How do we change friction between ground and wheel?

Hi there,
I am currently working on controlling a wheeled inverted pendulum in Isaac gym simulation. I want to see how different performances in controlling a wheel in different ground conditions (e.g., slippery).
How do I change the friction parameter between ground and wheel in this case?
I am using a simple cylinder model for collision detection.

Two ways:

  1. Change the static/dynamic friction of the ground plane using its PlaneProperties
  2. Change the friction values of the wheels directly using set_actor_rigid_shape_properties method to set their RigidShapeProperties
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