code: def test_custom_rigid_body():
      # Body with RigidBody.
      rigidbody_masscenter = Point("rigidbody_masscenter")
      rigidbody_mass = Symbol("rigidbody_mass")
      rigidbody_frame = ReferenceFrame("rigidbody_frame")
      body_inertia = inertia(rigidbody_frame, 1, 0, 0)
      rigid_body = Body(
          "rigidbody_body",
          rigidbody_masscenter,
          rigidbody_mass,
          rigidbody_frame,
          body_inertia,
      )
      com = rigid_body.masscenter
      frame = rigid_body.frame
      rigidbody_masscenter.set_vel(rigidbody_frame, 0)
      assert com.vel(frame) == rigidbody_masscenter.vel(frame)
      assert com.pos_from(com) == rigidbody_masscenter.pos_from(com)
  
      assert rigid_body.mass == rigidbody_mass
      assert rigid_body.inertia == (body_inertia, rigidbody_masscenter)
  
      assert rigid_body.is_rigidbody
  
      assert hasattr(rigid_body, "masscenter")
      assert hasattr(rigid_body, "mass")
      assert hasattr(rigid_body, "frame")
      assert hasattr(rigid_body, "inertia")
  
imports: from sympy import Symbol, symbols, sin, cos, Matrix, zeros, simplify
  from sympy.physics.vector import Point, ReferenceFrame, dynamicsymbols, Dyadic
  from sympy.physics.mechanics import inertia, Body
  from sympy.testing.pytest import raises
label_desc: Use image node_id 2 for calling a global function with example usage: test_custom_rigid_body() without return types