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where to specify friction?

I see several examples (such as test_friction.world ) that specify mu/mu2/slip1/slip2 in the link/collision/surface/friction/ode namespace.

I also see some examples (such as this one ) that specify mu1/mu2/slip1/slip2 in the <gazebo> namespace.

Aside from the mu vs mu1 question, which one is correct? Or are they two ways of the same thing?

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