diff --git a/CHANGELOG.md b/CHANGELOG.md
index f82caa6..ff812d6 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -12,6 +12,9 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Deprecated
 ### Removed
 ### Fixed
+
+* [PR-6](https://github.com/AGH-CEAI/robotiq_hande_description/pull/6) - Added prefix to inertial macro name. Added descriptive names for params.
+
 ### Security
 
 ## [0.1.0] - 2025-03-13
diff --git a/urdf/cylinder_inertial.xacro b/urdf/cylinder_inertial.xacro
index 7ddbc4b..2c172fe 100644
--- a/urdf/cylinder_inertial.xacro
+++ b/urdf/cylinder_inertial.xacro
@@ -1,10 +1,17 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:macro name="cylinder_inertial" params="r h m *origin">
+  <xacro:macro name="__robotiq_hande_cylinder_inertial" params="radius height mass *origin">
     <inertial>
-      <mass value="${m}"/>
+      <mass value="${mass}"/>
       <xacro:insert_block name="origin"/>
-      <inertia ixx="${0.0833333 * m * (3 * (r * r) + h * h)}" ixy="0.0" ixz="0.0" iyy="${0.0833333 * m * (3 * (r * r) + h * h)}" iyz="0.0" izz="${0.5 * m * (r * r)}"/>
+      <inertia
+        ixx="${0.0833333 * mass * (3 * (radius * radius) + height * height)}"
+        ixy="0.0"
+        ixz="0.0"
+        iyy="${0.0833333 * mass * (3 * (radius * radius) + height * height)}"
+        iyz="0.0"
+        izz="${0.5 * mass * (radius * radius)}"
+      />
     </inertial>
   </xacro:macro>
 </robot>
diff --git a/urdf/robotiq_hande_gripper.xacro b/urdf/robotiq_hande_gripper.xacro
index 2d278f0..b425a1e 100644
--- a/urdf/robotiq_hande_gripper.xacro
+++ b/urdf/robotiq_hande_gripper.xacro
@@ -55,9 +55,9 @@
         </geometry>
       </collision>
 
-      <xacro:cylinder_inertial r="$(arg hande_radius)" h="$(arg coupler_shell_height)" m="${coupler_mass}">
+      <xacro:__robotiq_hande_cylinder_inertial radius="$(arg hande_radius)" height="$(arg coupler_shell_height)" mass="${coupler_mass}">
         <origin xyz="0 0 ${$(arg coupler_shell_height) / 2 - $(arg coupler_parent_cutoff)}" rpy="0 0 0"/>
-      </xacro:cylinder_inertial>
+      </xacro:__robotiq_hande_cylinder_inertial>
     </link>
 
     <joint name="${prefix}robotiq_hande_base_joint" type="fixed">
@@ -81,9 +81,9 @@
         </geometry>
       </collision>
 
-      <xacro:cylinder_inertial r="$(arg hande_radius)" h="$(arg hande_height)" m="0.86387">
+      <xacro:__robotiq_hande_cylinder_inertial radius="$(arg hande_radius)" height="$(arg hande_height)" mass="0.86387">
         <origin xyz="0 0 ${$(arg hande_height) / 2}" rpy="0 0 0"/>
-      </xacro:cylinder_inertial>
+      </xacro:__robotiq_hande_cylinder_inertial>
     </link>
 
     <joint name="${prefix}robotiq_hande_left_finger_joint" type="prismatic">