diff --git a/urdf/skratch_macro.imu.xacro b/urdf/skratch_macro.imu.xacro
index 7642883..c0a8a85 100644
--- a/urdf/skratch_macro.imu.xacro
+++ b/urdf/skratch_macro.imu.xacro
@@ -6,7 +6,7 @@
     <link name="${name}_link">
       <inertial>
         <mass value="0.01"/>
-        <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/> <!--TODO: set more realistic values -->
+        <inertia ixx="1.0" ixy="0" ixz="0" iyy="1.0" iyz="0" izz="1.0"/>
         </inertial>
     </link>
     <joint name="${name}_joint" type="fixed">
diff --git a/urdf/skratch_macro.imu_gazebo.xacro b/urdf/skratch_macro.imu_gazebo.xacro
index 353f140..4f7195b 100644
--- a/urdf/skratch_macro.imu_gazebo.xacro
+++ b/urdf/skratch_macro.imu_gazebo.xacro
@@ -7,9 +7,6 @@
 
     <xacro:imu name="${name}" parent_link="${parent_link}" />
 
-    <!-- The Offical documentation for IMU on Gazebo "Classic" -->
-    <!-- check: https://classic.gazebosim.org/tutorials?tut=ros_gzplugins -->
-
     <gazebo reference="${name}_link"> <!-- IMPORTANT!  it needs to be the same as the link name -->
       <gravity>true</gravity>
       <sensor name="${name}" type="imu">
diff --git a/urdf/skratch_macro.imu_gz.xacro b/urdf/skratch_macro.imu_gz.xacro
index 4ead924..7962faf 100644
--- a/urdf/skratch_macro.imu_gz.xacro
+++ b/urdf/skratch_macro.imu_gz.xacro
@@ -7,9 +7,6 @@
 
     <xacro:imu name="${name}" parent_link="${parent_link}" />
 
-    <!-- For details on IMU sensor on gazebo "gz"-->
-    <!-- See: https://gazebosim.org/docs/fortress/sensors/#imu-sensor -->
-
     <gazebo reference="${name}_link"> <!-- IMPORTANT!  it needs to be the same as the link name -->
       <gravity>true</gravity>
       <sensor name="${name}" type="imu">