runtime/rasmt_support/urdf/tools/rasmt_hand_gazebo.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
    <xacro:macro name="rasmt_hand_gazebo" params="prefix">

        <!-- ros_control-plugin -->
        <!--gazebo>
            <plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
                <robot_sim_type>gazebo_ros2_control/GazeboSystem</robot_sim_type>
                <parameters>$(find rasmt_support)/config/rasmt_hand_controllers.yaml</parameters>
                <robotNamespace>/${prefix}</robotNamespace>
            </plugin>
        </gazebo-->

        <!-- <gazebo reference="${prefix}_Grip_Body">
            <mu1>0.2</mu1>
            <mu2>0.2</mu2>
            <turnGravityOff>true</turnGravityOff>
        </gazebo>

        <gazebo reference="${prefix}_Grip_L">
            <mu1>0.2</mu1>
            <mu2>0.2</mu2>
            <turnGravityOff>true</turnGravityOff>
        </gazebo>

        <gazebo reference="${prefix}_Grip_R">
            <mu1>0.2</mu1>
            <mu2>0.2</mu2>
            <turnGravityOff>true</turnGravityOff>
        </gazebo> -->

    </xacro:macro>
</robot>