diff --git a/metal_peg/model.rsdf b/metal_peg/model.rsdf
index 9fcc79a..75ca254 100644
--- a/metal_peg/model.rsdf
+++ b/metal_peg/model.rsdf
@@ -11,8 +11,8 @@
 
   # Inertia
   mass = 0.0121
-  ixx  = mass/12.0 * 3*(r**2  + h**2 )
-  iyy  = mass/12.0 * 3*(r**2  + h**2 )
+  ixx  = mass/12.0 * (3*r**2  + h**2 )
+  iyy  = mass/12.0 * (3*r**2  + h**2 )
   izz  = mass/2.0 * r**2
 %>
 <sdf version="1.5">
diff --git a/metal_peg/model.sdf b/metal_peg/model.sdf
index 88833a0..60b804c 100644
--- a/metal_peg/model.sdf
+++ b/metal_peg/model.sdf
@@ -6,10 +6,10 @@
       <inertial>
         <mass>0.0121</mass>
         <inertia>
-          <ixx>1.166104225e-05</ixx>
+          <ixx>3.908975583333333e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>1.166104225e-05</iyy>
+          <iyy>3.908975583333333e-06</iyy>
           <iyz>0</iyz>
           <izz>6.58845e-08</izz>
         </inertia>
diff --git a/plastic_cup/model.sdf b/plastic_cup/model.sdf
index 4615de0..ad76761 100644
--- a/plastic_cup/model.sdf
+++ b/plastic_cup/model.sdf
@@ -19,7 +19,7 @@
         <geometry>
           <cylinder>
             <radius> 0.007 </radius>
-            <height> 0.13 </height>
+            <length> 0.13 </length>
           </cylinder>
         </geometry>
       </collision>
@@ -28,7 +28,7 @@
         <geometry>
           <cylinder>
             <radius> 0.007 </radius>
-            <height> 0.13 </height>
+            <length> 0.13 </length>
           </cylinder>
         </geometry>
         <material>
diff --git a/tube_9_5mm/model.sdf b/tube_9_5mm/model.sdf
index 079bb55..066e818 100644
--- a/tube_9_5mm/model.sdf
+++ b/tube_9_5mm/model.sdf
@@ -17,10 +17,9 @@
 
       <collision name="collision">
         <geometry>
-          #TODO: replace with mesh of a tube
           <cylinder>
             <radius> 0.00475 </radius>
-            <height> 0.16 </height>
+            <length> 0.16 </length>
           </cylinder>
         </geometry>
       </collision>
@@ -29,7 +28,7 @@
         <geometry>
           <cylinder>
             <radius> 0.00475 </radius>
-            <height> 0.16 </height>
+            <length> 0.16 </length>
           </cylinder>
         </geometry>
         <material>
diff --git a/wooden_peg/model.rsdf b/wooden_peg/model.rsdf
index a248e4b..bbd5ca6 100644
--- a/wooden_peg/model.rsdf
+++ b/wooden_peg/model.rsdf
@@ -11,8 +11,8 @@
 
   # Inertia
   mass = 0.0175
-  ixx  = mass/12.0 * 3*(r**2  + h**2 )
-  iyy  = mass/12.0 * 3*(r**2  + h**2 )
+  ixx  = mass/12.0 * (3*r**2  + h**2 )
+  iyy  = mass/12.0 * (3*r**2  + h**2 )
   izz  = mass/2.0 * r**2
 %>
 <sdf version="1.5">
diff --git a/wooden_peg/model.sdf b/wooden_peg/model.sdf
index b422186..0ce6a71 100644
--- a/wooden_peg/model.sdf
+++ b/wooden_peg/model.sdf
@@ -6,10 +6,10 @@
       <inertial>
         <mass>0.0175</mass>
         <inertia>
-          <ixx>2.8415898437500003e-05</ixx>
+          <ixx>9.749231770833334e-06</ixx>
           <ixy>0</ixy>
           <ixz>0</ixz>
-          <iyy>2.8415898437500003e-05</iyy>
+          <iyy>9.749231770833334e-06</iyy>
           <iyz>0</iyz>
           <izz>8.317968750000001e-07</izz>
         </inertia>