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Allows different mu per limb of robot#4

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ansue1234 wants to merge 3 commits into
StructuresComp:mainfrom
ansue1234:vari_fric
Closed

Allows different mu per limb of robot#4
ansue1234 wants to merge 3 commits into
StructuresComp:mainfrom
ansue1234:vari_fric

Added func. for different mu per limb

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