diff --git a/matlab/nass_model.slx b/matlab/nass_model.slx
index 1a3ec5b..f141667 100644
Binary files a/matlab/nass_model.slx and b/matlab/nass_model.slx differ
diff --git a/matlab/src/initializeSample.m b/matlab/src/initializeSample.m
index f5bd1d4..1b3e146 100644
--- a/matlab/src/initializeSample.m
+++ b/matlab/src/initializeSample.m
@@ -1,22 +1,24 @@
 function [sample] = initializeSample(args)
 
     arguments
+        args.type char {mustBeMember(args.type,{'none', 'cylindrical'})} = 'none'
         args.H (1,1) double {mustBeNumeric, mustBePositive} = 350e-3 % Height [m]
-        args.R (1,1) double {mustBeNumeric, mustBePositive} = 350e-3 % Radius [m]
+        args.R (1,1) double {mustBeNumeric, mustBePositive} = 110e-3 % Radius [m]
         args.m (1,1) double {mustBeNumeric, mustBePositive} = 1 % Mass [kg]
     end
 
     sample = struct();
 
     switch args.type
-      case '0'
+      case 'none'
         sample.type = 0;
-      case '1'
+        sample.m = 0;
+      case 'cylindrical'
         sample.type = 1;
-      case '2'
-        sample.type = 2;
-      case '3'
-        sample.type = 3;
+
+        sample.H = args.H;
+        sample.R = args.R;
+        sample.m = args.m;
     end
 
     if exist('./mat', 'dir')
diff --git a/simscape-nass.org b/simscape-nass.org
index d3e0faf..d18aace 100644
--- a/simscape-nass.org
+++ b/simscape-nass.org
@@ -210,15 +210,18 @@ Goal: validation of the concept
 - Take into account disturbances, sensor noise, etc...
 - Tomography + lateral scans (same as what was done in open loop [[file:~/Cloud/work-projects/ID31-NASS/phd-thesis-chapters/A4-simscape-micro-station/simscape-micro-station.org::*Simulation of Scientific Experiments][here]])
 
-** TODO [#A] Merge the micro-station model with the nano-hexapod model
-SCHEDULED: <2025-02-12 Wed>
+** DONE [#A] Merge the micro-station model with the nano-hexapod model
+CLOSED: [2025-02-12 Wed 12:10] SCHEDULED: <2025-02-12 Wed>
 
 - [X] *Start from the Simscape model of the ID31 tests*
   =/home/thomas/Cloud/work-projects/ID31-NASS/phd-thesis-chapters/C5-test-bench-id31/matlab/nass_model_id31.slx=
 - [X] Remove LION metrology to have perfect measurement
-- [ ] Remove nano-hexapod model and add simplified model
+- [X] Remove nano-hexapod model and add simplified model
 - [ ] Add "cylindrical" payloads (configurable in mass)
 
+** TODO [#B] Add payload configurable subsystem
+SCHEDULED: <2025-02-12 Wed>
+
 ** TODO [#B] Discuss the necessity of estimated Rz?
 
 One big advantage of doing the control in the cartesian plane, is that we don't need the estimation of nano-hexapod Rz, therefore we don't need the encoders anymore!
@@ -364,7 +367,7 @@ initializeRy();
 initializeRz();
 initializeMicroHexapod();
 initializeSimplifiedNanoHexapod();
-% initializeSample('type', '0');
+initializeSample('type', 'cylindrical');
 
 initializeSimscapeConfiguration('gravity', false);
 initializeDisturbances('enable', false);
@@ -1943,28 +1946,30 @@ function [nano_hexapod] = initializeSimplifiedNanoHexapod(args)
 end
 #+end_src
 
-*** TODO [#A] =initializeSample=: Sample
+*** =initializeSample=: Sample
 
 #+begin_src matlab :tangle matlab/src/initializeSample.m :comments none :mkdirp yes :eval no
 function [sample] = initializeSample(args)
 
     arguments
+        args.type char {mustBeMember(args.type,{'none', 'cylindrical'})} = 'none'
         args.H (1,1) double {mustBeNumeric, mustBePositive} = 350e-3 % Height [m]
-        args.R (1,1) double {mustBeNumeric, mustBePositive} = 350e-3 % Radius [m]
+        args.R (1,1) double {mustBeNumeric, mustBePositive} = 110e-3 % Radius [m]
         args.m (1,1) double {mustBeNumeric, mustBePositive} = 1 % Mass [kg]
     end
 
     sample = struct();
 
     switch args.type
-      case '0'
+      case 'none'
         sample.type = 0;
-      case '1'
+        sample.m = 0;
+      case 'cylindrical'
         sample.type = 1;
-      case '2'
-        sample.type = 2;
-      case '3'
-        sample.type = 3;
+
+        sample.H = args.H;
+        sample.R = args.R;
+        sample.m = args.m;
     end
 
     if exist('./mat', 'dir')