ways of adding friction in the xml file

[rodriguesvinay]

Intro

Hi!

I am a research student from Italy, I using MuJoCo for planar pushing an object on a surface.

My setup

I am using mujoco 3.2.2 with python API in Ubuntu 20.04.6 LTS.

My question

I am trying to understand the ways that you can include friction in the xml file:

1. include in the <geom> tag using friction="0.3 0 0" where the elements are sliding, translation, and rolling
2. include in the pair tag using friction="0.3 0.3 0 0 0" where the elements are two tangent, one torsional, and two rolling.

My question is about the (2) way. I am not sure about the order but I think the dimension should be 5 (condim-1). I think when using (1) I need to have 3d. I have read the document and other places but I think the order is not clear for me. Thanks for the help

Minimal model and/or code that explain my question

No response

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.

[rodriguesvinay]

I found it in the print model option from the visual gui. sorry