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Set MJX minimum friction value to mjMINMU.

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PiperOrigin-RevId: 780934075
Change-Id: I1ae0b678526218514cc260fdb9f2a62d88394cbe
This commit is contained in:
Taylor Howell
2025-07-09 01:58:22 -07:00
committed by Copybara-Service
parent 8da4e1c354
commit a86461fc57
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],
jp.clip(m.pair_friction[ip], a_min=eps), m.pair_friction[ip],
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=friction, friction=jp.maximum(friction, mujoco.mjMINMU),
solref=solref, solref=solref,
solreffriction=solreffriction, solreffriction=solreffriction,
solimp=solimp, solimp=solimp,