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If the physics parameters are well set and contacts are reliable (cfm, iters, object mass), then the friction Gazebo uses it the static coulomb friction of force

F_f = F_N *mu

where F_N is the normal force the object pushes on the ground and mu is the lower oh the mu of the both interacting surfaces.

If the physics parameters are well set and contacts are reliable (cfm, iters, object mass), then the friction Gazebo uses it the static coulomb friction of force

F_f = F_N *mu

where F_N is the normal force the object pushes on the ground and mu is the lower oh the mu of the both interacting surfaces. F_f is the force needed to overcome the friction and make object slide over the surface.

If the physics parameters are well set and contacts are reliable (cfm, iters, object mass), then the friction Gazebo uses it the static coulomb friction of force

F_f = F_N *mu

where F_N is the normal force the object pushes on the ground and mu is the lower oh of the mu of the both interacting surfaces. F_f is the force needed to overcome the friction and make object slide over the surface.

If the physics parameters are well set and contacts are reliable (cfm, iters, object mass), then the friction Gazebo uses it is the static coulomb friction of force

F_f = F_N *mu

where F_N is the normal force the object pushes on the ground and mu is the lower of the mu of the both interacting surfaces. F_f is the force needed to overcome the friction and make object slide over the surface.