diff --git a/.SimulinkProject/Root.type.ProjectPath/394b5507-3405-4742-9ff1-cb1569440644.type.Reference.xml b/.SimulinkProject/Root.type.ProjectPath/394b5507-3405-4742-9ff1-cb1569440644.type.Reference.xml
new file mode 100644
index 0000000..ed9bd4b
--- /dev/null
+++ b/.SimulinkProject/Root.type.ProjectPath/394b5507-3405-4742-9ff1-cb1569440644.type.Reference.xml
@@ -0,0 +1,2 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<Info Ref="stewart-simscape/src" Type="Relative" />
\ No newline at end of file
diff --git a/Assemblage.slx b/Assemblage.slx
index 7de6f4f..3676e33 100644
Binary files a/Assemblage.slx and b/Assemblage.slx differ
diff --git a/Sample.m b/Sample.m
deleted file mode 100644
index 57ccbc1..0000000
--- a/Sample.m
+++ /dev/null
@@ -1,7 +0,0 @@
-%% Sample Design
-rs = 0.1 ; % (m) sample radius
-ls = 0.33007; % (m) sample lenght
-ms  = 50 ; % (kg) sample mass
-
-%% Sample position 
-raddec =0 ; % (m) decentralization radius 
diff --git a/Data.m b/init_data.m
similarity index 80%
rename from Data.m
rename to init_data.m
index d8c4462..778d640 100644
--- a/Data.m
+++ b/init_data.m
@@ -1,12 +1,13 @@
+clear; close all; clc;
+
 %%
-run Assemblage_DataFile.m
-run Sample.m
+run init_solidworks_data.m
 
 %% Solver Configuration
 Ts   = 1e-4; % Sampling time [s]
 Tsim = 1;    % Simulation time [s]
 
-%% Gravity 
+%% Gravity
 g = 0 ; % Gravity along the z axis [m/s^2]
 
 %% Ground
@@ -29,7 +30,7 @@ ty = struct();
 ty.m = smiData.Solid(4).mass+smiData.Solid(6).mass+smiData.Solid(7).mass+smiData.Solid(8).mass+smiData.Solid(9).mass+4*smiData.Solid(11).mass+smiData.Solid(24).mass+smiData.Solid(25).mass+smiData.Solid(28).mass;
 
 ty.k.ax   = 1e7/4; % Axial Stiffness for each of the 4 guidance (y) [N/m]
-ty.k.rad  = 9e9/4; % Radial Stiffness for each of the 4 guidance (x-z) [N/m] 
+ty.k.rad  = 9e9/4; % Radial Stiffness for each of the 4 guidance (x-z) [N/m]
 
 ty.ksi.ax   = 10;
 ty.ksi.rad  = 10;
@@ -72,14 +73,9 @@ rz.ksi.rot  = 1;
 rz = updateDamping(rz);
 
 %% Hexapod Symétrie
-% TODO - is now defined by the stewart-simscape project
-hexapod = struct();
-
-hexapod.m      = smiData.Solid(16).mass;
-hexapod.k.ax   = (138e6/6)*1.2; % Leg stiffness [N/m]
-hexapod.ksi.ax = 10;
-
-hexapod = updateDamping(hexapod);
+run stewart-simscape\params_micro_hexapod.m;
+micro_hexapod = stewart;
+clear stewart;
 
 %% Center of gravity compensation
 axisc = struct();
@@ -91,14 +87,18 @@ axisc.ksi.ax = 1;
 axisc = updateDamping(axisc);
 
 %% NASS
-% TODO - is now defined by the stewart-simscape project
-nass = struct();
+run stewart-simscape\params_micro_hexapod.m;
+nano_hexapod = stewart;
+clear stewart;
 
-nass.m      = smiData.Solid(27).mass;
-nass.k.ax   = 5e7; % Leg stiffness [N/m]
-nass.ksi.ax = 10;
+%% Sample
+sample = struct();
 
-nass = updateDamping(nass);
+sample.radius = 100; % Sample radius [mm]
+sample.height = 300; % Sample height [mm]
+sample.mass   = 50; % Sample mass [kg]
+sample.offset = 0; % Decentralization offset [mm]
+sample.color  = [0.9 0.1 0.1]; % Sample color
 
 %%
 function element = updateDamping(element)
diff --git a/Assemblage_DataFile.m b/init_solidworks_data.m
similarity index 100%
rename from Assemblage_DataFile.m
rename to init_solidworks_data.m
diff --git a/stewart-simscape b/stewart-simscape
index 9a8f587..17c9de5 160000
--- a/stewart-simscape
+++ b/stewart-simscape
@@ -1 +1 @@
-Subproject commit 9a8f58790461132ed9addbebf1564395a139718b
+Subproject commit 17c9de54fb551cb5280283186ca58d4a7f48c39c