how to obtain dynamic response with force in gazebo

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I add the dynamic parameters such as joint damping , k_p, k_d in the urdf , but when i simulate in gazebo , after i impose the external force using apply_body_wrench on the robot , i didnt get the vibration or right reponse of the joint , seems like the joint has no rotational stiffness. i dont know whether gazebo has the function to simulate the dynamic response , if it does, how can i achieve it, looking forward for your answers , thanks