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I found what is going on: you actually need to specify the same material twice for urdf and sdf (redundant material specification for ros/urdf on the one side and gazebo/sdf on the other side because these are not compatible). Check document Using a URDF in Gazebo.

I found what is going on: you actually need to specify the same material twice twice, for urdf on the one side and for sdf on the other side (redundant material specification for ros/urdf on the one side hand and gazebo/sdf on the other side hand because these are not compatible). Check document Using a URDF in Gazebo. for more details.