diff --git a/CHANGELOG.md b/CHANGELOG.md
index 9e47f21..8916227 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -5,6 +5,13 @@ All notable changes to the `robotiq_hande_driver` package will be documented in
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.1.0/),
 and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
 
+## [0.1.1] - 2025-03-18
+
+### Fixed
+
+* [PR-6](https://github.com/AGH-CEAI/robotiq_hande_description/pull/6) - Added prefix to inertial macro name. Added descriptive names for params.
+
+
 ## [0.1.0] - 2025-03-13
 
 ### Added
@@ -15,11 +22,6 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 * [PR-3](https://github.com/AGH-CEAI/robotiq_hande_description/pull/3) & [PR-4](https://github.com/AGH-CEAI/robotiq_hande_description/pull/3) - Changed the coupler model and simplified URDF files by editing the models.
 
-### Deprecated
-
-### Removed
-
 ### Fixed
-* [PR-2](https://github.com/AGH-CEAI/robotiq_hande_description/pull/2) - Removed unnecessary quotation marks from parameter values.
 
-### Security
+* [PR-2](https://github.com/AGH-CEAI/robotiq_hande_description/pull/2) - Removed unnecessary quotation marks from parameter values.
diff --git a/CITATION.cff b/CITATION.cff
new file mode 100644
index 0000000..5404876
--- /dev/null
+++ b/CITATION.cff
@@ -0,0 +1,15 @@
+cff-version: 1.2.0
+message: "If you use this software, please cite it as below."
+authors:
+  - family-names: Aleksandrowicz
+    given-names: Maciej
+    orcid: https://orcid.org/0000-0003-3388-5653
+  - family-names: Klimek
+    given-names: Krzysztof
+    orcid: https://orcid.org/0009-0004-6749-1833
+  - family-names: Płachno
+    given-names: Jakub
+title: "Robotiq Hand-E ROS 2 Description Package"
+version: 0.1.1
+identifiers:
+date-released: 2025-03-18
diff --git a/package.xml b/package.xml
index a9905d0..4676c3c 100644
--- a/package.xml
+++ b/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>robotiq_hande_description</name>
-  <version>0.1.0</version>
+  <version>0.1.1</version>
   <description>Contains meshes and URDF description of the Robotiq Hand-E gripper.</description>
   <maintainer email="mac.aleksandrowicz@gmail.com">Maciej Aleksandrowicz</maintainer>
   <license>Apache-2.0</license>
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..5d2cb81 100644
--- a/urdf/robotiq_hande_gripper.xacro
+++ b/urdf/robotiq_hande_gripper.xacro
@@ -36,7 +36,7 @@
     <xacro:arg name="hande_radius" default="0.0375"/>
 
     <joint name="${prefix}robotiq_hande_coupler_joint" type="fixed">
-      <origin xyz="0 0 0" rpy="0 0 ${-pi/2.0}"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <parent link="${parent}"/>
       <child link="${prefix}robotiq_hande_coupler"/>
     </joint>
@@ -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">