Mapping Object Properties From Isaac

[LCCZK]

Hi all, I am doing sim-to-sim validation for my RL agents trained in Isaac Lab. In my Isaac Lab environment, everything was modelled as RigidObjects in the task space with permeative shapes. I recreated the same geometry setup in MuJoCo using geoms, but I am wondering if there is a way to match object properties, such as Friction and Restitution, to the corresponding MuJoCo properties?

Edit: I understand the two simulators use very different physics modelling, and it will be very hard to replicate all the dynamics in both. I think my question is more about how I should approach task modelling if I want to involve both simulators during training.

[LCCZK]

I have performed two evaluations on both simulators. My initial assumption was that I could couple the dynamic and static friction in Isaac to replicate MuJoCo's sliding friction. However, the results from these evaluations indicate that this approach doesn't quite work.