function obj = initialize(obj, center, radius, tag, label)
    arguments (Input)
        obj (1, 1) {mustBeA(obj, 'spherical')};
        center (1, 3) double;
        radius  (1, 1) double;
        tag (1, 1) REGION_TYPE = REGION_TYPE.INVALID;
        label (1, 1) string = "";
    end
    arguments (Output)
        obj (1, 1) {mustBeA(obj, 'spherical')};
    end

    obj.tag = tag;
    obj.label = label;

    % Define geometry
    obj.center = center;
    obj.radius = radius;
    obj.diameter = 2 * obj.radius;

    % Initialize CBF
    obj.barrierFunction = @(x) NaN;
    % gradient of barrier function 
    obj.dBarrierFunction = @(x) NaN;

    % fake vertices in a cross pattern
    obj.vertices = [obj.center + [obj.radius, 0, 0]; ...
                    obj.center - [obj.radius, 0, 0]; ...
                    obj.center + [0, obj.radius, 0]; ...
                    obj.center - [0, obj.radius, 0]; ...
                    obj.center + [0, 0, obj.radius]; ...
                    obj.center - [0, 0, obj.radius]];
    % fake edges in two perpendicular rings
    obj.edges = [1, 3; ...
                 3, 2; ...
                 2, 4; ...
                 4, 1; ...
                 1, 5; ...
                 5, 2; ...
                 2, 6; ...
                 6, 1];
end