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Mecanum simulation possible using directional friction?

I've been following with interest the evolving story for how to simulate mecanum wheels in Gazebo— planar move, fake casters, etc.

However, it was recently pointed out to me that it may be possible to do a pretty accurate simulation of a mecanum wheel using a cylinder with directional friction. Is this a realistic possibility? Is there a good example of this somewhere to experiment with? The idea of using a pure-SDF solution without needing a custom plugin for this robot is extremely appealing, if it's possible.

Thanks for any pointers or thoughts.

Mecanum simulation possible using directional friction?

I've been following with interest the evolving story for how to simulate mecanum wheels in Gazebo— planar move, fake casters, etc.

However, it was recently pointed out to me that it may be possible to do a pretty accurate simulation of a mecanum wheel using a single cylinder with directional friction. friction on the circumference. Is this a realistic possibility? Is there a good example of this somewhere to experiment with? The idea of using a pure-SDF solution without needing a custom plugin for this robot is extremely appealing, if it's possible.

Thanks for any pointers or thoughts.


Edit: These are the mecanum wheels in my project: http://www.andymark.com/product-p/am-0137.htm