apa = load('./mat/APA300ML.mat', 'int_xyz', 'int_i', 'n_xyz', 'n_i', 'nodes', 'M', 'K');
flex_joint = load('./mat/flexor_ID16.mat', 'int_xyz', 'int_i', 'n_xyz', 'n_i', 'nodes', 'M', 'K');
stewart = initializeStewartPlatform();
stewart = initializeFramesPositions(stewart, 'H', 90e-3, 'MO_B', 175e-3);
stewart = generateGeneralConfiguration(stewart, 'FH', 20e-3, 'MH', 20e-3, 'FR', 228e-3/2, 'MR', 220e-3/2, 'FTh', [-9, 9, 120-9, 120+9, 240-9, 240+9]*(pi/180), 'MTh', [-60+15, 60-15, 60+15, 180-15, 180+15, -60-15]*(pi/180));
stewart = computeJointsPose(stewart);
stewart = initializeFlexibleStrutDynamics(stewart, 'H', 0.03, 'K', apa.K, 'M', apa.M, 'n_xyz', apa.n_xyz, 'xi', 0.1, 'step_file', 'mat/APA300ML.STEP');
stewart = initializeJointDynamics(stewart, 'type_F', 'flexible', 'K_F', flex_joint.K, 'M_F', flex_joint.M, 'n_xyz_F', flex_joint.n_xyz, 'xi_F', 0.1, 'step_file_F', 'mat/flexor_ID16.STEP', 'type_M', 'flexible', 'K_M', flex_joint.K, 'M_M', flex_joint.M, 'n_xyz_M', flex_joint.n_xyz, 'xi_M', 0.1, 'step_file_M', 'mat/flexor_ID16.STEP');
stewart = initializeCylindricalPlatforms(stewart, 'Fpr', 150e-3, 'Mpr', 125e-3);
stewart = initializeCylindricalStruts(stewart, 'type_F', 'none', 'type_M', 'none');
stewart = computeJacobian(stewart);
stewart = initializeStewartPose(stewart);
stewart = initializeInertialSensor(stewart);
ground = initializeGround('type', 'none');
payload = initializePayload('type', 'rigid', 'm', 50);
controller = initializeController('type', 'open-loop');
disturbances = initializeDisturbances();
references = initializeReferences(stewart);