diff --git a/ball_bearing/model.rsdf b/ball_bearing/model.rsdf
index bba5e63..47ffce7 100644
--- a/ball_bearing/model.rsdf
+++ b/ball_bearing/model.rsdf
@@ -9,7 +9,6 @@
   r = d/2.0
 
   # Inertia
-  # TODO: measure mass of objects
   mass = 0.0011
   ixx  = 2.0*mass*r**2/5.0
   iyy  = 2.0*mass*r**2/5.0
diff --git a/cricket_ball/model.rsdf b/cricket_ball/model.rsdf
index 4145759..fc02a19 100644
--- a/cricket_ball/model.rsdf
+++ b/cricket_ball/model.rsdf
@@ -9,7 +9,6 @@
   r = d/2
 
   # Inertia
-  # TODO: measure mass of objects
   mass = 0.1467
   ixx  = 2.0*mass*r**2/5.0
   iyy  = 2.0*mass*r**2/5.0
diff --git a/marble_1_5cm/model.rsdf b/marble_1_5cm/model.rsdf
index 8cb03ff..8cf3a9e 100644
--- a/marble_1_5cm/model.rsdf
+++ b/marble_1_5cm/model.rsdf
@@ -9,7 +9,6 @@
   r = d/2
 
   # Inertia
-  # TODO: measure mass of objects
   mass = 0.0062
   ixx  = 2.0*mass*r**2/5.0
   iyy  = 2.0*mass*r**2/5.0
diff --git a/metal_peg/model.rsdf b/metal_peg/model.rsdf
index a503398..9fcc79a 100644
--- a/metal_peg/model.rsdf
+++ b/metal_peg/model.rsdf
@@ -10,7 +10,6 @@
   r = d/2.0
 
   # Inertia
-  # TODO: weigh object and get mass
   mass = 0.0121
   ixx  = mass/12.0 * 3*(r**2  + h**2 )
   iyy  = mass/12.0 * 3*(r**2  + h**2 )
@@ -34,10 +33,9 @@
 
       <collision name="collision">
         <geometry>
-          #TODO: replace with mesh of a tube
           <cylinder>
             <radius> <%= r %> </radius>
-            <height> <%= h  %> </height>
+            <length> <%= h  %> </length>
           </cylinder>
         </geometry>
       </collision>
@@ -46,7 +44,7 @@
         <geometry>
           <cylinder>
             <radius> <%= r %> </radius>
-            <height> <%= h  %> </height>
+            <length> <%= h  %> </length>
           </cylinder>
         </geometry>
         <material>
diff --git a/metal_peg/model.sdf b/metal_peg/model.sdf
index 75ba383..88833a0 100644
--- a/metal_peg/model.sdf
+++ b/metal_peg/model.sdf
@@ -17,10 +17,9 @@
 
       <collision name="collision">
         <geometry>
-          #TODO: replace with mesh of a tube
           <cylinder>
             <radius> 0.0033 </radius>
-            <height> 0.062 </height>
+            <length> 0.062 </length>
           </cylinder>
         </geometry>
       </collision>
@@ -29,7 +28,7 @@
         <geometry>
           <cylinder>
             <radius> 0.0033 </radius>
-            <height> 0.062 </height>
+            <length> 0.062 </length>
           </cylinder>
         </geometry>
         <material>
diff --git a/plastic_cup/model.rsdf b/plastic_cup/model.rsdf
index e35c32a..4aed364 100644
--- a/plastic_cup/model.rsdf
+++ b/plastic_cup/model.rsdf
@@ -13,7 +13,6 @@
   a = d2/2.0
 
   # Inertia
-  # TODO: weigh object and get mass
   # http://www.wolframalpha.com/input/?i=conical+frustum+moment+of+inertia+tensor+of+solid
 
   #Need to calculate moment if bottom of frustum is closed
@@ -43,7 +42,7 @@
         <geometry>
           <cylinder>
             <radius> <%= b %> </radius>
-            <height> <%= h  %> </height>
+            <length> <%= h  %> </length>
           </cylinder>
         </geometry>
       </collision>
@@ -52,7 +51,7 @@
         <geometry>
           <cylinder>
             <radius> <%= b %> </radius>
-            <height> <%= h  %> </height>
+            <length> <%= h  %> </length>
           </cylinder>
         </geometry>
         <material>
diff --git a/stone_10_2_5_1cm/model.rsdf b/stone_10_2_5_1cm/model.rsdf
index a76af27..939df75 100644
--- a/stone_10_2_5_1cm/model.rsdf
+++ b/stone_10_2_5_1cm/model.rsdf
@@ -9,7 +9,6 @@
   dz = 0.01
 
   # Inertia
-  # TODO: weigh object and get mass
   mass = 0.0628
   ixx  = mass/12.0 * (dy**2 + dz**2)
   iyy  = mass/12.0 * (dz**2 + dx**2)
diff --git a/tube_2_25cm/model.rsdf b/tube_2_25cm/model.rsdf
index 45e4754..66a6e8c 100644
--- a/tube_2_25cm/model.rsdf
+++ b/tube_2_25cm/model.rsdf
@@ -13,7 +13,6 @@
   r2 = d2/2.0
 
   # Inertia
-  # TODO: weigh object and get mass
   mass = 0.0354
   ixx  = mass/12.0 * ( 3*(r1**2 + r2**2) + h**2 )
   iyy  = mass/12.0 * ( 3*(r1**2 + r2**2) + h**2 )
@@ -37,10 +36,9 @@
 
       <collision name="collision">
         <geometry>
-          #TODO: replace with mesh of a tube
           <cylinder>
             <radius> <%= r2 %> </radius>
-            <height> <%= h  %> </height>
+            <length> <%= h  %> </length>
           </cylinder>
         </geometry>
       </collision>
@@ -49,7 +47,7 @@
         <geometry>
           <cylinder>
             <radius> <%= r2 %> </radius>
-            <height> <%= h  %> </height>
+            <length> <%= h  %> </length>
           </cylinder>
         </geometry>
         <material>
diff --git a/tube_2_25cm/model.sdf b/tube_2_25cm/model.sdf
index 4fe1751..7be973d 100644
--- a/tube_2_25cm/model.sdf
+++ b/tube_2_25cm/model.sdf
@@ -17,10 +17,9 @@
 
       <collision name="collision">
         <geometry>
-          #TODO: replace with mesh of a tube
           <cylinder>
             <radius> 0.0125 </radius>
-            <height> 0.1145 </height>
+            <length> 0.1145 </length>
           </cylinder>
         </geometry>
       </collision>
@@ -29,7 +28,7 @@
         <geometry>
           <cylinder>
             <radius> 0.0125 </radius>
-            <height> 0.1145 </height>
+            <length> 0.1145 </length>
           </cylinder>
         </geometry>
         <material>
diff --git a/tube_9_5mm/model.rsdf b/tube_9_5mm/model.rsdf
index c5627e3..f3a40fa 100644
--- a/tube_9_5mm/model.rsdf
+++ b/tube_9_5mm/model.rsdf
@@ -13,7 +13,6 @@
   r2 = d2/2.0
 
   # Inertia
-  # TODO: weigh object and get mass
   mass = 0.0048
   ixx  = mass/12.0 * ( 3*(r1**2 + r2**2) + h**2 )
   iyy  = mass/12.0 * ( 3*(r1**2 + r2**2) + h**2 )
@@ -37,10 +36,9 @@
 
       <collision name="collision">
         <geometry>
-          #TODO: replace with mesh of a tube
           <cylinder>
             <radius> <%= r2 %> </radius>
-            <height> <%= h  %> </height>
+            <length> <%= h  %> </length>
           </cylinder>
         </geometry>
       </collision>
@@ -49,7 +47,7 @@
         <geometry>
           <cylinder>
             <radius> <%= r2 %> </radius>
-            <height> <%= h  %> </height>
+            <length> <%= h  %> </length>
           </cylinder>
         </geometry>
         <material>
diff --git a/washer/model.rsdf b/washer/model.rsdf
index e7d9791..89e283f 100644
--- a/washer/model.rsdf
+++ b/washer/model.rsdf
@@ -13,7 +13,6 @@
   r2 = d2/2.0
 
   # Inertia
-  # TODO: weigh object and get mass
   mass = 0.0122
   ixx  = mass/12.0 * ( 3*(r1**2 + r2**2) + h**2 )
   iyy  = mass/12.0 * ( 3*(r1**2 + r2**2) + h**2 )
@@ -37,10 +36,9 @@
 
       <collision name="collision">
         <geometry>
-          #TODO: replace with mesh of a washer
           <cylinder>
             <radius> <%= r2 %> </radius>
-            <height> <%= h  %> </height>
+            <length> <%= h  %> </length>
           </cylinder>
         </geometry>
       </collision>
@@ -49,7 +47,7 @@
         <geometry>
           <cylinder>
             <radius> <%= r2 %> </radius>
-            <height> <%= h  %> </height>
+            <length> <%= h  %> </length>
           </cylinder>
         </geometry>
         <material>
diff --git a/washer/model.sdf b/washer/model.sdf
index d57034b..01bb025 100644
--- a/washer/model.sdf
+++ b/washer/model.sdf
@@ -17,10 +17,9 @@
 
       <collision name="collision">
         <geometry>
-          #TODO: replace with mesh of a washer
           <cylinder>
             <radius> 0.0175 </radius>
-            <height> 0.002 </height>
+            <length> 0.002 </length>
           </cylinder>
         </geometry>
       </collision>
@@ -29,7 +28,7 @@
         <geometry>
           <cylinder>
             <radius> 0.0175 </radius>
-            <height> 0.002 </height>
+            <length> 0.002 </length>
           </cylinder>
         </geometry>
         <material>
diff --git a/wooden_peg/model.rsdf b/wooden_peg/model.rsdf
index 6f79065..a248e4b 100644
--- a/wooden_peg/model.rsdf
+++ b/wooden_peg/model.rsdf
@@ -10,7 +10,6 @@
   r = d/2.0
 
   # Inertia
-  # TODO: weigh object and get mass
   mass = 0.0175
   ixx  = mass/12.0 * 3*(r**2  + h**2 )
   iyy  = mass/12.0 * 3*(r**2  + h**2 )
@@ -34,10 +33,9 @@
 
       <collision name="collision">
         <geometry>
-          #TODO: replace with mesh of a tube
           <cylinder>
             <radius> <%= r %> </radius>
-            <height> <%= h  %> </height>
+            <length> <%= h  %> </length>
           </cylinder>
         </geometry>
       </collision>
@@ -46,7 +44,7 @@
         <geometry>
           <cylinder>
             <radius> <%= r %> </radius>
-            <height> <%= h  %> </height>
+            <length> <%= h  %> </length>
           </cylinder>
         </geometry>
         <material>
diff --git a/wooden_peg/model.sdf b/wooden_peg/model.sdf
index 00cdf76..b422186 100644
--- a/wooden_peg/model.sdf
+++ b/wooden_peg/model.sdf
@@ -17,10 +17,9 @@
 
       <collision name="collision">
         <geometry>
-          #TODO: replace with mesh of a tube
           <cylinder>
             <radius> 0.00975 </radius>
-            <height> 0.08 </height>
+            <length> 0.08 </length>
           </cylinder>
         </geometry>
       </collision>
@@ -29,7 +28,7 @@
         <geometry>
           <cylinder>
             <radius> 0.00975 </radius>
-            <height> 0.08 </height>
+            <length> 0.08 </length>
           </cylinder>
         </geometry>
         <material>