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When a rigid body interacts with an object, it will roll in a realistic manner. The animation below illustrates this effect.

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If a similar simulation is setup with a cloth object that is inflated, to keep it stiff, the object doesn't roll like expected. It has too much sliding rather than rolling.

enter image description here

Are there ways to setup the cloth simulation so it will realistically roll?

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Sure, just increase your friction of the collision object (half sphere) like this:

enter image description here

and you get:

enter image description here

enter image description here

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