 1.5707963267948968;  % rad
smiData.RigidTransform(336).axis = [1 1.4224732503009816e-16 -1.4224732503009816e-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 = [-49.902840812359877 1.0513514058292728 31.485765132373231];  % mm
smiData.RigidTransform(337).angle = 2.0943951023931962;  % rad
smiData.RigidTransform(337).axis = [0.57735026918962551 0.57735026918962606 -0.57735026918962573];
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 = [-56.252840812359928 1.0513514058293083 -16.774234867626667];  % mm
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 = [-45.580249031209519 90.401264598752817 -35.86730009370811];  % mm
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 = [-20.436014163582854 82.918423786392879 1.181348500462569];  % mm
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 = [-16.837837609286233 -8.4459458711136293 -27.000000000000028];  % mm
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 = [7.2921623907138056 -57.215945871113654 -22.000000000000028];  % mm
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 = [-40.967837609286235 -50.865945871113638 -21.999999999999993];  % mm
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 = [-40.837837609286218 44.304054128886392 -21.999999999999993];  % mm
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 = [7.1621623907137533 44.304054128886321 -21.999999999999957];  % mm
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 = [-41.13783760928623 -58.645945871113589 24.000000000000004];  % mm
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 = [-41.13783760928623 -48.245945871113634 23.999999999999986];  % mm
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 = [-41.137837609286194 31.354054128886375 23.999999999999968];  % mm
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 = [-41.13783760928623 41.754054128886402 23.999999999999986];  % mm
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 = [7.4621623907137646 31.354054128886339 23.999999999999986];  % mm
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 = [7.4621623907138002 -48.245945871113598 23.999999999999986];  % mm
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 = [7.4621623907137646 -58.645945871113589 23.999999999999986];  % mm
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 = [7.4621623907138002 41.754054128886366 24.000000000000004];  % mm
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 = [-36.098176554296622 91.364369657506501 1.181348500462569];  % mm
smiData.RigidTransform(354).angle = 7.3899220076611982e-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 = [12.64651532296071 32.013290931384475 107.64602439346885];  % mm
smiData.RigidTransform(355).angle = 1.4517542722706909e-15;  % rad
smiData.RigidTransform(355).axis = [0.041490769314397644 0.071748597547975274 -0.99655940857110881];
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 = [-10.466666510701224 19.699999920527151 -7.1054273576010019e-14];  % mm
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 = [-34.766666510701221 -14.500000079472883 -5.2000000000000668];  % mm
smiData.RigidTransform(357).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(357).axis = [0 0.70710678118654846 0.70710678118654657];
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 = [-34.766666510701221 -14.500000079472883 5.1999999999999602];  % mm
smiData.RigidTransform(358).angle = 3.1415926535897931;  % rad
smiData.RigidTransform(358).axis = [0 0.70710678118654813 0.70710678118654691];
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 = [13.833333489298774 -14.500000079472883 5.1999999999999247];  % mm
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 = [13.833333489298774 -14.500000079472866 -5.2000000000001023];  % mm
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 = [-29.822832329921027 69.931714717777567 127.12737281445852];  % mm
smiData.RigidTransform(361).angle = 1.5707963267948917;  % rad
smiData.RigidTransform(361).axis = [-1 -1.1789614423607423e-15 1.1997406673226881e-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 = [-10.466666510701188 19.699999920527134 -3.5527136788005009e-14];  % mm
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 = [-34.766666510701185 -14.500000079472866 -5.2000000000000313];  % mm
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 = [-34.766666510701185 -14.500000079472866 5.1999999999999247];  % mm
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 = [13.833333489298809 -14.500000079472866 5.1999999999999602];  % mm
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 = [13.833333489298845 -14.500000079472866 -5.2000000000000313];  % mm
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 = [-29.822832329920743 159.93171471777717 127.12737281445843];  % mm
smiData.RigidTransform(367).angle = 1.5707963267948923;  % rad
smiData.RigidTransform(367).axis = [-1 1.12279976982599e-15 -1.3583868513585665e-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 = [-0.43408759770368732 58.285696611337308 91.114628792161639];  % mm
smiData.RigidTransform(368).angle = 1.689342123367292e-15;  % rad
smiData.RigidTransform(368).axis = [0.59724737471217193 0.7439012662431046 -0.29984409195667688];
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 = [-14.599999782443046 2.8166666719648603 3.5527136788005009e-14];  % mm
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 = [-21.599999782443046 -1.0833333280351454 7.1054273576010019e-14];  % mm
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 = [-14.599999782443046 -1.0833333280351454 -6.9999999999999574];  % mm
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 = [-14.599999782443046 -1.0833333280351098 7.0000000000000284];  % mm
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 = [-7.5999997824430521 -1.0833333280351454 7.1054273576010019e-14];  % mm
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 = [25.999245730331459 58.285696611337343 109.51462900971859];  % mm
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 = [-14.599999782443049 2.8166666719648603 8.8817841970012523e-15];  % mm
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 = [-21.599999782443042 -1.0833333280351098 1.3322676295501878e-14];  % mm
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 = [-14.599999782443014 -1.0833333280351098 -6.9999999999999885];  % mm
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 = [-14.599999782443049 -1.0833333280351098 7.0000000000000107];  % mm
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 = [-7.5999997824430565 -1.0833333280351098 1.3322676295501878e-14];  % mm
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 = [25.999245730331424 43.685696828894223 58.114628792161547];  % mm
smiData.RigidTransform(380).angle = 1.5707963267948959;  % rad
smiData.RigidTransform(380).axis = [2.2938752890296148e-16 5.2972710190992716e-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 = [32.015912402296323 58.285696611337343 51.114628792161568];  % mm
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 = [32.015912402296394 65.285696611337272 124.11462879216161];  % mm
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 = [31.815912402296256 65.285696611337301 58.114628792161582];  % mm
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 = [32.015912402296287 58.285696611337308 65.114628792161568];  % mm
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 = [32.015912402296394 58.285696611337272 131.1146287921616];  % mm
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 = [32.015912402296252 51.285696611337315 58.114628792161568];  % mm
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 = [32.015912402296394 51.285696611337244 124.1146287921616];  % mm
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 = [32.015912402296323 58.285696611337272 117.1146287921616];  % mm
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 = [32.015912402296394 65.285696611337272 124.11462879216161];  % mm
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 = [32.015912402296323 58.285696611337272 117.11462879216157];  % mm
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 = [32.015912402296394 51.285696611337244 124.11462879216158];  % mm
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 = [32.015912402296394 58.285696611337272 131.1146287921616];  % mm
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 = [32.015912402296252 51.285696611337315 58.114628792161554];  % mm
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 = [32.015912402296287 58.285696611337343 65.114628792161596];  % mm
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 = [32.015912402296323 58.285696611337343 51.114628792161568];  % mm
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 = [32.015912402296252 65.285696611337301 58.114628792161618];  % mm
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 = [-34.684087597703659 58.285696611337308 58.114628792161668];  % mm
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 = [-32.684087597703595 58.285696611337272 124.11462879216171];  % mm
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 = [-0.43408759770372285 58.285696611337329 91.114628792161625];  % mm
smiData.RigidTransform(399).angle = 1.689342123367291e-15;  % rad
smiData.RigidTransform(399).axis = [0.59724737471217215 0.74390126624310471 -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 = [-14.599999782443046 2.8166666719648248 3.5527136788005009e-14];  % mm
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 = [-21.599999782443057 -1.0833333280351809 7.1054273576010019e-14];  % mm
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 = [-14.599999782443046 -1.0833333280351809 -6.9999999999999574];  % mm
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 = [-14.599999782443046 -1.0833333280352164 7.0000000000000639];  % mm
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 = [-7.5999997824430521 -1.0833333280351454 3.5527136788005009e-14];  % mm
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 = [25.999245730331459 58.285696611337357 109.51462900971856];  % mm
smiData.RigidTransform(405).angle = 2.0943951023931993;  % rad
smiData.RigidTransform(405).axis = [0.57735026918962729 0.57735026918962662 -0.57735026918962351];
smiData.RigidTransform(405).ID = "AssemblyGround[mg996r_rot_into_rot:2:servo_handle:1]";

%Translation Method - Cartesian
%Rotation Method - Arbitrary Axis
smiData.RigidTransform(406).translation = [-14.599999782443049 2.8166666719648603 4.4408920985006262e-15];  % mm
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 = [-21.599999782443078 -1.0833333280351098 4.4408920985006262e-15];  % mm
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 = [-14.599999782443049 -1.0833333280351454 -6.9999999999999929];  % mm
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 = [-14.599999782443049 -1.0833333280351454 7.0000000000000062];  % mm
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 = [-7.5999997824430565 -1.0833333280351454 4.4408920985006262e-15];  % mm
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 = [25.999245730331388 43.685696828894237 58.114628792161525];  % mm
smiData.RigidTransform(411).angle = 1.5707963267948959;  % rad
smiData.RigidTransform(411).axis = [2.2938752890296113e-16 5.2972710190993215e-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 = [32.015912402296216 58.285696611337329 51.114628792161554];  % mm
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 = [32.015912402296287 65.285696611337315 124.1146287921616];  % mm
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 = [31.815912402296185 65.285696611337357 58.114628792161568];  % mm
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 = [32.015912402296252 58.285696611337329 65.114628792161554];  % mm
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 = [32.015912402296323 58.285696611337258 131.1146287921616];  % mm
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 = [32.015912402296216 51.285696611337329 58.114628792161525];  % mm
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 = [32.015912402296287 51.285696611337258 124.11462879216158];  % mm
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 = [32.015912402296252 58.285696611337329 117.11462879216157];  % mm
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 = [32.015912402296287 65.285696611337315 124.1146287921616];  % mm
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 = [32.015912402296252 58.285696611337329 117.11462879216157];  % mm
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 = [32.015912402296287 51.285696611337258 124.11462879216157];  % mm
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 = [32.015912402296323 58.285696611337258 131.1146287921616];  % mm
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 = [32.015912402296216 51.285696611337329 58.114628792161525];  % mm
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 = [32.015912402296216 58.285696611337329 65.114628792161568];  % mm
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 = [32.015912402296252 58.285696611337329 51.114628792161554];  % mm
smiData.RigidTransform(426).angle = 2.0943951023931966;  % 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 = [32.015912402296181 65.285696611337315 58.114628792161582];  % mm
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 = [-34.684087597703694 58.285696611337329 58.114628792161653];  % mm
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 = [-32.684087597703666 58.285696611337286 124.11462879216171];  % mm
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 = [-59.760476687690804 123.11001033792206 -246.91911922112433];  % mm
smiData.RigidTransform(430).angle = 6.6097745824434502e-15;  % rad
smiData.RigidTransform(430).axis = [0.3598753380894204 -0.91648132578535246 0.17479050466700932];
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 = 0.077566449178484126;  % kg
smiData.Solid(16).CoM = [3.2721853129642778e-11 -6.5820477380615436 22.671982222002836];  % mm
smiData.Solid(16).MoI = [36.774470472920854 120.41089264415368 96.955672847972693];  % kg*mm^2
smiData.Solid(16).PoI = [-3.5316363946795506 1.2031078949564991e-11 -7.9814602850613354e-12];  % kg*mm^2
smiData.Solid(16).color = [0 0 0];
smiData.Solid(16).opacity = 1;
smiData.Solid(16).ID = "servo frame 20kg foot.ipt_{439AC242-4C18-C0DE-EA5D-D18E62A7560E}";

%Inertia Type - Custom
%Visual Properties - Simple
smiData.Solid(17).mass = 0.077566449178483932;  % kg
smiData.Solid(17).CoM = [3.3687293081620286e-11 -6.5820477380616946 22.671982222002786];  % mm
smiData.Solid(17).MoI = [36.774470472920484 120.41089264417231 96.955672847992673];  % kg*mm^2
smiData.Solid(17).PoI = [-3.5316363946787619 1.5153897687640899e-11 -5.4498500566247549e-12];  % kg*mm^2
smiData.Solid(17).color = [0 0 0];
smiData.Solid(17).opacity = 1;
smiData.Solid(17).ID = "servo frame 20kg foot flipped.ipt_{71F3D5F4-48A7-AEEF-2567-FD9B1B0A63B5}";

%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 = 89.999999999999645;  % deg
smiData.RevoluteJoint(1).ID = "[mg996r_rot_into_rot:1:-:mg996r_right_mid_top_two_servo:1]";

smiData.RevoluteJoint(2).Rz.Pos = -89.80531240301427;  % deg
smiData.RevoluteJoint(2).ID = "[mg996r_two_servo_bottom_middle:2:-:mg996r_rot_into_rot:1]";

smiData.RevoluteJoint(3).Rz.Pos = -89.999999999999986;  % deg
smiData.RevoluteJoint(3).ID = "[mg996r_rot_into_rot:2:-:mg996r_left_mid_top_two_servo:1]";

smiData.RevoluteJoint(4).Rz.Pos = 89.79099909688189;  % 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 = -92.62625031627114;  % deg
smiData.RevoluteJoint(6).ID = "[mg996r_leg_top:1:-:mg996r_left_top_rot_frame:2]";

smiData.RevoluteJoint(7).Rz.Pos = -87.373749683728832;  % deg
smiData.RevoluteJoint(7).ID = "[mg996r_right_top_rot_frame:1:-:mg996r_leg_top:1]";

smiData.RevoluteJoint(8).Rz.Pos = -90.000000000000171;  % deg
smiData.RevoluteJoint(8).ID = "[mg996r_right_mid_top_two_servo:1:-:mg996r_right_top_rot_frame:1]";

smiData.RevoluteJoint(9).Rz.Pos = -90.00000000000027;  % deg
smiData.RevoluteJoint(9).ID = "[mg996r_left_foot_frame:1:-:mg996r_left_rot_foot_servo:1]";

smiData.RevoluteJoint(10).Rz.Pos = -0.194687596985263;  % deg
smiData.RevoluteJoint(10).ID = "[mg996r_right_rot_foot_servo:1:-:mg996r_two_servo_bottom_middle:2]";

smiData.RevoluteJoint(11).Rz.Pos = 90.000000000000057;  % deg
smiData.RevoluteJoint(11).ID = "[mg996r_right_rot_foot_servo:1:-:mg996r_right_foot_frame:1]";

smiData.RevoluteJoint(12).Rz.Pos = -0.20900090311834579;  % deg
smiData.RevoluteJoint(12).ID = "[mg996r_left_rot_foot_servo:1:-:mg996r_two_servo_bottom_middle:1]";