From eb96dd556c6b74484d34c0d5833cefb4f6ed0c2a Mon Sep 17 00:00:00 2001 From: Kyle Bayes Date: Thu, 18 Sep 2025 09:15:58 -0700 Subject: [PATCH] Reduce ccd_iterations from 50 to 35. PiperOrigin-RevId: 808610578 Change-Id: I8755f9ba2902bf0805b7ded07ee6e048e404a31f --- include/mujoco/experimental/usd/mjcPhysics/sceneAPI.h | 2 +- mjx/mujoco/mjx/_src/collision_driver_test.py | 1 + src/engine/engine_io.c | 2 +- src/experimental/usd/mjcPhysics/generatedSchema.usda | 2 +- src/experimental/usd/mjcPhysics/schema.usda | 2 +- 5 files changed, 5 insertions(+), 4 deletions(-) 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 = """ +