diff --git a/test/yaml/problem_force_torque_inertial_dynamics_processor_test.yaml b/test/yaml/problem_force_torque_inertial_dynamics_processor_test.yaml
index d52ed3d01b5fcc803d268085e5b361a8a6f79343..2df498f9c582fcad2918a0ae5fc714951ebb6c26 100644
--- a/test/yaml/problem_force_torque_inertial_dynamics_processor_test.yaml
+++ b/test/yaml/problem_force_torque_inertial_dynamics_processor_test.yaml
@@ -39,7 +39,11 @@ config:
     com:                          [0,0,0.0341]                      # center of mass [m]
     inertia:                      [0.017598,0.017957,0.029599]      # moments of inertia i_xx, i_yy, i_zz [kg m2]
     mass:                         1.952                             # mass [kg]
-
+    imu_bias_fix:                 true
+    com_fix:                      true
+    inertia_fix:                  true
+    mass_fix:                     true  
+    
   processors:
    -
     name: "proc FTID"
diff --git a/test/yaml/problem_force_torque_inertial_dynamics_simulation_test.yaml b/test/yaml/problem_force_torque_inertial_dynamics_simulation_test.yaml
index 3dc2877d51762afe4d7d74d04a17a811fe27eea4..f3e25c03075b12b8df8c8f0026df1a88aa055e9e 100644
--- a/test/yaml/problem_force_torque_inertial_dynamics_simulation_test.yaml
+++ b/test/yaml/problem_force_torque_inertial_dynamics_simulation_test.yaml
@@ -48,6 +48,10 @@ config:
     com:                          [0.005,0.005,0.01]                      # center of mass [m]
     inertia:                      [0.015,0.015,0.030]      # moments of inertia i_xx, i_yy, i_zz [kg m2]
     mass:                         2.00                              # mass [kg]
+    imu_bias_fix:                 true
+    com_fix:                      true
+    inertia_fix:                  true
+    mass_fix:                     true  
 
    - 
     name: sensor Pose
diff --git a/test/yaml/problem_force_torque_inertial_dynamics_solve_test.yaml b/test/yaml/problem_force_torque_inertial_dynamics_solve_test.yaml
index 4b43965f98c8a50e6098d0c0f7129701f8367e6e..79aaa00d0706000e43bd4641d1658d8ab1b77236 100644
--- a/test/yaml/problem_force_torque_inertial_dynamics_solve_test.yaml
+++ b/test/yaml/problem_force_torque_inertial_dynamics_solve_test.yaml
@@ -48,6 +48,10 @@ config:
     com:                          [0,0,0.0341]                      # center of mass [m]
     inertia:                      [0.017598,0.017957,0.029599]      # moments of inertia i_xx, i_yy, i_zz [kg m2]
     mass:                         1.952                             # mass [kg]
+    imu_bias_fix:                 true
+    com_fix:                      true
+    inertia_fix:                  true
+    mass_fix:                     true  
 
   processors:
    -
diff --git a/test/yaml/processor_force_torque_inertial.yaml b/test/yaml/processor_force_torque_inertial.yaml
index beafed9ea44a627f2c5b2ea30490bfd11db7868b..84aca5a4b193784435a6c073d95770f1a255deea 100644
--- a/test/yaml/processor_force_torque_inertial.yaml
+++ b/test/yaml/processor_force_torque_inertial.yaml
@@ -10,4 +10,5 @@
       max_buff_length:  5   # motion deltas
       dist_traveled:    1   # meters
       angle_turned:     1   # radians (1 rad approx 57 deg, approx 60 deg)
+    
 
diff --git a/test/yaml/sensor_force_torque_inertial.yaml b/test/yaml/sensor_force_torque_inertial.yaml
index 746d4f54683062ace30d1aecfa18d212e774c596..21d169c79bfe81bc609e966bf3dfbd57275e7e97 100644
--- a/test/yaml/sensor_force_torque_inertial.yaml
+++ b/test/yaml/sensor_force_torque_inertial.yaml
@@ -9,4 +9,8 @@ gyro_drift_std:               0.00001     # std dev of gyro drift rad/s/sqrt(s)
 
 com:                          [0,0,0.0341]                      # center of mass [m]
 inertia:                      [0.017598,0.017957,0.029599]      # moments of inertia i_xx, i_yy, i_zz [kg m2]
-mass:                         1.952                             # mass [kg]
\ No newline at end of file
+mass:                         1.952                             # mass [kg]
+imu_bias_fix:                 true
+com_fix:                      true
+inertia_fix:                  true
+mass_fix:                     true
\ No newline at end of file