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I would experiment with setting mu and mu2 to a really high values (>1) anyways, e.g. 100, 1000, Inf, just to see what happens.

Despite the SDF documentation, this answer (from 2015) appears to suggest that high friction parameter values do make a difference:
http://answers.gazebosim.org/question/9196/ode-friction-parameters-and-max_vel-parameter-in-sdf-format/?answer=9210#post-id-9210

I spent some time searching through the Gazebo source code, but couldn't find code to concatenate / normalize the mu / mu2 parameters to [0,1]. <-- I did not do an exhaustive search, so somebody correct me if its there.

Also see the ODE manual: http://www.ode.org/ode-latest-userguide.html#sec_7_3_7

I would experiment with setting mu and mu2 to a really high values (>1) anyways, e.g. 100, 1000, Inf, just to see what happens.

Despite the SDF documentation, this answer (from 2015) appears to suggest that high friction parameter values do make a difference:
http://answers.gazebosim.org/question/9196/ode-friction-parameters-and-max_vel-parameter-in-sdf-format/?answer=9210#post-id-9210

I spent some time searching through the Gazebo source code, but couldn't find code to concatenate / normalize the mu / mu2 parameters to [0,1]. <-- I did not do an exhaustive search, so somebody correct me if its there.

Also see the ODE manual: http://www.ode.org/ode-latest-userguide.html#sec_7_3_7

I would experiment with setting mu and mu2 to really high values (>1) anyways, e.g. 100, 1000, Inf, just to see what happens.

Despite the SDF documentation, this answer (from 2015) appears to suggest that high friction parameter values do make a difference:
http://answers.gazebosim.org/question/9196/ode-friction-parameters-and-max_vel-parameter-in-sdf-format/?answer=9210#post-id-9210

I spent some time searching through the Gazebo source code, but couldn't find code to concatenate / normalize the mu / mu2 parameters to [0,1]. <-- I did not do an exhaustive search, so somebody correct me if its it's there.

Also see the ODE manual: http://www.ode.org/ode-latest-userguide.html#sec_7_3_7