function [granite] = initializeGranite(args)
    arguments
        args.rigid logical {mustBeNumericOrLogical} = false
    end

    %%
    granite = struct();

    %% Static Properties
    granite.density = 2800; % [kg/m3]
    granite.volume  = 0.749; % [m3] TODO - should
    granite.mass    = granite.density*granite.volume; % [kg]
    granite.color   = [1 1 1];
    granite.STEP    = './STEPS/granite/granite.STEP';

    granite.mass_top = 4000; % [kg] TODO

    %% Dynamical Properties
    if args.rigid
      granite.k.x = 1e12; % [N/m]
      granite.k.y = 1e12; % [N/m]
      granite.k.z = 1e12; % [N/m]
      granite.k.rx = 1e10; % [N*m/deg]
      granite.k.ry = 1e10; % [N*m/deg]
      granite.k.rz = 1e10; % [N*m/deg]
    else
      granite.k.x = 4e9; % [N/m]
      granite.k.y = 3e8; % [N/m]
      granite.k.z = 8e8; % [N/m]
      granite.k.rx = 1e4; % [N*m/deg]
      granite.k.ry = 1e4; % [N*m/deg]
      granite.k.rz = 1e6; % [N*m/deg]
    end

    granite.c.x = 0.1*sqrt(granite.mass_top*granite.k.x); % [N/(m/s)]
    granite.c.y = 0.1*sqrt(granite.mass_top*granite.k.y); % [N/(m/s)]
    granite.c.z = 0.5*sqrt(granite.mass_top*granite.k.z); % [N/(m/s)]
    granite.c.rx = 0.1*sqrt(granite.mass_top*granite.k.rx); % [N*m/(deg/s)]
    granite.c.ry = 0.1*sqrt(granite.mass_top*granite.k.ry); % [N*m/(deg/s)]
    granite.c.rz = 0.1*sqrt(granite.mass_top*granite.k.rz); % [N*m/(deg/s)]

    %% Positioning parameters
    granite.sample_pos = 0.8; % Z-offset for the initial position of the sample [m]

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