dynamic friction

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Hi,

I've made my research about how translational friction is computed by default in gazebo and ODE. From what I have understood, only the static friction coefficient <mu> is to be defined. But following Coulomb's friction law, when the tangential force applied on your solid is greater than mu, the solid starts to slip, and then you're no longer in static but in dynamic. Mu is different and usually smaller in that case. I've read that Gazebo ignores dynamic friction by default, but I wonder if it's true (maybe it adapts automatically the static coefficient), and if not, I'd like to know how I can properly define these parameters.

I have also seen there is a <dynamics> tag with damping and friction properties that I can specify in the urdf, however this is only applicable to a joint.

One last thing : Sometimes I see people on forums saying that <mu> is for static and <mu2> for dynamic friction. It is not the case according to the official ODE website, as well as in Gazebo's official documentation.

Thanks per advance