diff --git a/config/joint_dynamics.yaml b/config/joint_dynamics.yaml
new file mode 100644
index 0000000..a03f929
--- /dev/null
+++ b/config/joint_dynamics.yaml
@@ -0,0 +1,19 @@
+joint_dynamics:
+  shoulder_pan_joint:
+    damping: 0.0
+    friction: 0.0
+  shoulder_lift_joint:
+    damping: 0.0
+    friction: 0.0
+  elbow_joint:
+    damping: 0.0
+    friction: 0.0
+  wrist_1_joint:
+    damping: 0.0
+    friction: 0.0
+  wrist_2_joint:
+    damping: 0.0
+    friction: 0.0
+  wrist_3_joint:
+    damping: 0.0
+    friction: 0.0
diff --git a/test/test_joint_dynamics.yaml b/test/test_joint_dynamics.yaml
new file mode 100644
index 0000000..4b4e4bf
--- /dev/null
+++ b/test/test_joint_dynamics.yaml
@@ -0,0 +1,19 @@
+joint_dynamics:
+  shoulder_pan_joint:
+    damping: 0.123
+    friction: 1.234
+  shoulder_lift_joint:
+    damping: 0.234
+    friction: 2.345
+  elbow_joint:
+    damping: 0.345
+    friction: 3.456
+  wrist_1_joint:
+    damping: 0.456
+    friction: 4.567
+  wrist_2_joint:
+    damping: 0.567
+    friction: 5.678
+  wrist_3_joint:
+    damping: 0.678
+    friction: 6.789
diff --git a/urdf/inc/ur_common.xacro b/urdf/inc/ur_common.xacro
index a763e78..5d78b60 100644
--- a/urdf/inc/ur_common.xacro
+++ b/urdf/inc/ur_common.xacro
@@ -41,7 +41,7 @@
     <mesh filename="${mesh}"/>
   </xacro:macro>
 
-  <xacro:macro name="read_model_data" params="joint_limits_parameters_file kinematics_parameters_file physical_parameters_file visual_parameters_file force_abs_paths">
+  <xacro:macro name="read_model_data" params="joint_limits_parameters_file kinematics_parameters_file physical_parameters_file visual_parameters_file joint_dynamics force_abs_paths">
 
     <xacro:property name="force_abs_paths" value="${force_abs_paths}" scope="parent"/>
     <!-- Read .yaml files from disk, load content into properties -->
@@ -49,6 +49,7 @@
     <xacro:property name="config_kinematics_parameters" value="${xacro.load_yaml(kinematics_parameters_file)}"/>
     <xacro:property name="config_physical_parameters" value="${xacro.load_yaml(physical_parameters_file)}"/>
     <xacro:property name="config_visual_parameters" value="${xacro.load_yaml(visual_parameters_file)}"/>
+    <xacro:property name="config_joint_dynamics" value="${joint_dynamics}" scope="parent"/>
 
     <!-- Extract subsections from yaml dictionaries -->
     <xacro:property name="sec_limits" value="${config_joint_limit_parameters['joint_limits']}"/>
@@ -57,6 +58,7 @@
     <xacro:property name="sec_inertia_parameters" value="${config_physical_parameters['inertia_parameters']}" />
     <xacro:property name="sec_mesh_files" value="${config_visual_parameters['mesh_files']}" scope="parent"/>
     <xacro:property name="sec_kinematics" value="${config_kinematics_parameters['kinematics']}" />
+    <xacro:property name="sec_joint_dynamics" value="${config_joint_dynamics['joint_dynamics']}" scope="parent"/>
 
     <!-- JOINTS LIMIT PARAMETERS -->
     <xacro:property name="shoulder_pan_lower_limit" value="${sec_limits['shoulder_pan_joint']['min_position']}" scope="parent"/>
@@ -84,6 +86,21 @@
     <xacro:property name="wrist_3_velocity_limit" value="${sec_limits['wrist_3_joint']['max_velocity']}" scope="parent"/>
     <xacro:property name="wrist_3_effort_limit" value="${sec_limits['wrist_3_joint']['max_effort']}" scope="parent"/>
 
+
+    <!-- JOINT DYNAMICS PARAMETERS -->
+    <xacro:property name="shoulder_pan_damping" value="${sec_joint_dynamics['shoulder_pan_joint']['damping']}" scope="parent"/>
+    <xacro:property name="shoulder_pan_friction" value="${sec_joint_dynamics['shoulder_pan_joint']['friction']}" scope="parent"/>
+    <xacro:property name="shoulder_lift_damping" value="${sec_joint_dynamics['shoulder_lift_joint']['damping']}" scope="parent"/>
+    <xacro:property name="shoulder_lift_friction" value="${sec_joint_dynamics['shoulder_lift_joint']['friction']}" scope="parent"/>
+    <xacro:property name="elbow_joint_damping" value="${sec_joint_dynamics['elbow_joint']['damping']}" scope="parent"/>
+    <xacro:property name="elbow_joint_friction" value="${sec_joint_dynamics['elbow_joint']['friction']}" scope="parent"/>
+    <xacro:property name="wrist_1_damping" value="${sec_joint_dynamics['wrist_1_joint']['damping']}" scope="parent"/>
+    <xacro:property name="wrist_1_friction" value="${sec_joint_dynamics['wrist_1_joint']['friction']}" scope="parent"/>
+    <xacro:property name="wrist_2_damping" value="${sec_joint_dynamics['wrist_2_joint']['damping']}" scope="parent"/>
+    <xacro:property name="wrist_2_friction" value="${sec_joint_dynamics['wrist_2_joint']['friction']}" scope="parent"/>
+    <xacro:property name="wrist_3_damping" value="${sec_joint_dynamics['wrist_3_joint']['damping']}" scope="parent"/>
+    <xacro:property name="wrist_3_friction" value="${sec_joint_dynamics['wrist_3_joint']['friction']}" scope="parent"/>
+
     <!-- DH PARAMETERS -->
     <xacro:property name="d1" value="${sec_dh_parameters['d1']}" scope="parent"/>
     <xacro:property name="a2" value="${sec_dh_parameters['a2']}" scope="parent"/>
diff --git a/urdf/ur.urdf.xacro b/urdf/ur.urdf.xacro
index 0ec2c4e..51a471b 100644
--- a/urdf/ur.urdf.xacro
+++ b/urdf/ur.urdf.xacro
@@ -23,6 +23,11 @@
    <!--When using gazebo simulations absolute paths are necessary.-->
    <xacro:arg name="force_abs_paths" default="false" />
 
+   <!-- Default joint dynamics has friction and damping equal to 0, but useful to specialize for simulations -->
+   <xacro:arg name="joint_dynamics_file" default="$(find ur_description)/config/joint_dynamics.yaml"/>
+
+   <xacro:property name="joint_dynamics_file" default="$(arg joint_dynamics_file)"/>
+
    <!-- create link fixed to the "world" -->
    <link name="world" />
 
@@ -38,6 +43,7 @@
      safety_limits="$(arg safety_limits)"
      safety_pos_margin="$(arg safety_pos_margin)"
      safety_k_position="$(arg safety_k_position)"
+     joint_dynamics="${xacro.load_yaml(joint_dynamics_file)}"
      force_abs_paths="$(arg force_abs_paths)"
      >
      <origin xyz="0 0 0" rpy="0 0 0" />          <!-- position robot in the world -->
diff --git a/urdf/ur_macro.xacro b/urdf/ur_macro.xacro
index 39c094d..9b3052b 100644
--- a/urdf/ur_macro.xacro
+++ b/urdf/ur_macro.xacro
@@ -64,6 +64,7 @@
     safety_limits:=false
     safety_pos_margin:=0.15
     safety_k_position:=20
+    joint_dynamics:=${dict(joint_dynamics=dict(shoulder_pan_joint=dict(damping=0.0, friction=0.0), shoulder_lift_joint=dict(damping=0.0, friction=0.0), elbow_joint=dict(damping=0.0, friction=0.0), wrist_1_joint=dict(damping=0.0, friction=0.0), wrist_2_joint=dict(damping=0.0, friction=0.0), wrist_3_joint=dict(damping=0.0, friction=0.0)))}
     force_abs_paths:=false
     ">
 
@@ -73,6 +74,7 @@
       kinematics_parameters_file="${kinematics_parameters_file}"
       physical_parameters_file="${physical_parameters_file}"
       visual_parameters_file="${visual_parameters_file}"
+      joint_dynamics="${joint_dynamics}"
       force_abs_paths="${force_abs_paths}"/>
 
     <!-- links -  main serial chain -->
@@ -228,7 +230,7 @@
       <xacro:if value="${safety_limits}">
          <safety_controller soft_lower_limit="${shoulder_pan_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_pan_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
       </xacro:if>
-      <dynamics damping="0" friction="0"/>
+      <dynamics damping="${shoulder_pan_damping}" friction="${shoulder_pan_friction}"/>
     </joint>
     <joint name="${tf_prefix}shoulder_lift_joint" type="revolute">
       <parent link="${tf_prefix}shoulder_link" />
@@ -240,7 +242,7 @@
       <xacro:if value="${safety_limits}">
          <safety_controller soft_lower_limit="${shoulder_lift_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_lift_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
       </xacro:if>
-      <dynamics damping="0" friction="0"/>
+      <dynamics damping="${shoulder_lift_damping}" friction="${shoulder_lift_friction}"/>
     </joint>
     <joint name="${tf_prefix}elbow_joint" type="revolute">
       <parent link="${tf_prefix}upper_arm_link" />
@@ -252,7 +254,7 @@
       <xacro:if value="${safety_limits}">
          <safety_controller soft_lower_limit="${elbow_joint_lower_limit + safety_pos_margin}" soft_upper_limit="${elbow_joint_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
       </xacro:if>
-      <dynamics damping="0" friction="0"/>
+      <dynamics damping="${elbow_joint_damping}" friction="${elbow_joint_friction}"/>
     </joint>
     <joint name="${tf_prefix}wrist_1_joint" type="revolute">
       <parent link="${tf_prefix}forearm_link" />
@@ -264,7 +266,7 @@
       <xacro:if value="${safety_limits}">
          <safety_controller soft_lower_limit="${wrist_1_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_1_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
       </xacro:if>
-      <dynamics damping="0" friction="0"/>
+      <dynamics damping="${wrist_1_damping}" friction="${wrist_1_friction}"/>
     </joint>
     <joint name="${tf_prefix}wrist_2_joint" type="revolute">
       <parent link="${tf_prefix}wrist_1_link" />
@@ -276,7 +278,7 @@
       <xacro:if value="${safety_limits}">
          <safety_controller soft_lower_limit="${wrist_2_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_2_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
       </xacro:if>
-      <dynamics damping="0" friction="0"/>
+      <dynamics damping="${wrist_2_damping}" friction="${wrist_2_friction}"/>
     </joint>
     <joint name="${tf_prefix}wrist_3_joint" type="revolute">
       <parent link="${tf_prefix}wrist_2_link" />
@@ -288,7 +290,7 @@
       <xacro:if value="${safety_limits}">
          <safety_controller soft_lower_limit="${wrist_3_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_3_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/>
       </xacro:if>
-      <dynamics damping="0" friction="0"/>
+      <dynamics damping="${wrist_3_damping}" friction="${wrist_3_friction}"/>
     </joint>
 
     <link name="${tf_prefix}ft_frame"/>