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Modfy a joints friction value deuring exacution

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The platform I have has an un-actuated joint that can lock or unlock and be passively actuated by other joints. I was hoping to simulate the locking and unlocking modifying the joints friction value, very large for locked and small for unlocked. Is there a way to modify the friction value during simulation? I have looked through rosservice and rospram with no luck is this possible from gazebo? or is there a better way of solving this problem?

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