Simscape OPC UA Control Integration

I already have a detailed SolidWorks assembly and need it ported into MATLAB / Simulink using Simscape Multibody, then tied into an OPC UA interface so the physical model can participate in a closed-loop control testbed.

Scope of work
The SolidWorks model should be converted with all joints, masses, and coordinate frames preserved. Once in Simscape Multibody, create an interface layer that exposes the required signals through OPC UA. My focus is full control-system integration rather than pure kinematic simulation, so the solution must support: real-time control, reliable data acquisition & monitoring, and repeatable system verification & validation runs.

Key tools you will probably touch: Simscape Multibody, Simulink Real-Time or Simulink Desktop Real-Time, MATLAB OPC Toolbox (or your preferred OPC UA implementation), and the latest SolidWorks-to-Simscape plug-in.

Deliverables
• Simscape Multibody model imported from my SolidWorks assembly
• OPC UA server/client blocks or scripts that expose control inputs and sensor outputs
• Example real-time application showing a simple controller in the loop
• Logging setup for data acquisition and a test script that validates dynamic response
• Brief documentation (steps to build, run, and extend the model)

Acceptance criteria
The integrated model must execute in real time on my development machine, exchange data over OPC UA at the required control frequency without dropped packets, and reproduce baseline verification plots provided after project kickoff.

If you have hands-on experience combining SolidWorks CAD, Simscape Multibody, and OPC UA for live control work, I would like to see a short note on a similar project or a quick demo video link.