diff --git a/CMakeLists.txt b/CMakeLists.txt
index 503f447c1b..4d8ff41d68 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -66,7 +66,7 @@ cmake_dependent_option(USE_DIST_PACKAGES_FOR_PYTHON
 #============================================================================
 
 # Setting this policy enables using the protobuf_MODULE_COMPATIBLE
-# set command in CMake versions older than 13.13
+# set command when cmake_minimum_required is less than 3.13
 set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)
 # This option is needed to use the PROTOBUF_GENERATE_CPP
 # in case protobuf is found with the CMake config files
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 7fff867c64..b3c2917657 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -309,7 +309,7 @@ foreach(CMD_TEST
   # to the PATH. This is done via the ENVIRONMENT_MODIFICATION that is only available
   # since CMake 3.22. However, if an older CMake is used another trick to install the libraries
   # beforehand
-  if (WIN32 AND CMAKE_VERSION STRGREATER "3.22")
+  if (WIN32 AND ${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.22")
     set_tests_properties(${CMD_TEST} PROPERTIES
       ENVIRONMENT_MODIFICATION "PATH=path_list_prepend:${CMAKE_RUNTIME_OUTPUT_DIRECTORY}")
   endif()
diff --git a/test/worlds/quadcopter.sdf b/test/worlds/quadcopter.sdf
index bc93489ee5..b45f431aa4 100644
--- a/test/worlds/quadcopter.sdf
+++ b/test/worlds/quadcopter.sdf
@@ -91,7 +91,7 @@
           </geometry>
         </collision>
         <visual name="rotor_0_visual">
-          <pose>0 0 0 1.57 0 0 0</pose>
+          <pose>0 0 0 1.57 0 0</pose>
           <geometry>
             <cylinder>
               <length>0.2</length>
@@ -136,7 +136,7 @@
           </geometry>
         </collision>
         <visual name="rotor_1_visual">
-          <pose>0 0 0 1.57 0 0 0</pose>
+          <pose>0 0 0 1.57 0 0</pose>
           <geometry>
             <cylinder>
               <length>0.2</length>
@@ -181,7 +181,7 @@
           </geometry>
         </collision>
         <visual name="rotor_2_visual">
-          <pose>0 0 0 1.57 0 0 0</pose>
+          <pose>0 0 0 1.57 0 0</pose>
           <geometry>
             <cylinder>
               <length>0.2</length>
@@ -226,7 +226,7 @@
           </geometry>
         </collision>
         <visual name="rotor_3_visual">
-          <pose>0 0 0 1.57 0 0 0</pose>
+          <pose>0 0 0 1.57 0 0</pose>
           <geometry>
             <cylinder>
               <length>0.2</length>
diff --git a/test/worlds/quadcopter_velocity_control.sdf b/test/worlds/quadcopter_velocity_control.sdf
index 09390c0274..1650b5852c 100644
--- a/test/worlds/quadcopter_velocity_control.sdf
+++ b/test/worlds/quadcopter_velocity_control.sdf
@@ -91,7 +91,7 @@
           </geometry>
         </collision>
         <visual name="rotor_0_visual">
-          <pose>0 0 0 1.57 0 0 0</pose>
+          <pose>0 0 0 1.57 0 0</pose>
           <geometry>
             <cylinder>
               <length>0.2</length>
@@ -136,7 +136,7 @@
           </geometry>
         </collision>
         <visual name="rotor_1_visual">
-          <pose>0 0 0 1.57 0 0 0</pose>
+          <pose>0 0 0 1.57 0 0</pose>
           <geometry>
             <cylinder>
               <length>0.2</length>
@@ -181,7 +181,7 @@
           </geometry>
         </collision>
         <visual name="rotor_2_visual">
-          <pose>0 0 0 1.57 0 0 0</pose>
+          <pose>0 0 0 1.57 0 0</pose>
           <geometry>
             <cylinder>
               <length>0.2</length>
@@ -226,7 +226,7 @@
           </geometry>
         </collision>
         <visual name="rotor_3_visual">
-          <pose>0 0 0 1.57 0 0 0</pose>
+          <pose>0 0 0 1.57 0 0</pose>
           <geometry>
             <cylinder>
               <length>0.2</length>