hand_model/barrett_hand_description/meshes/link2.xml

<?xml version="1.0" ?>
<root>
    <material>wood</material>
    <mass>100</mass>
    <cog>-32.63 -0.8178 0.1605</cog>
    <inertia_matrix>69.729 -26.9432 7.50496 -26.9432 1360.54 0 7.50496 0 1385.33</inertia_matrix>
    <geometryFile>link2.iv</geometryFile>
</root>