diff --git a/dartsim/src/SDFFeatures.cc b/dartsim/src/SDFFeatures.cc
index 8baff95aa..3dc16fc43 100644
--- a/dartsim/src/SDFFeatures.cc
+++ b/dartsim/src/SDFFeatures.cc
@@ -818,7 +818,7 @@ Identity SDFFeatures::ConstructSdfCollision(
     }
     if (odeFriction->HasElement("slip1"))
     {
-      aspect->setSlipCompliance(odeFriction->Get<double>("slip1"));
+      aspect->setPrimarySlipCompliance(odeFriction->Get<double>("slip1"));
     }
     if (odeFriction->HasElement("slip2"))
     {
diff --git a/dartsim/src/ShapeFeatures.cc b/dartsim/src/ShapeFeatures.cc
index c51264149..4cec3febe 100644
--- a/dartsim/src/ShapeFeatures.cc
+++ b/dartsim/src/ShapeFeatures.cc
@@ -469,7 +469,7 @@ double ShapeFeatures::GetShapeFrictionPyramidPrimarySlipCompliance(
       << std::endl;
     return 0.0;
   }
-  return aspect->getSlipCompliance();
+  return aspect->getPrimarySlipCompliance();
 }
 
 /////////////////////////////////////////////////
@@ -505,7 +505,7 @@ bool ShapeFeatures::SetShapeFrictionPyramidPrimarySlipCompliance(
       << std::endl;
     return false;
   }
-  aspect->setSlipCompliance(_value);
+  aspect->setPrimarySlipCompliance(_value);
   return true;
 }