Reduce ccd_iterations from 50 to 35.

PiperOrigin-RevId: 808610578
Change-Id: I8755f9ba2902bf0805b7ded07ee6e048e404a31f

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;

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."
     )

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"
         }