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diff --git a/matlab/nano_hexapod/apa300ml_flexible.slx b/matlab/nano_hexapod/apa300ml_flexible.slx
index 828e690..06c2cc6 100644
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diff --git a/matlab/nano_hexapod/nano_hexapod.slx b/matlab/nano_hexapod/nano_hexapod.slx
index 0937f5b..705b3ff 100644
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diff --git a/matlab/nano_hexapod/nano_hexapod_left_strut.slx b/matlab/nano_hexapod/nano_hexapod_left_strut.slx
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diff --git a/matlab/nano_hexapod/nano_hexapod_right_strut.slx b/matlab/nano_hexapod/nano_hexapod_right_strut.slx
index c0804d6..9bd9b09 100644
Binary files a/matlab/nano_hexapod/nano_hexapod_right_strut.slx and b/matlab/nano_hexapod/nano_hexapod_right_strut.slx differ
diff --git a/src/initializeNanoHexapodFinal.m b/src/initializeNanoHexapodFinal.m
index 4462a8d..70c8a82 100644
--- a/src/initializeNanoHexapodFinal.m
+++ b/src/initializeNanoHexapodFinal.m
@@ -1,46 +1,48 @@
-  function [nano_hexapod] = initializeNanoHexapodFinal(args)
+function [nano_hexapod] = initializeNanoHexapodFinal(args)
 
-  arguments
-      %% Bottom Flexible Joints
-      args.flex_bot_type      char {mustBeMember(args.flex_bot_type,{'2dof', '3dof', '4dof', 'flexible'})} = '4dof'
-      args.flex_bot_kRx (6,1) double {mustBeNumeric} = ones(6,1)*5 % X bending stiffness [Nm/rad]
-      args.flex_bot_kRy (6,1) double {mustBeNumeric} = ones(6,1)*5 % Y bending stiffness [Nm/rad]
-      args.flex_bot_kRz (6,1) double {mustBeNumeric} = ones(6,1)*260 % Torsionnal stiffness [Nm/rad]
-      args.flex_bot_kz  (6,1) double {mustBeNumeric} = ones(6,1)*1e8 % Axial Stiffness [N/m]
-      args.flex_bot_cRx (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % X bending Damping [Nm/(rad/s)]
-      args.flex_bot_cRy (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % Y bending Damping [Nm/(rad/s)]
-      args.flex_bot_cRz (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % Torsionnal Damping [Nm/(rad/s)]
-      args.flex_bot_cz  (6,1) double {mustBeNumeric} = ones(6,1)*1e2 % Axial Damping [N/(m/s)]
-      %% Top Flexible Joints
-      args.flex_top_type      char {mustBeMember(args.flex_top_type,{'2dof', '3dof', '4dof', 'flexible'})} = '4dof'
-      args.flex_top_kRx (6,1) double {mustBeNumeric} = ones(6,1)*5 % X bending stiffness [Nm/rad]
-      args.flex_top_kRy (6,1) double {mustBeNumeric} = ones(6,1)*5 % Y bending stiffness [Nm/rad]
-      args.flex_top_kRz (6,1) double {mustBeNumeric} = ones(6,1)*260 % Torsionnal stiffness [Nm/rad]
-      args.flex_top_kz  (6,1) double {mustBeNumeric} = ones(6,1)*1e8 % Axial Stiffness [N/m]
-      args.flex_top_cRx (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % X bending Damping [Nm/(rad/s)]
-      args.flex_top_cRy (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % Y bending Damping [Nm/(rad/s)]
-      args.flex_top_cRz (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % Torsionnal Damping [Nm/(rad/s)]
-      args.flex_top_cz  (6,1) double {mustBeNumeric} = ones(6,1)*1e2 % Axial Damping [N/(m/s)]
-      %% Relative Motion Sensor
-      args.motion_sensor_type char {mustBeMember(args.motion_sensor_type,{'struts', 'plates'})} = 'struts'
-      %% Actuators
-      args.actuator_type char {mustBeMember(args.actuator_type,{'2dof', 'flexible frame', 'flexible'})} = 'flexible'
-      args.actuator_Ga  (6,1) double {mustBeNumeric} = ones(6,1)*1 % Actuator gain [N/V]
-      args.actuator_Gs  (6,1) double {mustBeNumeric} = ones(6,1)*1 % Sensor gain [V/m]
-      % For 2DoF
-      args.actuator_k   (6,1) double {mustBeNumeric} = ones(6,1)*0.35e6 % [N/m]
-      args.actuator_ke  (6,1) double {mustBeNumeric} = ones(6,1)*1.5e6 % [N/m]
-      args.actuator_ka  (6,1) double {mustBeNumeric} = ones(6,1)*43e6 % [N/m]
-      args.actuator_c   (6,1) double {mustBeNumeric} = ones(6,1)*3e1 % [N/(m/s)]
-      args.actuator_ce  (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % [N/(m/s)]
-      args.actuator_ca  (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % [N/(m/s)]
-      args.actuator_Leq (6,1) double {mustBeNumeric} = ones(6,1)*0.056 % [m]
-      % For Flexible Frame
-      args.actuator_ks (6,1) double {mustBeNumeric} = ones(6,1)*235e6 % Stiffness of one stack [N/m]
-      args.actuator_cs (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % Stiffness of one stack [N/m]
-      % For Flexible
-      args.actuator_xi  (1,1) double {mustBeNumeric} = 0.01 % Sensor gain [V/m]
-  end
+arguments
+    %% Bottom Flexible Joints
+    args.flex_bot_type      char {mustBeMember(args.flex_bot_type,{'2dof', '3dof', '4dof', 'flexible'})} = '4dof'
+    args.flex_bot_kRx (6,1) double {mustBeNumeric} = ones(6,1)*5 % X bending stiffness [Nm/rad]
+    args.flex_bot_kRy (6,1) double {mustBeNumeric} = ones(6,1)*5 % Y bending stiffness [Nm/rad]
+    args.flex_bot_kRz (6,1) double {mustBeNumeric} = ones(6,1)*260 % Torsionnal stiffness [Nm/rad]
+    args.flex_bot_kz  (6,1) double {mustBeNumeric} = ones(6,1)*1e8 % Axial Stiffness [N/m]
+    args.flex_bot_cRx (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % X bending Damping [Nm/(rad/s)]
+    args.flex_bot_cRy (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % Y bending Damping [Nm/(rad/s)]
+    args.flex_bot_cRz (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % Torsionnal Damping [Nm/(rad/s)]
+    args.flex_bot_cz  (6,1) double {mustBeNumeric} = ones(6,1)*1e2 % Axial Damping [N/(m/s)]
+    %% Top Flexible Joints
+    args.flex_top_type      char {mustBeMember(args.flex_top_type,{'2dof', '3dof', '4dof', 'flexible'})} = '4dof'
+    args.flex_top_kRx (6,1) double {mustBeNumeric} = ones(6,1)*5 % X bending stiffness [Nm/rad]
+    args.flex_top_kRy (6,1) double {mustBeNumeric} = ones(6,1)*5 % Y bending stiffness [Nm/rad]
+    args.flex_top_kRz (6,1) double {mustBeNumeric} = ones(6,1)*260 % Torsionnal stiffness [Nm/rad]
+    args.flex_top_kz  (6,1) double {mustBeNumeric} = ones(6,1)*1e8 % Axial Stiffness [N/m]
+    args.flex_top_cRx (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % X bending Damping [Nm/(rad/s)]
+    args.flex_top_cRy (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % Y bending Damping [Nm/(rad/s)]
+    args.flex_top_cRz (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % Torsionnal Damping [Nm/(rad/s)]
+    args.flex_top_cz  (6,1) double {mustBeNumeric} = ones(6,1)*1e2 % Axial Damping [N/(m/s)]
+    %% Jacobian - Location of frame {A} and {B}
+    args.MO_B (1,1) double {mustBeNumeric} = 150e-3 % Height of {B} w.r.t. {M} [m]
+    %% Relative Motion Sensor
+    args.motion_sensor_type char {mustBeMember(args.motion_sensor_type,{'struts', 'plates'})} = 'struts'
+    %% Actuators
+    args.actuator_type char {mustBeMember(args.actuator_type,{'2dof', 'flexible frame', 'flexible'})} = 'flexible'
+    args.actuator_Ga  (6,1) double {mustBeNumeric} = ones(6,1)*1 % Actuator gain [N/V]
+    args.actuator_Gs  (6,1) double {mustBeNumeric} = ones(6,1)*1 % Sensor gain [V/m]
+                                                                 % For 2DoF
+    args.actuator_k   (6,1) double {mustBeNumeric} = ones(6,1)*0.35e6 % [N/m]
+    args.actuator_ke  (6,1) double {mustBeNumeric} = ones(6,1)*1.5e6 % [N/m]
+    args.actuator_ka  (6,1) double {mustBeNumeric} = ones(6,1)*43e6 % [N/m]
+    args.actuator_c   (6,1) double {mustBeNumeric} = ones(6,1)*3e1 % [N/(m/s)]
+    args.actuator_ce  (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % [N/(m/s)]
+    args.actuator_ca  (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % [N/(m/s)]
+    args.actuator_Leq (6,1) double {mustBeNumeric} = ones(6,1)*0.056 % [m]
+                                                                     % For Flexible Frame
+    args.actuator_ks (6,1) double {mustBeNumeric} = ones(6,1)*235e6 % Stiffness of one stack [N/m]
+    args.actuator_cs (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % Stiffness of one stack [N/m]
+                                                                  % For Flexible
+    args.actuator_xi  (1,1) double {mustBeNumeric} = 0.01 % Damping Ratio
+end
 
 nano_hexapod = struct();
 
@@ -129,9 +131,9 @@ switch args.actuator_type
     nano_hexapod.actuator.M = readmatrix('APA300ML_b_mat_M.CSV'); % Mass Matrix
     nano_hexapod.actuator.P = extractNodes('APA300ML_b_out_nodes_3D.txt'); % Node coordinates [m]
   case 'flexible'
-    nano_hexapod.actuator.K = readmatrix('APA300ML_full_mat_K.CSV'); % Stiffness Matrix
-    nano_hexapod.actuator.M = readmatrix('APA300ML_full_mat_M.CSV'); % Mass Matrix
-    nano_hexapod.actuator.P = extractNodes('APA300ML_full_out_nodes_3D.txt'); % Node coordiantes [m]
+    nano_hexapod.actuator.K = readmatrix('full_APA300ML_K.CSV'); % Stiffness Matrix
+    nano_hexapod.actuator.M = readmatrix('full_APA300ML_M.CSV'); % Mass Matrix
+    nano_hexapod.actuator.P = extractNodes('full_APA300ML_out_nodes_3D.txt'); % Node coordiantes [m]
 end
 
 nano_hexapod.actuator.xi = args.actuator_xi; % Damping ratio
@@ -139,6 +141,55 @@ nano_hexapod.actuator.xi = args.actuator_xi; % Damping ratio
 nano_hexapod.actuator.ks = args.actuator_ks; % Stiffness of one stack [N/m]
 nano_hexapod.actuator.cs = args.actuator_cs; % Damping of one stack [N/m]
 
+nano_hexapod.geometry = struct();
+
+Fa = [[-86.05,  -74.78, 22.49],
+      [ 86.05,  -74.78, 22.49],
+      [ 107.79, -37.13, 22.49],
+      [ 21.74,  111.91, 22.49],
+      [-21.74,  111.91, 22.49],
+      [-107.79, -37.13, 22.49]]'*1e-3; % Ai w.r.t. {F} [m]
+
+Mb = [[-28.47, -106.25, -22.50],
+      [ 28.47, -106.25, -22.50],
+      [ 106.25, 28.47,  -22.50],
+      [ 77.78,  77.78,  -22.50],
+      [-77.78,  77.78,  -22.50],
+      [-106.25, 28.47,  -22.50]]'*1e-3; % Bi w.r.t. {M} [m]
+
+Fb = Mb + [0; 0; 95e-3]; % Bi w.r.t. {F} [m]
+
+si = Fb - Fa;
+si = si./vecnorm(si); % Normalize
+
+Fc = [[-29.362, -105.765, 52.605]
+      [ 29.362, -105.765, 52.605]
+      [ 106.276, 27.454,  52.605]
+      [ 76.914,  78.31,   52.605]
+      [-76.914,  78.31,   52.605]
+      [-106.276, 27.454,  52.605]]'*1e-3; % Meas pos w.r.t. {F}
+Mc = Fc - [0; 0; 95e-3]; % Meas pos w.r.t. {M}
+
+nano_hexapod.geometry.Fa = Fa;
+nano_hexapod.geometry.Fb = Fb;
+nano_hexapod.geometry.Fc = Fc;
+nano_hexapod.geometry.Mb = Mb;
+nano_hexapod.geometry.Mc = Mc;
+nano_hexapod.geometry.si = si;
+nano_hexapod.geometry.MO_B = args.MO_B;
+
+Bb = Mb - [0; 0; args.MO_B];
+
+nano_hexapod.geometry.J = [nano_hexapod.geometry.si', cross(Bb, nano_hexapod.geometry.si)'];
+
+switch args.motion_sensor_type
+  case 'struts'
+    nano_hexapod.geometry.Js = nano_hexapod.geometry.J;
+  case 'plates'
+    Bc = Mc - [0; 0; args.MO_B];
+    nano_hexapod.geometry.Js = [nano_hexapod.geometry.si', cross(Bc, nano_hexapod.geometry.si)'];
+end
+
 if nargout == 0
   save('./mat/stages.mat', 'nano_hexapod', '-append');
 end