function [granite] = initializeGranite(args)

arguments
  args.type          char    {mustBeMember(args.type,{'rigid', 'flexible', 'none', 'modal-analysis', 'init'})} = 'flexible'
  args.Foffset       logical {mustBeNumericOrLogical} = true
  args.density (1,1) double {mustBeNumeric, mustBeNonnegative} = 2800 % Density [kg/m3]
  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]
end

granite = struct();

switch args.type
  case 'none'
    granite.type = 0;
  case 'rigid'
    granite.type = 1;
  case 'flexible'
    granite.type = 2;
  case 'modal-analysis'
    granite.type = 3;
  case 'init'
    granite.type = 4;
end

granite.density = args.density; % [kg/m3]
granite.STEP    = './STEPS/granite/granite.STEP';

granite.sample_pos = 0.8; % [m]

granite.K = [4e9; 3e8; 8e8]; % [N/m]
granite.C = [4.0e5; 1.1e5; 9.0e5]; % [N/(m/s)]

if args.Foffset && ~strcmp(args.type, 'none') && ~strcmp(args.type, 'rigid') && ~strcmp(args.type, 'init')
  load('mat/Foffset.mat', 'Fgm');
  granite.Deq = -Fgm'./granite.K;
else
  granite.Deq = zeros(6,1);
end

save('./mat/stages.mat', 'granite', '-append');