Wheel-terrain interaction with Gazebo

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Hello,

Up to now, I haven't found any evidence that Gazebo physics engine provides an accurate simulation of the wheel-terrain interaction between rigid wheels and soft soils. According to the ODE documentation, only the contact between rigid wheels and rigid soils is simulated through the Coulomb Friction Model.

I would like know if any of you has some knowledge on how to simulate the contact between rigid wheels and soft, deformable soils in Gazebo.

Thanks in advance !