diff --git a/launch/mass_and_com_estimation.launch b/launch/mass_and_com_estimation.launch
index f7f53b09bb6badb28ed137f0b5aefd4915c2a953..2908375651bb5952d898d7049e32a6083b7e1c10 100644
--- a/launch/mass_and_com_estimation.launch
+++ b/launch/mass_and_com_estimation.launch
@@ -12,7 +12,7 @@
     <arg name="launch_pref" value="valgrind --tool=callgrind --callgrind-out-file='callgrind.wolf.%p'" if="$(arg profiling)" />
     <arg name="launch_pref" value="gdb -ex run --args" if="$(arg gdb)" />
 
-    <arg name="bag" default="rosbag_borinot_real_hover_V0_with_pose_nc"/>
+    <arg name="bag" default="rosbag_borinot_real_rpy_V3_ok"/>
     
     
     <!--VISUALIZATION-->
diff --git a/yaml/mass_and_com_estimation.yaml b/yaml/mass_and_com_estimation.yaml
index e6f14dd394af97a40abed4386f4a47bac264ff95..4cfbdd8e785d7e95e924dcf15be71fb674a4fd2a 100644
--- a/yaml/mass_and_com_estimation.yaml
+++ b/yaml/mass_and_com_estimation.yaml
@@ -66,8 +66,9 @@ config:
     
     # Dynamics
     com:                          [0.00,0.00,0.0]                      # center of mass [m] 
-    inertia:                      [0.0134943,0.0141622,0.0237319]      # moments of inertia i_xx, i_yy, i_zz [kg m2]
-    mass:                         2                                    # mass [kg]
+    inertia:                      [0.017,0.017,0.029]                  # moments of inertia i_xx, i_yy, i_zz [kg m2]
+    mass:                         2
+    bias:                         [0,0,0,0,0,0]                                    # mass [kg]
     com_fix:                      false
     inertia_fix:                  true
     mass_fix:                     false