| Type | Location | Extends | Description |
|---|---|---|---|
| coulomb_model | friction_coulomb | friction_model | Defines the basic Coulomb friction model. |
| friction_model | friction_core | None | Defines a generic friction model. |
| generalized_maxwell_slip_model | friction_gmsm | friction_model | A representation of the Generalized Maxwell Slip model. |
| lugre_model | friction_lugre | friction_model | Defines the Lu-Gre friction model. |
| maxwell_model | friction_maxwell | friction_model | Defines a single-element, Maxwell model. |
| modified_stribeck_model | friction_modified_stribeck | stribeck_model | Defines a modification of the Stribeck model to account for presliding displacement. The presliding region utilizes a Maxwell type model then transitions to a traditional Stribeck model as slipping occurs. |
| stribeck_model | friction_stribeck | friction_model | This type defines a basic Stribeck-based friction model. |