Influence of Friction now working as expected

[JusQD]

I have done this simple simulation of an object on top of a plane, I give a force to the object and the object moves, then if I change a physical parameter like mass I can see the difference in behavior, but now I want to play with the friction of the plane and see the difference, but I have not been able to do it, the object always have the same behavior (I've also noticed the the object does not stop after giving the initial force), any help would be great to spot my mistake. Thank you so much in advance!!

Code:

import genesis as gs
import numpy as np

gs.init(backend=gs.cpu)

scene = gs.Scene(show_viewer=True)
plane = scene.add_entity(gs.morphs.Plane(),material=gs.materials.Rigid(friction=2.0))
sphere = scene.add_entity(gs.morphs.Sphere(pos=(0.0, 0.0, 0.5)),material=gs.materials.Rigid(friction=1.0))
scene.build()

force_vector = np.array([5.0, 0.0, 0.0, 0.0, 0.0, 0.0])
sphere.set_mass(0.2)

for i in range(1000):
    scene.step()
    if i < 2:
        sphere.control_dofs_force(force_vector)
    else:
        sphere.control_dofs_force([0.0] * 6)

Screen.Recording.2025-05-22.at.4.26.00.PM.mov

[kentliukx]

I have a similar problem of no friction between GO2 and ground. Have you worked it out yet?

[kentliukx]

maybe the sphere is rotating and you cant see it rotating