diff --git a/data/gripper/wsg50_with_r2d2_gripper.sdf b/data/gripper/wsg50_with_r2d2_gripper.sdf
index b022faf00..d67959f19 100644
--- a/data/gripper/wsg50_with_r2d2_gripper.sdf
+++ b/data/gripper/wsg50_with_r2d2_gripper.sdf
@@ -215,6 +215,10 @@
     </joint>
     
     <link name='finger_right'>
+      <contact>
+        <lateral_friction>1.0</lateral_friction>
+        <spinning_friction>1.5</spinning_friction>
+      </contact>
       <pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
       <inertial>
         <mass>0.2</mass>
@@ -255,6 +259,10 @@
     </joint>
     
     <link name='finger_left'>
+      <contact>
+        <lateral_friction>1.0</lateral_friction>
+        <spinning_friction>1.5</spinning_friction>
+      </contact>
       <pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
       <inertial>
         <mass>0.2</mass>