diff --git a/ur_description/urdf/ur10.urdf.xacro b/ur_description/urdf/ur10.urdf.xacro
index 89b63060a..0bb595f30 100644
--- a/ur_description/urdf/ur10.urdf.xacro
+++ b/ur_description/urdf/ur10.urdf.xacro
@@ -81,8 +81,8 @@
 		<child link = "${prefix}shoulder_link" />
 		<origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" />
 		<axis xyz="0.0 0.0 1.0" />
-		<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
-		<dynamics damping="10" friction="0.1"/>
+		<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="2.16"/>
+		<dynamics damping="1.2" friction="0.0"/>
 	</joint>
   
 	<link name="${prefix}shoulder_link">
@@ -112,7 +112,7 @@
 		<origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />    
 		<axis xyz="0.0 1.0 0.0" />
 		<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
-		<dynamics damping="10" friction="0.1"/>
+		<dynamics damping="1.2" friction="0.0"/>
 	</joint>
 
 	<link name="${prefix}upper_arm_link">
@@ -143,8 +143,8 @@
 		<child link = "${prefix}forearm_link" />
 		<origin xyz="0.0 ${-elbow_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" />
 		<axis xyz="0.0 1.0 0.0" />
-		<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
-		<dynamics damping="10" friction="0.1"/>
+		<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="${pi}"/>
+		<dynamics damping="0.6" friction="0.0"/>
 	</joint>
 
 	<link name="${prefix}forearm_link">
@@ -173,8 +173,8 @@
 		<child link = "${prefix}wrist_1_link" />
 		<origin xyz="0.0 0.0 ${forearm_length}" rpy="0.0 ${pi / 2.0} 0.0" />
 		<axis xyz="0.0 1.0 0.0" />
-		<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
-		<dynamics damping="10" friction="0.1"/>
+		<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="${pi}"/>
+		<dynamics damping="0.6" friction="0.0"/>
 	</joint>
 
 	<link name="${prefix}wrist_1_link">
@@ -205,8 +205,8 @@
 		<child link = "${prefix}wrist_2_link" />
 		<origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0.0 0.0" />
 		<axis xyz="0.0 0.0 1.0" />
-		<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
-		<dynamics damping="10" friction="0.1"/>
+		<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="${pi}"/>
+		<dynamics damping="0.6" friction="0.0"/>
 	</joint>
 
 	<link name="${prefix}wrist_2_link">
@@ -237,8 +237,8 @@
 		<child link = "${prefix}wrist_3_link" />
 		<origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
 		<axis xyz="0.0 1.0 0.0" />
-		<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
-		<dynamics damping="10" friction="0.1"/>
+		<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="${pi}"/>
+		<dynamics damping="0.6" friction="0.0"/>
 	</joint>
 
 	<link name="${prefix}wrist_3_link">