diff --git a/data/jenga/jenga.urdf b/data/jenga/jenga.urdf
index 729a4cbe9..e78a13db5 100644
--- a/data/jenga/jenga.urdf
+++ b/data/jenga/jenga.urdf
@@ -2,11 +2,11 @@
 <robot name="jenga.urdf">
   <link name="baseLink">
     <contact>
-      <lateral_friction value="1.0"/>
+      <lateral_friction value=".5"/>
     </contact>
     <inertial>
       <origin rpy="0 0 0" xyz="0 0 0"/>
-       <mass value="1.0"/>
+       <mass value=".05"/>
        <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
     </inertial>
     <visual>