Reduce ccd_iterations from 50 to 35.

kbayes · copybara-github · commit eb96dd556c6b · 2025-09-18T09:16:52.000-07:00
PiperOrigin-RevId: 808610578
Change-Id: I8755f9ba2902bf0805b7ded07ee6e048e404a31f
diff --git a/include/mujoco/experimental/usd/mjcPhysics/sceneAPI.h b/include/mujoco/experimental/usd/mjcPhysics/sceneAPI.h
@@ -674,7 +674,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
   ///
   /// | ||
   /// | -- | -- |
-  /// | Declaration | `uniform int mjc:option:ccd_iterations = 50` |
+  /// | Declaration | `uniform int mjc:option:ccd_iterations = 35` |
   /// | C++ Type | int |
   /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
   /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
diff --git a/mjx/mujoco/mjx/_src/collision_driver_test.py b/mjx/mujoco/mjx/_src/collision_driver_test.py
@@ -229,6 +229,7 @@ def test_plane_ellipsoid(self):
 
   _ELLIPSOID_ELLIPSOID = """
     <mujoco>
+      <option ccd_iterations="50"/>
       <worldbody>
         <body>
           <geom size=".15 .03 .05" type="ellipsoid"/>
diff --git a/src/engine/engine_io.c b/src/engine/engine_io.c
@@ -119,7 +119,7 @@ void mj_defaultOption(mjOption* opt) {
   opt->iterations         = 100;
   opt->ls_iterations      = 50;
   opt->noslip_iterations  = 0;
-  opt->ccd_iterations     = 50;
+  opt->ccd_iterations     = 35;
   opt->disableflags       = 0;
   opt->enableflags        = 0;
   opt->disableactuator    = 0;
diff --git a/src/experimental/usd/mjcPhysics/generatedSchema.usda b/src/experimental/usd/mjcPhysics/generatedSchema.usda
@@ -175,7 +175,7 @@ class "MjcSceneAPI" (
         doc = """Determines the rate (in Hz) at which an external API allows
         the update function to be executed."""
     )
-    uniform int mjc:option:ccd_iterations = 50 (
+    uniform int mjc:option:ccd_iterations = 35 (
         displayName = "CCD Iterations"
         doc = "Maximum number of iterations of the algorithm used for convex collisions."
     )
diff --git a/src/experimental/usd/mjcPhysics/schema.usda b/src/experimental/usd/mjcPhysics/schema.usda
@@ -283,7 +283,7 @@ class "MjcSceneAPI"
         doc = """Tolerance threshold used for early termination of the Noslip solver."""
     )
 
-    uniform int mjc:option:ccd_iterations = 50 (
+    uniform int mjc:option:ccd_iterations = 35 (
         customData = {
             string apiName = "CCDIterations"
         }

Original file line number	Diff line number	Diff line change
`@@ -175,7 +175,7 @@ class "MjcSceneAPI" (`
`175`	`175`	`doc = """Determines the rate (in Hz) at which an external API allows`
`176`	`176`	`the update function to be executed."""`
`177`	`177`	`)`
`178`		`- uniform int mjc:option:ccd_iterations = 50 (`
	`178`	`+ uniform int mjc:option:ccd_iterations = 35 (`
`179`	`179`	`displayName = "CCD Iterations"`
`180`	`180`	`doc = "Maximum number of iterations of the algorithm used for convex collisions."`
`181`	`181`	`)`
Original file line number	Diff line number	Diff line change
`@@ -283,7 +283,7 @@ class "MjcSceneAPI"`
`283`	`283`	`doc = """Tolerance threshold used for early termination of the Noslip solver."""`
`284`	`284`	`)`
`285`	`285`
`286`		`- uniform int mjc:option:ccd_iterations = 50 (`
	`286`	`+ uniform int mjc:option:ccd_iterations = 35 (`
`287`	`287`	`customData = {`
`288`	`288`	`string apiName = "CCDIterations"`
`289`	`289`	`}`