Hello I'm trying to simulate rolling an object A on object B using another object C. So it will be looking something like C A B, where A is sandwiched in between B and C. This works fairly well when CAB are aligned with gravity. I am able to roll object A on B using C. However, this fails to work when I'm working in perpendicular to the gravity. There should be some force that C can apply to A to hold it against B using friction but no matter how I change the coefficients, A slips out of B and C. Intuitively, I thought this could work if only friction were larger. So I tried adjusting the friction coefficients in <contact> but it did not help at all (it rather breaks if I go beyond a certain value). Are there any tips in situations like this? I just want slippage to be gone, leaving only rolling. Thanks in advance.