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Is it possible to reduce inertial sensor noise by adjusting gazebo parameters?

We've noticed that the IMU and force-torque sensors are extremely noisy (well beyond expectation for real sensors). I imagine this is likely a result of the normal imperfections of simulating physics in discrete time steps.

Are there parameters that we can adjust to significantly improve the fidelity of the simulation (perhaps at cost of a much slower simulation)?

Is it possible to reduce inertial sensor noise by adjusting gazebo parameters?

We've noticed that the IMU and force-torque sensors are extremely noisy (well beyond expectation for real sensors). I imagine this is likely a result of the normal imperfections of simulating physics in discrete time steps.

Are there parameters that we can adjust to significantly improve the fidelity of the simulation (perhaps at cost of a much slower simulation)?

Related, but not quite the same question:
* http://answers.gazebosim.org/question/530/gazebo-imu-noise-possible-imu-bug-gazebo-131