Remove all solidtransform
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Thomas Dehaeze
parent
b6ddaecf32
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05078f270b
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Assemblage.slx
BIN
Assemblage.slx
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@ -89,14 +89,15 @@ function [inputs] = initializeInputs(opts_param)
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%% Center of gravity compensation
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if islogical(opts.mass) && opts.setpoint == true
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mass = zeros(length(time_vector), 2);
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axisc = zeros(length(time_vector), 2);
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elseif islogical(opts.mass) && opts.setpoint == false
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mass = zeros(length(time_vector), 2);
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axisc = zeros(length(time_vector), 2);
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axisc(:, 2) = pi*ones(length(time_vector), 1);
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else
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mass = opts.mass;
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axisc = opts.mass;
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end
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inputs.axisc = timeseries(mass, time_vector);
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inputs.axisc = timeseries(axisc, time_vector);
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%% Nano Hexapod
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if islogical(opts.n_hexa) && opts.setpoint == true
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@ -2,213 +2,8 @@ function [smiData] = initializeSmiData()
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%% Initialize the structure
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smiData = struct();
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%% Translation Y
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%
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smiData.RigidTransform(3).translation = [105 15 -365.9];
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smiData.RigidTransform(3).angle = 2.0943951023931953;
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smiData.RigidTransform(3).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
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%
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smiData.RigidTransform(4).translation = [-105 0 -65];
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smiData.RigidTransform(4).angle = 2.0943951023931957;
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smiData.RigidTransform(4).axis = [-0.57735026918962584 0.57735026918962584 0.57735026918962584];
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%
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smiData.RigidTransform(93).translation = [496 15 525];
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smiData.RigidTransform(93).angle = 2.0943951023931953;
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smiData.RigidTransform(93).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
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%
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smiData.RigidTransform(94).translation = [61 -100 475];
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smiData.RigidTransform(94).angle = 2.0943951023931953;
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smiData.RigidTransform(94).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
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%
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smiData.RigidTransform(95).translation = [-344 15 525];
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smiData.RigidTransform(95).angle = 2.0943951023931953;
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smiData.RigidTransform(95).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
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%
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smiData.RigidTransform(96).translation = [-91 -100 -475];
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smiData.RigidTransform(96).angle = 2.0943951023931953;
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smiData.RigidTransform(96).axis = [-0.57735026918962584 0.57735026918962584 0.57735026918962584];
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%
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smiData.RigidTransform(125).translation = [-13 104.22 110.5];
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smiData.RigidTransform(125).angle = 2.0943951023931953;
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smiData.RigidTransform(125).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
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%
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smiData.RigidTransform(126).translation = [-448 1 413];
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smiData.RigidTransform(126).angle = 2.0943951023931957;
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smiData.RigidTransform(126).axis = [-0.57735026918962562 -0.577350269189626 -0.577350269189626];
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%
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smiData.RigidTransform(127).translation = [-55 104.22 -110.5];
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smiData.RigidTransform(127).angle = 2.0943951023931953;
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smiData.RigidTransform(127).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
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%
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smiData.RigidTransform(128).translation = [490 1 413];
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smiData.RigidTransform(128).angle = 2.0943951023931953;
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smiData.RigidTransform(128).axis = [-0.57735026918962606 0.57735026918962551 0.57735026918962562];
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%
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smiData.RigidTransform(129).translation = [-55 104.22 110.5];
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smiData.RigidTransform(129).angle = 2.0943951023931953;
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smiData.RigidTransform(129).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
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%
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smiData.RigidTransform(130).translation = [490 1 -413];
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smiData.RigidTransform(130).angle = 2.0943951023931953;
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smiData.RigidTransform(130).axis = [-0.57735026918962606 0.57735026918962551 0.57735026918962562];
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smiData.RigidTransform(130).ID = 'F[Guide_Translation12-1:-:Plateau_Translation-1]';
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%
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smiData.RigidTransform(131).translation = [-13 104.22 -110.5];
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smiData.RigidTransform(131).angle = 2.0943951023931953;
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smiData.RigidTransform(131).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
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%
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smiData.RigidTransform(132).translation = [-448 1 -413];
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smiData.RigidTransform(132).angle = 2.0943951023931948;
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smiData.RigidTransform(132).axis = [-0.57735026918962618 -0.57735026918962562 -0.57735026918962551];
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%
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smiData.RigidTransform(141).translation = [265 0 438];
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smiData.RigidTransform(141).angle = 2.0943951023931957;
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smiData.RigidTransform(141).axis = [0.57735026918962584 -0.57735026918962573 0.57735026918962573];
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%
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smiData.RigidTransform(142).translation = [265 -5 -142.5];
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smiData.RigidTransform(142).angle = 2.0943951023931957;
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smiData.RigidTransform(142).axis = [0.57735026918962584 -0.57735026918962573 0.57735026918962573];
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%% Tilt
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%
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smiData.RigidTransform(143).translation = [20 122.36970769944681 -481];
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smiData.RigidTransform(143).angle = 2.0943951023931953;
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smiData.RigidTransform(143).axis = [-0.57735026918962562 -0.577350269189626 -0.57735026918962584];
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%
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smiData.RigidTransform(144).translation = [-20 166.83970769944668 -42.5];
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smiData.RigidTransform(144).angle = 2.0943951023931957;
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smiData.RigidTransform(144).axis = [-0.57735026918962551 0.577350269189626 0.57735026918962573];
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%
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smiData.RigidTransform(104).translation = [0 0 -19.5];
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smiData.RigidTransform(104).angle = 3.1415926535897922;
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smiData.RigidTransform(104).axis = [-1 0 0];
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%
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smiData.RigidTransform(103).translation = [0 0 -87];
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%
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smiData.RigidTransform(133).translation = [-382.48474072884216 66.583510192867536 -453];
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smiData.RigidTransform(133).angle = 3.1415926535897931;
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smiData.RigidTransform(133).axis = [1 0 0];
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%
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smiData.RigidTransform(134).translation = [-29 134.5 -41];
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smiData.RigidTransform(134).angle = 1.6563819867311662;
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smiData.RigidTransform(134).axis = [-0.91787842097906314 -0.28062359514212426 -0.28062359514212443];
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%
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smiData.RigidTransform(63).translation = [0 -5 600];
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smiData.RigidTransform(63).angle = 2.0943951023931953;
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smiData.RigidTransform(63).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
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%
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smiData.RigidTransform(65).translation = [0 -5 600];
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smiData.RigidTransform(65).angle = 2.0943951023931953;
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smiData.RigidTransform(65).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
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%
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smiData.RigidTransform(135).translation = [334.40056152064938 34.150321791564714 -453];
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smiData.RigidTransform(135).angle = 3.1415926535897931;
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smiData.RigidTransform(135).axis = [1 0 0];
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%
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smiData.RigidTransform(136).translation = [-29 134.5 -41];
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smiData.RigidTransform(136).angle = 1.6563819867311662;
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smiData.RigidTransform(136).axis = [-0.91787842097906314 0.28062359514212437 0.28062359514212409];
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%
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smiData.RigidTransform(67).translation = [0 -5 600];
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smiData.RigidTransform(67).angle = 2.0943951023931953;
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smiData.RigidTransform(67).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
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%
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smiData.RigidTransform(137).translation = [288.5467434360487 102.13140274107855 353.54415587728431];
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%
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smiData.RigidTransform(138).translation = [29 35.044155877284282 41];
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smiData.RigidTransform(138).angle = 2.725113120528853;
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smiData.RigidTransform(138).axis = [-0.21130293228099567 0.69114074934468051 0.69114074934468051];
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%
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smiData.RigidTransform(69).translation = [0 -5 600];
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smiData.RigidTransform(69).angle = 2.0943951023931953;
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smiData.RigidTransform(69).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
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%
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smiData.RigidTransform(139).translation = [29 91.597911607545825 41];
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smiData.RigidTransform(139).angle = 2.0943951023931953;
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smiData.RigidTransform(139).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
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%
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smiData.RigidTransform(140).translation = [-336.63092264424097 134.5645911423814 410.09791160754583];
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smiData.RigidTransform(140).angle = 0.97738438111683068; % TODO
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smiData.RigidTransform(140).axis = [0 0 1];
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%
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smiData.RigidTransform(64).translation = [-313.5 0 0];
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smiData.RigidTransform(64).angle = 2.0943951023931966;
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smiData.RigidTransform(64).axis = [-0.57735026918962584 -0.57735026918962606 0.57735026918962529];
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%
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smiData.RigidTransform(66).translation = [-313.5 0 0];
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smiData.RigidTransform(66).angle = 2.0943951023931962;
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smiData.RigidTransform(66).axis = [-0.577350269189626 -0.57735026918962606 0.5773502691896254];
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%
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smiData.RigidTransform(68).translation = [313.5 0 0];
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smiData.RigidTransform(68).angle = 2.0943951023931948;
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smiData.RigidTransform(68).axis = [0.57735026918962551 0.57735026918962562 0.57735026918962629];
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%
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smiData.RigidTransform(70).translation = [313.5 0 0];
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smiData.RigidTransform(70).angle = 2.0943951023931948;
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smiData.RigidTransform(70).axis = [0.57735026918962551 0.57735026918962562 0.57735026918962629];
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%% Spindle
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%
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smiData.RigidTransform(97).translation = [146.02 0 0];
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smiData.RigidTransform(97).angle = 2.0943951023931953;
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smiData.RigidTransform(97).axis = [0.57735026918962584 0.57735026918962584 0.57735026918962584];
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%
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smiData.RigidTransform(98).translation = [0 178.02 0];
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smiData.RigidTransform(98).angle = 2.6381355635463279;
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smiData.RigidTransform(98).axis = [-0.25718398137297871 -0.68332144695053421 -0.683321446950534];
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%
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smiData.RigidTransform(59).translation = [113 0 0];
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smiData.RigidTransform(59).angle = 2.0943951023931953;
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smiData.RigidTransform(59).axis = [0.57735026918962584 0.57735026918962584 0.57735026918962584];
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%% Axis Compensator
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%
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smiData.RigidTransform(115).translation = [45 15 34.75];
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smiData.RigidTransform(115).angle = 2.0943951023931953;
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smiData.RigidTransform(115).axis = [0.57735026918962584 -0.57735026918962584 0.57735026918962584];
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%
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smiData.RigidTransform(116).translation = [-3.6 2.5 0];
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smiData.RigidTransform(116).angle = 2.0943951023931957;
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smiData.RigidTransform(116).axis = [-0.57735026918962584 -0.57735026918962573 -0.57735026918962573];
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%
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smiData.RigidTransform(120).translation = [-3.6 2.5 0];
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smiData.RigidTransform(120).angle = 2.0943951023931957;
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smiData.RigidTransform(120).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962562];
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%
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smiData.RigidTransform(124).translation = [0 0 -0.37];
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%
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smiData.RigidTransform(99).translation = [0 20.5 39.5];
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smiData.RigidTransform(99).angle = 2.0943951023931953;
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smiData.RigidTransform(99).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
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%
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smiData.RigidTransform(100).translation = [0 0 0.37];
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%
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smiData.RigidTransform(107).translation = [45 15 34.75];
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smiData.RigidTransform(107).angle = 2.0943951023931953;
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smiData.RigidTransform(107).axis = [0.57735026918962584 -0.57735026918962584 0.57735026918962584];
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%
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smiData.RigidTransform(108).translation = [-3.6 2.5 0];
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smiData.RigidTransform(108).angle = 2.0943951023931953;
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smiData.RigidTransform(108).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
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%
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smiData.RigidTransform(111).translation = [-45 15 34.75];
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smiData.RigidTransform(111).angle = 2.0943951023931953;
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smiData.RigidTransform(111).axis = [0.57735026918962584 -0.57735026918962584 0.57735026918962584];
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%
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smiData.RigidTransform(112).translation = [-3.6 2.5 0];
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smiData.RigidTransform(112).angle = 2.0943951023931957;
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smiData.RigidTransform(112).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962562];
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%
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smiData.RigidTransform(119).translation = [-45 15 34.75];
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smiData.RigidTransform(119).angle = 2.0943951023931953;
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smiData.RigidTransform(119).axis = [0.57735026918962584 -0.57735026918962584 0.57735026918962584];
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%
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smiData.RigidTransform(123).translation = [0 20.5 39.5];
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smiData.RigidTransform(123).angle = 2.0943951023931953;
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smiData.RigidTransform(123).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
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%% Solids
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smiData.Solid = struct;
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smiData.Solid = struct();
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%% Granite
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smiData.Solid.granite.density = 2800; % Granite [kg/m3]
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