Hello Clément, yes, the density is null while creating a new tool. To overcome this issue, you can add the plugin '_SetDensity' as :
<PreProcessing>
<PlugIn Id="_NewTool" Type="Polyhedron" Scale="0.002" File="./chenilleplatev2.off" ID="chenille"/>
<PlugIn Id="_SetDensity" Density="7000."/>
<PlugIn Id="_ReadDomain" FileName="CompactDomain.agdd"/>
<PlugIn Id="_ComputeOptimalTimeStep" Ratio="0.14" />
</PreProcessing>
Here, the density of your tool is set to 7000 kg/m^3. Now, if you want to apply a load on your tool, simply add the 'Set' option to your '_NewTool' plugin :
<PreProcessing>
...
<PlugIn Id="_NewTool" Type="Polyhedron" Scale="0.002" File="./chenilleplatev2.off" ID="chenille" Set="Chenille"/>
...
</PreProcessing>
And now, you can apply a load with the '_ApplyForce' plugIn on your tool by specifying the SetID as :
<Processing>
...
<PlugIn Id="_ApplyForce" X="100." Y="-1.*sin(it)" Z="0." Set="Chenille"/>
...
<Processing/>
Hop this help, Damien