关于Gazebo里sdf模型中的摩擦力参数设定

问题是对摩擦力标签下的物理引擎标签<ode>中的<mu><mu2><slip1><slip2>不理解

１．最先看到了下面的sdf官方文档的描述，还是不理解

２.后面在Gazebo教程，ODE文档里找到了<mu><mu2>的相关描述

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When two object collide, such as a ball rolling on a plane, a friction term is generated. In ODE this is composed of two parts, '''mu''' and '''mu2''', where:

1. '''mu''' is the Coulomb friction coefficient for the first friction direction, and

2. '''mu2''' is the fr