Does slip occur in the Raisim simulator?

[romansabaek]

Dear Professor,

I am trying to develop a learning locomotion controller for a wheeled legged robot via a sim-to-real transfer.
The interesting questions is if RL can handle the slip of the wheel.
To do so, testing slip condition in Raisim would be useful, and I wonder Raisim provides slip condition.
If so, How can I setup or which parameter should I change in Raisim?
(I think this issue is also related to how Raisim solves the contact dynamics considering wheel)

I highly appreciate your help and advice.
Looking forward to seeing your answer.

[jhwangbo]

this site explains the material system of raisim
https://raisim.com/sections/MaterialSystem.html