diff --git a/data/jenga/jenga.urdf b/data/jenga/jenga.urdf
index 6ca727c78..729a4cbe9 100644
--- a/data/jenga/jenga.urdf
+++ b/data/jenga/jenga.urdf
@@ -3,8 +3,6 @@
   <link name="baseLink">
     <contact>
       <lateral_friction value="1.0"/>
-      <spinning_friction value="0.5"/>
-      <inertia_scaling value="3.0"/>
     </contact>
     <inertial>
       <origin rpy="0 0 0" xyz="0 0 0"/>