r=0.5; gg=7.81*pi*r^2
L1=10; L2=10*sqrt(2); L3=20*sqrt(2);
T1=diag([r^2/2, L1^2/12, L1^2/12])*L1*gg*1e-9;
T2=diag([r^2/2, L2^2/12, L2^2/12])*L2*gg*1e-9;
T3=diag([r^2/2, L3^2/12, L3^2/12])*L3*gg*1e-9;