Hello everyone, I would like to ask to the community that how can I model an environment in which a robot(mobile manipulator ) apply a force to the box in a perpendicular direction to the wall to stop slipping over a vertical wall. I know that I have to model frictions between box and wall,but is it possible to do so , where I can get more help on this topic, what are the things that i need to change in gazebo model file to achieve this

I would be really appreciated if someone can help me with this topic!

something like shown in the figure, but in my case force will be applied in the perpendicular direction by the robot end effector.