diff --git a/tm_description/xacro/macro.tm12-nominal.urdf.xacro b/tm_description/xacro/macro.tm12-nominal.urdf.xacro
index 3ddab1fa4..11347c5c3 100644
--- a/tm_description/xacro/macro.tm12-nominal.urdf.xacro
+++ b/tm_description/xacro/macro.tm12-nominal.urdf.xacro
@@ -25,7 +25,7 @@
     safety_limits:=false safety_pos_margin:=0.15
     safety_k_position:=20">
 
-   <xacro:property name="damping_factor" value="0.000"/>
+   <xacro:property name="damping_factor" value="600.000"/>
    <xacro:property name="d1" value="${damping_factor*0.1}"/>
    <xacro:property name="d2" value="${damping_factor*0.1}"/>
    <xacro:property name="d3" value="${damping_factor*0.1}"/>
@@ -33,7 +33,7 @@
    <xacro:property name="d5" value="${damping_factor*0.1}"/>
    <xacro:property name="d6" value="${damping_factor*0.1}"/>
 
-   <xacro:property name="friction_factor" value="0.000"/>
+   <xacro:property name="friction_factor" value="40.000"/>
    <xacro:property name="f1" value="${friction_factor*0.1}"/>
    <xacro:property name="f2" value="${friction_factor*0.1}"/>
    <xacro:property name="f3" value="${friction_factor*0.1}"/>
diff --git a/tm_description/xacro/macro.tm12x-nominal.urdf.xacro b/tm_description/xacro/macro.tm12x-nominal.urdf.xacro
index 2e4b6cd8e..caa23a13d 100644
--- a/tm_description/xacro/macro.tm12x-nominal.urdf.xacro
+++ b/tm_description/xacro/macro.tm12x-nominal.urdf.xacro
@@ -25,7 +25,7 @@
     safety_limits:=false safety_pos_margin:=0.15
     safety_k_position:=20">
 
-   <xacro:property name="damping_factor" value="0.000"/>
+   <xacro:property name="damping_factor" value="600.000"/>
    <xacro:property name="d1" value="${damping_factor*0.1}"/>
    <xacro:property name="d2" value="${damping_factor*0.1}"/>
    <xacro:property name="d3" value="${damping_factor*0.1}"/>
@@ -33,7 +33,7 @@
    <xacro:property name="d5" value="${damping_factor*0.1}"/>
    <xacro:property name="d6" value="${damping_factor*0.1}"/>
 
-   <xacro:property name="friction_factor" value="0.000"/>
+   <xacro:property name="friction_factor" value="40.000"/>
    <xacro:property name="f1" value="${friction_factor*0.1}"/>
    <xacro:property name="f2" value="${friction_factor*0.1}"/>
    <xacro:property name="f3" value="${friction_factor*0.1}"/>
diff --git a/tm_description/xacro/macro.tm14-nominal.urdf.xacro b/tm_description/xacro/macro.tm14-nominal.urdf.xacro
index 1f31e4ec5..634e306b4 100644
--- a/tm_description/xacro/macro.tm14-nominal.urdf.xacro
+++ b/tm_description/xacro/macro.tm14-nominal.urdf.xacro
@@ -25,7 +25,7 @@
     safety_limits:=false safety_pos_margin:=0.15
     safety_k_position:=20">
 
-   <xacro:property name="damping_factor" value="0.000"/>
+   <xacro:property name="damping_factor" value="600.000"/>
    <xacro:property name="d1" value="${damping_factor*0.1}"/>
    <xacro:property name="d2" value="${damping_factor*0.1}"/>
    <xacro:property name="d3" value="${damping_factor*0.1}"/>
@@ -33,7 +33,7 @@
    <xacro:property name="d5" value="${damping_factor*0.1}"/>
    <xacro:property name="d6" value="${damping_factor*0.1}"/>
 
-   <xacro:property name="friction_factor" value="0.000"/>
+   <xacro:property name="friction_factor" value="40.000"/>
    <xacro:property name="f1" value="${friction_factor*0.1}"/>
    <xacro:property name="f2" value="${friction_factor*0.1}"/>
    <xacro:property name="f3" value="${friction_factor*0.1}"/>
diff --git a/tm_description/xacro/macro.tm14x-nominal.urdf.xacro b/tm_description/xacro/macro.tm14x-nominal.urdf.xacro
index ea49e4454..fe1455480 100644
--- a/tm_description/xacro/macro.tm14x-nominal.urdf.xacro
+++ b/tm_description/xacro/macro.tm14x-nominal.urdf.xacro
@@ -25,7 +25,7 @@
     safety_limits:=false safety_pos_margin:=0.15
     safety_k_position:=20">
 
-   <xacro:property name="damping_factor" value="0.000"/>
+   <xacro:property name="damping_factor" value="600.000"/>
    <xacro:property name="d1" value="${damping_factor*0.1}"/>
    <xacro:property name="d2" value="${damping_factor*0.1}"/>
    <xacro:property name="d3" value="${damping_factor*0.1}"/>
@@ -33,7 +33,7 @@
    <xacro:property name="d5" value="${damping_factor*0.1}"/>
    <xacro:property name="d6" value="${damping_factor*0.1}"/>
 
-   <xacro:property name="friction_factor" value="0.000"/>
+   <xacro:property name="friction_factor" value="40.000"/>
    <xacro:property name="f1" value="${friction_factor*0.1}"/>
    <xacro:property name="f2" value="${friction_factor*0.1}"/>
    <xacro:property name="f3" value="${friction_factor*0.1}"/>
diff --git a/tm_description/xacro/macro.tm5-700-nominal.urdf.xacro b/tm_description/xacro/macro.tm5-700-nominal.urdf.xacro
index bc084d89f..e88542031 100644
--- a/tm_description/xacro/macro.tm5-700-nominal.urdf.xacro
+++ b/tm_description/xacro/macro.tm5-700-nominal.urdf.xacro
@@ -25,7 +25,7 @@
     safety_limits:=false safety_pos_margin:=0.15
     safety_k_position:=20">
 
-   <xacro:property name="damping_factor" value="0.000"/>
+   <xacro:property name="damping_factor" value="600.000"/>
    <xacro:property name="d1" value="${damping_factor*0.1}"/>
    <xacro:property name="d2" value="${damping_factor*0.1}"/>
    <xacro:property name="d3" value="${damping_factor*0.1}"/>
@@ -33,7 +33,7 @@
    <xacro:property name="d5" value="${damping_factor*0.1}"/>
    <xacro:property name="d6" value="${damping_factor*0.1}"/>
 
-   <xacro:property name="friction_factor" value="0.000"/>
+   <xacro:property name="friction_factor" value="40.000"/>
    <xacro:property name="f1" value="${friction_factor*0.1}"/>
    <xacro:property name="f2" value="${friction_factor*0.1}"/>
    <xacro:property name="f3" value="${friction_factor*0.1}"/>
diff --git a/tm_description/xacro/macro.tm5-900-nominal.urdf.xacro b/tm_description/xacro/macro.tm5-900-nominal.urdf.xacro
index 41f941474..429bf3d12 100644
--- a/tm_description/xacro/macro.tm5-900-nominal.urdf.xacro
+++ b/tm_description/xacro/macro.tm5-900-nominal.urdf.xacro
@@ -25,7 +25,7 @@
     safety_limits:=false safety_pos_margin:=0.15
     safety_k_position:=20">
 
-   <xacro:property name="damping_factor" value="0.000"/>
+   <xacro:property name="damping_factor" value="600.000"/>
    <xacro:property name="d1" value="${damping_factor*0.1}"/>
    <xacro:property name="d2" value="${damping_factor*0.1}"/>
    <xacro:property name="d3" value="${damping_factor*0.1}"/>
@@ -33,7 +33,7 @@
    <xacro:property name="d5" value="${damping_factor*0.1}"/>
    <xacro:property name="d6" value="${damping_factor*0.1}"/>
 
-   <xacro:property name="friction_factor" value="0.000"/>
+   <xacro:property name="friction_factor" value="40.000"/>
    <xacro:property name="f1" value="${friction_factor*0.1}"/>
    <xacro:property name="f2" value="${friction_factor*0.1}"/>
    <xacro:property name="f3" value="${friction_factor*0.1}"/>
diff --git a/tm_description/xacro/macro.tm5x-700-nominal.urdf.xacro b/tm_description/xacro/macro.tm5x-700-nominal.urdf.xacro
index 7c45c0fa7..811355c1d 100644
--- a/tm_description/xacro/macro.tm5x-700-nominal.urdf.xacro
+++ b/tm_description/xacro/macro.tm5x-700-nominal.urdf.xacro
@@ -25,7 +25,7 @@
     safety_limits:=false safety_pos_margin:=0.15
     safety_k_position:=20">
 
-   <xacro:property name="damping_factor" value="0.000"/>
+   <xacro:property name="damping_factor" value="600.000"/>
    <xacro:property name="d1" value="${damping_factor*0.1}"/>
    <xacro:property name="d2" value="${damping_factor*0.1}"/>
    <xacro:property name="d3" value="${damping_factor*0.1}"/>
@@ -33,7 +33,7 @@
    <xacro:property name="d5" value="${damping_factor*0.1}"/>
    <xacro:property name="d6" value="${damping_factor*0.1}"/>
 
-   <xacro:property name="friction_factor" value="0.000"/>
+   <xacro:property name="friction_factor" value="40.000"/>
    <xacro:property name="f1" value="${friction_factor*0.1}"/>
    <xacro:property name="f2" value="${friction_factor*0.1}"/>
    <xacro:property name="f3" value="${friction_factor*0.1}"/>
diff --git a/tm_description/xacro/macro.tm5x-900-nominal.urdf.xacro b/tm_description/xacro/macro.tm5x-900-nominal.urdf.xacro
index 1ac9b58fd..9f9de90f4 100644
--- a/tm_description/xacro/macro.tm5x-900-nominal.urdf.xacro
+++ b/tm_description/xacro/macro.tm5x-900-nominal.urdf.xacro
@@ -25,7 +25,7 @@
     safety_limits:=false safety_pos_margin:=0.15
     safety_k_position:=20">
 
-   <xacro:property name="damping_factor" value="0.000"/>
+   <xacro:property name="damping_factor" value="600.000"/>
    <xacro:property name="d1" value="${damping_factor*0.1}"/>
    <xacro:property name="d2" value="${damping_factor*0.1}"/>
    <xacro:property name="d3" value="${damping_factor*0.1}"/>
@@ -33,7 +33,7 @@
    <xacro:property name="d5" value="${damping_factor*0.1}"/>
    <xacro:property name="d6" value="${damping_factor*0.1}"/>
 
-   <xacro:property name="friction_factor" value="0.000"/>
+   <xacro:property name="friction_factor" value="40.000"/>
    <xacro:property name="f1" value="${friction_factor*0.1}"/>
    <xacro:property name="f2" value="${friction_factor*0.1}"/>
    <xacro:property name="f3" value="${friction_factor*0.1}"/>