how to make an object fall in matlab

main.m
% Define the simulation parameters
g = 9.81;       % gravitational acceleration (m/s^2)
h0 = 10;        % initial height (m)
t_end = 5;      % simulation end time (s)
dt = 0.01;      % time step (s)

% Create a rigid body representing the object
mass = 1;       % mass of the object (kg)
dim = [0.1 0.1 0.1];     % dimensions of the object (m)
I = (1/12)*mass*(dim(2)^2 + dim(3)^2) * eye(3);   % moment of inertia tensor
rb = rigidBody('object');
setFixedTransform(rb.Joint, trvec([0 0 h0]))     % set initial position
setInertial(rb, mass, I)

% Create a simulation environment
env = robotics.RigidBodyManipulator;
env.addBody(rb);        % add the object to the environment
env.Gravity = [0 0 -g]; % set gravitational acceleration

% Run the simulation
q0 = env.getstate();
tspan = 0:dt:t_end;
[T, Q] = ode45(@(t,q)env.gravjac(t,q)*q, tspan, q0);
env.visualize(T, Q);
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