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I belive there is a urdf .xacro take which entails a gravitational force of the robot ..can you set that to 1500.

~~I belive there~~ The problem is a in your urdf ~~.xacro take which entails a gravitational force~~ , .gazebo file , try and change the <mu1> tag to 1500 and that of <mu2> set the ~~robot ..can you set that~~ gravity tag to ~~1500.~~true.

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