Rigid body Flexhopper

Hi everyone ,

I am just wondering, if there is a way to simulating the rolling ball to the rigid bodies on Flexhopper
and looking to manipulate the center of mass and shift it from center of geometry and simulate the rolling behaivior of rigid bodies.

can we assign the moment of inertia in in Flexhopper?
this is the same function, I am looking for.

and also wondering if the assignment of center of mass would enables to manipulate the balance of rigid bodies using Flexhopper

I do apriciate your help and many thanks,