How to change solver computation for contact friction to be more accurate?

[HanataroYamada]

I would like to change contact friction computation to be more accurate, because I am currently working on a robot experiment that involves a lot of contact points continuously.

I read the following page of Docs:
Advanced Topics > Rigid Collision Resolution > 5.Solvers
https://genesis-world.readthedocs.io/en/latest/user_guide/advanced_topics/rigid_constraint_model.html#projected-conjugate-gradient-pcg

When I previously tried the same simulation on Coppeliasim(Bullet 2.78), it's behavior was more similar to the real world experiment. Therefore, I suspect that the cause lies in inaccuracy of friction computation of Genesis internal solver.

Could anyone tell me how to change internal solver computation like Coppeliasim(Bullet 2.78)?

[jgillick]

Are you able to provide more details on what is different between the simulations? What is more "accurate" in bullet and what about the genesis simulation is less accurate? How are you currently setting friction? Have you tried setting friction in your model XML? Have you looked at the scene options?

If you're not able to fix this in the scene options on in your model's XML, open an issue with a minimal reproducible example.