diff --git a/tor_description/gazebo/gazebo.urdf.xacro b/tor_description/gazebo/gazebo.urdf.xacro
index da2d1a7812177ecccb3b84c85f3c5cef0b8ec95f..d650384d9e5b346246da9afa78833126f26641e5 100644
--- a/tor_description/gazebo/gazebo.urdf.xacro
+++ b/tor_description/gazebo/gazebo.urdf.xacro
@@ -46,7 +46,7 @@
                bias means and stddevs to produce biases close to the provided
                data. -->
                
-         
+          <!--
           <rate>
             <mean>0.0</mean>
             <stddev>2e-4</stddev>
@@ -59,22 +59,22 @@
             <bias_mean>0.1</bias_mean>
             <bias_stddev>0.001</bias_stddev>
           </accel>
+          -->
           
           
-          <!--
           <rate>
             <mean>0.0</mean>
-            <stddev>0</stddev>
+            <stddev>2e-3</stddev>
             <bias_mean>0.000000</bias_mean>
             <bias_stddev>0.0000008</bias_stddev>
           </rate>
           <accel>
             <mean>0.0</mean>
-            <stddev>0</stddev>
+            <stddev>1.7e-1</stddev>
             <bias_mean>0.0</bias_mean>
             <bias_stddev>0.000</bias_stddev>
           </accel>
-          -->
+          
           
         </noise>
       </imu>