In Mujoco USD interop, only consider dynamic friction when writing to and parsing from USD.

PiperOrigin-RevId: 783741987 Change-Id: I23c47a6e95c160c5c7d5c513e268c79e4236e2e4
2025-07-16 06:59:11 -07:00
parent b99d9e8f12
commit 6144a508b5
3 changed files with 11 additions and 23 deletions
@@ -831,9 +831,8 @@ class ModelWriter {

    mjsGeom *geom_default = mjs_getDefault(geom->element)->geom;
    if (geom->friction[0] != geom_default->friction[0]) {
-      WriteUniformAttribute(material_path, pxr::SdfValueTypeNames->Float,
-                            pxr::UsdPhysicsTokens->physicsStaticFriction,
-                            (float)geom->friction[0]);
+      // Since MuJoCo has no concept of static friction, only write dynamic
+      // friction to remain truthful to how MuJoCo perceives the data.
      WriteUniformAttribute(material_path, pxr::SdfValueTypeNames->Float,
                            pxr::UsdPhysicsTokens->physicsDynamicFriction,
                            (float)geom->friction[0]);