diff --git a/figs/inkscape/convert_svg.sh b/figs/inkscape/convert_svg.sh
new file mode 100755
index 0000000..c9c1755
--- /dev/null
+++ b/figs/inkscape/convert_svg.sh
@@ -0,0 +1,18 @@
+#!/bin/bash
+
+# Directory containing SVG files
+INPUT_DIR="."
+
+# Loop through all SVG files in the directory
+for svg_file in "$INPUT_DIR"/*.svg; do
+    # Check if there are SVG files in the directory
+    if [ -f "$svg_file" ]; then
+        # Output PDF file name
+        pdf_file="../${svg_file%.svg}.pdf"
+        png_file="../${svg_file%.svg}"
+        
+        # Convert SVG to PDF using Inkscape
+        inkscape "$svg_file" --export-filename="$pdf_file" && \
+            pdftocairo -png -singlefile -cropbox "$pdf_file" "$png_file"
+    fi
+done
diff --git a/figs/nhexa_actuator_model.svg b/figs/inkscape/nhexa_actuator_model.svg
similarity index 100%
rename from figs/nhexa_actuator_model.svg
rename to figs/inkscape/nhexa_actuator_model.svg
diff --git a/figs/nhexa_parallel_architecture_shen.svg b/figs/inkscape/nhexa_parallel_architecture_shen.svg
similarity index 100%
rename from figs/nhexa_parallel_architecture_shen.svg
rename to figs/inkscape/nhexa_parallel_architecture_shen.svg
diff --git a/figs/nhexa_serial_architecture_kenton.svg b/figs/inkscape/nhexa_serial_architecture_kenton.svg
similarity index 100%
rename from figs/nhexa_serial_architecture_kenton.svg
rename to figs/inkscape/nhexa_serial_architecture_kenton.svg
diff --git a/figs/nhexa_stages_nazaretski.svg b/figs/inkscape/nhexa_stages_nazaretski.svg
similarity index 100%
rename from figs/nhexa_stages_nazaretski.svg
rename to figs/inkscape/nhexa_stages_nazaretski.svg
diff --git a/figs/nhexa_stages_sapoti.svg b/figs/inkscape/nhexa_stages_sapoti.svg
similarity index 100%
rename from figs/nhexa_stages_sapoti.svg
rename to figs/inkscape/nhexa_stages_sapoti.svg
diff --git a/figs/nhexa_stages_schroer.svg b/figs/inkscape/nhexa_stages_schroer.svg
similarity index 100%
rename from figs/nhexa_stages_schroer.svg
rename to figs/inkscape/nhexa_stages_schroer.svg
diff --git a/figs/nhexa_stages_villar.svg b/figs/inkscape/nhexa_stages_villar.svg
similarity index 100%
rename from figs/nhexa_stages_villar.svg
rename to figs/inkscape/nhexa_stages_villar.svg
diff --git a/figs/nhexa_stewart_architecture.svg b/figs/inkscape/nhexa_stewart_architecture.svg
similarity index 100%
rename from figs/nhexa_stewart_architecture.svg
rename to figs/inkscape/nhexa_stewart_architecture.svg
diff --git a/figs/nhexa_stewart_decentralized_control.svg b/figs/inkscape/nhexa_stewart_decentralized_control.svg
similarity index 100%
rename from figs/nhexa_stewart_decentralized_control.svg
rename to figs/inkscape/nhexa_stewart_decentralized_control.svg
diff --git a/figs/nhexa_stewart_model_def.svg b/figs/inkscape/nhexa_stewart_model_def.svg
similarity index 100%
rename from figs/nhexa_stewart_model_def.svg
rename to figs/inkscape/nhexa_stewart_model_def.svg
diff --git a/figs/nhexa_stewart_model_input_outputs.svg b/figs/inkscape/nhexa_stewart_model_input_outputs.svg
similarity index 100%
rename from figs/nhexa_stewart_model_input_outputs.svg
rename to figs/inkscape/nhexa_stewart_model_input_outputs.svg
diff --git a/figs/nhexa_stewart_notations.svg b/figs/inkscape/nhexa_stewart_notations.svg
similarity index 100%
rename from figs/nhexa_stewart_notations.svg
rename to figs/inkscape/nhexa_stewart_notations.svg
diff --git a/figs/nhexa_stewart_piezo_furutani.svg b/figs/inkscape/nhexa_stewart_piezo_furutani.svg
similarity index 100%
rename from figs/nhexa_stewart_piezo_furutani.svg
rename to figs/inkscape/nhexa_stewart_piezo_furutani.svg
diff --git a/figs/nhexa_stewart_vc_preumont.svg b/figs/inkscape/nhexa_stewart_vc_preumont.svg
similarity index 100%
rename from figs/nhexa_stewart_vc_preumont.svg
rename to figs/inkscape/nhexa_stewart_vc_preumont.svg
diff --git a/figs/nhexa_control_cartesian.pdf b/figs/nhexa_control_cartesian.pdf
index 47ad431..d00f763 100644
Binary files a/figs/nhexa_control_cartesian.pdf and b/figs/nhexa_control_cartesian.pdf differ
diff --git a/figs/nhexa_control_cartesian.png b/figs/nhexa_control_cartesian.png
index 75f837c..66c68db 100644
Binary files a/figs/nhexa_control_cartesian.png and b/figs/nhexa_control_cartesian.png differ
diff --git a/figs/nhexa_control_cartesian.svg b/figs/nhexa_control_cartesian.svg
index 0d270bd..c0e3b4d 100644
--- a/figs/nhexa_control_cartesian.svg
+++ b/figs/nhexa_control_cartesian.svg
@@ -39,36 +39,36 @@
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diff --git a/nhexa_control_cartesian.pdf b/nhexa_control_cartesian.pdf
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