Version sent for printing the book

- nano-hexapod => active platform
- use "\text{}" for all units

config.tex

@@ -11,6 +11,9 @@
 
 \DeclareSIUnit\px{px}
 \DeclareSIUnit\rms{rms}
+\DeclareSIUnit\rad{rad}
+
+\usepackage{upgreek} % useful for "mu" in units
 
 \usepackage{amssymb}
 \usepackage{amsmath}
@@ -37,3 +40,7 @@
 
 \setabbreviationstyle[acronym]{long-short}
 \setglossarystyle{long-name-desc}
+
+% https://tex.stackexchange.com/questions/318694/glossaries-acronyms-avoid-additional-entries-in-number-list-with-indexonlyfirs
+% Used to avoid many warnings
+\renewcommand*{\acrshort}[1][]{\glsxtrshort[noindex,#1]}

config_extra.tex

@@ -7,10 +7,9 @@
 \usepackage{subcaption}
 \captionsetup{subrefformat=simple}
 
-\captionsetup[figure]{labelfont=bf}
+\captionsetup{labelfont=bf, skip=0pt}
-\captionsetup[subfigure]{labelfont=bf}
+
-\captionsetup[listing]{labelfont=bf}
+\AtBeginEnvironment{minipage}{\captionsetup{skip=6pt}}
-\captionsetup[table]{labelfont=bf}
 
 \usepackage[olditem,oldenum]{paralist}
 
@@ -27,6 +26,8 @@
 \usepackage{floatrow}
 \floatsetup[table]{font={footnotesize,sf},capposition=top}
 
+ % \usepackage[bottom=2.5cm]{geometry}
+
 \clubpenalty         = 10000
 \widowpenalty        = 10000
 \displaywidowpenalty = 10000
@@ -92,6 +93,9 @@
 \setlength{\mtcindent}{0pt}
 % \usepackage[nottoc]{tocbibind}
 
+% Only Chapters and Sections for main TOC
+\setcounter{tocdepth}{1}
+
 \ifxetexorluatex
   % \usepackage{unicode-math} % It seems I don't need that as I don't want to use unicode char
   \usepackage{fontspec}
@@ -238,7 +242,7 @@
 
 \usepackage{bookmark}
 
-\bookmarksetup{depth=2}
+\bookmarksetup{depth=3}
 
 \makeindex
 \makeglossaries

figs/inkscape/chapter1_overview.svg

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    version="1.1"
    id="svg1"
-   inkscape:version="1.4.1 (93de688d07, 2025-03-30)"
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    xml:space="preserve"
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      inkscape:document-units="mm"
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+         x="54.679256"
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+   viewBox="0 0 263.72751 202.46906"
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@@ -2,11 +2,11 @@
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