diff --git a/dartsim/src/SDFFeatures.cc b/dartsim/src/SDFFeatures.cc
index 401fe9a5d..1a1fc2ed4 100644
--- a/dartsim/src/SDFFeatures.cc
+++ b/dartsim/src/SDFFeatures.cc
@@ -573,6 +573,16 @@ Identity SDFFeatures::ConstructSdfCollision(
       math::Vector3d fdir1 = odeFriction->Get<math::Vector3d>("fdir1");
       aspect->setFirstFrictionDirection(math::eigen3::convert(fdir1));
     }
+
+    const auto &surfaceBounce = _collision.Element()
+                                    ->GetElement("surface")
+                                    ->GetElement("bounce");
+
+    if (surfaceBounce->HasElement("restitution_coefficient"))
+    {
+      aspect->setRestitutionCoeff(
+          surfaceBounce->Get<double>("restitution_coefficient"));
+    }
 #else
     // We are setting the friction coefficient of a collision element
     // to be the coefficient for the whole link. If there are multiple collision
@@ -580,6 +590,15 @@ Identity SDFFeatures::ConstructSdfCollision(
     // TODO(addisu) Assign the coefficient to the shape node when support is
     // added in DART.
     bn->setFrictionCoeff(odeFriction->Get<double>("mu"));
+    const auto &surfaceBounce = _collision.Element()
+                                    ->GetElement("surface")
+                                    ->GetElement("bounce");
+
+    if (surfaceBounce->HasElement("restitution_coefficient"))
+    {
+      bn->setRestitutionCoeff(
+          surfaceBounce->Get<double>("restitution_coefficient"));
+    }
 #endif
     // TODO(anyone) add category_bitmask as well
     const auto bitmaskElement = _collision.Element()
diff --git a/dartsim/src/SDFFeatures_TEST.cc b/dartsim/src/SDFFeatures_TEST.cc
index a177d752a..58dbac8a6 100644
--- a/dartsim/src/SDFFeatures_TEST.cc
+++ b/dartsim/src/SDFFeatures_TEST.cc
@@ -158,20 +158,30 @@ TEST(SDFFeatures_TEST, CheckDartsimData)
     EXPECT_DOUBLE_EQ(0.0, axis[2]);
   }
 
-  const dart::dynamics::SkeletonPtr freeBody =
+  {
+    const dart::dynamics::SkeletonPtr freeBody =
       dartWorld->getSkeleton("free_body");
-  ASSERT_NE(nullptr, freeBody);
-  ASSERT_EQ(1u, freeBody->getNumBodyNodes());
-  const dart::dynamics::BodyNode *bn = freeBody->getBodyNode(0);
-  ASSERT_NE(nullptr, bn);
-
-  EXPECT_TRUE(dynamic_cast<const dart::dynamics::FreeJoint*>(
-                bn->getParentJoint()));
-
-  const Eigen::Vector3d translation = bn->getTransform().translation();
-  EXPECT_DOUBLE_EQ(0.0, translation[0]);
-  EXPECT_DOUBLE_EQ(10.0, translation[1]);
-  EXPECT_DOUBLE_EQ(10.0, translation[2]);
+    ASSERT_NE(nullptr, freeBody);
+    ASSERT_EQ(1u, freeBody->getNumBodyNodes());
+    const dart::dynamics::BodyNode *bn = freeBody->getBodyNode(0);
+    ASSERT_NE(nullptr, bn);
+
+    EXPECT_TRUE(dynamic_cast<const dart::dynamics::FreeJoint*>(
+          bn->getParentJoint()));
+
+    const Eigen::Vector3d translation = bn->getTransform().translation();
+    EXPECT_DOUBLE_EQ(0.0, translation[0]);
+    EXPECT_DOUBLE_EQ(10.0, translation[1]);
+    EXPECT_DOUBLE_EQ(10.0, translation[2]);
+
+#if DART_VERSION_AT_LEAST(6, 10, 0)
+    const dart::dynamics::ShapeNode *collision1 = bn->getShapeNode(0);
+    auto aspect = collision1->getDynamicsAspect();
+    EXPECT_DOUBLE_EQ(0.8, aspect->getRestitutionCoeff());
+#else
+    EXPECT_DOUBLE_EQ(0.8, bn->getRestitutionCoeff());
+  #endif
+  }
 
   const dart::dynamics::SkeletonPtr screwJointTest =
       dartWorld->getSkeleton("screw_joint_test");
diff --git a/dartsim/worlds/test.world b/dartsim/worlds/test.world
index 7f5282ed6..17bc75ab4 100644
--- a/dartsim/worlds/test.world
+++ b/dartsim/worlds/test.world
@@ -246,6 +246,18 @@
       <pose>0.0  10.0  10.0  0.0  0.0  0.0</pose>
       <link name="link">
         <pose>0.0  0.0  0.0  0.0  0.0  0.0</pose>
+        <collision name="collision1">
+          <geometry>
+            <sphere>
+              <radius>1.0</radius>
+            </sphere>
+          </geometry>
+          <surface>
+            <bounce>
+              <restitution_coefficient>0.8</restitution_coefficient>
+            </bounce>
+          </surface>
+        </collision>
       </link>
     </model>