diff --git a/include/mujoco/experimental/usd/mjcPhysics/sceneAPI.h b/include/mujoco/experimental/usd/mjcPhysics/sceneAPI.h
index 84bf782f..bd694827 100644
--- 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
index ab41bc26..ea05e11c 100644
--- a/mjx/mujoco/mjx/_src/collision_driver_test.py
+++ b/mjx/mujoco/mjx/_src/collision_driver_test.py
@@ -229,6 +229,7 @@ class EllipsoidCollisionTest(parameterized.TestCase):
 
   _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
index d6c7890e..291eaf86 100644
--- 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
index 7bf80c46..5d8aa4ad 100644
--- 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
index c1d86bc4..dfff4862 100644
--- 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"
         }
