Newton MuJoCo wrapper different from mujoco_warp friction combination logic

[jsw7460]

Friction combination logic differs from mujoco_warp

In mujoco_warp's contact_params (collision_core.py), friction is resolved as follows:

• Different priority: use the higher-priority geom's friction directly
• Same priority: element-wise max of both geoms' friction

However, the Newton wrapper's contact_params unconditionally takes the element-wise max regardless of priority:

# Newton wrapper — priority is ignored for friction
max_geom_friction = wp.max(geom_friction[worldid, g1], geom_friction[worldid, g2])

Is this intentional, or should the priority branch be added for friction as well?

[nvtw]

Indeed, this is something we missed. Will try to address/fix it soon. Thanks for reporting the issue.