Warning: opt.ccd_iterations, currently set to 500, needs to be increased.

[liuchonglong]

When I run
python scripts/train.py Unitree-A2-Rough --env.scene.num-envs=4096
I get an error: "Warning: opt.ccd_iterations, currently set to 500, needs to be increased." Has anyone encountered the same issue and solved it?

[zrj24]

yes i encountered this in g1-rough and increasing to 4000+ still don't solve this. but it "seems" not affecting the simulation or training. not know if it will affect simulation quality.

[klavier1127]

This issue is likely caused by a newer mujoco-warp version update rather than the task configuration itself. Downgrading mujoco-warp to 3.5.0 should resolve the warning. I have already modified the setup file so that it installs the older mujoco-warp version.