[BUG FIX] Fix material friction being ignore when parsing URDF/MJCF files.#1501
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Description
Parse geometry-specific friction coefficient if and only if material friction coefficient is undefined.
Motivation and Context
Global material friction coefficient should have higher priority than pre-defined URDF / MJCF geometry-specific friction coefficient. This would better aligns with what is done for primitive geometries and meshes, and probably less confusing / error prone for the end-user.
Checklist:
Submitting Code Changessection of CONTRIBUTING document.