body_1.SetInertiaXX(
chrono.ChVectorD(0.000614655341550614, 0.00114774663635329,
0.000614655341550614))
body_1.SetInertiaXY(
chrono.ChVectorD(1.04945260437012e-19, -5.29910899706164e-19,
5.85921324575995e-19))
body_1.SetFrame_COG_to_REF(
chrono.ChFrameD(
chrono.ChVectorD(-1.29340068058665e-17,
4.10138104133823e-17, 0.00633921901294084),
chrono.ChQuaternionD(1, 0, 0, 0)))
# Visualization shape
body_1_1_shape = chrono.ChObjShapeFile()
body_1_1_shape.SetFilename(shapes_dir + 'body_1_1.obj')
body_1_1_level = chrono.ChAssetLevel()
body_1_1_level.GetFrame().SetPos(chrono.ChVectorD(0, 0, 0))
body_1_1_level.GetFrame().SetRot(chrono.ChQuaternionD(1, 0, 0, 0))
body_1_1_level.GetAssets().push_back(body_1_1_shape)
body_1.GetAssets().push_back(body_1_1_level)
# Collision shape(s)
body_1.GetCollisionModel().ClearModel()
mr = chrono.ChMatrix33D()
mr[0, 0] = 0
mr[1, 0] = 0
mr[2, 0] = -1
mr[0, 1] = -0.947036648244772
mr[1, 1] = 0.321125500204061
mr[2, 1] = 0
mr[0, 2] = 0.321125500204061
body_1.SetInertiaXX(
chrono.ChVectorD(1.89819866463215e-05, 4.06468272765221e-05,
3.48488688224795e-05))
body_1.SetInertiaXY(
chrono.ChVectorD(9.26966996175154e-06, -9.45479551365122e-06,
4.9223535683921e-06))
body_1.SetFrame_COG_to_REF(
chrono.ChFrameD(
chrono.ChVectorD(-0.00724869989644222,
0.0206425177285978, 0.0224205323500859),
chrono.ChQuaternionD(1, 0, 0, 0)))
# Visualization shape
body_1_1_shape = chrono.ChObjShapeFile()
body_1_1_shape.SetFilename(shapes_dir + 'body_1_1.obj')
body_1_1_level = chrono.ChAssetLevel()
body_1_1_level.GetFrame().SetPos(chrono.ChVectorD(0, 0, 0))
body_1_1_level.GetFrame().SetRot(chrono.ChQuaternionD(1, 0, 0, 0))
body_1_1_level.GetAssets().push_back(body_1_1_shape)
body_1.GetAssets().push_back(body_1_1_level)
# Collision shapes
body_1.GetCollisionModel().ClearModel()
mr = chrono.ChMatrix33D()
mr[0, 0] = 1
mr[1, 0] = 0
mr[2, 0] = -6.60847038467355E-16
mr[0, 1] = 0
mr[1, 1] = -1
mr[2, 1] = -6.93889390390723E-16
mr[0, 2] = -6.60847038467355E-16