Anisotropic friction in mujoco (preferably on the same axis).

[jlkd]

Intro

Hi!

I am a graduate student at Johns Hopkins University (JHU). I am using MuJoCo to study snake locomotion.

My setup

MuJoCo, Python

My question

I've seen the issue #514.. Even though I know there are troubles setting different friction coefficients on the same axis. But I'd like to see if there's an update or alternative way to do this. As you probably know, the friction a snake experiences is different when it's moving forward and backward.
Are there any other possible approaches? I tried setting the "hfield" friction with an uneven surface but it still did not change the friction on the same axis.

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.