diff --git a/Assemblage.slx b/Assemblage.slx
index 8e8cc6f..778ed57 100644
Binary files a/Assemblage.slx and b/Assemblage.slx differ
diff --git a/init_data.m b/init_data.m
index 6a1dcb4..3bab66c 100644
--- a/init_data.m
+++ b/init_data.m
@@ -11,8 +11,8 @@ initializeSimConf(opts_sim);
 %% Initialize Inputs
 opts_inputs = struct(...
     'ground_motion', false, ...
-    'ry', true, ...
-    'rz', false ...
+    'ry', false, ...
+    'rz', true ...
 );
 
 initializeInputs(opts_inputs);
@@ -42,14 +42,10 @@ initializeMicroHexapod();
 initializeAxisc();
 
 %% Initialize NASS
-opts_nano_hexapod = struct('actuator', 'lorentz');
-
-initializeNanoHexapod(opts_nano_hexapod);
+initializeNanoHexapod(struct('actuator', 'lorentz'));
 
 %% Initialize the Mirror
 initializeMirror(struct('shape', 'spherical'));
 
 %% Initialize Sample
-opts_sample = struct('mass', 20);
-
-initializeSample(opts_sample);
+initializeSample(struct('mass', 20));
diff --git a/init_simulation.m b/init_simulation.m
index fcdcb06..9f48487 100644
--- a/init_simulation.m
+++ b/init_simulation.m
@@ -1,4 +1,6 @@
-%% Load Simulation configuration
+%% Script that is run just before
+% the simulation is started
+% Load all the data used for the simulation
 load('./mat/sim_conf.mat', 'sim_conf');
 
 %% Load SolidWorks Data
diff --git a/initialize/initializeGround.m b/initialize/initializeGround.m
index 0fa7e60..8f73047 100644
--- a/initialize/initializeGround.m
+++ b/initialize/initializeGround.m
@@ -7,4 +7,3 @@ function [ground] = initializeGround()
         save('./mat/ground.mat', 'ground')
     end
 end
-
diff --git a/initialize/initializeSmiData.m b/initialize/initializeSmiData.m
index a9a4a59..6340677 100644
--- a/initialize/initializeSmiData.m
+++ b/initialize/initializeSmiData.m
@@ -16,55 +16,55 @@ function [smiData] = initializeSmiData()
     smiData.RigidTransform(3).angle = 2.0943951023931953;
     smiData.RigidTransform(3).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
     smiData.RigidTransform(3).ID = 'B[Attache_Granite-1:-:Moteur_Translation_Attache-1]';
-    smiData.RigidTransform(4).translation = [-105 -3.4611202792689255E-14 -65];
+    smiData.RigidTransform(4).translation = [-105 0 -65];
     smiData.RigidTransform(4).angle = 2.0943951023931957;
-    smiData.RigidTransform(4).axis = [-0.57735026918962584 0.57735026918962573 0.57735026918962584];
+    smiData.RigidTransform(4).axis = [-0.57735026918962584 0.57735026918962584 0.57735026918962584];
     smiData.RigidTransform(4).ID = 'F[Attache_Granite-1:-:Moteur_Translation_Attache-1]';
-    smiData.RigidTransform(5).translation = [-8.99999999999916 141.71450172794601 21.000000000000021];
+    smiData.RigidTransform(5).translation = [-9 141.71450172794601 21];
     smiData.RigidTransform(5).angle = 0;
     smiData.RigidTransform(5).axis = [0 0 0];
     smiData.RigidTransform(5).ID = 'B[Base_Nano_Support-1:-:BrasBas_Nano-1]';
-    smiData.RigidTransform(6).translation = [4.3343106881366111E-13 4.3698378249246161E-12 99.999999999998508];
+    smiData.RigidTransform(6).translation = [0 0 100];
     smiData.RigidTransform(6).angle = 0;
     smiData.RigidTransform(6).axis = [0 0 0];
     smiData.RigidTransform(6).ID = 'F[Base_Nano_Support-1:-:BrasBas_Nano-1]';
-    smiData.RigidTransform(7).translation = [8.9999999999994955 141.714501727946 21.000000000000018];
+    smiData.RigidTransform(7).translation = [9 141.714501727946 21];
     smiData.RigidTransform(7).angle = 0;
     smiData.RigidTransform(7).axis = [0 0 0];
     smiData.RigidTransform(7).ID = 'B[Base_Nano_Support-1:-:BrasBas_Nano-2]';
-    smiData.RigidTransform(8).translation = [4.7819526116654743E-12 -4.2703618419182021E-12 100.0000000000081];
+    smiData.RigidTransform(8).translation = [0 0 100];
     smiData.RigidTransform(8).angle = 0;
     smiData.RigidTransform(8).axis = [0 0 0];
     smiData.RigidTransform(8).ID = 'F[Base_Nano_Support-1:-:BrasBas_Nano-2]';
-    smiData.RigidTransform(9).translation = [127.22634697029426 -63.067080450852465 21.000000000000021];
+    smiData.RigidTransform(9).translation = [127.22634697029426 -63.067080450852465 21];
     smiData.RigidTransform(9).angle = 0;
     smiData.RigidTransform(9).axis = [0 0 0];
     smiData.RigidTransform(9).ID = 'B[Base_Nano_Support-1:-:BrasBas_Nano-3]';
-    smiData.RigidTransform(10).translation = [-6.1390892369672656E-12 -1.3500311979441904E-12 99.999999999999375];
+    smiData.RigidTransform(10).translation = [0 0 100];
     smiData.RigidTransform(10).angle = 0;
     smiData.RigidTransform(10).axis = [0 0 0];
     smiData.RigidTransform(10).ID = 'F[Base_Nano_Support-1:-:BrasBas_Nano-3]';
-    smiData.RigidTransform(11).translation = [118.23086729810117 -78.647708281543558 21.000000000000021];
+    smiData.RigidTransform(11).translation = [118.23086729810117 -78.647708281543558 21];
     smiData.RigidTransform(11).angle = 0;
     smiData.RigidTransform(11).axis = [0 0 0];
     smiData.RigidTransform(11).ID = 'B[Base_Nano_Support-1:-:BrasBas_Nano-4]';
-    smiData.RigidTransform(12).translation = [1.0658141036401503E-14 4.3556269702094141E-12 100.00000000000688];
+    smiData.RigidTransform(12).translation = [0 0 100];
     smiData.RigidTransform(12).angle = 0;
     smiData.RigidTransform(12).axis = [0 0 0];
     smiData.RigidTransform(12).ID = 'F[Base_Nano_Support-1:-:BrasBas_Nano-4]';
-    smiData.RigidTransform(13).translation = [-118.23086729810151 -78.6477082815431 21.000000000000018];
+    smiData.RigidTransform(13).translation = [-118.23086729810151 -78.6477082815431 21];
     smiData.RigidTransform(13).angle = 0;
     smiData.RigidTransform(13).axis = [0 0 0];
     smiData.RigidTransform(13).ID = 'B[Base_Nano_Support-1:-:BrasBas_Nano-5]';
-    smiData.RigidTransform(14).translation = [5.9898752624576446E-12 -3.5882408155885059E-12 99.999999999992426];
+    smiData.RigidTransform(14).translation = [0 0 100];
     smiData.RigidTransform(14).angle = 0;
     smiData.RigidTransform(14).axis = [0 0 0];
     smiData.RigidTransform(14).ID = 'F[Base_Nano_Support-1:-:BrasBas_Nano-5]';
-    smiData.RigidTransform(15).translation = [-127.22634697029417 -63.067080450852444 21.000000000000021];
+    smiData.RigidTransform(15).translation = [-127.22634697029417 -63.067080450852444 21];
     smiData.RigidTransform(15).angle = 0;
     smiData.RigidTransform(15).axis = [0 0 0];
     smiData.RigidTransform(15).ID = 'B[Base_Nano_Support-1:-:BrasBas_Nano-6]';
-    smiData.RigidTransform(16).translation = [-4.7037929107318632E-12 -3.4177105590060819E-12 100.00000000000152];
+    smiData.RigidTransform(16).translation = [0 0 100];
     smiData.RigidTransform(16).angle = 0;
     smiData.RigidTransform(16).axis = [0 0 0];
     smiData.RigidTransform(16).ID = 'F[Base_Nano_Support-1:-:BrasBas_Nano-6]';
@@ -72,63 +72,63 @@ function [smiData] = initializeSmiData()
     smiData.RigidTransform(17).angle = 2.0943951023931953;
     smiData.RigidTransform(17).axis = [0.57735026918962584 -0.57735026918962584 0.57735026918962584];
     smiData.RigidTransform(17).ID = 'B[Correcteur_Axe-1:-:Base_Nano_Support-1]';
-    smiData.RigidTransform(18).translation = [-4.6767437583434116E-14 6.9944457579529691E-13 -7.503331289626658E-12 ];
+    smiData.RigidTransform(18).translation = [0 0 0];
     smiData.RigidTransform(18).angle = 3.1415926535897931;
-    smiData.RigidTransform(18).axis = [-1 1.0122468768850885E-33 -1.3076801102293281E-17 ];
+    smiData.RigidTransform(18).axis = [-1 0 0];
     smiData.RigidTransform(18).ID = 'F[Correcteur_Axe-1:-:Base_Nano_Support-1]';
-    smiData.RigidTransform(19).translation = [0 0 10.000000000000009];
+    smiData.RigidTransform(19).translation = [0 0 10];
     smiData.RigidTransform(19).angle = 3.1415926535897931;
     smiData.RigidTransform(19).axis = [1 0 0];
     smiData.RigidTransform(19).ID = 'B[Base_Nano_Support-1:-:Nacelle_Nano_Support-1]';
-    smiData.RigidTransform(20).translation = [-4.1744385725905886E-14 1.4210854715202004E-14 -69.999999999999886];
+    smiData.RigidTransform(20).translation = [0 0 -70];
     smiData.RigidTransform(20).angle = 3.1415926535897931;
-    smiData.RigidTransform(20).axis = [-1 -3.4139358007223564E-15 1.6653345369377348E-16 ];
+    smiData.RigidTransform(20).axis = [-1 0 0];
     smiData.RigidTransform(20).ID = 'F[Base_Nano_Support-1:-:Nacelle_Nano_Support-1]';
-    smiData.RigidTransform(21).translation = [0 0 490.00000000000006];
+    smiData.RigidTransform(21).translation = [0 0 490];
     smiData.RigidTransform(21).angle = 3.1415926535897931;
     smiData.RigidTransform(21).axis = [1 0 0];
     smiData.RigidTransform(21).ID = 'B[Guide_Translation_Attache_Granite-1:-:Guide_Translation1-1]';
-    smiData.RigidTransform(22).translation = [-3.979039320256561E-13 0 -798.4700496238562];
+    smiData.RigidTransform(22).translation = [0 0 -798.4700496238562];
     smiData.RigidTransform(22).angle = 0;
     smiData.RigidTransform(22).axis = [0 0 0];
     smiData.RigidTransform(22).ID = 'F[Guide_Translation_Attache_Granite-1:-:Guide_Translation1-1]';
-    smiData.RigidTransform(23).translation = [0 0 489.99999999999994];
+    smiData.RigidTransform(23).translation = [0 0 490];
     smiData.RigidTransform(23).angle = 3.1415926535897931;
     smiData.RigidTransform(23).axis = [1 0 0];
     smiData.RigidTransform(23).ID = 'B[Guide_Translation_Attache_Granite-2:-:Guide_Translation2-1]';
-    smiData.RigidTransform(24).translation = [-7.3896444519050419E-13 1.0388134796812665E-11 -181.52995037614699];
+    smiData.RigidTransform(24).translation = [0 0 -181.52995037614699];
     smiData.RigidTransform(24).angle = 0;
     smiData.RigidTransform(24).axis = [0 0 0];
     smiData.RigidTransform(24).ID = 'F[Guide_Translation_Attache_Granite-2:-:Guide_Translation2-1]';
-    smiData.RigidTransform(25).translation = [-1.6445178552260131E-12 -62.803086256386976 -284.06285203293061];
+    smiData.RigidTransform(25).translation = [0 -62.803086256386976 -284.06285203293061];
     smiData.RigidTransform(25).angle = 0.53362460216801688;
     smiData.RigidTransform(25).axis = [0 1 0];
     smiData.RigidTransform(25).ID = 'B[Correcteur_Axe-1:-:Bati_Correcteur_Axe_Capteurs2-1]';
     smiData.RigidTransform(26).translation = [-43.811705316440936 25.826913743612817 -23.032682013210675];
     smiData.RigidTransform(26).angle = 2.7686982945666694;
-    smiData.RigidTransform(26).axis = [1.3407111100537362E-17 -1 -2.5521928011622354E-17 ];
+    smiData.RigidTransform(26).axis = [0 -1 0];
     smiData.RigidTransform(26).ID = 'F[Correcteur_Axe-1:-:Bati_Correcteur_Axe_Capteurs2-1]';
-    smiData.RigidTransform(27).translation = [-293.50000000000114 -49.999999999999936 -4.5449755070592346E-13];
+    smiData.RigidTransform(27).translation = [-293.50000000000114 -50 0];
     smiData.RigidTransform(27).angle = 2.0943951023931953;
     smiData.RigidTransform(27).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
     smiData.RigidTransform(27).ID = 'B[Correcteur_Axe-1:-:Axe_Correcteur_Axe-1]';
-    smiData.RigidTransform(28).translation = [321.24337026438019 263.23185479049448 18.499999999999829];
-    smiData.RigidTransform(28).angle = 6.2063353831181828E-17;
-    smiData.RigidTransform(28).axis = [-0.18690204536159183 0.982378555058921 -5.697681551953E-18];
+    smiData.RigidTransform(28).translation = [321.24337026438019 263.23185479049448 18.5];
+    smiData.RigidTransform(28).angle = 0;
+    smiData.RigidTransform(28).axis = [-0.18690204536159183 0.982378555058921 0];
     smiData.RigidTransform(28).ID = 'F[Correcteur_Axe-1:-:Axe_Correcteur_Axe-1]';
-    smiData.RigidTransform(29).translation = [-293.50000000000114 -49.999999999999936 -4.5449755070592346E-13];
+    smiData.RigidTransform(29).translation = [-293.50000000000114 -50 0];
     smiData.RigidTransform(29).angle = 2.0943951023931953;
     smiData.RigidTransform(29).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
     smiData.RigidTransform(29).ID = 'B[Correcteur_Axe-1:-:Axe_Correcteur_Axe-2]';
-    smiData.RigidTransform(30).translation = [458.42542432867617 -372.86043247189741 18.499999999999886];
-    smiData.RigidTransform(30).angle = 5.7152228177742574E-16;
-    smiData.RigidTransform(30).axis = [0.989598362765466 0.14385784793298234 4.068138202546609E-17];
+    smiData.RigidTransform(30).translation = [458.42542432867617 -372.86043247189741 18.5];
+    smiData.RigidTransform(30).angle = 0;
+    smiData.RigidTransform(30).axis = [0.989598362765466 0.14385784793298234 0];
     smiData.RigidTransform(30).ID = 'F[Correcteur_Axe-1:-:Axe_Correcteur_Axe-2]';
     smiData.RigidTransform(31).translation = [-164.38596921309309 -61.461395411038474 53];
     smiData.RigidTransform(31).angle = 0;
     smiData.RigidTransform(31).axis = [0 0 0];
     smiData.RigidTransform(31).ID = 'B[Base_Micro_Support-1:-:BrasBas_Micro-1]';
-    smiData.RigidTransform(32).translation = [5.1628492041097918E-13 2.3761804014696078E-12 -2.6562636263699164E-12 ];
+    smiData.RigidTransform(32).translation = [0 0 0];
     smiData.RigidTransform(32).angle = 0;
     smiData.RigidTransform(32).axis = [0 0 0];
     smiData.RigidTransform(32).ID = 'F[Base_Micro_Support-1:-:BrasBas_Micro-1]';
@@ -136,159 +136,159 @@ function [smiData] = initializeSmiData()
     smiData.RigidTransform(33).angle = 3.1415926535897931;
     smiData.RigidTransform(33).axis = [-1 -0 -0];
     smiData.RigidTransform(33).ID = 'B[BrasBas_Micro-1:-:BrasHaut_Micro-1]';
-    smiData.RigidTransform(34).translation = [2.3243629243552277E-12 -2.6858515411731787E-12 67.957523470562734];
-    smiData.RigidTransform(34).angle = 3.6917018698053053E-15;
-    smiData.RigidTransform(34).axis = [-0.76440555686880851 -0.64473571688567621 9.0970837125704556E-16];
+    smiData.RigidTransform(34).translation = [0 0 67.957523470562734];
+    smiData.RigidTransform(34).angle = 0;
+    smiData.RigidTransform(34).axis = [-0.76440555686880851 -0.64473571688567621 0];
     smiData.RigidTransform(34).ID = 'F[BrasBas_Micro-1:-:BrasHaut_Micro-1]';
-    smiData.RigidTransform(35).translation = [-135.42011438454506 -111.63172765874725 52.999999999999993];
+    smiData.RigidTransform(35).translation = [-135.42011438454506 -111.63172765874725 53];
     smiData.RigidTransform(35).angle = 0;
     smiData.RigidTransform(35).axis = [0 0 0];
     smiData.RigidTransform(35).ID = 'B[Base_Micro_Support-1:-:BrasBas_Micro-2]';
-    smiData.RigidTransform(36).translation = [7.0187467724399175E-13 -7.0303457436002242E-13 2.0005473420683954E-13 ];
+    smiData.RigidTransform(36).translation = [0 0 0];
     smiData.RigidTransform(36).angle = 0;
     smiData.RigidTransform(36).axis = [0 0 0];
     smiData.RigidTransform(36).ID = 'F[Base_Micro_Support-1:-:BrasBas_Micro-2]';
-    smiData.RigidTransform(37).translation = [0 0 199.99999999999997];
+    smiData.RigidTransform(37).translation = [0 0 200];
     smiData.RigidTransform(37).angle = 3.1415926535897931;
     smiData.RigidTransform(37).axis = [1 0 0];
     smiData.RigidTransform(37).ID = 'B[BrasBas_Micro-2:-:BrasHaut_Micro-2]';
-    smiData.RigidTransform(38).translation = [-3.5882408155885059E-13 4.5474735088646412E-13 67.957523470565476];
-    smiData.RigidTransform(38).angle = 2.2591401799415137E-16;
-    smiData.RigidTransform(38).axis = [0.17837316671221176 -0.983962912612593 -1.9825376151591005E-17];
+    smiData.RigidTransform(38).translation = [0 0 67.957523470565476];
+    smiData.RigidTransform(38).angle = 0;
+    smiData.RigidTransform(38).axis = [0.17837316671221176 -0.983962912612593 0];
     smiData.RigidTransform(38).ID = 'F[BrasBas_Micro-2:-:BrasHaut_Micro-2]';
-    smiData.RigidTransform(39).translation = [135.4201143845448 -111.63172765874775 53.000000000000014];
+    smiData.RigidTransform(39).translation = [135.4201143845448 -111.63172765874775 53];
     smiData.RigidTransform(39).angle = 0;
     smiData.RigidTransform(39).axis = [0 0 0];
     smiData.RigidTransform(39).ID = 'B[Base_Micro_Support-1:-:BrasBas_Micro-3]';
-    smiData.RigidTransform(40).translation = [-9.064801097045641E-14 7.256510912368524E-15 6.1309316088900272E-14];
+    smiData.RigidTransform(40).translation = [0 0 0];
     smiData.RigidTransform(40).angle = 0;
     smiData.RigidTransform(40).axis = [0 0 0];
     smiData.RigidTransform(40).ID = 'F[Base_Micro_Support-1:-:BrasBas_Micro-3]';
-    smiData.RigidTransform(41).translation = [0 0 199.99999999999997];
+    smiData.RigidTransform(41).translation = [0 0 200];
     smiData.RigidTransform(41).angle = 3.1415926535897931;
     smiData.RigidTransform(41).axis = [1 0 0];
     smiData.RigidTransform(41).ID = 'B[BrasBas_Micro-3:-:BrasHaut_Micro-3]';
-    smiData.RigidTransform(42).translation = [7.815970093361102E-14 2.1316282072803006E-14 67.9575234705649];
-    smiData.RigidTransform(42).angle = 5.721958498152798E-17;
-    smiData.RigidTransform(42).axis = [0.77989301172705972 0.62591284557779814 1.3965728706521741E-17];
+    smiData.RigidTransform(42).translation = [0 0 67.9575234705649];
+    smiData.RigidTransform(42).angle = 0;
+    smiData.RigidTransform(42).axis = [0.77989301172705972 0.62591284557779814 0];
     smiData.RigidTransform(42).ID = 'F[BrasBas_Micro-3:-:BrasHaut_Micro-3]';
-    smiData.RigidTransform(43).translation = [164.38596921309357 -61.4613954110373 53.000000000000028];
+    smiData.RigidTransform(43).translation = [164.38596921309357 -61.4613954110373 53];
     smiData.RigidTransform(43).angle = 0;
     smiData.RigidTransform(43).axis = [0 0 0];
     smiData.RigidTransform(43).ID = 'B[Base_Micro_Support-1:-:BrasBas_Micro-4]';
-    smiData.RigidTransform(44).translation = [1.051767326899891E-12 1.7496767659140507E-12 1.9811469268210621E-12];
+    smiData.RigidTransform(44).translation = [0 0 0];
     smiData.RigidTransform(44).angle = 0;
     smiData.RigidTransform(44).axis = [0 0 0];
     smiData.RigidTransform(44).ID = 'F[Base_Micro_Support-1:-:BrasBas_Micro-4]';
-    smiData.RigidTransform(45).translation = [0 0 199.99999999999997];
+    smiData.RigidTransform(45).translation = [0 0 200];
     smiData.RigidTransform(45).angle = 3.1415926535897931;
-    smiData.RigidTransform(45).axis = [-1 -5.2000108498455389E-33 6.2450045135165068E-17 ];
+    smiData.RigidTransform(45).axis = [-1 0 0];
     smiData.RigidTransform(45).ID = 'B[BrasBas_Micro-4:-:BrasHaut_Micro-4]';
-    smiData.RigidTransform(46).translation = [-9.4857455223973375E-13 -1.1937117960769683E-12 67.9575234705665];
-    smiData.RigidTransform(46).angle = 3.4777636565401974E-16;
-    smiData.RigidTransform(46).axis = [0.14960570985695723 0.98874573656638143 2.572188913421354E-17];
+    smiData.RigidTransform(46).translation = [0 0 67.9575234705665];
+    smiData.RigidTransform(46).angle = 0;
+    smiData.RigidTransform(46).axis = [0.14960570985695723 0.98874573656638143 0];
     smiData.RigidTransform(46).ID = 'F[BrasBas_Micro-4:-:BrasHaut_Micro-4]';
-    smiData.RigidTransform(47).translation = [28.965854828548959 173.093123069784 52.999999999999993];
+    smiData.RigidTransform(47).translation = [28.965854828548959 173.093123069784 53];
     smiData.RigidTransform(47).angle = 0;
     smiData.RigidTransform(47).axis = [0 0 0];
     smiData.RigidTransform(47).ID = 'B[Base_Micro_Support-1:-:BrasBas_Micro-5]';
-    smiData.RigidTransform(48).translation = [-3.9257981074925474E-13 -6.8458564825363021E-13 -7.9462990822882076E-13 ];
+    smiData.RigidTransform(48).translation = [0 0 0];
     smiData.RigidTransform(48).angle = 0;
     smiData.RigidTransform(48).axis = [0 0 0];
     smiData.RigidTransform(48).ID = 'F[Base_Micro_Support-1:-:BrasBas_Micro-5]';
-    smiData.RigidTransform(49).translation = [0 0 200.00000000000006];
+    smiData.RigidTransform(49).translation = [0 0 200];
     smiData.RigidTransform(49).angle = 3.1415926535897931;
-    smiData.RigidTransform(49).axis = [1 0 -7.9797279894933114E-17];
+    smiData.RigidTransform(49).axis = [1 0 0];
     smiData.RigidTransform(49).ID = 'B[BrasBas_Micro-5:-:BrasHaut_Micro-5]';
-    smiData.RigidTransform(50).translation = [-2.0250467969162855E-13 -5.2580162446247414E-13 67.9575234705647];
-    smiData.RigidTransform(50).angle = 1.4946834900704541E-16;
-    smiData.RigidTransform(50).axis = [0.96403453407400408 -0.2657770063657085 -1.9148256603907044E-17];
+    smiData.RigidTransform(50).translation = [0 0 67.9575234705647];
+    smiData.RigidTransform(50).angle = 0;
+    smiData.RigidTransform(50).axis = [0.96403453407400408 -0.2657770063657085 0];
     smiData.RigidTransform(50).ID = 'F[BrasBas_Micro-5:-:BrasHaut_Micro-5]';
     smiData.RigidTransform(51).translation = [-28.965854828547805 173.0931230697843 53];
     smiData.RigidTransform(51).angle = 0;
     smiData.RigidTransform(51).axis = [0 0 0];
     smiData.RigidTransform(51).ID = 'B[Base_Micro_Support-1:-:BrasBas_Micro-6]';
-    smiData.RigidTransform(52).translation = [7.6192453597339041E-14 3.1870281882329216E-14 4.5439238373543339E-14 ];
+    smiData.RigidTransform(52).translation = [0 0 0];
     smiData.RigidTransform(52).angle = 0;
     smiData.RigidTransform(52).axis = [0 0 0];
     smiData.RigidTransform(52).ID = 'F[Base_Micro_Support-1:-:BrasBas_Micro-6]';
-    smiData.RigidTransform(53).translation = [0 0 199.99999999999994];
+    smiData.RigidTransform(53).translation = [0 0 200];
     smiData.RigidTransform(53).angle = 3.1415926535897931;
     smiData.RigidTransform(53).axis = [1 0 0];
     smiData.RigidTransform(53).ID = 'B[BrasBas_Micro-6:-:BrasHaut_Micro-6]';
-    smiData.RigidTransform(54).translation = [6.8389738316909643E-14 7.1054273576010019E-14 67.957523470565292];
-    smiData.RigidTransform(54).angle = 2.8645532407872734E-16;
-    smiData.RigidTransform(54).axis = [0.93832687633173806 -0.34574943695329913 -4.6466775933605013E-17];
+    smiData.RigidTransform(54).translation = [0 0 67.957523470565292];
+    smiData.RigidTransform(54).angle = 0;
+    smiData.RigidTransform(54).axis = [0.93832687633173806 -0.34574943695329913 0];
     smiData.RigidTransform(54).ID = 'F[BrasBas_Micro-6:-:BrasHaut_Micro-6]';
-    smiData.RigidTransform(55).translation = [0 0 489.99999999999994];
+    smiData.RigidTransform(55).translation = [0 0 490];
     smiData.RigidTransform(55).angle = 3.1415926535897931;
     smiData.RigidTransform(55).axis = [1 0 0];
     smiData.RigidTransform(55).ID = 'B[Guide_Translation_Attache_Granite-2:-:Guide_Translation12-1]';
-    smiData.RigidTransform(56).translation = [-7.9580786405131221E-13 1.0629719326971099E-11 -786.5299503761471];
+    smiData.RigidTransform(56).translation = [0 0 -786.5299503761471];
     smiData.RigidTransform(56).angle = 0;
     smiData.RigidTransform(56).axis = [0 0 0];
     smiData.RigidTransform(56).ID = 'F[Guide_Translation_Attache_Granite-2:-:Guide_Translation12-1]';
-    smiData.RigidTransform(57).translation = [0 0 490.00000000000006];
+    smiData.RigidTransform(57).translation = [0 0 490];
     smiData.RigidTransform(57).angle = 3.1415926535897931;
     smiData.RigidTransform(57).axis = [1 0 0];
     smiData.RigidTransform(57).ID = 'B[Guide_Translation_Attache_Granite-1:-:Guide_Translation22-1]';
-    smiData.RigidTransform(58).translation = [1.8464783156533372E-13 1.0615508472255897E-11 -193.47004962385614];
-    smiData.RigidTransform(58).angle = 1.8358298291559541E-15;
+    smiData.RigidTransform(58).translation = [0 0 -193.47004962385614];
+    smiData.RigidTransform(58).angle = 0;
     smiData.RigidTransform(58).axis = [-0 -1 0];
     smiData.RigidTransform(58).ID = 'F[Guide_Translation_Attache_Granite-1:-:Guide_Translation22-1]';
-    smiData.RigidTransform(59).translation = [113.00000000000006 0 0];
+    smiData.RigidTransform(59).translation = [113 0 0];
     smiData.RigidTransform(59).angle = 2.0943951023931953;
     smiData.RigidTransform(59).axis = [0.57735026918962584 0.57735026918962584 0.57735026918962584];
     smiData.RigidTransform(59).ID = 'B[Axe_Spindle-1:-:Base_Micro_Support-1]';
-    smiData.RigidTransform(60).translation = [2.0268415660648831E-14 1.5669192696212794E-14 5.6843418860808015E-14 ];
-    smiData.RigidTransform(60).angle = 2.6073996056774544E-16;
-    smiData.RigidTransform(60).axis = [-0.97950718399858827 -0.2014092264399911 2.5719622319333275E-17];
+    smiData.RigidTransform(60).translation = [0 0 0];
+    smiData.RigidTransform(60).angle = 0;
+    smiData.RigidTransform(60).axis = [-0.97950718399858827 -0.2014092264399911 0];
     smiData.RigidTransform(60).ID = 'F[Axe_Spindle-1:-:Base_Micro_Support-1]';
-    smiData.RigidTransform(61).translation = [146.01999999999998 0 0];
+    smiData.RigidTransform(61).translation = [146.02 0 0];
     smiData.RigidTransform(61).angle = 2.0943951023931953;
     smiData.RigidTransform(61).axis = [0.57735026918962584 0.57735026918962584 0.57735026918962584];
     smiData.RigidTransform(61).ID = 'B[Bati_Spindle-1:-:Base_Micro_Support-1]';
-    smiData.RigidTransform(62).translation = [-8.8817841970012523E-15 -4.2632564145606011E-14 33.199999999999996];
-    smiData.RigidTransform(62).angle = 2.2377260456559053E-16;
-    smiData.RigidTransform(62).axis = [-0.56620031463552334 0.82426767721816829 -5.2217406441794063E-17];
+    smiData.RigidTransform(62).translation = [0 0 33.2];
+    smiData.RigidTransform(62).angle = 0;
+    smiData.RigidTransform(62).axis = [-0.56620031463552334 0.82426767721816829 0];
     smiData.RigidTransform(62).ID = 'F[Bati_Spindle-1:-:Base_Micro_Support-1]';
-    smiData.RigidTransform(63).translation = [0 -5.00000000000006 600.00000000000011];
+    smiData.RigidTransform(63).translation = [0 -5 600];
     smiData.RigidTransform(63).angle = 2.0943951023931953;
     smiData.RigidTransform(63).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
     smiData.RigidTransform(63).ID = 'B[Guide_Tilt-1:-:Plateau_Tilt-1]';
-    smiData.RigidTransform(64).translation = [-313.500000000003 1.3264813060854244E-13 -5.6843418860808015E-14];
+    smiData.RigidTransform(64).translation = [-313.500000000003 0 0];
     smiData.RigidTransform(64).angle = 2.0943951023931966;
     smiData.RigidTransform(64).axis = [-0.57735026918962584 -0.57735026918962606 0.57735026918962529];
     smiData.RigidTransform(64).ID = 'F[Guide_Tilt-1:-:Plateau_Tilt-1]';
-    smiData.RigidTransform(65).translation = [0 -4.9999999999999485 599.99999999999989];
+    smiData.RigidTransform(65).translation = [0 -5 600];
     smiData.RigidTransform(65).angle = 2.0943951023931953;
     smiData.RigidTransform(65).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
     smiData.RigidTransform(65).ID = 'B[Guide_Tilt-2:-:Plateau_Tilt-1]';
-    smiData.RigidTransform(66).translation = [-313.50000000000307 1.3264813060854239E-13 -2.0463630789890885E-12];
+    smiData.RigidTransform(66).translation = [-313.50000000000307 0 0];
     smiData.RigidTransform(66).angle = 2.0943951023931962;
     smiData.RigidTransform(66).axis = [-0.577350269189626 -0.57735026918962606 0.5773502691896254];
     smiData.RigidTransform(66).ID = 'F[Guide_Tilt-2:-:Plateau_Tilt-1]';
-    smiData.RigidTransform(67).translation = [0 -5.0000000000000044 600.00000000000023];
+    smiData.RigidTransform(67).translation = [0 -5 600];
     smiData.RigidTransform(67).angle = 2.0943951023931953;
     smiData.RigidTransform(67).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
     smiData.RigidTransform(67).ID = 'B[Guide_Tilt-3:-:Plateau_Tilt-1]';
-    smiData.RigidTransform(68).translation = [313.49999999999716 2.0841238255630388E-13 -2.8421709430404007E-13];
+    smiData.RigidTransform(68).translation = [313.5 0 0];
     smiData.RigidTransform(68).angle = 2.0943951023931948;
     smiData.RigidTransform(68).axis = [0.57735026918962551 0.57735026918962562 0.57735026918962629];
     smiData.RigidTransform(68).ID = 'F[Guide_Tilt-3:-:Plateau_Tilt-1]';
-    smiData.RigidTransform(69).translation = [0 -4.9999999999999485 600.00000000000023];
+    smiData.RigidTransform(69).translation = [0 -5 600];
     smiData.RigidTransform(69).angle = 2.0943951023931953;
     smiData.RigidTransform(69).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
     smiData.RigidTransform(69).ID = 'B[Guide_Tilt-4:-:Plateau_Tilt-1]';
-    smiData.RigidTransform(70).translation = [313.49999999999687 -1.3264813060854428E-13 5.1159076974727213E-13];
+    smiData.RigidTransform(70).translation = [313.5 0 0];
     smiData.RigidTransform(70).angle = 2.0943951023931948;
     smiData.RigidTransform(70).axis = [0.57735026918962551 0.57735026918962562 0.57735026918962629];
     smiData.RigidTransform(70).ID = 'F[Guide_Tilt-4:-:Plateau_Tilt-1]';
-    smiData.RigidTransform(71).translation = [146.01999999999998 0 0];
+    smiData.RigidTransform(71).translation = [146.02 0 0];
     smiData.RigidTransform(71).angle = 2.0943951023931953;
     smiData.RigidTransform(71).axis = [0.57735026918962584 0.57735026918962584 0.57735026918962584];
     smiData.RigidTransform(71).ID = 'B[Bati_Spindle-1:-:Axe_Spindle-1]';
-    smiData.RigidTransform(72).translation = [146.20000000000005 2.8421709430404007E-14 3.5527136788005009E-14];
+    smiData.RigidTransform(72).translation = [146.20000000000005 0 0];
     smiData.RigidTransform(72).angle = 2.0943951023931957;
     smiData.RigidTransform(72).axis = [0.57735026918962573 0.57735026918962584 0.57735026918962573];
     smiData.RigidTransform(72).ID = 'F[Bati_Spindle-1:-:Axe_Spindle-1]';
@@ -296,31 +296,31 @@ function [smiData] = initializeSmiData()
     smiData.RigidTransform(73).angle = 2.0943951023931953;
     smiData.RigidTransform(73).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
     smiData.RigidTransform(73).ID = 'B[Nacelle_Micro_Support-1:-:Base_Nano_Support-1]';
-    smiData.RigidTransform(74).translation = [1.2434497875801753E-14 3.5527136788005009E-15 -5.0000000000075033];
+    smiData.RigidTransform(74).translation = [0 0 -5];
     smiData.RigidTransform(74).angle = 1.6378338249998241;
     smiData.RigidTransform(74).axis = [0.25056280708573386 0.93511312653102818 -0.25056280708573364];
     smiData.RigidTransform(74).ID = 'F[Nacelle_Micro_Support-1:-:Base_Nano_Support-1]';
-    smiData.RigidTransform(75).translation = [0 0 26.000000000000021];
+    smiData.RigidTransform(75).translation = [0 0 26];
     smiData.RigidTransform(75).angle = 3.1415926535897931;
     smiData.RigidTransform(75).axis = [1 0 0];
     smiData.RigidTransform(75).ID = 'B[Nacelle_Micro_Support-1:-:Correcteur_Axe-1]';
-    smiData.RigidTransform(76).translation = [-2.8426231256822086E-13 -31 -6.4101461630330754E-13];
+    smiData.RigidTransform(76).translation = [0 -31 0];
     smiData.RigidTransform(76).angle = 2.0943951023931957;
     smiData.RigidTransform(76).axis = [-0.57735026918962573 -0.57735026918962573 -0.57735026918962562];
     smiData.RigidTransform(76).ID = 'F[Nacelle_Micro_Support-1:-:Correcteur_Axe-1]';
-    smiData.RigidTransform(77).translation = [0 0 25.999999999999996];
+    smiData.RigidTransform(77).translation = [0 0 26];
     smiData.RigidTransform(77).angle = 3.1415926535897931;
     smiData.RigidTransform(77).axis = [1 0 0];
     smiData.RigidTransform(77).ID = 'B[Base_Micro_Support-1:-:Nacelle_Micro_Support-1]';
-    smiData.RigidTransform(78).translation = [-1.2434497875801753E-14 0 324.00000000000006];
+    smiData.RigidTransform(78).translation = [0 0 324];
     smiData.RigidTransform(78).angle = 2.094395102393193;
-    smiData.RigidTransform(78).axis = [0 -1.28197512425571E-16 1];
+    smiData.RigidTransform(78).axis = [0 0 1];
     smiData.RigidTransform(78).ID = 'F[Base_Micro_Support-1:-:Nacelle_Micro_Support-1]';
     smiData.RigidTransform(79).translation = [0 0 0];
     smiData.RigidTransform(79).angle = 0;
     smiData.RigidTransform(79).axis = [0 0 0];
     smiData.RigidTransform(79).ID = 'B[BrasHaut_Micro-1:-:Nacelle_Micro_Support-1]';
-    smiData.RigidTransform(80).translation = [87.553149235122973 -79.110341037139037 53.000000000000057];
+    smiData.RigidTransform(80).translation = [87.553149235122973 -79.110341037139037 53];
     smiData.RigidTransform(80).angle = 0;
     smiData.RigidTransform(80).axis = [0 0 0];
     smiData.RigidTransform(80).ID = 'F[BrasHaut_Micro-1:-:Nacelle_Micro_Support-1]';
@@ -328,7 +328,7 @@ function [smiData] = initializeSmiData()
     smiData.RigidTransform(81).angle = 0;
     smiData.RigidTransform(81).axis = [0 0 0];
     smiData.RigidTransform(81).ID = 'B[BrasHaut_Micro-2:-:Nacelle_Micro_Support-1]';
-    smiData.RigidTransform(82).translation = [-87.5531492351257 -79.110341037138483 53.000000000000313];
+    smiData.RigidTransform(82).translation = [-87.5531492351257 -79.110341037138483 53];
     smiData.RigidTransform(82).angle = 0;
     smiData.RigidTransform(82).axis = [0 0 0];
     smiData.RigidTransform(82).ID = 'F[BrasHaut_Micro-2:-:Nacelle_Micro_Support-1]';
@@ -336,7 +336,7 @@ function [smiData] = initializeSmiData()
     smiData.RigidTransform(83).angle = 0;
     smiData.RigidTransform(83).axis = [0 0 0];
     smiData.RigidTransform(83).ID = 'B[BrasHaut_Micro-3:-:Nacelle_Micro_Support-1]';
-    smiData.RigidTransform(84).translation = [-112.2881396577738 -36.268080900376873 52.999999999999986];
+    smiData.RigidTransform(84).translation = [-112.2881396577738 -36.268080900376873 53];
     smiData.RigidTransform(84).angle = 0;
     smiData.RigidTransform(84).axis = [0 0 0];
     smiData.RigidTransform(84).ID = 'F[BrasHaut_Micro-3:-:Nacelle_Micro_Support-1]';
@@ -344,7 +344,7 @@ function [smiData] = initializeSmiData()
     smiData.RigidTransform(85).angle = 0;
     smiData.RigidTransform(85).axis = [0 0 0];
     smiData.RigidTransform(85).ID = 'B[BrasHaut_Micro-4:-:Nacelle_Micro_Support-1]';
-    smiData.RigidTransform(86).translation = [-24.734990422651151 115.37842193751698 53.0000000000005];
+    smiData.RigidTransform(86).translation = [-24.734990422651151 115.37842193751698 53];
     smiData.RigidTransform(86).angle = 0;
     smiData.RigidTransform(86).axis = [0 0 0];
     smiData.RigidTransform(86).ID = 'F[BrasHaut_Micro-4:-:Nacelle_Micro_Support-1]';
@@ -352,7 +352,7 @@ function [smiData] = initializeSmiData()
     smiData.RigidTransform(87).angle = 0;
     smiData.RigidTransform(87).axis = [0 0 0];
     smiData.RigidTransform(87).ID = 'B[BrasHaut_Micro-5:-:Nacelle_Micro_Support-1]';
-    smiData.RigidTransform(88).translation = [24.734990422650917 115.37842193751322 52.999999999999375];
+    smiData.RigidTransform(88).translation = [24.734990422650917 115.37842193751322 53];
     smiData.RigidTransform(88).angle = 0;
     smiData.RigidTransform(88).axis = [0 0 0];
     smiData.RigidTransform(88).ID = 'F[BrasHaut_Micro-5:-:Nacelle_Micro_Support-1]';
@@ -360,7 +360,7 @@ function [smiData] = initializeSmiData()
     smiData.RigidTransform(89).angle = 0;
     smiData.RigidTransform(89).axis = [0 0 0];
     smiData.RigidTransform(89).ID = 'B[BrasHaut_Micro-6:-:Nacelle_Micro_Support-1]';
-    smiData.RigidTransform(90).translation = [112.28813965777354 -36.268080900377612 53.000000000000028];
+    smiData.RigidTransform(90).translation = [112.28813965777354 -36.268080900377612 53];
     smiData.RigidTransform(90).angle = 0;
     smiData.RigidTransform(90).axis = [0 0 0];
     smiData.RigidTransform(90).ID = 'F[BrasHaut_Micro-6:-:Nacelle_Micro_Support-1]';
@@ -372,171 +372,171 @@ function [smiData] = initializeSmiData()
     smiData.RigidTransform(92).angle = 0;
     smiData.RigidTransform(92).axis = [0 0 0];
     smiData.RigidTransform(92).ID = 'F[Attache_Granite-1:-:]';
-    smiData.RigidTransform(93).translation = [496 15 524.99999999999989];
+    smiData.RigidTransform(93).translation = [496 15 525];
     smiData.RigidTransform(93).angle = 2.0943951023931953;
     smiData.RigidTransform(93).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
     smiData.RigidTransform(93).ID = 'B[Attache_Granite-1:-:Guide_Translation_Attache_Granite-1]';
-    smiData.RigidTransform(94).translation = [61 -100.00000000000001 474.99999999999977];
+    smiData.RigidTransform(94).translation = [61 -100 475];
     smiData.RigidTransform(94).angle = 2.0943951023931953;
     smiData.RigidTransform(94).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
     smiData.RigidTransform(94).ID = 'F[Attache_Granite-1:-:Guide_Translation_Attache_Granite-1]';
-    smiData.RigidTransform(95).translation = [-344 15 524.99999999999989];
+    smiData.RigidTransform(95).translation = [-344 15 525];
     smiData.RigidTransform(95).angle = 2.0943951023931953;
     smiData.RigidTransform(95).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
     smiData.RigidTransform(95).ID = 'B[Attache_Granite-1:-:Guide_Translation_Attache_Granite-2]';
-    smiData.RigidTransform(96).translation = [-90.999999999999943 -100.00000000000001 -474.99999999999989];
+    smiData.RigidTransform(96).translation = [-91 -100 -475];
     smiData.RigidTransform(96).angle = 2.0943951023931953;
     smiData.RigidTransform(96).axis = [-0.57735026918962584 0.57735026918962584 0.57735026918962584];
     smiData.RigidTransform(96).ID = 'F[Attache_Granite-1:-:Guide_Translation_Attache_Granite-2]';
-    smiData.RigidTransform(97).translation = [146.01999999999998 0 0];
+    smiData.RigidTransform(97).translation = [146.02 0 0];
     smiData.RigidTransform(97).angle = 2.0943951023931953;
     smiData.RigidTransform(97).axis = [0.57735026918962584 0.57735026918962584 0.57735026918962584];
     smiData.RigidTransform(97).ID = 'B[Bati_Spindle-1:-:Moteur_Spindle-1]';
-    smiData.RigidTransform(98).translation = [-1.2350860001368467E-11 178.01999999999998 -3.9724487335523974E-12];
+    smiData.RigidTransform(98).translation = [0 178.02 0];
     smiData.RigidTransform(98).angle = 2.6381355635463279;
     smiData.RigidTransform(98).axis = [-0.25718398137297871 -0.68332144695053421 -0.683321446950534];
     smiData.RigidTransform(98).ID = 'F[Bati_Spindle-1:-:Moteur_Spindle-1]';
-    smiData.RigidTransform(99).translation = [0 20.500000000000075 39.499999999999979];
+    smiData.RigidTransform(99).translation = [0 20.500000000000075 39.5];
     smiData.RigidTransform(99).angle = 2.0943951023931953;
     smiData.RigidTransform(99).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
     smiData.RigidTransform(99).ID = 'B[Bati_Correcteur_Axe_Capteurs2-1:-:Axe_Correcteur_Axe-1]';
-    smiData.RigidTransform(100).translation = [4.2466030691912238E-14 -4.7462034302725442E-14 0.3700000000000615];
-    smiData.RigidTransform(100).angle = 2.4825341532472731E-16;
-    smiData.RigidTransform(100).axis = [0.3663919258296145 0.93046061533353808 4.2316440160155154E-17];
+    smiData.RigidTransform(100).translation = [0 0 0.3700000000000615];
+    smiData.RigidTransform(100).angle = 0;
+    smiData.RigidTransform(100).axis = [0.3663919258296145 0.93046061533353808 0];
     smiData.RigidTransform(100).ID = 'F[Bati_Correcteur_Axe_Capteurs2-1:-:Axe_Correcteur_Axe-1]';
     smiData.RigidTransform(101).translation = [0 -611.25000000000045 0];
     smiData.RigidTransform(101).angle = 2.0943951023931953;
     smiData.RigidTransform(101).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
     smiData.RigidTransform(101).ID = 'B[Plateau_Tilt-1:-:Bati_Spindle-1]';
-    smiData.RigidTransform(102).translation = [121.01999999999968 1.4210854715202004E-14 2.8421709430404007E-14];
+    smiData.RigidTransform(102).translation = [121.02 0 0];
     smiData.RigidTransform(102).angle = 2.0943951023931953;
     smiData.RigidTransform(102).axis = [0.57735026918962584 0.57735026918962584 0.57735026918962584];
     smiData.RigidTransform(102).ID = 'F[Plateau_Tilt-1:-:Bati_Spindle-1]';
-    smiData.RigidTransform(103).translation = [0 0 -86.999999999999972];
+    smiData.RigidTransform(103).translation = [0 0 -87];
     smiData.RigidTransform(103).angle = 0;
     smiData.RigidTransform(103).axis = [0 0 0];
     smiData.RigidTransform(103).ID = 'B[Moteur_Tilt_Axe-1:-:Moteur_Tilt_Bati-1]';
-    smiData.RigidTransform(104).translation = [6.157972929885014E-14 -8.5265128291212022E-14 -19.499999999999886];
+    smiData.RigidTransform(104).translation = [0 0 -19.5];
     smiData.RigidTransform(104).angle = 3.1415926535897922;
-    smiData.RigidTransform(104).axis = [-1 -1.9392382685050431E-31 3.5390649022327678E-16 ];
+    smiData.RigidTransform(104).axis = [-1 0 0];
     smiData.RigidTransform(104).ID = 'F[Moteur_Tilt_Axe-1:-:Moteur_Tilt_Bati-1]';
-    smiData.RigidTransform(105).translation = [-1.6445178552260131E-12 -62.196913743612967 -327.93714796707076];
+    smiData.RigidTransform(105).translation = [0 -62.196913743612967 -327.93714796707076];
     smiData.RigidTransform(105).angle = 0.53362460216801688;
     smiData.RigidTransform(105).axis = [0 1 0];
     smiData.RigidTransform(105).ID = 'B[Correcteur_Axe-1:-:HEPCO_RSJ34DE-1]';
     smiData.RigidTransform(106).translation = [72.333169150433932 -8.9330862563868756 60.230144198320843];
     smiData.RigidTransform(106).angle = 3.1415926535897931;
-    smiData.RigidTransform(106).axis = [-0.82720177059992506 8.3860579302075322E-18 -0.56190500150501332];
+    smiData.RigidTransform(106).axis = [-0.82720177059992506 0 -0.56190500150501332];
     smiData.RigidTransform(106).ID = 'F[Correcteur_Axe-1:-:HEPCO_RSJ34DE-1]';
-    smiData.RigidTransform(107).translation = [45.000000000000014 15.000000000000014 34.75];
+    smiData.RigidTransform(107).translation = [45 15 34.75];
     smiData.RigidTransform(107).angle = 2.0943951023931953;
     smiData.RigidTransform(107).axis = [0.57735026918962584 -0.57735026918962584 0.57735026918962584];
     smiData.RigidTransform(107).ID = 'B[Bati_Correcteur_Axe_Capteurs2-1:-:HEPCO_RSJ34DE-1]';
-    smiData.RigidTransform(108).translation = [-3.5999999999036389 2.4999999999999423 -3.0198066269804258E-14];
+    smiData.RigidTransform(108).translation = [-3.6 2.5 0];
     smiData.RigidTransform(108).angle = 2.0943951023931953;
     smiData.RigidTransform(108).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
     smiData.RigidTransform(108).ID = 'F[Bati_Correcteur_Axe_Capteurs2-1:-:HEPCO_RSJ34DE-1]';
-    smiData.RigidTransform(109).translation = [-1.6445178552260131E-12 -62.196913743612967 -327.93714796707076];
+    smiData.RigidTransform(109).translation = [0 -62.196913743612967 -327.93714796707076];
     smiData.RigidTransform(109).angle = 0.53362460216801688;
     smiData.RigidTransform(109).axis = [0 1 0];
     smiData.RigidTransform(109).ID = 'B[Correcteur_Axe-1:-:HEPCO_RSJ34DE-2]';
     smiData.RigidTransform(110).translation = [-10.901757790904249 -8.9330862563869111 13.791499958258392];
     smiData.RigidTransform(110).angle = 3.1415926535897931;
-    smiData.RigidTransform(110).axis = [0.23610226881500818 2.4564012442485273E-18 -0.9717282123414992];
+    smiData.RigidTransform(110).axis = [0.23610226881500818 0 -0.9717282123414992];
     smiData.RigidTransform(110).ID = 'F[Correcteur_Axe-1:-:HEPCO_RSJ34DE-2]';
-    smiData.RigidTransform(111).translation = [-44.999999999999986 15.000000000000014 34.75];
+    smiData.RigidTransform(111).translation = [-45 15 34.75];
     smiData.RigidTransform(111).angle = 2.0943951023931953;
     smiData.RigidTransform(111).axis = [0.57735026918962584 -0.57735026918962584 0.57735026918962584];
     smiData.RigidTransform(111).ID = 'B[Bati_Correcteur_Axe_Capteurs2-1:-:HEPCO_RSJ34DE-2]';
-    smiData.RigidTransform(112).translation = [-3.5999999999999996 2.4999999999998863 3.1086244689504383E-14];
+    smiData.RigidTransform(112).translation = [-3.6 2.5 0];
     smiData.RigidTransform(112).angle = 2.0943951023931957;
     smiData.RigidTransform(112).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962562];
     smiData.RigidTransform(112).ID = 'F[Bati_Correcteur_Axe_Capteurs2-1:-:HEPCO_RSJ34DE-2]';
-    smiData.RigidTransform(113).translation = [-1.6445178552260131E-12 -62.196913743612967 -327.93714796707076];
+    smiData.RigidTransform(113).translation = [0 -62.196913743612967 -327.93714796707076];
     smiData.RigidTransform(113).angle = 0.53362460216801688;
     smiData.RigidTransform(113).axis = [0 1 0];
     smiData.RigidTransform(113).ID = 'B[Correcteur_Axe-1:-:HEPCO_RSJ34DE-3]';
     smiData.RigidTransform(114).translation = [596.32707666485624 -9.67308625638682 -20.957863605734559];
     smiData.RigidTransform(114).angle = 3.1415926535897931;
-    smiData.RigidTransform(114).axis = [0.71358095587998338 1.44002815933068E-16 -0.7005727795207356];
+    smiData.RigidTransform(114).axis = [0.71358095587998338 0 -0.7005727795207356];
     smiData.RigidTransform(114).ID = 'F[Correcteur_Axe-1:-:HEPCO_RSJ34DE-3]';
-    smiData.RigidTransform(115).translation = [44.999999999999993 14.999999999999957 34.750000000000057];
+    smiData.RigidTransform(115).translation = [45 15 34.750000000000057];
     smiData.RigidTransform(115).angle = 2.0943951023931953;
     smiData.RigidTransform(115).axis = [0.57735026918962584 -0.57735026918962584 0.57735026918962584];
     smiData.RigidTransform(115).ID = 'B[Bati_Correcteur_Axe_SansCapteur2-1:-:HEPCO_RSJ34DE-3]';
-    smiData.RigidTransform(116).translation = [-3.6000000000000485 2.5000000000001137 -1.5959455978986625E-14];
+    smiData.RigidTransform(116).translation = [-3.6000000000000485 2.5000000000001137 0];
     smiData.RigidTransform(116).angle = 2.0943951023931957;
     smiData.RigidTransform(116).axis = [-0.57735026918962584 -0.57735026918962573 -0.57735026918962573];
     smiData.RigidTransform(116).ID = 'F[Bati_Correcteur_Axe_SansCapteur2-1:-:HEPCO_RSJ34DE-3]';
-    smiData.RigidTransform(117).translation = [-1.6445178552260131E-12 -62.196913743612967 -327.93714796707076];
+    smiData.RigidTransform(117).translation = [0 -62.196913743612967 -327.93714796707076];
     smiData.RigidTransform(117).angle = 0.53362460216801688;
     smiData.RigidTransform(117).axis = [0 1 0];
     smiData.RigidTransform(117).ID = 'B[Correcteur_Axe-1:-:HEPCO_RSJ34DE-4]';
     smiData.RigidTransform(118).translation = [-313.7520140157153 -9.6730862563869167 547.524496446105];
     smiData.RigidTransform(118).angle = 3.1415926535897931;
-    smiData.RigidTransform(118).axis = [0.93808708517252759 -4.6847903563677027E-17 0.3463995101505068];
+    smiData.RigidTransform(118).axis = [0.93808708517252759 0 0.3463995101505068];
     smiData.RigidTransform(118).ID = 'F[Correcteur_Axe-1:-:HEPCO_RSJ34DE-4]';
-    smiData.RigidTransform(119).translation = [-45.000000000000007 15.000000000000014 34.750000000000057];
+    smiData.RigidTransform(119).translation = [-45 15 34.750000000000057];
     smiData.RigidTransform(119).angle = 2.0943951023931953;
     smiData.RigidTransform(119).axis = [0.57735026918962584 -0.57735026918962584 0.57735026918962584];
     smiData.RigidTransform(119).ID = 'B[Bati_Correcteur_Axe_SansCapteur2-1:-:HEPCO_RSJ34DE-4]';
-    smiData.RigidTransform(120).translation = [-3.6000000000638703 2.5000000000000018 -2.3536728122053319E-14];
+    smiData.RigidTransform(120).translation = [-3.6000000000638703 2.5000000000000018 0];
     smiData.RigidTransform(120).angle = 2.0943951023931957;
     smiData.RigidTransform(120).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962562];
     smiData.RigidTransform(120).ID = 'F[Bati_Correcteur_Axe_SansCapteur2-1:-:HEPCO_RSJ34DE-4]';
-    smiData.RigidTransform(121).translation = [-1.6445178552260131E-12 -62.803086256386976 -284.06285203293061];
+    smiData.RigidTransform(121).translation = [0 -62.803086256386976 -284.06285203293061];
     smiData.RigidTransform(121).angle = 0.53362460216801688;
     smiData.RigidTransform(121).axis = [0 1 0];
     smiData.RigidTransform(121).ID = 'B[Correcteur_Axe-1:-:Bati_Correcteur_Axe_SansCapteur2-1]';
     smiData.RigidTransform(122).translation = [168.40463076583308 26.56691374361294 -513.27658497562118];
     smiData.RigidTransform(122).angle = 0.20426489504440995;
-    smiData.RigidTransform(122).axis = [-1.4926950621648062E-15 -1 -6.2583978672898753E-16 ];
+    smiData.RigidTransform(122).axis = [0 -1 0];
     smiData.RigidTransform(122).ID = 'F[Correcteur_Axe-1:-:Bati_Correcteur_Axe_SansCapteur2-1]';
-    smiData.RigidTransform(123).translation = [0 20.499999999999964 39.500000000000092];
+    smiData.RigidTransform(123).translation = [0 20.5 39.500000000000092];
     smiData.RigidTransform(123).angle = 2.0943951023931953;
     smiData.RigidTransform(123).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
     smiData.RigidTransform(123).ID = 'B[Bati_Correcteur_Axe_SansCapteur2-1:-:Axe_Correcteur_Axe-2]';
-    smiData.RigidTransform(124).translation = [-2.7505775435088253E-14 -7.2719608112947753E-15 -0.37000000000011823 ];
-    smiData.RigidTransform(124).angle = 4.2751696074231806E-16;
-    smiData.RigidTransform(124).axis = [0.99729063179040955 0.07356218962949336 1.5681938294128067E-17];
+    smiData.RigidTransform(124).translation = [0 0 -0.37000000000011823];
+    smiData.RigidTransform(124).angle = 0;
+    smiData.RigidTransform(124).axis = [0.99729063179040955 0.07356218962949336 0];
     smiData.RigidTransform(124).ID = 'F[Bati_Correcteur_Axe_SansCapteur2-1:-:Axe_Correcteur_Axe-2]';
-    smiData.RigidTransform(125).translation = [-13.000000000000011 104.22000000000003 110.49999999999882];
+    smiData.RigidTransform(125).translation = [-13 104.22000000000003 110.5];
     smiData.RigidTransform(125).angle = 2.0943951023931953;
     smiData.RigidTransform(125).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
     smiData.RigidTransform(125).ID = 'B[Guide_Translation1-1:-:Plateau_Translation-1]';
-    smiData.RigidTransform(126).translation = [-447.99999999999983 1.0000000000104825 413.00000000000006];
+    smiData.RigidTransform(126).translation = [-448 1 413];
     smiData.RigidTransform(126).angle = 2.0943951023931957;
     smiData.RigidTransform(126).axis = [-0.57735026918962562 -0.577350269189626 -0.577350269189626];
     smiData.RigidTransform(126).ID = 'F[Guide_Translation1-1:-:Plateau_Translation-1]';
-    smiData.RigidTransform(127).translation = [-54.999999999999993 104.22000000000003 -110.50000000000115];
+    smiData.RigidTransform(127).translation = [-55 104.22000000000003 -110.50000000000115];
     smiData.RigidTransform(127).angle = 2.0943951023931953;
     smiData.RigidTransform(127).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
     smiData.RigidTransform(127).ID = 'B[Guide_Translation2-1:-:Plateau_Translation-1]';
-    smiData.RigidTransform(128).translation = [489.999999999999 1.0000000000002978 412.99999999999983];
+    smiData.RigidTransform(128).translation = [490 1 413];
     smiData.RigidTransform(128).angle = 2.0943951023931953;
     smiData.RigidTransform(128).axis = [-0.57735026918962606 0.57735026918962551 0.57735026918962562];
     smiData.RigidTransform(128).ID = 'F[Guide_Translation2-1:-:Plateau_Translation-1]';
-    smiData.RigidTransform(129).translation = [-54.999999999999993 104.22000000000001 110.49999999999882];
+    smiData.RigidTransform(129).translation = [-55 104.22000000000001 110.5];
     smiData.RigidTransform(129).angle = 2.0943951023931953;
     smiData.RigidTransform(129).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
     smiData.RigidTransform(129).ID = 'B[Guide_Translation12-1:-:Plateau_Translation-1]';
-    smiData.RigidTransform(130).translation = [489.99999999999937 1.000000000000042 -413.00000000000017];
+    smiData.RigidTransform(130).translation = [490 1 -413];
     smiData.RigidTransform(130).angle = 2.0943951023931953;
     smiData.RigidTransform(130).axis = [-0.57735026918962606 0.57735026918962551 0.57735026918962562];
     smiData.RigidTransform(130).ID = 'F[Guide_Translation12-1:-:Plateau_Translation-1]';
-    smiData.RigidTransform(131).translation = [-13.000000000000011 104.22000000000006 -110.50000000000115];
+    smiData.RigidTransform(131).translation = [-13 104.22000000000006 -110.50000000000115];
     smiData.RigidTransform(131).angle = 2.0943951023931953;
     smiData.RigidTransform(131).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
     smiData.RigidTransform(131).ID = 'B[Guide_Translation22-1:-:Plateau_Translation-1]';
-    smiData.RigidTransform(132).translation = [-447.99999999999983 0.99999999999990963 -412.99999999999994];
+    smiData.RigidTransform(132).translation = [-448 1 -413];
     smiData.RigidTransform(132).angle = 2.0943951023931948;
     smiData.RigidTransform(132).axis = [-0.57735026918962618 -0.57735026918962562 -0.57735026918962551];
     smiData.RigidTransform(132).ID = 'F[Guide_Translation22-1:-:Plateau_Translation-1]';
-    smiData.RigidTransform(133).translation = [-382.48474072884216 66.583510192867536 -452.99999999999994];
+    smiData.RigidTransform(133).translation = [-382.48474072884216 66.583510192867536 -453];
     smiData.RigidTransform(133).angle = 3.1415926535897931;
     smiData.RigidTransform(133).axis = [1 0 0];
     smiData.RigidTransform(133).ID = 'B[Plateau_Translation-1:-:Guide_Tilt-1]';
-    smiData.RigidTransform(134).translation = [-29.000000000000256 134.50000000000006 -41.000000000000284];
+    smiData.RigidTransform(134).translation = [-29 134.50000000000006 -41];
     smiData.RigidTransform(134).angle = 1.6563819867311662;
     smiData.RigidTransform(134).axis = [-0.91787842097906314 -0.28062359514212426 -0.28062359514212443];
     smiData.RigidTransform(134).ID = 'F[Plateau_Translation-1:-:Guide_Tilt-1]';
@@ -544,7 +544,7 @@ function [smiData] = initializeSmiData()
     smiData.RigidTransform(135).angle = 3.1415926535897931;
     smiData.RigidTransform(135).axis = [1 0 0];
     smiData.RigidTransform(135).ID = 'B[Plateau_Translation-1:-:Guide_Tilt-2]';
-    smiData.RigidTransform(136).translation = [-29.00000000000022 134.49999999999997 -40.999999999999943];
+    smiData.RigidTransform(136).translation = [-29 134.5 -41];
     smiData.RigidTransform(136).angle = 1.6563819867311662;
     smiData.RigidTransform(136).axis = [-0.91787842097906314 0.28062359514212437 0.28062359514212409];
     smiData.RigidTransform(136).ID = 'F[Plateau_Translation-1:-:Guide_Tilt-2]';
@@ -552,135 +552,135 @@ function [smiData] = initializeSmiData()
     smiData.RigidTransform(137).angle = 0;
     smiData.RigidTransform(137).axis = [0 0 0];
     smiData.RigidTransform(137).ID = 'B[Plateau_Translation-1:-:Guide_Tilt-3]';
-    smiData.RigidTransform(138).translation = [28.999999999999982 35.044155877284282 41.000000000000171];
+    smiData.RigidTransform(138).translation = [29 35.044155877284282 41];
     smiData.RigidTransform(138).angle = 2.725113120528853;
     smiData.RigidTransform(138).axis = [-0.21130293228099567 0.69114074934468051 0.69114074934468051];
     smiData.RigidTransform(138).ID = 'F[Plateau_Translation-1:-:Guide_Tilt-3]';
-    smiData.RigidTransform(139).translation = [28.999999999999972 91.597911607545825 41.000000000000036];
+    smiData.RigidTransform(139).translation = [29 91.597911607545825 41];
     smiData.RigidTransform(139).angle = 2.0943951023931953;
     smiData.RigidTransform(139).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
     smiData.RigidTransform(139).ID = 'B[Guide_Tilt-4:-:Plateau_Translation-1]';
     smiData.RigidTransform(140).translation = [-336.63092264424097 134.5645911423814 410.09791160754583];
     smiData.RigidTransform(140).angle = 0.97738438111683068;
-    smiData.RigidTransform(140).axis = [9.82936149365464E-18 5.3744126631558217E-17 1];
+    smiData.RigidTransform(140).axis = [0 0 1];
     smiData.RigidTransform(140).ID = 'F[Guide_Tilt-4:-:Plateau_Translation-1]';
-    smiData.RigidTransform(141).translation = [264.99999999999523 0 438.00000000000239];
+    smiData.RigidTransform(141).translation = [265 0 438];
     smiData.RigidTransform(141).angle = 2.0943951023931957;
     smiData.RigidTransform(141).axis = [0.57735026918962584 -0.57735026918962573 0.57735026918962573];
     smiData.RigidTransform(141).ID = 'B[Plateau_Translation-1:-:Moteur_Translation_Plateau-1]';
-    smiData.RigidTransform(142).translation = [264.99999999999989 -4.9999999999999716 -142.49999999999994];
+    smiData.RigidTransform(142).translation = [265 -5 -142.5];
     smiData.RigidTransform(142).angle = 2.0943951023931957;
     smiData.RigidTransform(142).axis = [0.57735026918962584 -0.57735026918962573 0.57735026918962573];
     smiData.RigidTransform(142).ID = 'F[Plateau_Translation-1:-:Moteur_Translation_Plateau-1]';
-    smiData.RigidTransform(143).translation = [20 122.36970769944681 -480.99999999999994];
+    smiData.RigidTransform(143).translation = [20 122.36970769944681 -481];
     smiData.RigidTransform(143).angle = 2.0943951023931953;
     smiData.RigidTransform(143).axis = [-0.57735026918962562 -0.577350269189626 -0.57735026918962584];
     smiData.RigidTransform(143).ID = 'B[Plateau_Translation-1:-:Moteur_Tilt_Bati-1]';
-    smiData.RigidTransform(144).translation = [-19.999999999999744 166.83970769944668 -42.5];
+    smiData.RigidTransform(144).translation = [-20 166.83970769944668 -42.5];
     smiData.RigidTransform(144).angle = 2.0943951023931957;
     smiData.RigidTransform(144).axis = [-0.57735026918962551 0.577350269189626 0.57735026918962573];
     smiData.RigidTransform(144).ID = 'F[Plateau_Translation-1:-:Moteur_Tilt_Bati-1]';
-    smiData.RigidTransform(145).translation = [505.00000000000011 155.00000000000006 -387];
+    smiData.RigidTransform(145).translation = [505 155 -387];
     smiData.RigidTransform(145).angle = 2.0943951023931953;
     smiData.RigidTransform(145).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
     smiData.RigidTransform(145).ID = 'B[Plateau_Translation-1:-:Plateau_Tilt-1]';
-    smiData.RigidTransform(146).translation = [-387.00000000000205 -426.78000000000071 -505.00000000000068];
+    smiData.RigidTransform(146).translation = [-387 -426.78000000000071 -505];
     smiData.RigidTransform(146).angle = 1.570796326794897;
-    smiData.RigidTransform(146).axis = [-1 -8.5761903038646848E-16 -7.0654160640769866E-16 ];
+    smiData.RigidTransform(146).axis = [-1 0 0];
     smiData.RigidTransform(146).ID = 'F[Plateau_Translation-1:-:Plateau_Tilt-1]';
     smiData.RigidTransform(147).translation = [0 0 0];
     smiData.RigidTransform(147).angle = 2.0943951023931953;
     smiData.RigidTransform(147).axis = [0.57735026918962584 -0.57735026918962584 0.57735026918962584];
     smiData.RigidTransform(147).ID = 'B[Attache_Granite-1:-:Granite-1]';
-    smiData.RigidTransform(148).translation = [-1204.9999999999995 150 50.000000000000156];
+    smiData.RigidTransform(148).translation = [-1205 150 50];
     smiData.RigidTransform(148).angle = 2.0943951023931953;
     smiData.RigidTransform(148).axis = [0.57735026918962584 0.57735026918962584 -0.57735026918962584];
     smiData.RigidTransform(148).ID = 'F[Attache_Granite-1:-:Granite-1]';
-    smiData.RigidTransform(149).translation = [0 0 10.000000000000009];
+    smiData.RigidTransform(149).translation = [0 0 10];
     smiData.RigidTransform(149).angle = 3.1415926535897931;
     smiData.RigidTransform(149).axis = [1 0 0];
     smiData.RigidTransform(149).ID = 'B[Nacelle_Nano_Support-1:-:Support_Sample-1]';
-    smiData.RigidTransform(150).translation = [2.6203672327911158E-15 6.0577997592227654E-31 4.83139433604562E-16];
+    smiData.RigidTransform(150).translation = [0 0 0];
     smiData.RigidTransform(150).angle = 2.0943951023931953;
     smiData.RigidTransform(150).axis = [0.57735026918962584 -0.57735026918962584 0.57735026918962584];
     smiData.RigidTransform(150).ID = 'F[Nacelle_Nano_Support-1:-:Support_Sample-1]';
-    smiData.RigidTransform(151).translation = [0 0 99.999999999999986];
+    smiData.RigidTransform(151).translation = [0 0 100];
     smiData.RigidTransform(151).angle = 3.1415926535897931;
-    smiData.RigidTransform(151).axis = [1 0 -5.5511151231257815E-17];
+    smiData.RigidTransform(151).axis = [1 0 0];
     smiData.RigidTransform(151).ID = 'B[BrasBas_Nano-1:-:BrasHaut_Nano-1]';
-    smiData.RigidTransform(152).translation = [4.837019673686882E-12 -9.5567997959733475E-13 -35.67904335713223];
-    smiData.RigidTransform(152).angle = 3.72380122987091E-16;
-    smiData.RigidTransform(152).axis = [0.97557447028508482 0.21966896214070905 3.9901169066640088E-17];
+    smiData.RigidTransform(152).translation = [0 0 -35.67904335713223];
+    smiData.RigidTransform(152).angle = 0;
+    smiData.RigidTransform(152).axis = [0.97557447028508482 0.21966896214070905 0];
     smiData.RigidTransform(152).ID = 'F[BrasBas_Nano-1:-:BrasHaut_Nano-1]';
-    smiData.RigidTransform(153).translation = [0 0 100.00000000000006];
+    smiData.RigidTransform(153).translation = [0 0 100];
     smiData.RigidTransform(153).angle = 0;
     smiData.RigidTransform(153).axis = [0 0 0];
     smiData.RigidTransform(153).ID = 'B[BrasHaut_Nano-1:-:Nacelle_Nano_Support-1]';
-    smiData.RigidTransform(154).translation = [-118.23086729810564 78.647708281552809 -9.00000000000172];
+    smiData.RigidTransform(154).translation = [-118.23086729810564 78.647708281552809 -9];
     smiData.RigidTransform(154).angle = 0;
     smiData.RigidTransform(154).axis = [0 0 0];
     smiData.RigidTransform(154).ID = 'F[BrasHaut_Nano-1:-:Nacelle_Nano_Support-1]';
-    smiData.RigidTransform(155).translation = [0 1.1102230246251565E-13 99.999999999999972];
+    smiData.RigidTransform(155).translation = [0 0 100];
     smiData.RigidTransform(155).angle = 3.1415926535897931;
-    smiData.RigidTransform(155).axis = [1 0 5.5511151231257827E-17];
+    smiData.RigidTransform(155).axis = [1 0 0];
     smiData.RigidTransform(155).ID = 'B[BrasBas_Nano-2:-:BrasHaut_Nano-2]';
-    smiData.RigidTransform(156).translation = [1.5667467323510209E-12 -3.9772629634171608E-12 -35.679043357134063];
-    smiData.RigidTransform(156).angle = 5.1851694305630772E-16;
-    smiData.RigidTransform(156).axis = [0.81561406722614171 -0.57859631293573821 -1.2234700028038765E-16];
+    smiData.RigidTransform(156).translation = [0 0 -35.679043357134063];
+    smiData.RigidTransform(156).angle = 0;
+    smiData.RigidTransform(156).axis = [0.81561406722614171 -0.57859631293573821 0];
     smiData.RigidTransform(156).ID = 'F[BrasBas_Nano-2:-:BrasHaut_Nano-2]';
-    smiData.RigidTransform(157).translation = [1.1102230246251565E-13 0 99.999999999999943];
+    smiData.RigidTransform(157).translation = [0 0 100];
     smiData.RigidTransform(157).angle = 0;
     smiData.RigidTransform(157).axis = [0 0 0];
     smiData.RigidTransform(157).ID = 'B[BrasHaut_Nano-2:-:Nacelle_Nano_Support-1]';
-    smiData.RigidTransform(158).translation = [118.23086729810234 78.647708281528509 -8.99999999999801];
+    smiData.RigidTransform(158).translation = [118.23086729810234 78.647708281528509 -9];
     smiData.RigidTransform(158).angle = 0;
     smiData.RigidTransform(158).axis = [0 0 0];
     smiData.RigidTransform(158).ID = 'F[BrasHaut_Nano-2:-:Nacelle_Nano_Support-1]';
-    smiData.RigidTransform(159).translation = [0 -1.1102230246251565E-13 100];
+    smiData.RigidTransform(159).translation = [0 0 100];
     smiData.RigidTransform(159).angle = 3.1415926535897931;
     smiData.RigidTransform(159).axis = [1 0 0];
     smiData.RigidTransform(159).ID = 'B[BrasBas_Nano-3:-:BrasHaut_Nano-3]';
-    smiData.RigidTransform(160).translation = [4.6682657739438582E-12 -3.836930773104541E-13 -35.682815958309817];
-    smiData.RigidTransform(160).angle = 5.77722822261946E-16;
-    smiData.RigidTransform(160).axis = [0.79882551150573378 0.60156279985351735 1.3881053455502179E-16];
+    smiData.RigidTransform(160).translation = [0 0 -35.682815958309817];
+    smiData.RigidTransform(160).angle = 0;
+    smiData.RigidTransform(160).axis = [0.79882551150573378 0.60156279985351735 0];
     smiData.RigidTransform(160).ID = 'F[BrasBas_Nano-3:-:BrasHaut_Nano-3]';
-    smiData.RigidTransform(161).translation = [0 1.1102230246251565E-13 99.999999999999972];
+    smiData.RigidTransform(161).translation = [0 0 100];
     smiData.RigidTransform(161).angle = 0;
     smiData.RigidTransform(161).axis = [0 0 0];
     smiData.RigidTransform(161).ID = 'B[BrasHaut_Nano-3:-:Nacelle_Nano_Support-1]';
-    smiData.RigidTransform(162).translation = [127.22634697030583 63.067080450851307 -9.0000000000025864];
+    smiData.RigidTransform(162).translation = [127.22634697030583 63.067080450851307 -9];
     smiData.RigidTransform(162).angle = 0;
     smiData.RigidTransform(162).axis = [0 0 0];
     smiData.RigidTransform(162).ID = 'F[BrasHaut_Nano-3:-:Nacelle_Nano_Support-1]';
-    smiData.RigidTransform(163).translation = [0 0 99.999999999999972];
+    smiData.RigidTransform(163).translation = [0 0 100];
     smiData.RigidTransform(163).angle = 3.1415926535897931;
     smiData.RigidTransform(163).axis = [1 0 0];
     smiData.RigidTransform(163).ID = 'B[BrasBas_Nano-4:-:BrasHaut_Nano-4]';
-    smiData.RigidTransform(164).translation = [4.957811938766099E-12 -7.2830630415410269E-13 -35.679043357133281];
-    smiData.RigidTransform(164).angle = 3.8449960945677141E-16;
-    smiData.RigidTransform(164).axis = [0.022033680026024842 0.99975722900337693 4.2349423116267633E-18];
+    smiData.RigidTransform(164).translation = [0 0 -35.679043357133281];
+    smiData.RigidTransform(164).angle = 0;
+    smiData.RigidTransform(164).axis = [0.022033680026024842 0.99975722900337693 0];
     smiData.RigidTransform(164).ID = 'F[BrasBas_Nano-4:-:BrasHaut_Nano-4]';
-    smiData.RigidTransform(165).translation = [0 -1.1102230246251565E-13 99.999999999999972];
+    smiData.RigidTransform(165).translation = [0 0 100];
     smiData.RigidTransform(165).angle = 0;
     smiData.RigidTransform(165).axis = [0 0 0];
     smiData.RigidTransform(165).ID = 'B[BrasHaut_Nano-4:-:Nacelle_Nano_Support-1]';
-    smiData.RigidTransform(166).translation = [8.9999999999888587 -141.71450172794059 -8.9999999999979821];
+    smiData.RigidTransform(166).translation = [9 -141.71450172794059 -9];
     smiData.RigidTransform(166).angle = 0;
     smiData.RigidTransform(166).axis = [0 0 0];
     smiData.RigidTransform(166).ID = 'F[BrasHaut_Nano-4:-:Nacelle_Nano_Support-1]';
-    smiData.RigidTransform(167).translation = [0 0 100.00000000000003];
+    smiData.RigidTransform(167).translation = [0 0 100];
     smiData.RigidTransform(167).angle = 3.1415926535897931;
-    smiData.RigidTransform(167).axis = [1 0 5.5511151231257827E-17];
+    smiData.RigidTransform(167).axis = [1 0 0];
     smiData.RigidTransform(167).ID = 'B[BrasBas_Nano-5:-:BrasHaut_Nano-5]';
-    smiData.RigidTransform(168).translation = [-9.6989083431253675E-13 4.2739145555970026E-12 -35.679043357131079];
-    smiData.RigidTransform(168).angle = 3.554447978966674E-16;
-    smiData.RigidTransform(168).axis = [-0.010381611731126155 0.99994610961684538 -1.8449455116270523E-18];
+    smiData.RigidTransform(168).translation = [0 0 -35.679043357131079];
+    smiData.RigidTransform(168).angle = 0;
+    smiData.RigidTransform(168).axis = [-0.010381611731126155 0.99994610961684538 0];
     smiData.RigidTransform(168).ID = 'F[BrasBas_Nano-5:-:BrasHaut_Nano-5]';
     smiData.RigidTransform(169).translation = [0 0 100];
     smiData.RigidTransform(169).angle = 0;
     smiData.RigidTransform(169).axis = [0 0 0];
     smiData.RigidTransform(169).ID = 'B[BrasHaut_Nano-5:-:Nacelle_Nano_Support-1]';
-    smiData.RigidTransform(170).translation = [-9.0000000000137561 -141.71450172795181 -9.00000000000059];
+    smiData.RigidTransform(170).translation = [-9 -141.71450172795181 -9];
     smiData.RigidTransform(170).angle = 0;
     smiData.RigidTransform(170).axis = [0 0 0];
     smiData.RigidTransform(170).ID = 'F[BrasHaut_Nano-5:-:Nacelle_Nano_Support-1]';
@@ -688,15 +688,15 @@ function [smiData] = initializeSmiData()
     smiData.RigidTransform(171).angle = 3.1415926535897931;
     smiData.RigidTransform(171).axis = [1 0 0];
     smiData.RigidTransform(171).ID = 'B[BrasBas_Nano-6:-:BrasHaut_Nano-6]';
-    smiData.RigidTransform(172).translation = [-3.2898128665692639E-12 -2.808420163091796E-12 -35.68281595831197];
-    smiData.RigidTransform(172).angle = 2.63883316167868E-16;
-    smiData.RigidTransform(172).axis = [-0.96869472342230434 -0.24825497540590319 3.1729763329938747E-17];
+    smiData.RigidTransform(172).translation = [0 0 -35.68281595831197];
+    smiData.RigidTransform(172).angle = 0;
+    smiData.RigidTransform(172).axis = [-0.96869472342230434 -0.24825497540590319 0];
     smiData.RigidTransform(172).ID = 'F[BrasBas_Nano-6:-:BrasHaut_Nano-6]';
     smiData.RigidTransform(173).translation = [0 0 100];
     smiData.RigidTransform(173).angle = 0;
     smiData.RigidTransform(173).axis = [0 0 0];
     smiData.RigidTransform(173).ID = 'B[BrasHaut_Nano-6:-:Nacelle_Nano_Support-1]';
-    smiData.RigidTransform(174).translation = [-127.22634697028316 63.067080450852558 -8.9999999999984084];
+    smiData.RigidTransform(174).translation = [-127.22634697028316 63.067080450852558 -9];
     smiData.RigidTransform(174).angle = 0;
     smiData.RigidTransform(174).axis = [0 0 0];
     smiData.RigidTransform(174).ID = 'F[BrasHaut_Nano-6:-:Nacelle_Nano_Support-1]';
@@ -704,27 +704,27 @@ function [smiData] = initializeSmiData()
     smiData.RigidTransform(175).angle = 0;
     smiData.RigidTransform(175).axis = [0 0 0];
     smiData.RigidTransform(175).ID = 'AssemblyGround[Base_Nano_Support-1:Base-1]';
-    smiData.RigidTransform(176).translation = [127.22634697029426 -63.067080450852451 10.000000000000009];
+    smiData.RigidTransform(176).translation = [127.22634697029426 -63.067080450852451 10];
     smiData.RigidTransform(176).angle = 1.8378055227753536;
     smiData.RigidTransform(176).axis = [0.763196587125926 0.45690861744956074 0.45690861744956146];
     smiData.RigidTransform(176).ID = 'AssemblyGround[Base_Nano_Support-1:SupportBrasBas-3]';
-    smiData.RigidTransform(177).translation = [-127.22634697029417 -63.067080450852451 10.000000000000009];
+    smiData.RigidTransform(177).translation = [-127.22634697029417 -63.067080450852451 10];
     smiData.RigidTransform(177).angle = 1.8673655239825964;
     smiData.RigidTransform(177).axis = [0.74006691344389042 -0.4755528170590696 -0.47555281705906893];
     smiData.RigidTransform(177).ID = 'AssemblyGround[Base_Nano_Support-1:SupportBrasBas-6]';
-    smiData.RigidTransform(178).translation = [-118.23086729810151 -78.647708281543117 10.000000000000009];
+    smiData.RigidTransform(178).translation = [-118.23086729810151 -78.647708281543117 10];
     smiData.RigidTransform(178).angle = 1.8094589106634988;
     smiData.RigidTransform(178).axis = [0.78587220601618524 -0.43726700985282163 -0.4372670098528208];
     smiData.RigidTransform(178).ID = 'AssemblyGround[Base_Nano_Support-1:SupportBrasBas-5]';
-    smiData.RigidTransform(179).translation = [118.23086729810117 -78.647708281543544 10.000000000000009];
+    smiData.RigidTransform(179).translation = [118.23086729810117 -78.647708281543544 10];
     smiData.RigidTransform(179).angle = 1.7823894391576318;
     smiData.RigidTransform(179).axis = [0.8080026722588447 0.41661233876504744 0.41661233876504822];
     smiData.RigidTransform(179).ID = 'AssemblyGround[Base_Nano_Support-1:SupportBrasBas-4]';
-    smiData.RigidTransform(180).translation = [8.9999999999995079 141.714501727946 10.000000000000009];
+    smiData.RigidTransform(180).translation = [9 141.714501727946 10];
     smiData.RigidTransform(180).angle = 1.5710479617908639;
     smiData.RigidTransform(180).axis = [0.999748396658808 -0.015861011603026547 -0.015861011603025481];
     smiData.RigidTransform(180).ID = 'AssemblyGround[Base_Nano_Support-1:SupportBrasBas-2]';
-    smiData.RigidTransform(181).translation = [-8.9999999999991473 141.71450172794601 10.000000000000009];
+    smiData.RigidTransform(181).translation = [-9 141.71450172794601 10];
     smiData.RigidTransform(181).angle = 1.5730564937660574;
     smiData.RigidTransform(181).axis = [0.99774238336305865 0.047487558586451796 0.047487558586452858];
     smiData.RigidTransform(181).ID = 'AssemblyGround[Base_Nano_Support-1:SupportBrasBas-1]';
@@ -732,35 +732,35 @@ function [smiData] = initializeSmiData()
     smiData.RigidTransform(182).angle = 0;
     smiData.RigidTransform(182).axis = [0 0 0];
     smiData.RigidTransform(182).ID = 'AssemblyGround[Base_Micro_Support-1:Base_Micro-1]';
-    smiData.RigidTransform(183).translation = [164.38596921309357 -61.461395411037287 26.000000000000021];
+    smiData.RigidTransform(183).translation = [164.38596921309357 -61.461395411037287 26];
     smiData.RigidTransform(183).angle = 1.9187221125479186;
     smiData.RigidTransform(183).axis = [0.70105739132351041 0.50424127859124845 0.50424127859124845];
     smiData.RigidTransform(183).ID = 'AssemblyGround[Base_Micro_Support-1:Support_BrasBas_Micro-4]';
-    smiData.RigidTransform(184).translation = [-164.38596921309309 -61.461395411038474 25.999999999999996];
+    smiData.RigidTransform(184).translation = [-164.38596921309309 -61.461395411038474 26];
     smiData.RigidTransform(184).angle = 1.884987332363905;
     smiData.RigidTransform(184).axis = [0.72651828092209292 -0.48588640003914851 -0.48588640003914851];
     smiData.RigidTransform(184).ID = 'AssemblyGround[Base_Micro_Support-1:Support_BrasBas_Micro-1]';
-    smiData.RigidTransform(185).translation = [28.965854828548963 173.093123069784 25.999999999999996];
+    smiData.RigidTransform(185).translation = [28.965854828548963 173.093123069784 26];
     smiData.RigidTransform(185).angle = 1.5807504052803671;
     smiData.RigidTransform(185).axis = [0.9900951366239199 -0.099276433340600587 -0.099276433340600476];
     smiData.RigidTransform(185).ID = 'AssemblyGround[Base_Micro_Support-1:Support_BrasBas_Micro-5]';
-    smiData.RigidTransform(186).translation = [-135.42011438454506 -111.63172765874725 25.999999999999996];
+    smiData.RigidTransform(186).translation = [-135.42011438454506 -111.63172765874725 26];
     smiData.RigidTransform(186).angle = 1.7406166941624732;
     smiData.RigidTransform(186).axis = [0.84312290031623427 -0.38022610047335081 -0.3802261004733507];
     smiData.RigidTransform(186).ID = 'AssemblyGround[Base_Micro_Support-1:Support_BrasBas_Micro-2]';
-    smiData.RigidTransform(187).translation = [135.4201143845448 -111.63172765874775 26.000000000000021];
+    smiData.RigidTransform(187).translation = [135.4201143845448 -111.63172765874775 26];
     smiData.RigidTransform(187).angle = 1.7673448712823034;
     smiData.RigidTransform(187).axis = [0.82051228676957966 0.40420266405613592 0.40420266405613603];
     smiData.RigidTransform(187).ID = 'AssemblyGround[Base_Micro_Support-1:Support_BrasBas_Micro-3]';
-    smiData.RigidTransform(188).translation = [-28.9658548285478 173.0931230697843 25.999999999999996];
+    smiData.RigidTransform(188).translation = [-28.9658548285478 173.0931230697843 26];
     smiData.RigidTransform(188).angle = 1.5751290192942153;
     smiData.RigidTransform(188).axis = [0.99567666657461573 0.065680954769481423 0.065680954769481589];
     smiData.RigidTransform(188).ID = 'AssemblyGround[Base_Micro_Support-1:Support_BrasBas_Micro-6]';
-    smiData.RigidTransform(189).translation = [-24.734990422651027 115.37842193751551 26.000000000000021];
+    smiData.RigidTransform(189).translation = [-24.734990422651027 115.37842193751551 26];
     smiData.RigidTransform(189).angle = 2.9284559493353459;
     smiData.RigidTransform(189).axis = [0.10697361888203639 -0.70304930298780655 -0.70304930298780643];
     smiData.RigidTransform(189).ID = 'AssemblyGround[Nacelle_Micro_Support-1:Support_BrasHaut_Micro-3]';
-    smiData.RigidTransform(190).translation = [24.734990422651027 115.37842193751551 26.000000000000021];
+    smiData.RigidTransform(190).translation = [24.734990422651027 115.37842193751551 26];
     smiData.RigidTransform(190).angle = 1.5934260308391226;
     smiData.RigidTransform(190).axis = [0.977622538646766 -0.1487517595355643 -0.1487517595355643];
     smiData.RigidTransform(190).ID = 'AssemblyGround[Nacelle_Micro_Support-1:Support_BrasHaut_Micro-4]';
@@ -768,19 +768,19 @@ function [smiData] = initializeSmiData()
     smiData.RigidTransform(191).angle = 0;
     smiData.RigidTransform(191).axis = [0 0 0];
     smiData.RigidTransform(191).ID = 'AssemblyGround[Nacelle_Micro_Support-1:Nacelle_Micro-1]';
-    smiData.RigidTransform(192).translation = [-112.28813965777375 -36.268080900376866 26.000000000000021];
+    smiData.RigidTransform(192).translation = [-112.28813965777375 -36.268080900376866 26];
     smiData.RigidTransform(192).angle = 1.8794814438297855;
     smiData.RigidTransform(192).axis = [0.73073274834527857 -0.48271609176396629 -0.4827160917639664];
     smiData.RigidTransform(192).ID = 'AssemblyGround[Nacelle_Micro_Support-1:Support_BrasHaut_Micro-1]';
-    smiData.RigidTransform(193).translation = [-87.5531492351234 -79.110341037137516 26.000000000000021];
+    smiData.RigidTransform(193).translation = [-87.5531492351234 -79.110341037137516 26];
     smiData.RigidTransform(193).angle = 1.7037114043966617;
     smiData.RigidTransform(193).axis = [0.87519534113058439 -0.3420768297205467 -0.3420768297205467];
     smiData.RigidTransform(193).ID = 'AssemblyGround[Nacelle_Micro_Support-1:Support_BrasHaut_Micro-2]';
-    smiData.RigidTransform(194).translation = [87.553149235123513 -79.110341037137516 26.000000000000021];
+    smiData.RigidTransform(194).translation = [87.553149235123513 -79.110341037137516 26];
     smiData.RigidTransform(194).angle = 1.7719622344152652;
     smiData.RigidTransform(194).axis = [0.81665660444727739 0.40808821988183075 0.40808821988183086];
     smiData.RigidTransform(194).ID = 'AssemblyGround[Nacelle_Micro_Support-1:Support_BrasHaut_Micro-6]';
-    smiData.RigidTransform(195).translation = [112.28813965777357 -36.268080900377647 26.000000000000021];
+    smiData.RigidTransform(195).translation = [112.28813965777357 -36.268080900377647 26];
     smiData.RigidTransform(195).angle = 1.9715405452964176;
     smiData.RigidTransform(195).axis = [0.66237570858101358 0.52974447646096323 0.52974447646096323];
     smiData.RigidTransform(195).ID = 'AssemblyGround[Nacelle_Micro_Support-1:Support_BrasHaut_Micro-5]';
@@ -804,11 +804,11 @@ function [smiData] = initializeSmiData()
     smiData.RigidTransform(200).angle = 1.8644310793620114;
     smiData.RigidTransform(200).axis = [-0.74234020206476869 -0.47377791442744482 0.47377791442744482];
     smiData.RigidTransform(200).ID = 'AssemblyGround[Nacelle_Nano_Support-1:SupportBrasHaut-6]';
-    smiData.RigidTransform(201).translation = [9.0000000000005347 -141.71450172794593 0];
+    smiData.RigidTransform(201).translation = [9 -141.71450172794593 0];
     smiData.RigidTransform(201).angle = 3.078715688967006;
     smiData.RigidTransform(201).axis = [-0.031448844111168807 0.70675701984630868 -0.70675701984630879];
     smiData.RigidTransform(201).ID = 'AssemblyGround[Nacelle_Nano_Support-1:SupportBrasHaut-4]';
-    smiData.RigidTransform(202).translation = [-8.9999999999994742 -141.71450172794601 0];
+    smiData.RigidTransform(202).translation = [-9 -141.71450172794601 0];
     smiData.RigidTransform(202).angle = 1.5727724332459803;
     smiData.RigidTransform(202).axis = [-0.99802584347821255 0.044409547113218976 -0.044409547113218983];
     smiData.RigidTransform(202).ID = 'AssemblyGround[Nacelle_Nano_Support-1:SupportBrasHaut-5]';
@@ -820,106 +820,106 @@ function [smiData] = initializeSmiData()
     %% Solids
     smiData.Solid = struct;
     smiData.Solid(1).mass = 17.407732322791883;
-    smiData.Solid(1).CoM = [0.015718974415195226 35.000106662086104 0.66628765693154646 ];
-    smiData.Solid(1).MoI = [74518.954605887164 165222.36906531572 139603.38151958794 ];
-    smiData.Solid(1).PoI = [-1518.3614460506017 -7.2374554620627034 -309.89153404714762 ];
-    smiData.Solid(1).color = [0.792156862745098 0.81960784313725488 0.93333333333333335 ];
+    smiData.Solid(1).CoM = [0.015718974415195226 35.000106662086104 0.66628765693154646];
+    smiData.Solid(1).MoI = [74518.954605887164 165222.36906531572 139603.38151958794];
+    smiData.Solid(1).PoI = [-1518.3614460506017 -7.2374554620627034 -309.89153404714762];
+    smiData.Solid(1).color = [0.792156862745098 0.81960784313725488 0.93333333333333335];
     smiData.Solid(1).opacity = 1;
     smiData.Solid(1).ID = 'Moteur_Translation_Attache*:*Un';
     smiData.Solid(2).mass = 15.43418416106894;
     smiData.Solid(2).CoM = [0 7.48333189807615 -86.332571976971607];
-    smiData.Solid(2).MoI = [2.2709374659793619E+6 4.2263019787784433E+6 1.9559436634416454E+6 ];
+    smiData.Solid(2).MoI = [2.2709374659793619E+6 4.2263019787784433E+6 1.9559436634416454E+6];
     smiData.Solid(2).PoI = [-17.5333372137901 0 0];
     smiData.Solid(2).color = [0.75294117647058822 1 0.75294117647058822];
     smiData.Solid(2).opacity = 1;
     smiData.Solid(2).ID = 'Attache_Granite*:*Un';
     smiData.Solid(3).mass = 76.23534630428415;
-    smiData.Solid(3).CoM = [-6.7649065519793163 -12.146139105262785 -1.4104679905522566E-8 ];
-    smiData.Solid(3).MoI = [9.4039834963181838E+6 9.4034579744764678E+6 232263.26039287818 ];
+    smiData.Solid(3).CoM = [-6.7649065519793163 -12.146139105262785 -1.4104679905522566E-8];
+    smiData.Solid(3).MoI = [9.4039834963181838E+6 9.4034579744764678E+6 232263.26039287818];
     smiData.Solid(3).PoI = [-0.00015334858811380178 -0.00027172084966439487 -3553.386294247427];
-    smiData.Solid(3).color = [0.792156862745098 0.81960784313725488 0.93333333333333335 ];
+    smiData.Solid(3).color = [0.792156862745098 0.81960784313725488 0.93333333333333335];
     smiData.Solid(3).opacity = 1;
     smiData.Solid(3).ID = 'Guide_Translation_Attache_Granite*:*Un';
     smiData.Solid(4).mass = 8.3613735231187114;
-    smiData.Solid(4).CoM = [19.1409856316717 11.907994144196662 11.821533174094323 ];
-    smiData.Solid(4).MoI = [53852.677261917212 56839.401066359722 55772.228960332352 ];
-    smiData.Solid(4).PoI = [-3256.0421853479766 -4924.8108766115784 -1320.0442429257519 ];
-    smiData.Solid(4).color = [0.792156862745098 0.81960784313725488 0.93333333333333335 ];
+    smiData.Solid(4).CoM = [19.1409856316717 11.907994144196662 11.821533174094323];
+    smiData.Solid(4).MoI = [53852.677261917212 56839.401066359722 55772.228960332352];
+    smiData.Solid(4).PoI = [-3256.0421853479766 -4924.8108766115784 -1320.0442429257519];
+    smiData.Solid(4).color = [0.792156862745098 0.81960784313725488 0.93333333333333335];
     smiData.Solid(4).opacity = 1;
     smiData.Solid(4).ID = 'Guide_Translation12*:*Un';
     smiData.Solid(5).mass = 2089.6423298726722;
-    smiData.Solid(5).CoM = [-1262.1362320261123 166.83481482169643 283.94436066735034 ];
-    smiData.Solid(5).MoI = [4.4293752699394375E+8 1.4897500474254062E+9 1.0787685713442078E+9 ];
-    smiData.Solid(5).PoI = [-1.0384930339000512E+7 -9.05650787960871E+6 1.0674347902802757E+6 ];
+    smiData.Solid(5).CoM = [-1262.1362320261123 166.83481482169643 283.94436066735034];
+    smiData.Solid(5).MoI = [4.4293752699394375E+8 1.4897500474254062E+9 1.0787685713442078E+9];
+    smiData.Solid(5).PoI = [-1.0384930339000512E+7 -9.05650787960871E+6 1.0674347902802757E+6];
     smiData.Solid(5).color = [1 1 1];
     smiData.Solid(5).opacity = 1;
     smiData.Solid(5).ID = 'Granite*:*MONTAGE PALIER A AIR';
     smiData.Solid(6).mass = 8.1829253919450977;
-    smiData.Solid(6).CoM = [16.87989864259038 10.71472380164245 12.617372197409855 ];
-    smiData.Solid(6).MoI = [52969.730978163447 54572.543668756531 53183.634453418505 ];
-    smiData.Solid(6).PoI = [-3631.945563223851 -5630.6059761096 -289.15773342455952 ];
-    smiData.Solid(6).color = [0.792156862745098 0.81960784313725488 0.93333333333333335 ];
+    smiData.Solid(6).CoM = [16.87989864259038 10.71472380164245 12.617372197409855];
+    smiData.Solid(6).MoI = [52969.730978163447 54572.543668756531 53183.634453418505];
+    smiData.Solid(6).PoI = [-3631.945563223851 -5630.6059761096 -289.15773342455952];
+    smiData.Solid(6).color = [0.792156862745098 0.81960784313725488 0.93333333333333335];
     smiData.Solid(6).opacity = 1;
     smiData.Solid(6).ID = 'Guide_Translation1*:*Un';
     smiData.Solid(7).mass = 8.3609058443789515;
-    smiData.Solid(7).CoM = [19.132133721964305 11.892463147403664 -11.823956211824273 ];
-    smiData.Solid(7).MoI = [53839.548367298143 56828.643221751627 55750.099842573487 ];
-    smiData.Solid(7).PoI = [3261.10407978655 4927.7918682396448 -1304.436900584067 ];
-    smiData.Solid(7).color = [0.792156862745098 0.81960784313725488 0.93333333333333335 ];
+    smiData.Solid(7).CoM = [19.132133721964305 11.892463147403664 -11.823956211824273];
+    smiData.Solid(7).MoI = [53839.548367298143 56828.643221751627 55750.099842573487];
+    smiData.Solid(7).PoI = [3261.10407978655 4927.7918682396448 -1304.436900584067];
+    smiData.Solid(7).color = [0.792156862745098 0.81960784313725488 0.93333333333333335];
     smiData.Solid(7).opacity = 1;
     smiData.Solid(7).ID = 'Guide_Translation22*:*Un';
     smiData.Solid(8).mass = 8.1829256494063252;
-    smiData.Solid(8).CoM = [16.879899026528118 10.714722674505232 -12.617370596448877 ];
-    smiData.Solid(8).MoI = [52969.732158808736 54572.544816981281 53183.635918253414 ];
-    smiData.Solid(8).PoI = [3631.9460791272418 5630.60590582175 -289.15762831869131 ];
-    smiData.Solid(8).color = [0.792156862745098 0.81960784313725488 0.93333333333333335 ];
+    smiData.Solid(8).CoM = [16.879899026528118 10.714722674505232 -12.617370596448877];
+    smiData.Solid(8).MoI = [52969.732158808736 54572.544816981281 53183.635918253414];
+    smiData.Solid(8).PoI = [3631.9460791272418 5630.60590582175 -289.15762831869131];
+    smiData.Solid(8).color = [0.792156862745098 0.81960784313725488 0.93333333333333335];
     smiData.Solid(8).opacity = 1;
     smiData.Solid(8).ID = 'Guide_Translation2*:*Un';
     smiData.Solid(9).mass = 123.27304666520648;
-    smiData.Solid(9).CoM = [1.0745153439908003E-8 76.840734640488066 -15.7858927227978 ];
-    smiData.Solid(9).MoI = [1.6258590199632309E+7 3.3998679601297766E+7 1.8290485861220378E+7 ];
-    smiData.Solid(9).PoI = [-40100.293113086067 -18283.832750216414 0.00010977145084025645 ];
-    smiData.Solid(9).color = [0.792156862745098 0.81960784313725488 0.93333333333333335 ];
+    smiData.Solid(9).CoM = [1.0745153439908003E-8 76.840734640488066 -15.7858927227978];
+    smiData.Solid(9).MoI = [1.6258590199632309E+7 3.3998679601297766E+7 1.8290485861220378E+7];
+    smiData.Solid(9).PoI = [-40100.293113086067 -18283.832750216414 0.00010977145084025645];
+    smiData.Solid(9).color = [0.792156862745098 0.81960784313725488 0.93333333333333335];
     smiData.Solid(9).opacity = 1;
     smiData.Solid(9).ID = 'Plateau_Translation*:*Un';
     smiData.Solid(10).mass = 26.05449761481789;
-    smiData.Solid(10).CoM = [-0.095307614034803215 -73.729181325504371 0.060643973360152141 ];
-    smiData.Solid(10).MoI = [542775.78978177439 273763.46024085052 542564.45071286859 ];
-    smiData.Solid(10).PoI = [-98.959191426503438 -1805.6394231119384 -52.852323754654158 ];
-    smiData.Solid(10).color = [0.792156862745098 0.81960784313725488 0.93333333333333335 ];
+    smiData.Solid(10).CoM = [-0.095307614034803215 -73.729181325504371 0.060643973360152141];
+    smiData.Solid(10).MoI = [542775.78978177439 273763.46024085052 542564.45071286859];
+    smiData.Solid(10).PoI = [-98.959191426503438 -1805.6394231119384 -52.852323754654158];
+    smiData.Solid(10).color = [0.792156862745098 0.81960784313725488 0.93333333333333335];
     smiData.Solid(10).opacity = 1;
     smiData.Solid(10).ID = 'Moteur_Spindle*:*Un';
     smiData.Solid(11).mass = 2.2361582977906496;
-    smiData.Solid(11).CoM = [-0.15900593897461887 24.855409113474046 -0.17548810891069858 ];
-    smiData.Solid(11).MoI = [2117.5998025030904 3635.7958018687932 2242.3242214716147 ];
-    smiData.Solid(11).PoI = [-4.1934867272725125 -0.32511744228602696 2.3625270647825505 ];
-    smiData.Solid(11).color = [0.792156862745098 0.81960784313725488 0.93333333333333335 ];
+    smiData.Solid(11).CoM = [-0.15900593897461887 24.855409113474046 -0.17548810891069858];
+    smiData.Solid(11).MoI = [2117.5998025030904 3635.7958018687932 2242.3242214716147];
+    smiData.Solid(11).PoI = [-4.1934867272725125 -0.32511744228602696 2.3625270647825505];
+    smiData.Solid(11).color = [0.792156862745098 0.81960784313725488 0.93333333333333335];
     smiData.Solid(11).opacity = 1;
     smiData.Solid(11).ID = 'Guide_Tilt*:*Un';
     smiData.Solid(12).mass = 18.489788236729925;
-    smiData.Solid(12).CoM = [83.945932907862158 3.5024291372378355E-5 -2.340248362521065E-5 ];
-    smiData.Solid(12).MoI = [918590.42919547844 499096.85122296982 499096.80095398769 ];
-    smiData.Solid(12).PoI = [-0.060680025979102596 -0.055279758468797451 0.082732004208309853 ];
-    smiData.Solid(12).color = [0.792156862745098 0.81960784313725488 0.93333333333333335 ];
+    smiData.Solid(12).CoM = [83.945932907862158 3.5024291372378355E-5 -2.340248362521065E-5];
+    smiData.Solid(12).MoI = [918590.42919547844 499096.85122296982 499096.80095398769];
+    smiData.Solid(12).PoI = [-0.060680025979102596 -0.055279758468797451 0.082732004208309853];
+    smiData.Solid(12).color = [0.792156862745098 0.81960784313725488 0.93333333333333335];
     smiData.Solid(12).opacity = 1;
     smiData.Solid(12).ID = 'Axe_Spindle*:*Un';
     smiData.Solid(13).mass = 5.7334065928013711;
-    smiData.Solid(13).CoM = [0 0 5.0000000000000009];
-    smiData.Solid(13).MoI = [52006.775635535778 52006.775635535763 103917.99449452484 ];
+    smiData.Solid(13).CoM = [0 0 5];
+    smiData.Solid(13).MoI = [52006.775635535778 52006.775635535763 103917.99449452484];
     smiData.Solid(13).PoI = [0 0 0];
-    smiData.Solid(13).color = [0.6470588235294118 0.61960784313725492 0.58823529411764708 ];
+    smiData.Solid(13).color = [0.6470588235294118 0.61960784313725492 0.58823529411764708];
     smiData.Solid(13).opacity = 1;
     smiData.Solid(13).ID = 'Base*:*Défaut';
     smiData.Solid(14).mass = 0.0061079891568644063;
     smiData.Solid(14).CoM = [0 1.9192740926157621 0];
-    smiData.Solid(14).MoI = [0.16309128511388668 0.30532530578461997 0.16309128511388665 ];
+    smiData.Solid(14).MoI = [0.16309128511388668 0.30532530578461997 0.16309128511388665];
     smiData.Solid(14).PoI = [0 0 0];
-    smiData.Solid(14).color = [0.6470588235294118 0.61960784313725492 0.58823529411764708 ];
+    smiData.Solid(14).color = [0.6470588235294118 0.61960784313725492 0.58823529411764708];
     smiData.Solid(14).opacity = 1;
     smiData.Solid(14).ID = 'SupportBrasBas*:*Défaut';
     smiData.Solid(15).mass = 0.056868040158916187;
     smiData.Solid(15).CoM = [0 0 79.389976523577147];
-    smiData.Solid(15).MoI = [49.2365165141254 49.2365165141254 1.6689342352680094 ];
+    smiData.Solid(15).MoI = [49.2365165141254 49.2365165141254 1.6689342352680094];
     smiData.Solid(15).PoI = [0 0 0];
     smiData.Solid(15).color = [0.6470588235294118 0.61960784313725492 0.58823529411764708];
     smiData.Solid(15).opacity = 1;
@@ -946,7 +946,7 @@ function [smiData] = initializeSmiData()
     smiData.Solid(18).opacity = 1;
     smiData.Solid(18).ID = 'Plateau_Tilt*:*un';
     smiData.Solid(19).mass = 18.458415855194378;
-    smiData.Solid(19).CoM = [0 0 13.000000000000002];
+    smiData.Solid(19).CoM = [0 0 13];
     smiData.Solid(19).MoI = [255564.07397144221 255564.07397144227 509048.49975653266];
     smiData.Solid(19).PoI = [0 0 0];
     smiData.Solid(19).color = [0.6470588235294118 0.61960784313725492 0.58823529411764708];
@@ -974,7 +974,7 @@ function [smiData] = initializeSmiData()
     smiData.Solid(22).opacity = 1;
     smiData.Solid(22).ID = 'Support_BrasHaut_Micro*:*Un';
     smiData.Solid(23).mass = 9.4068231304355763;
-    smiData.Solid(23).CoM = [0 0 12.999999999999998];
+    smiData.Solid(23).CoM = [0 0 13];
     smiData.Solid(23).MoI = [69256.1674939768 69256.167493976827 137452.49958192455];
     smiData.Solid(23).PoI = [0 0 0];
     smiData.Solid(23).color = [0.6470588235294118 0.61960784313725492 0.58823529411764708];
@@ -1023,7 +1023,7 @@ function [smiData] = initializeSmiData()
     smiData.Solid(29).opacity = 1;
     smiData.Solid(29).ID = 'HEPCO_RSJ34DE*:*Un';
     smiData.Solid(30).mass = 6.90011207232739;
-    smiData.Solid(30).CoM = [1.0948384390702313E-8 -3.3962123693453816 -1.9754286882626495 ];
+    smiData.Solid(30).CoM = [1.0948384390702313E-8 -3.3962123693453816 -1.9754286882626495];
     smiData.Solid(30).MoI = [8220.4563154645821 23522.651144994408 16476.625269165881];
     smiData.Solid(30).PoI = [-11.548161994462447 -3.0960488486093604E-6 -1.0902039565704146E-6];
     smiData.Solid(30).color = [0.792156862745098 0.81960784313725488 0.93333333333333335];
@@ -1123,17 +1123,17 @@ function [smiData] = initializeSmiData()
     smiData.CylindricalJoint(11).Pz.Pos = 0;
     smiData.CylindricalJoint(11).ID = '[Bati_Spindle-1:-:Base_Micro_Support-1]';
     smiData.CylindricalJoint(12).Rz = struct;
-    smiData.CylindricalJoint(12).Rz.Pos = -33.999999999999581;
+    smiData.CylindricalJoint(12).Rz.Pos = -34;
     smiData.CylindricalJoint(12).Pz = struct;
     smiData.CylindricalJoint(12).Pz.Pos = 0;
     smiData.CylindricalJoint(12).ID = '[Guide_Tilt-1:-:Plateau_Tilt-1]';
     smiData.CylindricalJoint(13).Rz = struct;
-    smiData.CylindricalJoint(13).Rz.Pos = -33.999999999999609;
+    smiData.CylindricalJoint(13).Rz.Pos = -34;
     smiData.CylindricalJoint(13).Pz = struct;
     smiData.CylindricalJoint(13).Pz.Pos = 0;
     smiData.CylindricalJoint(13).ID = '[Guide_Tilt-3:-:Plateau_Tilt-1]';
     smiData.CylindricalJoint(14).Rz = struct;
-    smiData.CylindricalJoint(14).Rz.Pos = 33.999999999999652;
+    smiData.CylindricalJoint(14).Rz.Pos = 34;
     smiData.CylindricalJoint(14).Pz = struct;
     smiData.CylindricalJoint(14).Pz.Pos = 0;
     smiData.CylindricalJoint(14).ID = '[Guide_Tilt-4:-:Plateau_Tilt-1]';
@@ -1219,7 +1219,7 @@ function [smiData] = initializeSmiData()
     smiData.RevoluteJoint(1).Rz.Pos = 70.822674296064847;
     smiData.RevoluteJoint(1).ID = '[Correcteur_Axe-1:-:Base_Nano_Support-1]';
     smiData.RevoluteJoint(2).Rz = struct;
-    smiData.RevoluteJoint(2).Rz.Pos = 33.999999999999538;
+    smiData.RevoluteJoint(2).Rz.Pos = 34;
     smiData.RevoluteJoint(2).ID = '[Guide_Tilt-2:-:Plateau_Tilt-1]';
     smiData.RevoluteJoint(3).Rz = struct;
     smiData.RevoluteJoint(3).Rz.Pos = -115.84060214940222;
diff --git a/main.m b/main.m
index 6fb3088..e68416d 100644
--- a/main.m
+++ b/main.m
@@ -5,10 +5,10 @@ clear; close all; clc;
 simulinkproject('./');
 
 %% Initialization
-% Initialize all the stages parameters
-run init_data.m
-
 % Initialize the perturbations
 run init_perturbations.m
 
+% Initialize all the stages parameters
+run init_data.m
+
 %%