diff --git a/matlab/src/initializeGranite.m b/matlab/src/initializeGranite.m
index 35b79d3..2cd4b86 100644
--- a/matlab/src/initializeGranite.m
+++ b/matlab/src/initializeGranite.m
@@ -1,45 +1,48 @@
-  function [granite] = initializeGranite(args)
+function [granite] = initializeGranite(args)
 
-  arguments
-    args.type          char    {mustBeMember(args.type,{'rigid', 'flexible', 'none'})} = 'flexible'
-    args.density (1,1) double {mustBeNumeric, mustBeNonnegative} = 2800 % Density [kg/m3]
-    args.K  (6,1) double {mustBeNumeric, mustBeNonnegative} = [5e9;   5e9;   5e9;   2.5e7; 2.5e7; 1e7] % [N/m]
-    args.C  (6,1) double {mustBeNumeric, mustBeNonnegative} = [4.0e5; 1.1e5; 9.0e5; 2e4;   2e4; 1e4] % [N/(m/s)]
-    args.x0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the X direction [m]
-    args.y0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Y direction [m]
-    args.z0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Z direction [m]
-    args.sample_pos (1,1) double {mustBeNumeric} = 0.8 % Height of the measurment point [m]
-  end
-
-  granite = struct();
-
-  switch args.type
-    case 'none'
-      granite.type = 0;
-    case 'rigid'
-      granite.type = 1;
-    case 'flexible'
-      granite.type = 2;
-  end
-
-  granite.density = args.density; % [kg/m3]
-  granite.STEP    = 'granite.STEP';
-
-  granite.sample_pos = args.sample_pos; % [m]
-
-  granite.K = args.K; % [N/m]
-  granite.C = args.C; % [N/(m/s)]
-
-if exist('./mat', 'dir')
-    if exist('./mat/nass_model_stages.mat', 'file')
-        save('mat/nass_model_stages.mat', 'granite', '-append');
-    else
-        save('mat/nass_model_stages.mat', 'granite');
+    arguments
+        args.type          char    {mustBeMember(args.type,{'rigid', 'flexible', 'none'})} = 'flexible'
+        args.density (1,1) double {mustBeNumeric, mustBeNonnegative} = 2800 % Density [kg/m3]
+        args.K  (6,1) double {mustBeNumeric, mustBeNonnegative} = [5e9;   5e9;   5e9;   2.5e7; 2.5e7; 1e7] % [N/m]
+        args.C  (6,1) double {mustBeNumeric, mustBeNonnegative} = [4.0e5; 1.1e5; 9.0e5; 2e4;   2e4; 1e4] % [N/(m/s)]
+        args.x0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the X direction [m]
+        args.y0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Y direction [m]
+        args.z0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Z direction [m]
+        args.sample_pos (1,1) double {mustBeNumeric} = 0.775 % Height of the measurment point [m]
     end
-elseif exist('./matlab', 'dir')
-    if exist('./matlab/mat/nass_model_stages.mat', 'file')
-        save('matlab/mat/nass_model_stages.mat', 'granite', '-append');
-    else
-        save('matlab/mat/nass_model_stages.mat', 'granite');
+
+    granite = struct();
+
+    switch args.type
+      case 'none'
+        granite.type = 0;
+      case 'rigid'
+        granite.type = 1;
+      case 'flexible'
+        granite.type = 2;
     end
+
+    granite.density = args.density; % [kg/m3]
+    granite.STEP    = 'granite.STEP';
+
+    % Z-offset for the initial position of the sample with respect to the granite top surface.
+    granite.sample_pos = args.sample_pos; % [m]
+
+    granite.K = args.K; % [N/m]
+    granite.C = args.C; % [N/(m/s)]
+
+    if exist('./mat', 'dir')
+        if exist('./mat/nass_model_stages.mat', 'file')
+            save('mat/nass_model_stages.mat', 'granite', '-append');
+        else
+            save('mat/nass_model_stages.mat', 'granite');
+        end
+    elseif exist('./matlab', 'dir')
+        if exist('./matlab/mat/nass_model_stages.mat', 'file')
+            save('matlab/mat/nass_model_stages.mat', 'granite', '-append');
+        else
+            save('matlab/mat/nass_model_stages.mat', 'granite');
+        end
+    end
+
 end
diff --git a/matlab/src/initializeGround.m b/matlab/src/initializeGround.m
index 9b16197..f679a90 100644
--- a/matlab/src/initializeGround.m
+++ b/matlab/src/initializeGround.m
@@ -1,34 +1,35 @@
-  function [ground] = initializeGround(args)
+function [ground] = initializeGround(args)
 
-  arguments
-    args.type char {mustBeMember(args.type,{'none', 'rigid'})} = 'rigid'
-    args.rot_point (3,1) double {mustBeNumeric} = zeros(3,1) % Rotation point for the ground motion [m]
-  end
-
-  ground = struct();
-
-  switch args.type
-    case 'none'
-      ground.type = 0;
-    case 'rigid'
-      ground.type = 1;
-  end
-
-  ground.shape   = [2, 2, 0.5]; % [m]
-  ground.density = 2800;        % [kg/m3]
-
-  ground.rot_point = args.rot_point;
-
-if exist('./mat', 'dir')
-    if exist('./mat/nass_model_stages.mat', 'file')
-        save('mat/nass_model_stages.mat', 'ground', '-append');
-    else
-        save('mat/nass_model_stages.mat', 'ground');
+    arguments
+        args.type char {mustBeMember(args.type,{'none', 'rigid'})} = 'rigid'
+        args.rot_point (3,1) double {mustBeNumeric} = zeros(3,1) % Rotation point for the ground motion [m]
     end
-elseif exist('./matlab', 'dir')
-    if exist('./matlab/mat/nass_model_stages.mat', 'file')
-        save('matlab/mat/nass_model_stages.mat', 'ground', '-append');
-    else
-        save('matlab/mat/nass_model_stages.mat', 'ground');
+
+    ground = struct();
+
+    switch args.type
+      case 'none'
+        ground.type = 0;
+      case 'rigid'
+        ground.type = 1;
+    end
+
+    ground.shape   = [2, 2, 0.5]; % [m]
+    ground.density = 2800;        % [kg/m3]
+
+    ground.rot_point = args.rot_point;
+
+    if exist('./mat', 'dir')
+        if exist('./mat/nass_model_stages.mat', 'file')
+            save('mat/nass_model_stages.mat', 'ground', '-append');
+        else
+            save('mat/nass_model_stages.mat', 'ground');
+        end
+    elseif exist('./matlab', 'dir')
+        if exist('./matlab/mat/nass_model_stages.mat', 'file')
+            save('matlab/mat/nass_model_stages.mat', 'ground', '-append');
+        else
+            save('matlab/mat/nass_model_stages.mat', 'ground');
+        end
     end
 end
diff --git a/matlab/src/initializeMicroHexapod.m b/matlab/src/initializeMicroHexapod.m
index 5a9bc90..4c8619d 100644
--- a/matlab/src/initializeMicroHexapod.m
+++ b/matlab/src/initializeMicroHexapod.m
@@ -1,107 +1,108 @@
-  function [micro_hexapod] = initializeMicroHexapod(args)
+function [micro_hexapod] = initializeMicroHexapod(args)
 
-  arguments
-      args.type      char   {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
-      % initializeFramesPositions
-      args.H    (1,1) double {mustBeNumeric, mustBePositive} = 350e-3
-      args.MO_B (1,1) double {mustBeNumeric} = 270e-3
-      % generateGeneralConfiguration
-      args.FH  (1,1) double {mustBeNumeric, mustBePositive} = 50e-3
-      args.FR  (1,1) double {mustBeNumeric, mustBePositive} = 175.5e-3
-      args.FTh (6,1) double {mustBeNumeric} = [-10, 10, 120-10, 120+10, 240-10, 240+10]*(pi/180)
-      args.MH  (1,1) double {mustBeNumeric, mustBePositive} = 45e-3
-      args.MR  (1,1) double {mustBeNumeric, mustBePositive} = 118e-3
-      args.MTh (6,1) double {mustBeNumeric} = [-60+10, 60-10, 60+10, 180-10, 180+10, -60-10]*(pi/180)
-      % initializeStrutDynamics
-      args.Ki (6,1) double {mustBeNumeric, mustBeNonnegative} = 2e7*ones(6,1)
-      args.Ci (6,1) double {mustBeNumeric, mustBeNonnegative} = 1.4e3*ones(6,1)
-      % initializeCylindricalPlatforms
-      args.Fpm (1,1) double {mustBeNumeric, mustBePositive} = 10
-      args.Fph (1,1) double {mustBeNumeric, mustBePositive} = 26e-3
-      args.Fpr (1,1) double {mustBeNumeric, mustBePositive} = 207.5e-3
-      args.Mpm (1,1) double {mustBeNumeric, mustBePositive} = 10
-      args.Mph (1,1) double {mustBeNumeric, mustBePositive} = 26e-3
-      args.Mpr (1,1) double {mustBeNumeric, mustBePositive} = 150e-3
-      % initializeCylindricalStruts
-      args.Fsm (1,1) double {mustBeNumeric, mustBePositive} = 1
-      args.Fsh (1,1) double {mustBeNumeric, mustBePositive} = 100e-3
-      args.Fsr (1,1) double {mustBeNumeric, mustBePositive} = 25e-3
-      args.Msm (1,1) double {mustBeNumeric, mustBePositive} = 1
-      args.Msh (1,1) double {mustBeNumeric, mustBePositive} = 100e-3
-      args.Msr (1,1) double {mustBeNumeric, mustBePositive} = 25e-3
-      % inverseKinematics
-      args.AP  (3,1) double {mustBeNumeric} = zeros(3,1)
-      args.ARB (3,3) double {mustBeNumeric} = eye(3)
-  end
-
-  stewart = initializeStewartPlatform();
-
-  stewart = initializeFramesPositions(stewart, ...
-                                      'H', args.H, ...
-                                      'MO_B', args.MO_B);
-
-  stewart = generateGeneralConfiguration(stewart, ...
-                                         'FH', args.FH, ...
-                                         'FR', args.FR, ...
-                                         'FTh', args.FTh, ...
-                                         'MH', args.MH, ...
-                                         'MR', args.MR, ...
-                                         'MTh', args.MTh);
-
-  stewart = computeJointsPose(stewart);
-
-  stewart = initializeStrutDynamics(stewart, ...
-                                    'K', args.Ki, ...
-                                    'C', args.Ci);
-
-  stewart = initializeJointDynamics(stewart, ...
-                                    'type_F', 'universal_p', ...
-                                    'type_M', 'spherical_p');
-
-  stewart = initializeCylindricalPlatforms(stewart, ...
-                                           'Fpm', args.Fpm, ...
-                                           'Fph', args.Fph, ...
-                                           'Fpr', args.Fpr, ...
-                                           'Mpm', args.Mpm, ...
-                                           'Mph', args.Mph, ...
-                                           'Mpr', args.Mpr);
-
-  stewart = initializeCylindricalStruts(stewart, ...
-                                        'Fsm', args.Fsm, ...
-                                        'Fsh', args.Fsh, ...
-                                        'Fsr', args.Fsr, ...
-                                        'Msm', args.Msm, ...
-                                        'Msh', args.Msh, ...
-                                        'Msr', args.Msr);
-
-  stewart = computeJacobian(stewart);
-
-  stewart = initializeStewartPose(stewart, ...
-                                'AP', args.AP, ...
-                                'ARB', args.ARB);
-
-  stewart = initializeInertialSensor(stewart, 'type', 'none');
-
-  switch args.type
-    case 'none'
-      stewart.type = 0;
-    case 'rigid'
-      stewart.type = 1;
-    case 'flexible'
-      stewart.type = 2;
-  end
-
-micro_hexapod = stewart;
-if exist('./mat', 'dir')
-    if exist('./mat/nass_model_stages.mat', 'file')
-        save('mat/nass_model_stages.mat', 'micro_hexapod', '-append');
-    else
-        save('mat/nass_model_stages.mat', 'micro_hexapod');
+    arguments
+        args.type      char   {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
+        % initializeFramesPositions
+        args.H    (1,1) double {mustBeNumeric, mustBePositive} = 350e-3
+        args.MO_B (1,1) double {mustBeNumeric} = 270e-3
+        % generateGeneralConfiguration
+        args.FH  (1,1) double {mustBeNumeric, mustBePositive} = 50e-3
+        args.FR  (1,1) double {mustBeNumeric, mustBePositive} = 175.5e-3
+        args.FTh (6,1) double {mustBeNumeric} = [-10, 10, 120-10, 120+10, 240-10, 240+10]*(pi/180)
+        args.MH  (1,1) double {mustBeNumeric, mustBePositive} = 45e-3
+        args.MR  (1,1) double {mustBeNumeric, mustBePositive} = 118e-3
+        args.MTh (6,1) double {mustBeNumeric} = [-60+10, 60-10, 60+10, 180-10, 180+10, -60-10]*(pi/180)
+        % initializeStrutDynamics
+        args.Ki (6,1) double {mustBeNumeric, mustBeNonnegative} = 2e7*ones(6,1)
+        args.Ci (6,1) double {mustBeNumeric, mustBeNonnegative} = 1.4e3*ones(6,1)
+        % initializeCylindricalPlatforms
+        args.Fpm (1,1) double {mustBeNumeric, mustBePositive} = 10
+        args.Fph (1,1) double {mustBeNumeric, mustBePositive} = 26e-3
+        args.Fpr (1,1) double {mustBeNumeric, mustBePositive} = 207.5e-3
+        args.Mpm (1,1) double {mustBeNumeric, mustBePositive} = 10
+        args.Mph (1,1) double {mustBeNumeric, mustBePositive} = 26e-3
+        args.Mpr (1,1) double {mustBeNumeric, mustBePositive} = 150e-3
+        % initializeCylindricalStruts
+        args.Fsm (1,1) double {mustBeNumeric, mustBePositive} = 1
+        args.Fsh (1,1) double {mustBeNumeric, mustBePositive} = 100e-3
+        args.Fsr (1,1) double {mustBeNumeric, mustBePositive} = 25e-3
+        args.Msm (1,1) double {mustBeNumeric, mustBePositive} = 1
+        args.Msh (1,1) double {mustBeNumeric, mustBePositive} = 100e-3
+        args.Msr (1,1) double {mustBeNumeric, mustBePositive} = 25e-3
+        % inverseKinematics
+        args.AP  (3,1) double {mustBeNumeric} = zeros(3,1)
+        args.ARB (3,3) double {mustBeNumeric} = eye(3)
     end
-elseif exist('./matlab', 'dir')
-    if exist('./matlab/mat/nass_model_stages.mat', 'file')
-        save('matlab/mat/nass_model_stages.mat', 'micro_hexapod', '-append');
-    else
-        save('matlab/mat/nass_model_stages.mat', 'micro_hexapod');
+
+    stewart = initializeStewartPlatform();
+
+    stewart = initializeFramesPositions(stewart, ...
+                                        'H', args.H, ...
+                                        'MO_B', args.MO_B);
+
+    stewart = generateGeneralConfiguration(stewart, ...
+                                           'FH', args.FH, ...
+                                           'FR', args.FR, ...
+                                           'FTh', args.FTh, ...
+                                           'MH', args.MH, ...
+                                           'MR', args.MR, ...
+                                           'MTh', args.MTh);
+
+    stewart = computeJointsPose(stewart);
+
+    stewart = initializeStrutDynamics(stewart, ...
+                                      'K', args.Ki, ...
+                                      'C', args.Ci);
+
+    stewart = initializeJointDynamics(stewart, ...
+                                      'type_F', 'universal_p', ...
+                                      'type_M', 'spherical_p');
+
+    stewart = initializeCylindricalPlatforms(stewart, ...
+                                             'Fpm', args.Fpm, ...
+                                             'Fph', args.Fph, ...
+                                             'Fpr', args.Fpr, ...
+                                             'Mpm', args.Mpm, ...
+                                             'Mph', args.Mph, ...
+                                             'Mpr', args.Mpr);
+
+    stewart = initializeCylindricalStruts(stewart, ...
+                                          'Fsm', args.Fsm, ...
+                                          'Fsh', args.Fsh, ...
+                                          'Fsr', args.Fsr, ...
+                                          'Msm', args.Msm, ...
+                                          'Msh', args.Msh, ...
+                                          'Msr', args.Msr);
+
+    stewart = computeJacobian(stewart);
+
+    stewart = initializeStewartPose(stewart, ...
+                                    'AP', args.AP, ...
+                                    'ARB', args.ARB);
+
+    stewart = initializeInertialSensor(stewart, 'type', 'none');
+
+    switch args.type
+      case 'none'
+        stewart.type = 0;
+      case 'rigid'
+        stewart.type = 1;
+      case 'flexible'
+        stewart.type = 2;
+    end
+
+    micro_hexapod = stewart;
+    if exist('./mat', 'dir')
+        if exist('./mat/nass_model_stages.mat', 'file')
+            save('mat/nass_model_stages.mat', 'micro_hexapod', '-append');
+        else
+            save('mat/nass_model_stages.mat', 'micro_hexapod');
+        end
+    elseif exist('./matlab', 'dir')
+        if exist('./matlab/mat/nass_model_stages.mat', 'file')
+            save('matlab/mat/nass_model_stages.mat', 'micro_hexapod', '-append');
+        else
+            save('matlab/mat/nass_model_stages.mat', 'micro_hexapod');
+        end
     end
 end
diff --git a/matlab/src/initializeRy.m b/matlab/src/initializeRy.m
index ec1510b..a5275b2 100644
--- a/matlab/src/initializeRy.m
+++ b/matlab/src/initializeRy.m
@@ -1,54 +1,57 @@
-  function [ry] = initializeRy(args)
+function [ry] = initializeRy(args)
 
-  arguments
-    args.type          char    {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
-    args.Ry_init (1,1) double  {mustBeNumeric} = 0
-  end
-
-  ry = struct();
-
-  switch args.type
-    case 'none'
-      ry.type = 0;
-    case 'rigid'
-      ry.type = 1;
-    case 'flexible'
-      ry.type = 2;
-  end
-
-  % Ry - Guide for the tilt stage
-  ry.guide.density = 7800; % [kg/m3]
-  ry.guide.STEP    = 'Tilt_Guide.STEP';
-
-  % Ry - Rotor of the motor
-  ry.rotor.density = 2400; % [kg/m3]
-  ry.rotor.STEP    = 'Tilt_Motor_Axis.STEP';
-
-  % Ry - Motor
-  ry.motor.density = 3200; % [kg/m3]
-  ry.motor.STEP    = 'Tilt_Motor.STEP';
-
-  % Ry - Plateau Tilt
-  ry.stage.density = 7800; % [kg/m3]
-  ry.stage.STEP    = 'Tilt_Stage.STEP';
-
-  ry.z_offset = 0.58178; % [m]
-
-  ry.Ry_init = args.Ry_init; % [rad]
-
-  ry.K = [3.8e8; 4e8; 3.8e8; 1.2e8; 6e4; 1.2e8];
-  ry.C = [1e5;   1e5; 1e5;   3e4;   1e3; 3e4];
-
-if exist('./mat', 'dir')
-    if exist('./mat/nass_model_stages.mat', 'file')
-        save('mat/nass_model_stages.mat', 'ry', '-append');
-    else
-        save('mat/nass_model_stages.mat', 'ry');
+    arguments
+        args.type          char    {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
+        args.Ry_init (1,1) double  {mustBeNumeric} = 0
     end
-elseif exist('./matlab', 'dir')
-    if exist('./matlab/mat/nass_model_stages.mat', 'file')
-        save('matlab/mat/nass_model_stages.mat', 'ry', '-append');
-    else
-        save('matlab/mat/nass_model_stages.mat', 'ry');
+
+    ry = struct();
+
+    switch args.type
+      case 'none'
+        ry.type = 0;
+      case 'rigid'
+        ry.type = 1;
+      case 'flexible'
+        ry.type = 2;
     end
+
+    % Ry - Guide for the tilt stage
+    ry.guide.density = 7800; % [kg/m3]
+    ry.guide.STEP    = 'Tilt_Guide.STEP';
+
+    % Ry - Rotor of the motor
+    ry.rotor.density = 2400; % [kg/m3]
+    ry.rotor.STEP    = 'Tilt_Motor_Axis.STEP';
+
+    % Ry - Motor
+    ry.motor.density = 3200; % [kg/m3]
+    ry.motor.STEP    = 'Tilt_Motor.STEP';
+
+    % Ry - Plateau Tilt
+    ry.stage.density = 7800; % [kg/m3]
+    ry.stage.STEP    = 'Tilt_Stage.STEP';
+
+    % Z-Offset so that the center of rotation matches the sample center;
+    ry.z_offset = 0.58178; % [m]
+
+    ry.Ry_init = args.Ry_init; % [rad]
+
+    ry.K = [3.8e8; 4e8; 3.8e8; 1.2e8; 6e4; 1.2e8];
+    ry.C = [1e5;   1e5; 1e5;   3e4;   1e3; 3e4];
+
+    if exist('./mat', 'dir')
+        if exist('./mat/nass_model_stages.mat', 'file')
+            save('mat/nass_model_stages.mat', 'ry', '-append');
+        else
+            save('mat/nass_model_stages.mat', 'ry');
+        end
+    elseif exist('./matlab', 'dir')
+        if exist('./matlab/mat/nass_model_stages.mat', 'file')
+            save('matlab/mat/nass_model_stages.mat', 'ry', '-append');
+        else
+            save('matlab/mat/nass_model_stages.mat', 'ry');
+        end
+    end
+
 end
diff --git a/matlab/src/initializeRz.m b/matlab/src/initializeRz.m
index 98d863b..97bf4cf 100644
--- a/matlab/src/initializeRz.m
+++ b/matlab/src/initializeRz.m
@@ -1,45 +1,47 @@
-  function [rz] = initializeRz(args)
+function [rz] = initializeRz(args)
 
-  arguments
-    args.type    char    {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
-  end
-
-  rz = struct();
-
-  switch args.type
-    case 'none'
-      rz.type = 0;
-    case 'rigid'
-      rz.type = 1;
-    case 'flexible'
-      rz.type = 2;
-  end
-
-  % Spindle - Slip Ring
-  rz.slipring.density = 7800; % [kg/m3]
-  rz.slipring.STEP    = 'Spindle_Slip_Ring.STEP';
-
-  % Spindle - Rotor
-  rz.rotor.density    = 7800; % [kg/m3]
-  rz.rotor.STEP       = 'Spindle_Rotor.STEP';
-
-  % Spindle - Stator
-  rz.stator.density   = 7800; % [kg/m3]
-  rz.stator.STEP      = 'Spindle_Stator.STEP';
-
-  rz.K = [7e8; 7e8; 2e9; 1e7; 1e7; 1e7];
-  rz.C = [4e4; 4e4; 7e4; 1e4; 1e4; 1e4];
-
-if exist('./mat', 'dir')
-    if exist('./mat/nass_model_stages.mat', 'file')
-        save('mat/nass_model_stages.mat', 'rz', '-append');
-    else
-        save('mat/nass_model_stages.mat', 'rz');
+    arguments
+        args.type    char    {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
     end
-elseif exist('./matlab', 'dir')
-    if exist('./matlab/mat/nass_model_stages.mat', 'file')
-        save('matlab/mat/nass_model_stages.mat', 'rz', '-append');
-    else
-        save('matlab/mat/nass_model_stages.mat', 'rz');
+
+    rz = struct();
+
+    switch args.type
+      case 'none'
+        rz.type = 0;
+      case 'rigid'
+        rz.type = 1;
+      case 'flexible'
+        rz.type = 2;
     end
+
+    % Spindle - Slip Ring
+    rz.slipring.density = 7800; % [kg/m3]
+    rz.slipring.STEP    = 'Spindle_Slip_Ring.STEP';
+
+    % Spindle - Rotor
+    rz.rotor.density    = 7800; % [kg/m3]
+    rz.rotor.STEP       = 'Spindle_Rotor.STEP';
+
+    % Spindle - Stator
+    rz.stator.density   = 7800; % [kg/m3]
+    rz.stator.STEP      = 'Spindle_Stator.STEP';
+
+    rz.K = [7e8; 7e8; 2e9; 1e7; 1e7; 1e7];
+    rz.C = [4e4; 4e4; 7e4; 1e4; 1e4; 1e4];
+
+    if exist('./mat', 'dir')
+        if exist('./mat/nass_model_stages.mat', 'file')
+            save('mat/nass_model_stages.mat', 'rz', '-append');
+        else
+            save('mat/nass_model_stages.mat', 'rz');
+        end
+    elseif exist('./matlab', 'dir')
+        if exist('./matlab/mat/nass_model_stages.mat', 'file')
+            save('matlab/mat/nass_model_stages.mat', 'rz', '-append');
+        else
+            save('matlab/mat/nass_model_stages.mat', 'rz');
+        end
+    end
+
 end
diff --git a/matlab/src/initializeTy.m b/matlab/src/initializeTy.m
index 6730f9b..8f6f81e 100644
--- a/matlab/src/initializeTy.m
+++ b/matlab/src/initializeTy.m
@@ -1,69 +1,71 @@
-  function [ty] = initializeTy(args)
+function [ty] = initializeTy(args)
 
-  arguments
-    args.type      char   {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
-  end
-
-  ty = struct();
-
-  switch args.type
-    case 'none'
-      ty.type = 0;
-    case 'rigid'
-      ty.type = 1;
-    case 'flexible'
-      ty.type = 2;
-  end
-
-  % Ty Granite frame
-  ty.granite_frame.density = 7800; % [kg/m3] => 43kg
-  ty.granite_frame.STEP    = 'Ty_Granite_Frame.STEP';
-
-  % Guide Translation Ty
-  ty.guide.density         = 7800; % [kg/m3] => 76kg
-  ty.guide.STEP            = 'Ty_Guide.STEP';
-
-  % Ty - Guide_Translation12
-  ty.guide12.density       = 7800; % [kg/m3]
-  ty.guide12.STEP          = 'Ty_Guide_12.STEP';
-
-  % Ty - Guide_Translation11
-  ty.guide11.density       = 7800; % [kg/m3]
-  ty.guide11.STEP          = 'Ty_Guide_11.STEP';
-
-  % Ty - Guide_Translation22
-  ty.guide22.density       = 7800; % [kg/m3]
-  ty.guide22.STEP          = 'Ty_Guide_22.STEP';
-
-  % Ty - Guide_Translation21
-  ty.guide21.density       = 7800; % [kg/m3]
-  ty.guide21.STEP          = 'Ty_Guide_21.STEP';
-
-  % Ty - Plateau translation
-  ty.frame.density         = 7800; % [kg/m3]
-  ty.frame.STEP            = 'Ty_Stage.STEP';
-
-  % Ty Stator Part
-  ty.stator.density        = 5400; % [kg/m3]
-  ty.stator.STEP           = 'Ty_Motor_Stator.STEP';
-
-  % Ty Rotor Part
-  ty.rotor.density         = 5400; % [kg/m3]
-  ty.rotor.STEP            = 'Ty_Motor_Rotor.STEP';
-
-  ty.K = [2e8; 1e8; 2e8; 6e7; 9e7; 6e7]; % [N/m, N*m/rad]
-  ty.C = [8e4; 5e4; 8e4; 2e4; 3e4; 1e4]; % [N/(m/s), N*m/(rad/s)]
-
-if exist('./mat', 'dir')
-    if exist('./mat/nass_model_stages.mat', 'file')
-        save('mat/nass_model_stages.mat', 'ty', '-append');
-    else
-        save('mat/nass_model_stages.mat', 'ty');
+    arguments
+        args.type      char   {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
     end
-elseif exist('./matlab', 'dir')
-    if exist('./matlab/mat/nass_model_stages.mat', 'file')
-        save('matlab/mat/nass_model_stages.mat', 'ty', '-append');
-    else
-        save('matlab/mat/nass_model_stages.mat', 'ty');
+
+    ty = struct();
+
+    switch args.type
+      case 'none'
+        ty.type = 0;
+      case 'rigid'
+        ty.type = 1;
+      case 'flexible'
+        ty.type = 2;
     end
+
+    % Ty Granite frame
+    ty.granite_frame.density = 7800; % [kg/m3] => 43kg
+    ty.granite_frame.STEP    = 'Ty_Granite_Frame.STEP';
+
+    % Guide Translation Ty
+    ty.guide.density         = 7800; % [kg/m3] => 76kg
+    ty.guide.STEP            = 'Ty_Guide.STEP';
+
+    % Ty - Guide_Translation12
+    ty.guide12.density       = 7800; % [kg/m3]
+    ty.guide12.STEP          = 'Ty_Guide_12.STEP';
+
+    % Ty - Guide_Translation11
+    ty.guide11.density       = 7800; % [kg/m3]
+    ty.guide11.STEP          = 'Ty_Guide_11.STEP';
+
+    % Ty - Guide_Translation22
+    ty.guide22.density       = 7800; % [kg/m3]
+    ty.guide22.STEP          = 'Ty_Guide_22.STEP';
+
+    % Ty - Guide_Translation21
+    ty.guide21.density       = 7800; % [kg/m3]
+    ty.guide21.STEP          = 'Ty_Guide_21.STEP';
+
+    % Ty - Plateau translation
+    ty.frame.density         = 7800; % [kg/m3]
+    ty.frame.STEP            = 'Ty_Stage.STEP';
+
+    % Ty Stator Part
+    ty.stator.density        = 5400; % [kg/m3]
+    ty.stator.STEP           = 'Ty_Motor_Stator.STEP';
+
+    % Ty Rotor Part
+    ty.rotor.density         = 5400; % [kg/m3]
+    ty.rotor.STEP            = 'Ty_Motor_Rotor.STEP';
+
+    ty.K = [2e8; 1e8; 2e8; 6e7; 9e7; 6e7]; % [N/m, N*m/rad]
+    ty.C = [8e4; 5e4; 8e4; 2e4; 3e4; 1e4]; % [N/(m/s), N*m/(rad/s)]
+
+    if exist('./mat', 'dir')
+        if exist('./mat/nass_model_stages.mat', 'file')
+            save('mat/nass_model_stages.mat', 'ty', '-append');
+        else
+            save('mat/nass_model_stages.mat', 'ty');
+        end
+    elseif exist('./matlab', 'dir')
+        if exist('./matlab/mat/nass_model_stages.mat', 'file')
+            save('matlab/mat/nass_model_stages.mat', 'ty', '-append');
+        else
+            save('matlab/mat/nass_model_stages.mat', 'ty');
+        end
+    end
+
 end
diff --git a/matlab/ustation_simscape.slx b/matlab/ustation_simscape.slx
index 7d260d6..af3cc85 100644
Binary files a/matlab/ustation_simscape.slx and b/matlab/ustation_simscape.slx differ
diff --git a/simscape-micro-station.org b/simscape-micro-station.org
index 42a60be..9b04c9c 100644
--- a/simscape-micro-station.org
+++ b/simscape-micro-station.org
@@ -3202,549 +3202,392 @@ function   [xc,yc,R,a] = circlefit(x,y)
 
 ** Initialize Micro-Station Stages
 *** =initializeGround=: Ground
-:PROPERTIES:
-:header-args:matlab+: :tangle matlab/src/initializeGround.m
-:header-args:matlab+: :comments none :mkdirp yes :eval no
-:END:
+#+begin_src matlab :tangle matlab/src/initializeGround.m :comments none :mkdirp yes :eval no
+function [ground] = initializeGround(args)
 
-**** Function description
-#+begin_src matlab
-  function [ground] = initializeGround(args)
-#+end_src
-
-**** Optional Parameters
-#+begin_src matlab
-  arguments
-    args.type char {mustBeMember(args.type,{'none', 'rigid'})} = 'rigid'
-    args.rot_point (3,1) double {mustBeNumeric} = zeros(3,1) % Rotation point for the ground motion [m]
-  end
-#+end_src
-
-**** Structure initialization
-First, we initialize the =granite= structure.
-#+begin_src matlab
-  ground = struct();
-#+end_src
-
-**** Add Type
-#+begin_src matlab
-  switch args.type
-    case 'none'
-      ground.type = 0;
-    case 'rigid'
-      ground.type = 1;
-  end
-#+end_src
-
-**** Ground Solid properties
-We set the shape and density of the ground solid element.
-#+begin_src matlab
-  ground.shape   = [2, 2, 0.5]; % [m]
-  ground.density = 2800;        % [kg/m3]
-#+end_src
-
-**** Rotation Point
-
-#+begin_src matlab
-  ground.rot_point = args.rot_point;
-#+end_src
-
-**** Save the Structure
-#+begin_src matlab
-if exist('./mat', 'dir')
-    if exist('./mat/nass_model_stages.mat', 'file')
-        save('mat/nass_model_stages.mat', 'ground', '-append');
-    else
-        save('mat/nass_model_stages.mat', 'ground');
+    arguments
+        args.type char {mustBeMember(args.type,{'none', 'rigid'})} = 'rigid'
+        args.rot_point (3,1) double {mustBeNumeric} = zeros(3,1) % Rotation point for the ground motion [m]
     end
-elseif exist('./matlab', 'dir')
-    if exist('./matlab/mat/nass_model_stages.mat', 'file')
-        save('matlab/mat/nass_model_stages.mat', 'ground', '-append');
-    else
-        save('matlab/mat/nass_model_stages.mat', 'ground');
+
+    ground = struct();
+
+    switch args.type
+      case 'none'
+        ground.type = 0;
+      case 'rigid'
+        ground.type = 1;
+    end
+
+    ground.shape   = [2, 2, 0.5]; % [m]
+    ground.density = 2800;        % [kg/m3]
+
+    ground.rot_point = args.rot_point;
+
+    if exist('./mat', 'dir')
+        if exist('./mat/nass_model_stages.mat', 'file')
+            save('mat/nass_model_stages.mat', 'ground', '-append');
+        else
+            save('mat/nass_model_stages.mat', 'ground');
+        end
+    elseif exist('./matlab', 'dir')
+        if exist('./matlab/mat/nass_model_stages.mat', 'file')
+            save('matlab/mat/nass_model_stages.mat', 'ground', '-append');
+        else
+            save('matlab/mat/nass_model_stages.mat', 'ground');
+        end
     end
 end
 #+end_src
 
 *** =initializeGranite=: Granite
-:PROPERTIES:
-:header-args:matlab+: :tangle matlab/src/initializeGranite.m
-:header-args:matlab+: :comments none :mkdirp yes :eval no
-:END:
+#+begin_src matlab :tangle matlab/src/initializeGranite.m :comments none :mkdirp yes :eval no
+function [granite] = initializeGranite(args)
 
-**** Function description
-#+begin_src matlab
-  function [granite] = initializeGranite(args)
-#+end_src
-
-**** Optional Parameters
-#+begin_src matlab
-  arguments
-    args.type          char    {mustBeMember(args.type,{'rigid', 'flexible', 'none'})} = 'flexible'
-    args.density (1,1) double {mustBeNumeric, mustBeNonnegative} = 2800 % Density [kg/m3]
-    args.K  (6,1) double {mustBeNumeric, mustBeNonnegative} = [5e9;   5e9;   5e9;   2.5e7; 2.5e7; 1e7] % [N/m]
-    args.C  (6,1) double {mustBeNumeric, mustBeNonnegative} = [4.0e5; 1.1e5; 9.0e5; 2e4;   2e4; 1e4] % [N/(m/s)]
-    args.x0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the X direction [m]
-    args.y0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Y direction [m]
-    args.z0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Z direction [m]
-    args.sample_pos (1,1) double {mustBeNumeric} = 0.8 % Height of the measurment point [m]
-  end
-#+end_src
-
-**** Structure initialization
-First, we initialize the =granite= structure.
-#+begin_src matlab
-  granite = struct();
-#+end_src
-
-**** Add Granite Type
-#+begin_src matlab
-  switch args.type
-    case 'none'
-      granite.type = 0;
-    case 'rigid'
-      granite.type = 1;
-    case 'flexible'
-      granite.type = 2;
-  end
-#+end_src
-
-**** Material and Geometry
-
-Properties of the Material and link to the geometry of the granite.
-#+begin_src matlab
-  granite.density = args.density; % [kg/m3]
-  granite.STEP    = 'granite.STEP';
-#+end_src
-
-Z-offset for the initial position of the sample with respect to the granite top surface.
-#+begin_src matlab
-  granite.sample_pos = args.sample_pos; % [m]
-#+end_src
-
-**** Stiffness and Damping properties
-
-#+begin_src matlab
-  granite.K = args.K; % [N/m]
-  granite.C = args.C; % [N/(m/s)]
-#+end_src
-
-**** Save the Structure
-#+begin_src matlab
-if exist('./mat', 'dir')
-    if exist('./mat/nass_model_stages.mat', 'file')
-        save('mat/nass_model_stages.mat', 'granite', '-append');
-    else
-        save('mat/nass_model_stages.mat', 'granite');
+    arguments
+        args.type          char    {mustBeMember(args.type,{'rigid', 'flexible', 'none'})} = 'flexible'
+        args.density (1,1) double {mustBeNumeric, mustBeNonnegative} = 2800 % Density [kg/m3]
+        args.K  (6,1) double {mustBeNumeric, mustBeNonnegative} = [5e9;   5e9;   5e9;   2.5e7; 2.5e7; 1e7] % [N/m]
+        args.C  (6,1) double {mustBeNumeric, mustBeNonnegative} = [4.0e5; 1.1e5; 9.0e5; 2e4;   2e4; 1e4] % [N/(m/s)]
+        args.x0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the X direction [m]
+        args.y0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Y direction [m]
+        args.z0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Z direction [m]
+        args.sample_pos (1,1) double {mustBeNumeric} = 0.775 % Height of the measurment point [m]
     end
-elseif exist('./matlab', 'dir')
-    if exist('./matlab/mat/nass_model_stages.mat', 'file')
-        save('matlab/mat/nass_model_stages.mat', 'granite', '-append');
-    else
-        save('matlab/mat/nass_model_stages.mat', 'granite');
+
+    granite = struct();
+
+    switch args.type
+      case 'none'
+        granite.type = 0;
+      case 'rigid'
+        granite.type = 1;
+      case 'flexible'
+        granite.type = 2;
     end
+
+    granite.density = args.density; % [kg/m3]
+    granite.STEP    = 'granite.STEP';
+
+    % Z-offset for the initial position of the sample with respect to the granite top surface.
+    granite.sample_pos = args.sample_pos; % [m]
+
+    granite.K = args.K; % [N/m]
+    granite.C = args.C; % [N/(m/s)]
+
+    if exist('./mat', 'dir')
+        if exist('./mat/nass_model_stages.mat', 'file')
+            save('mat/nass_model_stages.mat', 'granite', '-append');
+        else
+            save('mat/nass_model_stages.mat', 'granite');
+        end
+    elseif exist('./matlab', 'dir')
+        if exist('./matlab/mat/nass_model_stages.mat', 'file')
+            save('matlab/mat/nass_model_stages.mat', 'granite', '-append');
+        else
+            save('matlab/mat/nass_model_stages.mat', 'granite');
+        end
+    end
+
 end
 #+end_src
 
 *** =initializeTy=: Translation Stage
-:PROPERTIES:
-:header-args:matlab+: :tangle matlab/src/initializeTy.m
-:header-args:matlab+: :comments none :mkdirp yes :eval no
-:END:
+#+begin_src matlab :tangle matlab/src/initializeTy.m :comments none :mkdirp yes :eval no
+function [ty] = initializeTy(args)
 
-**** Function description
-#+begin_src matlab
-  function [ty] = initializeTy(args)
-#+end_src
-
-**** Optional Parameters
-#+begin_src matlab
-  arguments
-    args.type      char   {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
-  end
-#+end_src
-
-**** Structure initialization
-First, we initialize the =ty= structure.
-#+begin_src matlab
-  ty = struct();
-#+end_src
-
-**** Add Translation Stage Type
-#+begin_src matlab
-  switch args.type
-    case 'none'
-      ty.type = 0;
-    case 'rigid'
-      ty.type = 1;
-    case 'flexible'
-      ty.type = 2;
-  end
-#+end_src
-
-**** Material and Geometry
-Define the density of the materials as well as the geometry (STEP files).
-#+begin_src matlab
-  % Ty Granite frame
-  ty.granite_frame.density = 7800; % [kg/m3] => 43kg
-  ty.granite_frame.STEP    = 'Ty_Granite_Frame.STEP';
-
-  % Guide Translation Ty
-  ty.guide.density         = 7800; % [kg/m3] => 76kg
-  ty.guide.STEP            = 'Ty_Guide.STEP';
-
-  % Ty - Guide_Translation12
-  ty.guide12.density       = 7800; % [kg/m3]
-  ty.guide12.STEP          = 'Ty_Guide_12.STEP';
-
-  % Ty - Guide_Translation11
-  ty.guide11.density       = 7800; % [kg/m3]
-  ty.guide11.STEP          = 'Ty_Guide_11.STEP';
-
-  % Ty - Guide_Translation22
-  ty.guide22.density       = 7800; % [kg/m3]
-  ty.guide22.STEP          = 'Ty_Guide_22.STEP';
-
-  % Ty - Guide_Translation21
-  ty.guide21.density       = 7800; % [kg/m3]
-  ty.guide21.STEP          = 'Ty_Guide_21.STEP';
-
-  % Ty - Plateau translation
-  ty.frame.density         = 7800; % [kg/m3]
-  ty.frame.STEP            = 'Ty_Stage.STEP';
-
-  % Ty Stator Part
-  ty.stator.density        = 5400; % [kg/m3]
-  ty.stator.STEP           = 'Ty_Motor_Stator.STEP';
-
-  % Ty Rotor Part
-  ty.rotor.density         = 5400; % [kg/m3]
-  ty.rotor.STEP            = 'Ty_Motor_Rotor.STEP';
-#+end_src
-
-**** Stiffness and Damping properties
-
-#+begin_src matlab
-  ty.K = [2e8; 1e8; 2e8; 6e7; 9e7; 6e7]; % [N/m, N*m/rad]
-  ty.C = [8e4; 5e4; 8e4; 2e4; 3e4; 1e4]; % [N/(m/s), N*m/(rad/s)]
-#+end_src
-
-**** Save the Structure
-#+begin_src matlab
-if exist('./mat', 'dir')
-    if exist('./mat/nass_model_stages.mat', 'file')
-        save('mat/nass_model_stages.mat', 'ty', '-append');
-    else
-        save('mat/nass_model_stages.mat', 'ty');
+    arguments
+        args.type      char   {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
     end
-elseif exist('./matlab', 'dir')
-    if exist('./matlab/mat/nass_model_stages.mat', 'file')
-        save('matlab/mat/nass_model_stages.mat', 'ty', '-append');
-    else
-        save('matlab/mat/nass_model_stages.mat', 'ty');
+
+    ty = struct();
+
+    switch args.type
+      case 'none'
+        ty.type = 0;
+      case 'rigid'
+        ty.type = 1;
+      case 'flexible'
+        ty.type = 2;
     end
+
+    % Ty Granite frame
+    ty.granite_frame.density = 7800; % [kg/m3] => 43kg
+    ty.granite_frame.STEP    = 'Ty_Granite_Frame.STEP';
+
+    % Guide Translation Ty
+    ty.guide.density         = 7800; % [kg/m3] => 76kg
+    ty.guide.STEP            = 'Ty_Guide.STEP';
+
+    % Ty - Guide_Translation12
+    ty.guide12.density       = 7800; % [kg/m3]
+    ty.guide12.STEP          = 'Ty_Guide_12.STEP';
+
+    % Ty - Guide_Translation11
+    ty.guide11.density       = 7800; % [kg/m3]
+    ty.guide11.STEP          = 'Ty_Guide_11.STEP';
+
+    % Ty - Guide_Translation22
+    ty.guide22.density       = 7800; % [kg/m3]
+    ty.guide22.STEP          = 'Ty_Guide_22.STEP';
+
+    % Ty - Guide_Translation21
+    ty.guide21.density       = 7800; % [kg/m3]
+    ty.guide21.STEP          = 'Ty_Guide_21.STEP';
+
+    % Ty - Plateau translation
+    ty.frame.density         = 7800; % [kg/m3]
+    ty.frame.STEP            = 'Ty_Stage.STEP';
+
+    % Ty Stator Part
+    ty.stator.density        = 5400; % [kg/m3]
+    ty.stator.STEP           = 'Ty_Motor_Stator.STEP';
+
+    % Ty Rotor Part
+    ty.rotor.density         = 5400; % [kg/m3]
+    ty.rotor.STEP            = 'Ty_Motor_Rotor.STEP';
+
+    ty.K = [2e8; 1e8; 2e8; 6e7; 9e7; 6e7]; % [N/m, N*m/rad]
+    ty.C = [8e4; 5e4; 8e4; 2e4; 3e4; 1e4]; % [N/(m/s), N*m/(rad/s)]
+
+    if exist('./mat', 'dir')
+        if exist('./mat/nass_model_stages.mat', 'file')
+            save('mat/nass_model_stages.mat', 'ty', '-append');
+        else
+            save('mat/nass_model_stages.mat', 'ty');
+        end
+    elseif exist('./matlab', 'dir')
+        if exist('./matlab/mat/nass_model_stages.mat', 'file')
+            save('matlab/mat/nass_model_stages.mat', 'ty', '-append');
+        else
+            save('matlab/mat/nass_model_stages.mat', 'ty');
+        end
+    end
+
 end
 #+end_src
 
 *** =initializeRy=: Tilt Stage
-:PROPERTIES:
-:header-args:matlab+: :tangle matlab/src/initializeRy.m
-:header-args:matlab+: :comments none :mkdirp yes :eval no
-:END:
+#+begin_src matlab :tangle matlab/src/initializeRy.m :comments none :mkdirp yes :eval no
+function [ry] = initializeRy(args)
 
-**** Function description
-#+begin_src matlab
-  function [ry] = initializeRy(args)
-#+end_src
-
-**** Optional Parameters
-#+begin_src matlab
-  arguments
-    args.type          char    {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
-    args.Ry_init (1,1) double  {mustBeNumeric} = 0
-  end
-#+end_src
-
-**** Structure initialization
-First, we initialize the =ry= structure.
-#+begin_src matlab
-  ry = struct();
-#+end_src
-
-
-**** Add Tilt Type
-#+begin_src matlab
-  switch args.type
-    case 'none'
-      ry.type = 0;
-    case 'rigid'
-      ry.type = 1;
-    case 'flexible'
-      ry.type = 2;
-  end
-#+end_src
-
-**** Material and Geometry
-Properties of the Material and link to the geometry of the Tilt stage.
-#+begin_src matlab
-  % Ry - Guide for the tilt stage
-  ry.guide.density = 7800; % [kg/m3]
-  ry.guide.STEP    = 'Tilt_Guide.STEP';
-
-  % Ry - Rotor of the motor
-  ry.rotor.density = 2400; % [kg/m3]
-  ry.rotor.STEP    = 'Tilt_Motor_Axis.STEP';
-
-  % Ry - Motor
-  ry.motor.density = 3200; % [kg/m3]
-  ry.motor.STEP    = 'Tilt_Motor.STEP';
-
-  % Ry - Plateau Tilt
-  ry.stage.density = 7800; % [kg/m3]
-  ry.stage.STEP    = 'Tilt_Stage.STEP';
-#+end_src
-
-Z-Offset so that the center of rotation matches the sample center;
-#+begin_src matlab
-  ry.z_offset = 0.58178; % [m]
-#+end_src
-
-#+begin_src matlab
-  ry.Ry_init = args.Ry_init; % [rad]
-#+end_src
-
-**** Stiffness and Damping properties
-
-#+begin_src matlab
-  ry.K = [3.8e8; 4e8; 3.8e8; 1.2e8; 6e4; 1.2e8];
-  ry.C = [1e5;   1e5; 1e5;   3e4;   1e3; 3e4];
-#+end_src
-
-**** Save the Structure
-#+begin_src matlab
-if exist('./mat', 'dir')
-    if exist('./mat/nass_model_stages.mat', 'file')
-        save('mat/nass_model_stages.mat', 'ry', '-append');
-    else
-        save('mat/nass_model_stages.mat', 'ry');
+    arguments
+        args.type          char    {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
+        args.Ry_init (1,1) double  {mustBeNumeric} = 0
     end
-elseif exist('./matlab', 'dir')
-    if exist('./matlab/mat/nass_model_stages.mat', 'file')
-        save('matlab/mat/nass_model_stages.mat', 'ry', '-append');
-    else
-        save('matlab/mat/nass_model_stages.mat', 'ry');
+
+    ry = struct();
+
+    switch args.type
+      case 'none'
+        ry.type = 0;
+      case 'rigid'
+        ry.type = 1;
+      case 'flexible'
+        ry.type = 2;
     end
+
+    % Ry - Guide for the tilt stage
+    ry.guide.density = 7800; % [kg/m3]
+    ry.guide.STEP    = 'Tilt_Guide.STEP';
+
+    % Ry - Rotor of the motor
+    ry.rotor.density = 2400; % [kg/m3]
+    ry.rotor.STEP    = 'Tilt_Motor_Axis.STEP';
+
+    % Ry - Motor
+    ry.motor.density = 3200; % [kg/m3]
+    ry.motor.STEP    = 'Tilt_Motor.STEP';
+
+    % Ry - Plateau Tilt
+    ry.stage.density = 7800; % [kg/m3]
+    ry.stage.STEP    = 'Tilt_Stage.STEP';
+
+    % Z-Offset so that the center of rotation matches the sample center;
+    ry.z_offset = 0.58178; % [m]
+
+    ry.Ry_init = args.Ry_init; % [rad]
+
+    ry.K = [3.8e8; 4e8; 3.8e8; 1.2e8; 6e4; 1.2e8];
+    ry.C = [1e5;   1e5; 1e5;   3e4;   1e3; 3e4];
+
+    if exist('./mat', 'dir')
+        if exist('./mat/nass_model_stages.mat', 'file')
+            save('mat/nass_model_stages.mat', 'ry', '-append');
+        else
+            save('mat/nass_model_stages.mat', 'ry');
+        end
+    elseif exist('./matlab', 'dir')
+        if exist('./matlab/mat/nass_model_stages.mat', 'file')
+            save('matlab/mat/nass_model_stages.mat', 'ry', '-append');
+        else
+            save('matlab/mat/nass_model_stages.mat', 'ry');
+        end
+    end
+
 end
 #+end_src
 
 *** =initializeRz=: Spindle
-:PROPERTIES:
-:header-args:matlab+: :tangle matlab/src/initializeRz.m
-:header-args:matlab+: :comments none :mkdirp yes :eval no
-:END:
+#+begin_src matlab :tangle matlab/src/initializeRz.m :comments none :mkdirp yes :eval no
+function [rz] = initializeRz(args)
 
-**** Function description
-#+begin_src matlab
-  function [rz] = initializeRz(args)
-#+end_src
-
-**** Optional Parameters
-#+begin_src matlab
-  arguments
-    args.type    char    {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
-  end
-#+end_src
-
-**** Structure initialization
-First, we initialize the =rz= structure.
-#+begin_src matlab
-  rz = struct();
-#+end_src
-
-**** Add Spindle Type
-#+begin_src matlab
-  switch args.type
-    case 'none'
-      rz.type = 0;
-    case 'rigid'
-      rz.type = 1;
-    case 'flexible'
-      rz.type = 2;
-  end
-#+end_src
-
-**** Material and Geometry
-
-Properties of the Material and link to the geometry of the spindle.
-#+begin_src matlab
-  % Spindle - Slip Ring
-  rz.slipring.density = 7800; % [kg/m3]
-  rz.slipring.STEP    = 'Spindle_Slip_Ring.STEP';
-
-  % Spindle - Rotor
-  rz.rotor.density    = 7800; % [kg/m3]
-  rz.rotor.STEP       = 'Spindle_Rotor.STEP';
-
-  % Spindle - Stator
-  rz.stator.density   = 7800; % [kg/m3]
-  rz.stator.STEP      = 'Spindle_Stator.STEP';
-#+end_src
-
-**** Stiffness and Damping properties
-
-#+begin_src matlab
-  rz.K = [7e8; 7e8; 2e9; 1e7; 1e7; 1e7];
-  rz.C = [4e4; 4e4; 7e4; 1e4; 1e4; 1e4];
-#+end_src
-
-**** Save the Structure
-#+begin_src matlab
-if exist('./mat', 'dir')
-    if exist('./mat/nass_model_stages.mat', 'file')
-        save('mat/nass_model_stages.mat', 'rz', '-append');
-    else
-        save('mat/nass_model_stages.mat', 'rz');
+    arguments
+        args.type    char    {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
     end
-elseif exist('./matlab', 'dir')
-    if exist('./matlab/mat/nass_model_stages.mat', 'file')
-        save('matlab/mat/nass_model_stages.mat', 'rz', '-append');
-    else
-        save('matlab/mat/nass_model_stages.mat', 'rz');
+
+    rz = struct();
+
+    switch args.type
+      case 'none'
+        rz.type = 0;
+      case 'rigid'
+        rz.type = 1;
+      case 'flexible'
+        rz.type = 2;
     end
+
+    % Spindle - Slip Ring
+    rz.slipring.density = 7800; % [kg/m3]
+    rz.slipring.STEP    = 'Spindle_Slip_Ring.STEP';
+
+    % Spindle - Rotor
+    rz.rotor.density    = 7800; % [kg/m3]
+    rz.rotor.STEP       = 'Spindle_Rotor.STEP';
+
+    % Spindle - Stator
+    rz.stator.density   = 7800; % [kg/m3]
+    rz.stator.STEP      = 'Spindle_Stator.STEP';
+
+    rz.K = [7e8; 7e8; 2e9; 1e7; 1e7; 1e7];
+    rz.C = [4e4; 4e4; 7e4; 1e4; 1e4; 1e4];
+
+    if exist('./mat', 'dir')
+        if exist('./mat/nass_model_stages.mat', 'file')
+            save('mat/nass_model_stages.mat', 'rz', '-append');
+        else
+            save('mat/nass_model_stages.mat', 'rz');
+        end
+    elseif exist('./matlab', 'dir')
+        if exist('./matlab/mat/nass_model_stages.mat', 'file')
+            save('matlab/mat/nass_model_stages.mat', 'rz', '-append');
+        else
+            save('matlab/mat/nass_model_stages.mat', 'rz');
+        end
+    end
+
 end
 #+end_src
 
 *** =initializeMicroHexapod=: Micro Hexapod
-:PROPERTIES:
-:header-args:matlab+: :tangle matlab/src/initializeMicroHexapod.m
-:header-args:matlab+: :comments none :mkdirp yes :eval no
-:END:
 
-**** Function description
-#+begin_src matlab
-  function [micro_hexapod] = initializeMicroHexapod(args)
-#+end_src
+#+begin_src matlab :tangle matlab/src/initializeMicroHexapod.m :comments none :mkdirp yes :eval no
+function [micro_hexapod] = initializeMicroHexapod(args)
 
-**** Optional Parameters
-#+begin_src matlab
-  arguments
-      args.type      char   {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
-      % initializeFramesPositions
-      args.H    (1,1) double {mustBeNumeric, mustBePositive} = 350e-3
-      args.MO_B (1,1) double {mustBeNumeric} = 270e-3
-      % generateGeneralConfiguration
-      args.FH  (1,1) double {mustBeNumeric, mustBePositive} = 50e-3
-      args.FR  (1,1) double {mustBeNumeric, mustBePositive} = 175.5e-3
-      args.FTh (6,1) double {mustBeNumeric} = [-10, 10, 120-10, 120+10, 240-10, 240+10]*(pi/180)
-      args.MH  (1,1) double {mustBeNumeric, mustBePositive} = 45e-3
-      args.MR  (1,1) double {mustBeNumeric, mustBePositive} = 118e-3
-      args.MTh (6,1) double {mustBeNumeric} = [-60+10, 60-10, 60+10, 180-10, 180+10, -60-10]*(pi/180)
-      % initializeStrutDynamics
-      args.Ki (6,1) double {mustBeNumeric, mustBeNonnegative} = 2e7*ones(6,1)
-      args.Ci (6,1) double {mustBeNumeric, mustBeNonnegative} = 1.4e3*ones(6,1)
-      % initializeCylindricalPlatforms
-      args.Fpm (1,1) double {mustBeNumeric, mustBePositive} = 10
-      args.Fph (1,1) double {mustBeNumeric, mustBePositive} = 26e-3
-      args.Fpr (1,1) double {mustBeNumeric, mustBePositive} = 207.5e-3
-      args.Mpm (1,1) double {mustBeNumeric, mustBePositive} = 10
-      args.Mph (1,1) double {mustBeNumeric, mustBePositive} = 26e-3
-      args.Mpr (1,1) double {mustBeNumeric, mustBePositive} = 150e-3
-      % initializeCylindricalStruts
-      args.Fsm (1,1) double {mustBeNumeric, mustBePositive} = 1
-      args.Fsh (1,1) double {mustBeNumeric, mustBePositive} = 100e-3
-      args.Fsr (1,1) double {mustBeNumeric, mustBePositive} = 25e-3
-      args.Msm (1,1) double {mustBeNumeric, mustBePositive} = 1
-      args.Msh (1,1) double {mustBeNumeric, mustBePositive} = 100e-3
-      args.Msr (1,1) double {mustBeNumeric, mustBePositive} = 25e-3
-      % inverseKinematics
-      args.AP  (3,1) double {mustBeNumeric} = zeros(3,1)
-      args.ARB (3,3) double {mustBeNumeric} = eye(3)
-  end
-#+end_src
-
-**** Function content
-#+begin_src matlab
-  stewart = initializeStewartPlatform();
-
-  stewart = initializeFramesPositions(stewart, ...
-                                      'H', args.H, ...
-                                      'MO_B', args.MO_B);
-
-  stewart = generateGeneralConfiguration(stewart, ...
-                                         'FH', args.FH, ...
-                                         'FR', args.FR, ...
-                                         'FTh', args.FTh, ...
-                                         'MH', args.MH, ...
-                                         'MR', args.MR, ...
-                                         'MTh', args.MTh);
-
-  stewart = computeJointsPose(stewart);
-#+end_src
-
-#+begin_src matlab
-  stewart = initializeStrutDynamics(stewart, ...
-                                    'K', args.Ki, ...
-                                    'C', args.Ci);
-
-  stewart = initializeJointDynamics(stewart, ...
-                                    'type_F', 'universal_p', ...
-                                    'type_M', 'spherical_p');
-#+end_src
-
-#+begin_src matlab
-  stewart = initializeCylindricalPlatforms(stewart, ...
-                                           'Fpm', args.Fpm, ...
-                                           'Fph', args.Fph, ...
-                                           'Fpr', args.Fpr, ...
-                                           'Mpm', args.Mpm, ...
-                                           'Mph', args.Mph, ...
-                                           'Mpr', args.Mpr);
-
-  stewart = initializeCylindricalStruts(stewart, ...
-                                        'Fsm', args.Fsm, ...
-                                        'Fsh', args.Fsh, ...
-                                        'Fsr', args.Fsr, ...
-                                        'Msm', args.Msm, ...
-                                        'Msh', args.Msh, ...
-                                        'Msr', args.Msr);
-
-  stewart = computeJacobian(stewart);
-
-  stewart = initializeStewartPose(stewart, ...
-                                'AP', args.AP, ...
-                                'ARB', args.ARB);
-#+end_src
-
-#+begin_src matlab
-  stewart = initializeInertialSensor(stewart, 'type', 'none');
-#+end_src
-
-**** Add Type
-#+begin_src matlab
-  switch args.type
-    case 'none'
-      stewart.type = 0;
-    case 'rigid'
-      stewart.type = 1;
-    case 'flexible'
-      stewart.type = 2;
-  end
-#+end_src
-
-**** Save the Structure
-#+begin_src matlab
-micro_hexapod = stewart;
-if exist('./mat', 'dir')
-    if exist('./mat/nass_model_stages.mat', 'file')
-        save('mat/nass_model_stages.mat', 'micro_hexapod', '-append');
-    else
-        save('mat/nass_model_stages.mat', 'micro_hexapod');
+    arguments
+        args.type      char   {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
+        % initializeFramesPositions
+        args.H    (1,1) double {mustBeNumeric, mustBePositive} = 350e-3
+        args.MO_B (1,1) double {mustBeNumeric} = 270e-3
+        % generateGeneralConfiguration
+        args.FH  (1,1) double {mustBeNumeric, mustBePositive} = 50e-3
+        args.FR  (1,1) double {mustBeNumeric, mustBePositive} = 175.5e-3
+        args.FTh (6,1) double {mustBeNumeric} = [-10, 10, 120-10, 120+10, 240-10, 240+10]*(pi/180)
+        args.MH  (1,1) double {mustBeNumeric, mustBePositive} = 45e-3
+        args.MR  (1,1) double {mustBeNumeric, mustBePositive} = 118e-3
+        args.MTh (6,1) double {mustBeNumeric} = [-60+10, 60-10, 60+10, 180-10, 180+10, -60-10]*(pi/180)
+        % initializeStrutDynamics
+        args.Ki (6,1) double {mustBeNumeric, mustBeNonnegative} = 2e7*ones(6,1)
+        args.Ci (6,1) double {mustBeNumeric, mustBeNonnegative} = 1.4e3*ones(6,1)
+        % initializeCylindricalPlatforms
+        args.Fpm (1,1) double {mustBeNumeric, mustBePositive} = 10
+        args.Fph (1,1) double {mustBeNumeric, mustBePositive} = 26e-3
+        args.Fpr (1,1) double {mustBeNumeric, mustBePositive} = 207.5e-3
+        args.Mpm (1,1) double {mustBeNumeric, mustBePositive} = 10
+        args.Mph (1,1) double {mustBeNumeric, mustBePositive} = 26e-3
+        args.Mpr (1,1) double {mustBeNumeric, mustBePositive} = 150e-3
+        % initializeCylindricalStruts
+        args.Fsm (1,1) double {mustBeNumeric, mustBePositive} = 1
+        args.Fsh (1,1) double {mustBeNumeric, mustBePositive} = 100e-3
+        args.Fsr (1,1) double {mustBeNumeric, mustBePositive} = 25e-3
+        args.Msm (1,1) double {mustBeNumeric, mustBePositive} = 1
+        args.Msh (1,1) double {mustBeNumeric, mustBePositive} = 100e-3
+        args.Msr (1,1) double {mustBeNumeric, mustBePositive} = 25e-3
+        % inverseKinematics
+        args.AP  (3,1) double {mustBeNumeric} = zeros(3,1)
+        args.ARB (3,3) double {mustBeNumeric} = eye(3)
     end
-elseif exist('./matlab', 'dir')
-    if exist('./matlab/mat/nass_model_stages.mat', 'file')
-        save('matlab/mat/nass_model_stages.mat', 'micro_hexapod', '-append');
-    else
-        save('matlab/mat/nass_model_stages.mat', 'micro_hexapod');
+
+    stewart = initializeStewartPlatform();
+
+    stewart = initializeFramesPositions(stewart, ...
+                                        'H', args.H, ...
+                                        'MO_B', args.MO_B);
+
+    stewart = generateGeneralConfiguration(stewart, ...
+                                           'FH', args.FH, ...
+                                           'FR', args.FR, ...
+                                           'FTh', args.FTh, ...
+                                           'MH', args.MH, ...
+                                           'MR', args.MR, ...
+                                           'MTh', args.MTh);
+
+    stewart = computeJointsPose(stewart);
+
+    stewart = initializeStrutDynamics(stewart, ...
+                                      'K', args.Ki, ...
+                                      'C', args.Ci);
+
+    stewart = initializeJointDynamics(stewart, ...
+                                      'type_F', 'universal_p', ...
+                                      'type_M', 'spherical_p');
+
+    stewart = initializeCylindricalPlatforms(stewart, ...
+                                             'Fpm', args.Fpm, ...
+                                             'Fph', args.Fph, ...
+                                             'Fpr', args.Fpr, ...
+                                             'Mpm', args.Mpm, ...
+                                             'Mph', args.Mph, ...
+                                             'Mpr', args.Mpr);
+
+    stewart = initializeCylindricalStruts(stewart, ...
+                                          'Fsm', args.Fsm, ...
+                                          'Fsh', args.Fsh, ...
+                                          'Fsr', args.Fsr, ...
+                                          'Msm', args.Msm, ...
+                                          'Msh', args.Msh, ...
+                                          'Msr', args.Msr);
+
+    stewart = computeJacobian(stewart);
+
+    stewart = initializeStewartPose(stewart, ...
+                                    'AP', args.AP, ...
+                                    'ARB', args.ARB);
+
+    stewart = initializeInertialSensor(stewart, 'type', 'none');
+
+    switch args.type
+      case 'none'
+        stewart.type = 0;
+      case 'rigid'
+        stewart.type = 1;
+      case 'flexible'
+        stewart.type = 2;
+    end
+
+    micro_hexapod = stewart;
+    if exist('./mat', 'dir')
+        if exist('./mat/nass_model_stages.mat', 'file')
+            save('mat/nass_model_stages.mat', 'micro_hexapod', '-append');
+        else
+            save('mat/nass_model_stages.mat', 'micro_hexapod');
+        end
+    elseif exist('./matlab', 'dir')
+        if exist('./matlab/mat/nass_model_stages.mat', 'file')
+            save('matlab/mat/nass_model_stages.mat', 'micro_hexapod', '-append');
+        else
+            save('matlab/mat/nass_model_stages.mat', 'micro_hexapod');
+        end
     end
 end
 #+end_src