Manipulator adaptation

[lucasmartins131]

Hello Guys
I don't know if you still can help me from here but I have a doubt regarding changing the parameters:

I only found one place for mass parameters and one place for body inertia and a motors inertia.
For modeling an arm I would need to add a mass for it (that is not in CG) and also a inertia moment.
Do you have any idea how to modify the .xacro file for modeling it ?

Thank's again.