diff --git a/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/generic_components.sdf.jinja b/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/generic_components.sdf.jinja
index d6a977e..9a077bc 100644
--- a/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/generic_components.sdf.jinja
+++ b/ros_packages/mrs_uav_gazebo_simulation/models/mrs_robots_description/sdf/generic_components.sdf.jinja
@@ -138,6 +138,10 @@ limitations under the License.
     </geometry>
     <surface>
       <ode>
+        <kp>1000000.0</kp>
+        <kd>1.0</kd>
+        <mu1>0.8</mu1>
+        <mu2>0.8</mu2>
         <min_depth>0.001</min_depth>
         <max_vel>0.0</max_vel>
       </ode>