Hi, I'm trying to roll a ball down a plane inclined at 10 degrees with some obstacles located on the plane. In the simulation, when I view the inertia of the ball and the plane, the ball doesn't roll much but instead seems to slide down the plane. All the objects are imported meshes. I have put the mass of the ball as 84000kg. I have tried changing the following parameters: o_solref[1], o_solimp, timestep, impratio (from 1 to 5), impedance, solver algorithms and geom friction of the plane, the obstacles and the ball. But none of them individually seem to make much of a difference and I'm not sure what is the right combination of variables to change. What is the set of right variables to change to prevent sliding? And which variable would have the most impact? Thank you. Rachana