From bdb1ab54c4c24cd89283fb18f06a6a54b6c0803b Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Thu, 22 Aug 2024 12:01:04 -0700
Subject: [PATCH] Rename mpr_tolerance and mpr_iterations to ccd_tolerance and
 ccd_iterations.

PiperOrigin-RevId: 666438658
Change-Id: I32a3732c0ac34aae764c9bb6151dc90406e8b420
---
 dm_control/mjcf/schema.xml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/dm_control/mjcf/schema.xml b/dm_control/mjcf/schema.xml
index 194c63f6..48e660ac 100644
--- a/dm_control/mjcf/schema.xml
+++ b/dm_control/mjcf/schema.xml
@@ -66,8 +66,8 @@
         <attribute name="ls_tolerance" type="float" conflict_allowed="true" conflict_behavior="min"/>
         <attribute name="noslip_iterations" type="int" conflict_allowed="true" conflict_behavior="max"/>
         <attribute name="noslip_tolerance" type="float" conflict_allowed="true" conflict_behavior="min"/>
-        <attribute name="mpr_iterations" type="int" conflict_allowed="true" conflict_behavior="max"/>
-        <attribute name="mpr_tolerance" type="float" conflict_allowed="true" conflict_behavior="min"/>
+        <attribute name="ccd_iterations" type="int" conflict_allowed="true" conflict_behavior="max"/>
+        <attribute name="ccd_tolerance" type="float" conflict_allowed="true" conflict_behavior="min"/>
         <attribute name="sdf_iterations" type="int" conflict_allowed="true" conflict_behavior="max"/>
         <attribute name="sdf_initpoints" type="int" conflict_allowed="true" conflict_behavior="max"/>
       </attributes>