# How to set the friction model to cone_model

Hello, after some research I found out that probably the description of the Gazebo tutorial regarding the friction parameters isn't really good (or even false). ODE has two friction approximations implemented (look here. How can I set the friction model to "cone_model"?

I found this: link but it gives me the following warning:

XML Element[friction_model], child of element[solver] not defined in SDF. Ignoring[friction_model]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.


I've also found this but where to find this to change it?