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The "dynamics" element is part of the URDF description, and applies to the damping and friction in a joint. See the URDF page for more details.

The "mu1" and "mu2" elements are part of a Gazebo description, and apply to the material properties of a body.

The "dynamics" element is part of the URDF description, and applies to the damping and friction in a joint. See the URDF page for more details.

The "mu1" and "mu2" elements are part of a Gazebo description, and apply to the material properties of a body.

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