diff --git a/eve_r3_description/sdf/eve_r3.sdf b/eve_r3_description/sdf/eve_r3.sdf
index f133599..59cdf82 100644
--- a/eve_r3_description/sdf/eve_r3.sdf
+++ b/eve_r3_description/sdf/eve_r3.sdf
@@ -35,14 +35,14 @@
             <type>gaussian</type>
             <rate>
               <mean>0</mean>
-              <stddev>0.0002</stddev>
-              <bias_mean>7.5e-06</bias_mean>
-              <bias_stddev>8e-07</bias_stddev>
+              <stddev>0.0022</stddev>
+              <bias_mean>0.0035</bias_mean>
+              <bias_stddev>0.001</bias_stddev>
             </rate>
             <accel>
               <mean>0</mean>
-              <stddev>0.017</stddev>
-              <bias_mean>0.1</bias_mean>
+              <stddev>0.031</stddev>
+              <bias_mean>0.006</bias_mean>
               <bias_stddev>0.001</bias_stddev>
             </accel>
           </noise>
@@ -303,6 +303,29 @@
         </geometry>
         
       </visual>
+      <velocity_decay/>
+      <sensor name="imu_left" type="imu">
+        <always_on>1</always_on>
+        <update_rate>1000</update_rate>
+        <imu>
+          <noise>
+            <type>gaussian</type>
+            <rate>
+              <mean>0</mean>
+              <stddev>0.0022</stddev>
+              <bias_mean>0.0174533</bias_mean>
+              <bias_stddev>0.0001</bias_stddev>
+            </rate>
+            <accel>
+              <mean>0</mean>
+              <stddev>0.031</stddev>
+              <bias_mean>0.012</bias_mean>
+              <bias_stddev>0.001</bias_stddev>
+            </accel>
+          </noise>
+        </imu>
+        <pose frame="">0.23412 0.1925 0.013 0 -0 0</pose>
+      </sensor>
       <gravity>1</gravity>
       <velocity_decay/>
     </link>
diff --git a/eve_r3_description/sdf/eve_r3_robotiq_2f_85.sdf b/eve_r3_description/sdf/eve_r3_robotiq_2f_85.sdf
index 50ea70a..e4b15d3 100644
--- a/eve_r3_description/sdf/eve_r3_robotiq_2f_85.sdf
+++ b/eve_r3_description/sdf/eve_r3_robotiq_2f_85.sdf
@@ -35,14 +35,14 @@
             <type>gaussian</type>
             <rate>
               <mean>0</mean>
-              <stddev>0.0002</stddev>
-              <bias_mean>7.5e-06</bias_mean>
-              <bias_stddev>8e-07</bias_stddev>
+              <stddev>0.0022</stddev>
+              <bias_mean>0.0035</bias_mean>
+              <bias_stddev>0.001</bias_stddev>
             </rate>
             <accel>
               <mean>0</mean>
-              <stddev>0.017</stddev>
-              <bias_mean>0.1</bias_mean>
+              <stddev>0.031</stddev>
+              <bias_mean>0.006</bias_mean>
               <bias_stddev>0.001</bias_stddev>
             </accel>
           </noise>
@@ -303,6 +303,29 @@
         </geometry>
         
       </visual>
+      <velocity_decay/>
+      <sensor name="imu_left" type="imu">
+        <always_on>1</always_on>
+        <update_rate>1000</update_rate>
+        <imu>
+          <noise>
+            <type>gaussian</type>
+            <rate>
+              <mean>0</mean>
+              <stddev>0.0022</stddev>
+              <bias_mean>0.0174533</bias_mean>
+              <bias_stddev>0.0001</bias_stddev>
+            </rate>
+            <accel>
+              <mean>0</mean>
+              <stddev>0.031</stddev>
+              <bias_mean>0.012</bias_mean>
+              <bias_stddev>0.001</bias_stddev>
+            </accel>
+          </noise>
+        </imu>
+        <pose frame="">0.23412 0.1925 0.013 0 -0 0</pose>
+      </sensor>
       <gravity>1</gravity>
       <velocity_decay/>
     </link>
diff --git a/eve_r3_description/sdf/eve_r3_robotiq_hand-e.sdf b/eve_r3_description/sdf/eve_r3_robotiq_hand-e.sdf
index 97b4964..9fd4efe 100644
--- a/eve_r3_description/sdf/eve_r3_robotiq_hand-e.sdf
+++ b/eve_r3_description/sdf/eve_r3_robotiq_hand-e.sdf
@@ -35,14 +35,14 @@
             <type>gaussian</type>
             <rate>
               <mean>0</mean>
-              <stddev>0.0002</stddev>
-              <bias_mean>7.5e-06</bias_mean>
-              <bias_stddev>8e-07</bias_stddev>
+              <stddev>0.0022</stddev>
+              <bias_mean>0.0035</bias_mean>
+              <bias_stddev>0.001</bias_stddev>
             </rate>
             <accel>
               <mean>0</mean>
-              <stddev>0.017</stddev>
-              <bias_mean>0.1</bias_mean>
+              <stddev>0.031</stddev>
+              <bias_mean>0.006</bias_mean>
               <bias_stddev>0.001</bias_stddev>
             </accel>
           </noise>
@@ -303,6 +303,29 @@
         </geometry>
         
       </visual>
+      <velocity_decay/>
+      <sensor name="imu_left" type="imu">
+        <always_on>1</always_on>
+        <update_rate>1000</update_rate>
+        <imu>
+          <noise>
+            <type>gaussian</type>
+            <rate>
+              <mean>0</mean>
+              <stddev>0.0022</stddev>
+              <bias_mean>0.0174533</bias_mean>
+              <bias_stddev>0.0001</bias_stddev>
+            </rate>
+            <accel>
+              <mean>0</mean>
+              <stddev>0.031</stddev>
+              <bias_mean>0.012</bias_mean>
+              <bias_stddev>0.001</bias_stddev>
+            </accel>
+          </noise>
+        </imu>
+        <pose frame="">0.23412 0.1925 0.013 0 -0 0</pose>
+      </sensor>
       <gravity>1</gravity>
       <velocity_decay/>
     </link>
diff --git a/eve_r3_description/urdf.in/eve_r3_leg.in.urdf b/eve_r3_description/urdf.in/eve_r3_leg.in.urdf
index 9d95130..54656e4 100644
--- a/eve_r3_description/urdf.in/eve_r3_leg.in.urdf
+++ b/eve_r3_description/urdf.in/eve_r3_leg.in.urdf
@@ -200,14 +200,14 @@
                     <type>gaussian</type>
                     <rate>
                         <mean>0</mean>
-                        <stddev>0.0002</stddev>
-                        <bias_mean>7.5e-06</bias_mean>
-                        <bias_stddev>8e-07</bias_stddev>
+                        <stddev>0.0022</stddev>
+                        <bias_mean>0.0035</bias_mean>
+                        <bias_stddev>0.001</bias_stddev>
 	            </rate>
                     <accel>
                         <mean>0</mean>
-                        <stddev>0.017</stddev>
-                        <bias_mean>0.1</bias_mean>
+                        <stddev>0.031</stddev>
+                        <bias_mean>0.006</bias_mean>
                         <bias_stddev>0.001</bias_stddev>
 	            </accel>
 	          </noise>
@@ -215,6 +215,30 @@
             <pose frame="">-0.057 0.0 0.39790 0 0.0 0</pose>
 	      </sensor>
     </gazebo>
+    <gazebo reference="base">
+        <sensor name="imu_left" type="imu">
+            <always_on>1</always_on>
+            <update_rate>1000</update_rate>
+            <imu>
+                <noise>
+                    <type>gaussian</type>
+                    <rate>
+                        <mean>0</mean>
+                        <stddev>0.0022</stddev>
+                        <bias_mean>0.0174533</bias_mean>
+                        <bias_stddev>0.0001</bias_stddev>
+	            </rate>
+                    <accel>
+                        <mean>0</mean>
+                        <stddev>0.031</stddev>
+                        <bias_mean>0.012</bias_mean>
+                        <bias_stddev>0.001</bias_stddev>
+	            </accel>
+	          </noise>
+	        </imu>
+            <pose frame="">0.23412 0.1925 0.013 0 0.0 0</pose>
+	      </sensor>
+    </gazebo>
     <gazebo reference="base">
         <mu1>0.0</mu1>
         <mu2>0.0</mu2>
diff --git a/eve_r3_description/urdf/eve_r3.urdf b/eve_r3_description/urdf/eve_r3.urdf
index 57217bc..cc40843 100644
--- a/eve_r3_description/urdf/eve_r3.urdf
+++ b/eve_r3_description/urdf/eve_r3.urdf
@@ -217,14 +217,14 @@ limitations under the License.
           <type>gaussian</type>
           <rate>
             <mean>0</mean>
-            <stddev>0.0002</stddev>
-            <bias_mean>7.5e-06</bias_mean>
-            <bias_stddev>8e-07</bias_stddev>
+            <stddev>0.0022</stddev>
+            <bias_mean>0.0035</bias_mean>
+            <bias_stddev>0.001</bias_stddev>
           </rate>
           <accel>
             <mean>0</mean>
-            <stddev>0.017</stddev>
-            <bias_mean>0.1</bias_mean>
+            <stddev>0.031</stddev>
+            <bias_mean>0.006</bias_mean>
             <bias_stddev>0.001</bias_stddev>
           </accel>
         </noise>
@@ -232,6 +232,30 @@ limitations under the License.
       <pose frame="">-0.057 0.0 0.39790 0 0.0 0</pose>
     </sensor>
   </gazebo>
+  <gazebo reference="base">
+    <sensor name="imu_left" type="imu">
+      <always_on>1</always_on>
+      <update_rate>1000</update_rate>
+      <imu>
+        <noise>
+          <type>gaussian</type>
+          <rate>
+            <mean>0</mean>
+            <stddev>0.0022</stddev>
+            <bias_mean>0.0174533</bias_mean>
+            <bias_stddev>0.0001</bias_stddev>
+          </rate>
+          <accel>
+            <mean>0</mean>
+            <stddev>0.031</stddev>
+            <bias_mean>0.012</bias_mean>
+            <bias_stddev>0.001</bias_stddev>
+          </accel>
+        </noise>
+      </imu>
+      <pose frame="">0.23412 0.1925 0.013 0 0.0 0</pose>
+    </sensor>
+  </gazebo>
   <gazebo reference="base">
     <mu1>0.0</mu1>
     <mu2>0.0</mu2>
diff --git a/eve_r3_description/urdf/eve_r3_robotiq_2f_85.urdf b/eve_r3_description/urdf/eve_r3_robotiq_2f_85.urdf
index f274f0d..30d2b66 100644
--- a/eve_r3_description/urdf/eve_r3_robotiq_2f_85.urdf
+++ b/eve_r3_description/urdf/eve_r3_robotiq_2f_85.urdf
@@ -217,14 +217,14 @@ limitations under the License.
           <type>gaussian</type>
           <rate>
             <mean>0</mean>
-            <stddev>0.0002</stddev>
-            <bias_mean>7.5e-06</bias_mean>
-            <bias_stddev>8e-07</bias_stddev>
+            <stddev>0.0022</stddev>
+            <bias_mean>0.0035</bias_mean>
+            <bias_stddev>0.001</bias_stddev>
           </rate>
           <accel>
             <mean>0</mean>
-            <stddev>0.017</stddev>
-            <bias_mean>0.1</bias_mean>
+            <stddev>0.031</stddev>
+            <bias_mean>0.006</bias_mean>
             <bias_stddev>0.001</bias_stddev>
           </accel>
         </noise>
@@ -232,6 +232,30 @@ limitations under the License.
       <pose frame="">-0.057 0.0 0.39790 0 0.0 0</pose>
     </sensor>
   </gazebo>
+  <gazebo reference="base">
+    <sensor name="imu_left" type="imu">
+      <always_on>1</always_on>
+      <update_rate>1000</update_rate>
+      <imu>
+        <noise>
+          <type>gaussian</type>
+          <rate>
+            <mean>0</mean>
+            <stddev>0.0022</stddev>
+            <bias_mean>0.0174533</bias_mean>
+            <bias_stddev>0.0001</bias_stddev>
+          </rate>
+          <accel>
+            <mean>0</mean>
+            <stddev>0.031</stddev>
+            <bias_mean>0.012</bias_mean>
+            <bias_stddev>0.001</bias_stddev>
+          </accel>
+        </noise>
+      </imu>
+      <pose frame="">0.23412 0.1925 0.013 0 0.0 0</pose>
+    </sensor>
+  </gazebo>
   <gazebo reference="base">
     <mu1>0.0</mu1>
     <mu2>0.0</mu2>
diff --git a/eve_r3_description/urdf/eve_r3_robotiq_hand-e.urdf b/eve_r3_description/urdf/eve_r3_robotiq_hand-e.urdf
index 25473fa..1366916 100644
--- a/eve_r3_description/urdf/eve_r3_robotiq_hand-e.urdf
+++ b/eve_r3_description/urdf/eve_r3_robotiq_hand-e.urdf
@@ -217,14 +217,14 @@ limitations under the License.
           <type>gaussian</type>
           <rate>
             <mean>0</mean>
-            <stddev>0.0002</stddev>
-            <bias_mean>7.5e-06</bias_mean>
-            <bias_stddev>8e-07</bias_stddev>
+            <stddev>0.0022</stddev>
+            <bias_mean>0.0035</bias_mean>
+            <bias_stddev>0.001</bias_stddev>
           </rate>
           <accel>
             <mean>0</mean>
-            <stddev>0.017</stddev>
-            <bias_mean>0.1</bias_mean>
+            <stddev>0.031</stddev>
+            <bias_mean>0.006</bias_mean>
             <bias_stddev>0.001</bias_stddev>
           </accel>
         </noise>
@@ -232,6 +232,30 @@ limitations under the License.
       <pose frame="">-0.057 0.0 0.39790 0 0.0 0</pose>
     </sensor>
   </gazebo>
+  <gazebo reference="base">
+    <sensor name="imu_left" type="imu">
+      <always_on>1</always_on>
+      <update_rate>1000</update_rate>
+      <imu>
+        <noise>
+          <type>gaussian</type>
+          <rate>
+            <mean>0</mean>
+            <stddev>0.0022</stddev>
+            <bias_mean>0.0174533</bias_mean>
+            <bias_stddev>0.0001</bias_stddev>
+          </rate>
+          <accel>
+            <mean>0</mean>
+            <stddev>0.031</stddev>
+            <bias_mean>0.012</bias_mean>
+            <bias_stddev>0.001</bias_stddev>
+          </accel>
+        </noise>
+      </imu>
+      <pose frame="">0.23412 0.1925 0.013 0 0.0 0</pose>
+    </sensor>
+  </gazebo>
   <gazebo reference="base">
     <mu1>0.0</mu1>
     <mu2>0.0</mu2>