function [ty] = initializeTy(opts_param)
    %% Default values for opts
    opts = struct('rigid', false);

    %% Populate opts with input parameters
    if exist('opts_param','var')
        for opt = fieldnames(opts_param)'
            opts.(opt{1}) = opts_param.(opt{1});
        end
    end

    %%
    ty = struct();

    ty.m = 250; % [kg]

    if opts.rigid
        ty.k.ax  = 1e10; % Axial Stiffness for each of the 4 guidance (y) [N/m]
    else
        ty.k.ax  = 1e7/4; % Axial Stiffness for each of the 4 guidance (y) [N/m]
    end
    ty.k.rad = 9e9/4; % Radial Stiffness for each of the 4 guidance (x-z) [N/m]

    ty.c.ax  = 100*(1/5)*sqrt(ty.k.ax/ty.m);
    ty.c.rad = 100*(1/5)*sqrt(ty.k.rad/ty.m);

    %% Save
    save('./mat/stages.mat', 'ty', '-append');
end