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Set MJX minimum friction value to mjMINMU.

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PiperOrigin-RevId: 783381620
Change-Id: I353a4fa39956ecb0ed0e1b2bbcaff651e8c68606
This commit is contained in:
Baruch Tabanpour
2025-07-15 10:21:20 -07:00
committed by Copybara-Service
parent cdf5bcb693
commit 27bb74d7df
1 changed files with 2 additions and 2 deletions
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mjx/mujoco/mjx/_src/collision_driver.py
+2 -2
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@@ -271,7 +271,7 @@ def _contact_groups(m: Model, d: Data) -> Dict[FunctionKey, Contact]:
# pair contacts get their params from m.pair_* fields # pair contacts get their params from m.pair_* fields
params.append(( params.append((
m.pair_margin[ip] - m.pair_gap[ip], m.pair_margin[ip] - m.pair_gap[ip],
m.pair_friction[ip], jp.clip(m.pair_friction[ip], a_min=eps),
m.pair_solref[ip], m.pair_solref[ip],
m.pair_solreffriction[ip], m.pair_solreffriction[ip],
m.pair_solimp[ip], m.pair_solimp[ip],
@@ -321,7 +321,7 @@ def _contact_groups(m: Model, d: Data) -> Dict[FunctionKey, Contact]:
pos=None, pos=None,
frame=None, frame=None,
includemargin=includemargin, includemargin=includemargin,
friction=jp.maximum(friction, mujoco.mjMINMU), friction=friction,
solref=solref, solref=solref,
solreffriction=solreffriction, solreffriction=solreffriction,
solimp=solimp, solimp=solimp,