Friction properties in Gazebo [closed]

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Hey all,

I was wondering if someone could explain how friction works in Gazebo. I noticed that for robots like PR2, friction properties are defined for joints rather than for links.

How can I define friction properties for the object itself and not for a specific joint between two objects?

Let's say I have a belt and I define friction between a belt and some other object in URDF. I can add this to the joint:

<dynamics friction="100.0" />
<mu1 value="0.7" />
<mu2 value="0.7" />

However, if I want the belt and any object that I potentially import/drive on it to have friction between them, how do I do it?

Thank you!