[WIP] Create sub-folders for STEP files

Include step path into smidata object
2018-10-11 10:25:57 +02:00 · 2018-10-11 10:25:57 +02:00 · dcfe29b026
commit dcfe29b026
parent bf0e7d7378
64 changed files with 184 additions and 262151 deletions
--- a/Assemblage.slx
+++ b/Assemblage.slx
--- a/Assemblage_grt_rtw/build_exception.mat
+++ b/Assemblage_grt_rtw/build_exception.mat
--- a/STEPS/Base_Defaut_sldprt.STEP
+++ b/STEPS/Base_Defaut_sldprt.STEP
@ -1,266 +0,0 @@
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--- a/STEPS/Base_Micro_Un_sldprt.STEP
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--- a/STEPS/Bati_Correcteur_Axe_Capteurs2_Un_sldprt.STEP
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--- a/STEPS/Support_Sample_Un_sldprt.STEP
+++ b/STEPS/Support_Sample_Un_sldprt.STEP
--- a/STEPS/Bati_Correcteur_Axe_SansCapteur2_Un_sldprt.STEP
+++ b/STEPS/Bati_Correcteur_Axe_SansCapteur2_Un_sldprt.STEP
--- a/STEPS/Correcteur_Axe_Un_sldprt.STEP
+++ b/STEPS/Correcteur_Axe_Un_sldprt.STEP
--- a/STEPS/Axe_Correcteur_Axe_Un_sldprt.STEP
+++ b/STEPS/Axe_Correcteur_Axe_Un_sldprt.STEP
--- a/STEPS/HEPCO_RSJ34DE_Un_sldprt.STEP
+++ b/STEPS/HEPCO_RSJ34DE_Un_sldprt.STEP
--- a/STEPS/granite/granite.STEP
+++ b/STEPS/granite/granite.STEP
--- a/STEPS/Guide_Tilt_Un_sldprt.STEP
+++ b/STEPS/Guide_Tilt_Un_sldprt.STEP
--- a/STEPS/Moteur_Tilt_Bati_un_sldprt.STEP
+++ b/STEPS/Moteur_Tilt_Bati_un_sldprt.STEP
--- a/STEPS/Moteur_Tilt_Axe_Un_sldprt.STEP
+++ b/STEPS/Moteur_Tilt_Axe_Un_sldprt.STEP
--- a/STEPS/Plateau_Tilt_un_sldprt.STEP
+++ b/STEPS/Plateau_Tilt_un_sldprt.STEP
--- a/STEPS/Moteur_Spindle_Un_sldprt.STEP
+++ b/STEPS/Moteur_Spindle_Un_sldprt.STEP
--- a/STEPS/Axe_Spindle_Un_sldprt.STEP
+++ b/STEPS/Axe_Spindle_Un_sldprt.STEP
--- a/STEPS/Bati_Spindle_Un_sldprt.STEP
+++ b/STEPS/Bati_Spindle_Un_sldprt.STEP
--- a/STEPS/Attache_Granite_Un_sldprt.STEP
+++ b/STEPS/Attache_Granite_Un_sldprt.STEP
--- a/STEPS/Guide_Translation_Attache_Granite_Un_sldprt.STEP
+++ b/STEPS/Guide_Translation_Attache_Granite_Un_sldprt.STEP
--- a/STEPS/Guide_Translation1_Un_sldprt.STEP
+++ b/STEPS/Guide_Translation1_Un_sldprt.STEP
--- a/STEPS/Guide_Translation12_Un_sldprt.STEP
+++ b/STEPS/Guide_Translation12_Un_sldprt.STEP
--- a/STEPS/Guide_Translation2_Un_sldprt.STEP
+++ b/STEPS/Guide_Translation2_Un_sldprt.STEP
--- a/STEPS/Guide_Translation22_Un_sldprt.STEP
+++ b/STEPS/Guide_Translation22_Un_sldprt.STEP
--- a/STEPS/Moteur_Translation_Plateau_Un_sldprt.STEP
+++ b/STEPS/Moteur_Translation_Plateau_Un_sldprt.STEP
--- a/STEPS/Moteur_Translation_Attache_Un_sldprt.STEP
+++ b/STEPS/Moteur_Translation_Attache_Un_sldprt.STEP
--- a/STEPS/Plateau_Translation_Un_sldprt.STEP
+++ b/STEPS/Plateau_Translation_Un_sldprt.STEP
--- a/init_data.m
+++ b/init_data.m
@ -12,7 +12,7 @@ initializeSimConf(opts_sim);
 opts_inputs = struct(...
    'ground_motion', false, ...
    'ry', false, ...
-    'rz', true ...
+    'rz', false ...
 );

 initializeInputs(opts_inputs);
@ -49,3 +49,14 @@ initializeMirror(struct('shape', 'spherical'));

 %% Initialize Sample
 initializeSample(struct('mass', 20));
+
+%% Additionnal parameters
+d_granite_sample = 0.80073; % [m] Z-offset from the top of the granite to the point of interest
+
+save('./mat/simscape_data.mat', 'd_granite_sample');
+
+%% Controllers
+K = tf(zeros(6));
+save('./mat/controller.mat', 'K');
+K_iff = tf(zeros(6));
+save('./mat/K_iff.mat', 'K_iff');
--- a/init_simulation.m
+++ b/init_simulation.m
@ -6,17 +6,11 @@ load('./mat/sim_conf.mat', 'sim_conf');
 %% Load SolidWorks Data
 % load('./mat/smiData.mat', 'smiData');

+%% Load more data
+load('./mat/simscape_data.mat');
+
 %% Load data of each stage
-load('./mat/ground.mat', 'ground');
-load('./mat/granite.mat', 'granite');
-load('./mat/ty.mat', 'ty');
-load('./mat/ry.mat', 'ry');
-load('./mat/rz.mat', 'rz');
-load('./mat/micro_hexapod.mat', 'micro_hexapod');
-load('./mat/axisc.mat', 'axisc');
-load('./mat/nano_hexapod.mat', 'nano_hexapod');
-load('./mat/mirror.mat', 'mirror');
-load('./mat/sample.mat', 'sample');
+load('./mat/stages.mat', 'ground', 'granite', 'ty', 'ry', 'rz', 'micro_hexapod', 'axisc', 'nano_hexapod', 'mirror', 'sample');

 %% Load Signals Applied to the system
 load('./mat/inputs.mat', 'inputs');
--- a/initialize/initializeAxisc.m
+++ b/initialize/initializeAxisc.m
@ -1,4 +1,4 @@
-function [axisc] = initializeAxisc()
+function [] = initializeAxisc()
    %%
    load('./mat/smiData.mat', 'smiData');

@ -10,8 +10,6 @@ function [axisc] = initializeAxisc()

    axisc.c.ax   = (1/1)*sqrt(axisc.k.ax/axisc.m);

-    %% Save if no output argument
-    if nargout == 0
-        save('./mat/axisc.mat', 'axisc');
-    end
+    %% Save
+    save('./mat/stages.mat', 'axisc', '-append');
 end
--- a/initialize/initializeGranite.m
+++ b/initialize/initializeGranite.m
@ -1,4 +1,4 @@
-function [granite] = initializeGranite()
+function [] = initializeGranite()
    %%
    load('./mat/smiData.mat', 'smiData');

@ -9,9 +9,7 @@ function [granite] = initializeGranite()
    granite.k.ax = 1e8; % x-y-z Stiffness of the granite [N/m]

    granite.c.ax = 100*(1/1)*sqrt(granite.k.ax/granite.m);
-    
-    %% Save if no output argument
-    if nargout == 0
-        save('./mat/granite.mat', 'granite');
-    end
+
+    %% Save
+    save('./mat/stages.mat', 'granite', '-append');
 end
--- a/initialize/initializeGround.m
+++ b/initialize/initializeGround.m
@ -1,9 +1,9 @@
-function [ground] = initializeGround()
+function [] = initializeGround()
+    %%
    ground = struct();

    ground.shape = [2, 2, 0.5]; % m

-    if nargout == 0
-        save('./mat/ground.mat', 'ground')
-    end
+    %% Save
+    save('./mat/stages.mat', 'ground', '-append');
 end
--- a/initialize/initializeMicroHexapod.m
+++ b/initialize/initializeMicroHexapod.m
@ -1,4 +1,4 @@
-function [micro_hexapod] = initializeMicroHexapod(opts_param)
+function [] = initializeMicroHexapod(opts_param)
    %% Default values for opts
    opts = struct();

@ -39,7 +39,7 @@ function [micro_hexapod] = initializeMicroHexapod(opts_param)
    TP.shape     = [TP.rad.int TP.thickness; TP.rad.int 0; TP.rad.ext 0; TP.rad.ext TP.thickness];

    %% Leg
-    Leg = struct(); 
+    Leg = struct();

    Leg.stroke     = 10e-3; % Maximum Stroke of each leg [m]
    Leg.k.ax       = 5e7;   % Stiffness of each leg [N/m]
@ -89,10 +89,8 @@ function [micro_hexapod] = initializeMicroHexapod(opts_param)
    %%
    micro_hexapod = initializeParameters(micro_hexapod);

-    %%
-    if nargout == 0
-        save('./mat/micro_hexapod.mat', 'micro_hexapod')
-    end
+    %% Save
+    save('./mat/stages.mat', 'micro_hexapod', '-append');

    %%
    function [element] = updateDamping(element)
--- a/initialize/initializeMirror.m
+++ b/initialize/initializeMirror.m
@ -1,4 +1,4 @@
-function [mirror] = initializeMirror(opts_param)
+function [] = initializeMirror(opts_param)
    %% Default values for opts
    opts = struct(...
        'shape', 'spherical', ... % spherical or conical
@ -40,16 +40,13 @@ function [mirror] = initializeMirror(opts_param)
            mirror.shape = [mirror.shape; sqrt(mirror.sphere_radius^2-(z-mirror.jacobian-mirror.h)^2) z];
        end
    elseif strcmp(opts.shape, 'conical')
-        mirror.shape = [mirror.shape; mirror.rad+mirror.h/tand(opts.angle) mirror.h];        
+        mirror.shape = [mirror.shape; mirror.rad+mirror.h/tand(opts.angle) mirror.h];
    else
        error('Shape should be either conical or spherical');
    end

    mirror.shape = [mirror.shape; 0 mirror.h];

-    %%
-    if nargout == 0
-        save('./mat/mirror.mat', 'mirror')
-    end
+    %% Save
+    save('./mat/stages.mat', 'mirror', '-append');
 end
-
--- a/initialize/initializeNanoHexapod.m
+++ b/initialize/initializeNanoHexapod.m
@ -39,7 +39,7 @@ function [nano_hexapod] = initializeNanoHexapod(opts_param)
    TP.shape     = [TP.rad.int TP.thickness; TP.rad.int 0; TP.rad.ext 0; TP.rad.ext TP.thickness];

    %% Leg
-    Leg = struct(); 
+    Leg = struct();

    Leg.stroke     = 80e-6; % Maximum Stroke of each leg [m]
    if strcmp(opts.actuator, 'piezo')
@ -96,10 +96,8 @@ function [nano_hexapod] = initializeNanoHexapod(opts_param)
    %%
    nano_hexapod = initializeParameters(nano_hexapod);

-    %%
-    if nargout == 0
-        save('./mat/nano_hexapod.mat', 'nano_hexapod')
-    end
+    %% Save
+    save('./mat/stages.mat', 'nano_hexapod', '-append');

    %%
    function [element] = updateDamping(element)
--- a/initialize/initializeRy.m
+++ b/initialize/initializeRy.m
@ -1,4 +1,4 @@
-function [ry] = initializeRy()
+function [] = initializeRy()
    %%
    load('./mat/smiData.mat', 'smiData');

@ -17,9 +17,6 @@ function [ry] = initializeRy()
    ry.c.rrad = 10*(1/5)*sqrt(ry.k.rrad/ry.m);
    ry.c.tilt = 10*(1/1)*sqrt(ry.k.tilt/ry.m);

-    %% Save if no output argument
-    if nargout == 0
-        save('./mat/ry.mat', 'ry');
-    end
+    %% Save
+    save('./mat/stages.mat', 'ry', '-append');
 end
-
--- a/initialize/initializeRz.m
+++ b/initialize/initializeRz.m
@ -1,4 +1,4 @@
-function [rz] = initializeRz()
+function [] = initializeRz()
    %%
    load('./mat/smiData.mat', 'smiData');

@ -17,8 +17,6 @@ function [rz] = initializeRz()
    rz.c.tilt = 100*(1/1)*sqrt(rz.k.tilt/rz.m);
    rz.c.rot  = 100*(1/1)*sqrt(rz.k.rot/rz.m);

-    %% Save if no output argument
-    if nargout == 0
-        save('./mat/rz.mat', 'rz');
-    end
+    %% Save
+    save('./mat/stages.mat', 'rz', '-append');
 end
--- a/initialize/initializeSample.m
+++ b/initialize/initializeSample.m
@ -15,7 +15,5 @@ function [] = initializeSample(opts_param)
    end

    %% Save if no output argument
-    if nargout == 0
-        save('./mat/sample.mat', 'sample');
-    end
+    save('./mat/stages.mat', 'sample', '-append');
 end
--- a/initialize/initializeSmiData.m
+++ b/initialize/initializeSmiData.m
@ -819,6 +819,19 @@ function [smiData] = initializeSmiData()

    %% Solids
    smiData.Solid = struct;
+
+    %% Granite
+    smiData.Solid(5).mass = 2089;
+    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(5).STEP = '.\STEPS\granite\granite.STEP';
+    
+    %% Y-Translation
+    % Ty Stator Part
    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];
@ -826,6 +839,8 @@ function [smiData] = initializeSmiData()
    smiData.Solid(1).color = [0.792 0.820 0.933];
    smiData.Solid(1).opacity = 1;
    smiData.Solid(1).ID = 'Moteur_Translation_Attache*:*Un';
+    smiData.Solid(1).STEP = './STEPS/ty/Ty_Motor_Stator.STEP';    
+    % Ty Granite frame
    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];
@ -833,6 +848,8 @@ function [smiData] = initializeSmiData()
    smiData.Solid(2).color = [0.753 1 0.753];
    smiData.Solid(2).opacity = 1;
    smiData.Solid(2).ID = 'Attache_Granite*:*Un';
+    smiData.Solid(2).STEP = '.\STEPS\Ty\Ty_Granite_Frame.STEP';
+    % Guide Translation Ty
    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];
@ -840,146 +857,8 @@ function [smiData] = initializeSmiData()
    smiData.Solid(3).color = [0.792 0.820 0.933];
    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 = [0.792 0.820 0.933];
-    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).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 = [0.792 0.820 0.933];
-    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 = [0.792 0.820 0.933];
-    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 = [0.792 0.820 0.933];
-    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 = [0.792 0.820 0.933];
-    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 = [0.792 0.820 0.933];
-    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 = [0.792 0.820 0.933];
-    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 = [0.792 0.820 0.933];
-    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];
-    smiData.Solid(13).MoI = [52006.775635535778 52006.775635535763 103917.99449452484];
-    smiData.Solid(13).PoI = [0 0 0];
-    smiData.Solid(13).color = [0.647 0.620 0.588];
-    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).PoI = [0 0 0];
-    smiData.Solid(14).color = [0.647 0.620 0.588];
-    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).PoI = [0 0 0];
-    smiData.Solid(15).color = [0.647 0.620 0.588];
-    smiData.Solid(15).opacity = 1;
-    smiData.Solid(15).ID = 'BrasBas_Nano*:*Un';
-    smiData.Solid(16).mass = 1.0163232631824652;
-    smiData.Solid(16).CoM = [0 0 54.206426110535489];
-    smiData.Solid(16).MoI = [1956.3946024532142 1956.3946024532142 154.49618255964612];
-    smiData.Solid(16).PoI = [0 0 0];
-    smiData.Solid(16).color = [0.647 0.620 0.588];
-    smiData.Solid(16).opacity = 1;
-    smiData.Solid(16).ID = 'BrasHaut_Micro*:*Un';
-    smiData.Solid(17).mass = 3.5065801747129073;
-    smiData.Solid(17).CoM = [-0.36791120657420417 -39.5989800783502 -1.8492196764749032];
-    smiData.Solid(17).MoI = [123021.09213588048 241616.67862224273 121135.81165159146];
-    smiData.Solid(17).PoI = [-6.304580461431124 -390.11328139595861 -1.2685138195415793];
-    smiData.Solid(17).color = [0.792 0.820 0.933];
-    smiData.Solid(17).opacity = 1;
-    smiData.Solid(17).ID = 'Correcteur_Axe*:*Un';
-    smiData.Solid(18).mass = 124.18540434871731;
-    smiData.Solid(18).CoM = [-26.582212197447287 -491.717305640884 -0.00033479273697097707];
-    smiData.Solid(18).MoI = [1.1439333451426933E+7 1.9448243099410776E+7 8.463072074762946E+6];
-    smiData.Solid(18).PoI = [-1.7523192581664864 -6.3900215026686755 -255511.79057840357];
-    smiData.Solid(18).color = [0.792 0.820 0.933];
-    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];
-    smiData.Solid(19).MoI = [255564.07397144221 255564.07397144227 509048.49975653266];
-    smiData.Solid(19).PoI = [0 0 0];
-    smiData.Solid(19).color = [0.647 0.620 0.588];
-    smiData.Solid(19).opacity = 1;
-    smiData.Solid(19).ID = 'Base_Micro*:*Un';
-    smiData.Solid(20).mass = 0.056466671366443559;
-    smiData.Solid(20).CoM = [0 8.7279555168307486 0];
-    smiData.Solid(20).MoI = [3.6572192052323258 4.3009709954310722 3.6572192052323258];
-    smiData.Solid(20).PoI = [0 0 0];
-    smiData.Solid(20).color = [0.647 0.620 0.588];
-    smiData.Solid(20).opacity = 1;
-    smiData.Solid(20).ID = 'Support_BrasBas_Micro*:*Un';
-    smiData.Solid(21).mass = 2.9002934144923787;
-    smiData.Solid(21).CoM = [0 0 98.785376811441409];
-    smiData.Solid(21).MoI = [10370.243452372171 10370.243452372171 898.11547210821311];
-    smiData.Solid(21).PoI = [0 0 0];
-    smiData.Solid(21).color = [0.647 0.620 0.588];
-    smiData.Solid(21).opacity = 1;
-    smiData.Solid(21).ID = 'BrasBas_Micro*:*Un';
-    smiData.Solid(22).mass = 0.15011840299113105;
-    smiData.Solid(22).CoM = [0 8.2507041715126 0];
-    smiData.Solid(22).MoI = [26.092169229466947 42.030395201944415 26.092169229466947];
-    smiData.Solid(22).PoI = [0 0 0];
-    smiData.Solid(22).color = [0.647 0.620 0.588];
-    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 13];
-    smiData.Solid(23).MoI = [69256.1674939768 69256.167493976827 137452.49958192455];
-    smiData.Solid(23).PoI = [0 0 0];
-    smiData.Solid(23).color = [0.647 0.620 0.588];
-    smiData.Solid(23).opacity = 1;
-    smiData.Solid(23).ID = 'Nacelle_Micro*:*Un';
+    smiData.Solid(3).STEP = './STEPS/ty/Ty_Guide.STEP';    
+    % Ty Rotor Part
    smiData.Solid(24).mass = 15.126420955757553;
    smiData.Solid(24).CoM = [-0.54563849791295038 -19.440722181375406 -102.40329703573914];
    smiData.Solid(24).MoI = [45643.718565463234 322252.82258853404 279570.09452022141];
@ -987,6 +866,73 @@ function [smiData] = initializeSmiData()
    smiData.Solid(24).color = [0.792 0.820 0.933];
    smiData.Solid(24).opacity = 1;
    smiData.Solid(24).ID = 'Moteur_Translation_Plateau*:*Un';
+    smiData.Solid(24).STEP = './STEPS/ty/Ty_Motor_Rotor.STEP';
+    % Ty - Guide_Translation12
+    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 = [0.792 0.820 0.933];
+    smiData.Solid(4).opacity = 1;
+    smiData.Solid(4).ID = 'Guide_Translation12*:*Un';
+    smiData.Solid(4).STEP = '.\STEPS\Ty\Ty_Guide_12.STEP';
+    % Ty - Guide_Translation11
+    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 = [0.792 0.820 0.933];
+    smiData.Solid(6).opacity = 1;
+    smiData.Solid(6).ID = 'Guide_Translation1*:*Un';
+    smiData.Solid(6).STEP = './STEPS/ty/Ty_Guide_11.STEP';
+    % Ty - Guide_Translation22
+    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 = [0.792 0.820 0.933];
+    smiData.Solid(7).opacity = 1;
+    smiData.Solid(7).ID = 'Guide_Translation22*:*Un';
+    smiData.Solid(7).STEP = './STEPS/ty/Ty_Guide_22.STEP';
+    % Ty - Guide_Translation21
+    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 = [0.792 0.820 0.933];
+    smiData.Solid(8).opacity = 1;
+    smiData.Solid(8).ID = 'Guide_Translation2*:*Un';
+    smiData.Solid(8).STEP = '.\STEPS\Ty\Ty_Guide_21.STEP';
+    % Ty - Plateau translation
+    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 = [0.792 0.820 0.933];
+    smiData.Solid(9).opacity = 1;
+    smiData.Solid(9).ID = 'Plateau_Translation*:*Un';
+    smiData.Solid(9).STEP = '.\STEPS\ty\Ty_Stage.STEP';
+
+    %% Tilt Stage
+    % Ry - Guide for the tilt stage
+    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 = [0.792 0.820 0.933];
+    smiData.Solid(11).opacity = 1;
+    smiData.Solid(11).ID = 'Guide_Tilt*:*Un';
+    smiData.Solid(11).STEP = '.\STEPS\Ry\Tilt_Guide.STEP';
+    % Ry - Plateau Tilt
+    smiData.Solid(18).mass = 124.18540434871731;
+    smiData.Solid(18).CoM = [-26.582212197447287 -491.717305640884 -0.00033479273697097707];
+    smiData.Solid(18).MoI = [1.1439333451426933E+7 1.9448243099410776E+7 8.463072074762946E+6];
+    smiData.Solid(18).PoI = [-1.7523192581664864 -6.3900215026686755 -255511.79057840357];
+    smiData.Solid(18).color = [0.792 0.820 0.933];
+    smiData.Solid(18).opacity = 1;
+    smiData.Solid(18).ID = 'Plateau_Tilt*:*un';
+    smiData.Solid(18).STEP = '.\STEPS\ry\Tilt_Stage.STEP';
+    % Ry - Rotor of the motor
    smiData.Solid(25).mass = 0.38430863613603045;
    smiData.Solid(25).CoM = [-5.266756357647571E-8 0.084038038546028468 -17.259197169539714];
    smiData.Solid(25).MoI = [499.37275615442366 499.08493635525451 104.67248848189929];
@ -994,20 +940,8 @@ function [smiData] = initializeSmiData()
    smiData.Solid(25).color = [0.792 0.820 0.933];
    smiData.Solid(25).opacity = 1;
    smiData.Solid(25).ID = 'Moteur_Tilt_Axe*:*Un';
-    smiData.Solid(26).mass = 52.9776539711868;
-    smiData.Solid(26).CoM = [122.00377986104328 -0.0056758322482918606 0.076028031715715316];
-    smiData.Solid(26).MoI = [4.9160628224502634E+6 2.8118491924753189E+6 2.8126349362308397E+6];
-    smiData.Solid(26).PoI = [-60.988049183057221 574.35593302280927 -42.844438542971233];
-    smiData.Solid(26).color = [0.792 0.820 0.933];
-    smiData.Solid(26).opacity = 1;
-    smiData.Solid(26).ID = 'Bati_Spindle*:*Un';
-    smiData.Solid(27).mass = 0.049606255706454994;
-    smiData.Solid(27).CoM = [0 0 63.222061026372984];
-    smiData.Solid(27).MoI = [55.699888493314425 55.699888493314425 0.67291987429918709];
-    smiData.Solid(27).PoI = [0 0 0];
-    smiData.Solid(27).color = [0.647 0.620 0.588];
-    smiData.Solid(27).opacity = 1;
-    smiData.Solid(27).ID = 'BrasHaut_Nano*:*Un';
+    smiData.Solid(25).STEP = '.\STEPS\Ry\Tilt_Motor_Axis.STEP';
+    % Ry - Motor
    smiData.Solid(28).mass = 6.1218480858043582;
    smiData.Solid(28).CoM = [18.047333440871935 33.17427256561281 -0.46949496649199368];
    smiData.Solid(28).MoI = [31874.700431348381 42897.353029512182 29049.726878808429];
@ -1015,6 +949,49 @@ function [smiData] = initializeSmiData()
    smiData.Solid(28).color = [0.792 0.820 0.933];
    smiData.Solid(28).opacity = 1;
    smiData.Solid(28).ID = 'Moteur_Tilt_Bati*:*un';
+    smiData.Solid(28).STEP = '.\STEPS\ry\Tilt_Motor.STEP';
+
+    %% Spindle
+    % Spindle - Motor
+    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 = [0.792 0.820 0.933];
+    smiData.Solid(10).opacity = 1;
+    smiData.Solid(10).ID = 'Moteur_Spindle*:*Un';
+    smiData.Solid(10).STEP = '.\STEPS\rz\Spindle_Axis.STEP';
+    % Spindle - Rotor
+    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 = [0.792 0.820 0.933];
+    smiData.Solid(12).opacity = 1;
+    smiData.Solid(12).ID = 'Axe_Spindle*:*Un';
+    smiData.Solid(12).STEP = '.\STEPS\rz\Spindle_Rotor.STEP';
+    % Spindle - Stator
+    smiData.Solid(26).mass = 52.9776539711868;
+    smiData.Solid(26).CoM = [122.00377986104328 -0.0056758322482918606 0.076028031715715316];
+    smiData.Solid(26).MoI = [4.9160628224502634E+6 2.8118491924753189E+6 2.8126349362308397E+6];
+    smiData.Solid(26).PoI = [-60.988049183057221 574.35593302280927 -42.844438542971233];
+    smiData.Solid(26).color = [0.792 0.820 0.933];
+    smiData.Solid(26).opacity = 1;
+    smiData.Solid(26).ID = 'Bati_Spindle*:*Un';
+    smiData.Solid(26).STEP = '.\STEPS\rz\Spindle_Stator.STEP';
+    
+    %% Axis Compensator
+
+    % Axis Correction - Disc Stator
+    smiData.Solid(17).mass = 3.5065801747129073;
+    smiData.Solid(17).CoM = [-0.36791120657420417 -39.5989800783502 -1.8492196764749032];
+    smiData.Solid(17).MoI = [123021.09213588048 241616.67862224273 121135.81165159146];
+    smiData.Solid(17).PoI = [-6.304580461431124 -390.11328139595861 -1.2685138195415793];
+    smiData.Solid(17).color = [0.792 0.820 0.933];
+    smiData.Solid(17).opacity = 1;
+    smiData.Solid(17).ID = 'Correcteur_Axe*:*Un';
+    smiData.Solid(17).STEP = '.\STEPS\axisc\Disc_Stator.STEP';
+    % 
    smiData.Solid(29).mass = 0.018506900186134712;
    smiData.Solid(29).CoM = [-0.56890312150214994 -6.1547991703062257 0];
    smiData.Solid(29).MoI = [2.4610504412048715 2.2918706649711496 2.4929637479655558];
@ -1022,6 +999,8 @@ function [smiData] = initializeSmiData()
    smiData.Solid(29).color = [0.753 0.753 0.753];
    smiData.Solid(29).opacity = 1;
    smiData.Solid(29).ID = 'HEPCO_RSJ34DE*:*Un';
+    smiData.Solid(29).STEP = '.\STEPS\axisc\axisc_guidance.STEP';
+    %
    smiData.Solid(30).mass = 6.90011207232739;
    smiData.Solid(30).CoM = [1.0948384390702313E-8 -3.3962123693453816 -1.9754286882626495];
    smiData.Solid(30).MoI = [8220.4563154645821 23522.651144994408 16476.625269165881];
@ -1029,13 +1008,8 @@ function [smiData] = initializeSmiData()
    smiData.Solid(30).color = [0.792 0.820 0.933];
    smiData.Solid(30).opacity = 1;
    smiData.Solid(30).ID = 'Bati_Correcteur_Axe_SansCapteur2*:*Un';
-    smiData.Solid(31).mass = 6.9287146257909242;
-    smiData.Solid(31).CoM = [0.20632390729952396 -3.2645678205909472 -1.8073529676898348];
-    smiData.Solid(31).MoI = [8308.8083458773581 23715.993296597404 16648.639174554883];
-    smiData.Solid(31).PoI = [-46.22405120432186 -43.7402576006445 -51.305795627548136];
-    smiData.Solid(31).color = [0.792 0.820 0.933];
-    smiData.Solid(31).opacity = 1;
-    smiData.Solid(31).ID = 'Bati_Correcteur_Axe_Capteurs2*:*Un';
+    smiData.Solid(30).STEP = './STEPS/axisc/Axisc_Mass.STEP';
+    %
    smiData.Solid(32).mass = 0.050211456363892161;
    smiData.Solid(32).CoM = [1.755384579522894E-7 0.20971599065599411 7.3676040526265947];
    smiData.Solid(32).MoI = [5.6316076354202487 5.5419198739075943 5.1790795543353232];
@ -1043,27 +1017,7 @@ function [smiData] = initializeSmiData()
    smiData.Solid(32).color = [0.792 0.820 0.933];
    smiData.Solid(32).opacity = 1;
    smiData.Solid(32).ID = 'Axe_Correcteur_Axe*:*Un';
-    smiData.Solid(33).mass = 11.048822641144469;
-    smiData.Solid(33).CoM = [-0.51257668162195469 12.949637144252401 -0.47841218705416116];
-    smiData.Solid(33).MoI = [61278.329900794888 119755.79362002887 60734.179915747];
-    smiData.Solid(33).PoI = [-144.84411966602022 -216.33448148869749 -145.02602360828348];
-    smiData.Solid(33).color = [0.792 0.820 0.933];
-    smiData.Solid(33).opacity = 1;
-    smiData.Solid(33).ID = 'Support_Sample*:*Un';
-    smiData.Solid(34).mass = 0.003370325364280492;
-    smiData.Solid(34).CoM = [0 1.5866221650834114 0];
-    smiData.Solid(34).MoI = [0.057173154927052459 0.10682711031043758 0.057173154927052473];
-    smiData.Solid(34).PoI = [0 0 0];
-    smiData.Solid(34).color = [0.647 0.620 0.588];
-    smiData.Solid(34).opacity = 1;
-    smiData.Solid(34).ID = 'SupportBrasHaut*:*Défaut';
-    smiData.Solid(35).mass = 5.1600659335212322;
-    smiData.Solid(35).CoM = [0 0 5];
-    smiData.Solid(35).MoI = [29068.37142550293 29068.37142550293 58050.741752113841];
-    smiData.Solid(35).PoI = [0 0 0];
-    smiData.Solid(35).color = [0.647 0.620 0.588];
-    smiData.Solid(35).opacity = 1;
-    smiData.Solid(35).ID = 'Nacelle*:*Défaut';
+    smiData.Solid(32).STEP = '.\STEPS\axisc\axisc_gearing.STEP';

    %% Cylindrical Joints
    smiData.CylindricalJoint = struct;
--- a/initialize/initializeTy.m
+++ b/initialize/initializeTy.m
@ -1,4 +1,4 @@
-function [ty] = initializeTy()
+function [] = initializeTy()
    %%
    load('./mat/smiData.mat', 'smiData');

@ -21,9 +21,6 @@ function [ty] = initializeTy()
    ty.c.ax  = 100*(1/5)*sqrt(ty.k.ax/ty.m);
    ty.c.rad = 100*(1/5)*sqrt(ty.k.rad/ty.m);

-    %% Save if no output argument
-    if nargout == 0
-        save('./mat/ty.mat', 'ty');
-    end
+    %% Save
+    save('./mat/stages.mat', 'ty', '-append');
 end
-
--- a/mat/axisc.mat
+++ b/mat/axisc.mat
--- a/mat/granite.mat
+++ b/mat/granite.mat
--- a/mat/ground.mat
+++ b/mat/ground.mat
--- a/mat/inputs.mat
+++ b/mat/inputs.mat
--- a/mat/micro_hexapod.mat
+++ b/mat/micro_hexapod.mat
--- a/mat/mirror.mat
+++ b/mat/mirror.mat
--- a/mat/nano_hexapod.mat
+++ b/mat/nano_hexapod.mat
--- a/mat/ry.mat
+++ b/mat/ry.mat
--- a/mat/rz.mat
+++ b/mat/rz.mat
--- a/mat/sample.mat
+++ b/mat/sample.mat
--- a/mat/simscape_data.mat
+++ b/mat/simscape_data.mat
--- a/mat/stages.mat
+++ b/mat/stages.mat
--- a/mat/stewart.mat
+++ b/mat/stewart.mat
--- a/mat/ty.mat
+++ b/mat/ty.mat