[major-change] start to change the axis of all stages to match id31

The idea is have the world frame the same as the one defined for id31.
Also all the actuators should actuate in the positive direction of the axes

positioning_error/index.org

@@ -87,11 +87,6 @@ The goal here is to perfectly move the station and verify that there is no misma
 #+end_src
 
 ** Prepare the Simulation
-We load the configuration.
-#+begin_src matlab
-  load('mat/conf_simscape.mat');
-#+end_src
-
 We set a small =StopTime=.
 #+begin_src matlab
   set_param(conf_simscape, 'StopTime', '0.5');
@@ -133,7 +128,7 @@ We setup the reference path to be constant.
   );
 
 
-  initializeReferences();
+  initializeReferences(opts);
 #+end_src
 
 No position error for now (perfect positioning).
@@ -196,14 +191,14 @@ Or are least:
 #+begin_example
 WTr(1:3, 4, end)-WTm(1:3, 4, end)
 ans =
-     -8.22065745307538e-15
-     -1.74128279577812e-15
-      -8.3754490393689e-16
+      8.53830894875784e-15
+     -5.58580959264532e-15
+     -5.89805981832114e-17
 WTr(1:3, 1:3, end)'*WTm(1:3, 1:3, end)-eye(3)
 ans =
-      2.66453525910038e-15      6.12072360433062e-16      2.08519182823275e-16
-     -6.12072360433062e-16      2.66453525910038e-15      3.83905507244395e-16
-     -2.08519182823275e-16     -3.83905507244395e-16      2.66453525910038e-15
+      1.62092561595273e-14     -1.59832000065641e-14      1.11022302462516e-16
+      1.61295672998496e-14      1.62092561595273e-14     -1.72431513512095e-15
+     -1.65492619608187e-15      -9.8879238130678e-16      9.41469124882133e-14
 #+end_example
 
 ** Conclusion
@@ -432,9 +427,9 @@ Verify that the pose error is small.
 #+end_src
 
 #+RESULTS:
-|       | Edx [m] |  Edy [m] | Edz [m] | Erx [rad] | Ery [rad] | Erz [rad] |
-|-------+---------+----------+---------+-----------+-----------+-----------|
-| Error | 1.0e-16 | -1.1e-18 | 3.3e-20 |   1.5e-16 |   5.8e-17 |  -6.1e-16 |
+|       | Edx [m] | Edy [m] | Edz [m] | Erx [rad] | Ery [rad] | Erz [rad] |
+|-------+---------+---------+---------+-----------+-----------+-----------|
+| Error | 2.0e-16 | 1.1e-16 | 3.2e-18 |  -1.1e-17 |   1.0e-17 |  -9.5e-16 |
 
 ** Conclusion
 #+begin_important