Bug Character feet slipping while colliders set for maximum friction?

Hello, I just upgraded my Unity 2019 project to Unity 2023 so I can start using ArticulationBody components, after many hours creating models and setting up IK I finally was ready to start training a AI, but when I created a training environment by simply rotating a floor with Perlin noise in FixedUpdate() I can see my character is sliding all over:
This makes training the AI impossible since I have never seen feet slip like this in real life. The simulation is not accurate to real life and I don't know what to do to make the feet stay in place when contacting the ground.

I have tried adding physic material for floor and feet and setting the highest possible friction values:


My character now walks like the floor is made of duct tape or fly paper yet slips around whenever the floor angle changes.

Is there any way to solve this? I am using Unity 2023 is there possibly a bug in the engine or ArticulationBody??

[edit]
I have tried both SphereCollider and BoxCollider components, the BoxCollider has more grip but also readily loses traction on continuously rotating floors.

 

Is the floor a rigid body which you rotate by adding force/torque? If not, consider doing so to get more accurate physics simulation/ friction.

 

Make sure you're not rotating/translating the floor by directly setting its transform values. As far as the physics engine is concerned, that's basically teleporting the floor to a new pose, no velocities involved, hence no friction.

You should either use forces/torques, or use Rigidbody.MovePosition/MoveRotation.