diff --git a/ur_robot_driver/urdf/ur.ros2_control.xacro b/ur_robot_driver/urdf/ur.ros2_control.xacro
index 77e0c22cd..580107df6 100644
--- a/ur_robot_driver/urdf/ur.ros2_control.xacro
+++ b/ur_robot_driver/urdf/ur.ros2_control.xacro
@@ -42,6 +42,7 @@
           <plugin>mock_components/GenericSystem</plugin>
           <param name="mock_sensor_commands">${mock_sensor_commands}</param>
           <param name="state_following_offset">0.0</param>
+          <param name="calculate_dynamics">true</param>
         </xacro:if>
         <xacro:unless value="${use_mock_hardware}">
           <plugin>ur_robot_driver/URPositionHardwareInterface</plugin>