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Reduce ccd_iterations from 50 to 35.

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PiperOrigin-RevId: 808610578
Change-Id: I8755f9ba2902bf0805b7ded07ee6e048e404a31f
This commit is contained in:
Kyle Bayes
2025-09-18 09:15:58 -07:00
committed by Copybara-Service
parent 4b8454b79c
commit eb96dd556c
5 changed files with 5 additions and 4 deletions
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include/mujoco/experimental/usd/mjcPhysics/sceneAPI.h
+1 -1
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@@ -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 | /// | C++ Type | int |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int | /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform | /// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
mjx/mujoco/mjx/_src/collision_driver_test.py
+1
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@@ -229,6 +229,7 @@ class EllipsoidCollisionTest(parameterized.TestCase):
_ELLIPSOID_ELLIPSOID = """ _ELLIPSOID_ELLIPSOID = """
<mujoco> <mujoco>
<option ccd_iterations="50"/>
<worldbody> <worldbody>
<body> <body>
<geom size=".15 .03 .05" type="ellipsoid"/> <geom size=".15 .03 .05" type="ellipsoid"/>
src/engine/engine_io.c
+1 -1
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@@ -119,7 +119,7 @@ void mj_defaultOption(mjOption* opt) {
opt->iterations = 100; opt->iterations = 100;
opt->ls_iterations = 50; opt->ls_iterations = 50;
opt->noslip_iterations = 0; opt->noslip_iterations = 0;
opt->ccd_iterations = 50; opt->ccd_iterations = 35;
opt->disableflags = 0; opt->disableflags = 0;
opt->enableflags = 0; opt->enableflags = 0;
opt->disableactuator = 0; opt->disableactuator = 0;
src/experimental/usd/mjcPhysics/generatedSchema.usda
+1 -1
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@@ -175,7 +175,7 @@ class "MjcSceneAPI" (
doc = """Determines the rate (in Hz) at which an external API allows doc = """Determines the rate (in Hz) at which an external API allows
the update function to be executed.""" the update function to be executed."""
) )
uniform int mjc:option:ccd_iterations = 50 ( uniform int mjc:option:ccd_iterations = 35 (
displayName = "CCD Iterations" displayName = "CCD Iterations"
doc = "Maximum number of iterations of the algorithm used for convex collisions." doc = "Maximum number of iterations of the algorithm used for convex collisions."
) )
src/experimental/usd/mjcPhysics/schema.usda
+1 -1
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@@ -283,7 +283,7 @@ class "MjcSceneAPI"
doc = """Tolerance threshold used for early termination of the Noslip solver.""" 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 = { customData = {
string apiName = "CCDIterations" string apiName = "CCDIterations"
} }