Update locomotion environments for Warp backend.

PiperOrigin-RevId: 836124238
Change-Id: I8e284b755dc67aaae9332051328105cde816c7b1

Author: thowell

mujoco_playground/_src/locomotion/berkeley_humanoid/joystick.py

@@ -108,9 +108,6 @@ def __init__(
       config: config_dict.ConfigDict = default_config(),
       config_overrides: Optional[Dict[str, Union[str, int, list[Any]]]] = None,
   ):
-    if task.startswith("rough"):
-      config.nconmax = 100 * 8192
-      config.njmax = 12 + 100 * 4
     super().__init__(
         xml_path=consts.task_to_xml(task).as_posix(),
         config=config,

mujoco_playground/_src/locomotion/g1/joystick.py

@@ -116,9 +116,6 @@ def __init__(
       config: config_dict.ConfigDict = default_config(),
       config_overrides: Optional[Dict[str, Union[str, int, list[Any]]]] = None,
   ):
-    if task.startswith("rough"):
-      config.nconmax = 100 * 8192
-      config.njmax = 29 * 2 + 100 * 4
     super().__init__(
         xml_path=consts.task_to_xml(task).as_posix(),
         config=config,

mujoco_playground/_src/locomotion/go1/base.py

@@ -53,6 +53,7 @@ def __init__(
         epath.Path(xml_path).read_text(), assets=self._model_assets
     )
     self._mj_model.opt.timestep = self._config.sim_dt
+    self._mj_model.opt.ccd_iterations = 10
 
     # Modify PD gains.
     self._mj_model.dof_damping[6:] = config.Kd

mujoco_playground/_src/locomotion/go1/joystick.py

@@ -105,8 +105,8 @@ def __init__(
       config_overrides: Optional[Dict[str, Union[str, int, list[Any]]]] = None,
   ):
     if task.startswith("rough"):
-      config.nconmax = 100 * 8192
-      config.njmax = 12 + 100 * 4
+      config.nconmax = 8 * 8192
+      config.njmax = 12 + 8 * 4
     super().__init__(
         xml_path=consts.task_to_xml(task).as_posix(),
         config=config,

mujoco_playground/_src/locomotion/t1/joystick.py

@@ -109,9 +109,6 @@ def __init__(
       config: config_dict.ConfigDict = default_config(),
       config_overrides: Optional[Dict[str, Union[str, int, list[Any]]]] = None,
   ):
-    if task.startswith("rough"):
-      config.nconmax = 100 * 8192
-      config.njmax = 500
     super().__init__(
         xml_path=consts.task_to_xml(task).as_posix(),
         config=config,