Real-Time Physics Simulation Forum

I am currently working on a simulation that will eventually become more complex, but for now I have a block I created inside my python code and plane URDF uploaded into my code. The plane is from the pyBullet library and comes with a "lateral_friction" value set to 1. My block currently has no friction values assigned.

Question: What is the best way to implement friction in a scenario like this where an object is push on a plane with two degrees of freedom?

Thanks!