Rename mpr_tolerance and mpr_iterations to ccd_tolerance and ccd_iterations.

PiperOrigin-RevId: 666438658
Change-Id: I32a3732c0ac34aae764c9bb6151dc90406e8b420

Author: yuvaltassa

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>