How to set SDF 1.4 surface properties in URDF

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Hi all,

Can anybody tell me how to set the following SDF 1.4 parameters,

<surface>

  <bounce>
    <restitution_coefficient>
    <threshold>
  </bounce>

  <friction>
   <ode>
     <mu>
     <mu2>
     <fdir1>
     <slip1>
     <slip2>
   </ode>
  </friction>

  <contact>
    <collide_without_contact>
    <collide_without_contact_bitmask>
    <ode>
      <soft_cfm>
      <soft_erp>
      <kp>
      <kd>
      <max_vel>
      <min_depth>
    </ode>
  </contact>

</surface>

using a URDF (or xacro) file.

By the way, why does link gives a somewhat different set of parameters?

Thank you in advance.