Enable multiccd for golden data.

PiperOrigin-RevId: 896996806 Change-Id: I7f842d25b4497e135831879e4ac1b268d0307aa6
2026-04-09 03:06:18 -07:00
parent cc0933af8b
commit 229d821915
7 changed files with 17 additions and 5 deletions
@@ -1,4 +1,8 @@
 <mujoco>
+  <option>
+    <flag multiccd="enable"/>
+  </option>
+
  <visual>
    <global elevation="-20"/>
  </visual>
@@ -1,5 +1,7 @@
 <mujoco>
-  <option timestep="0.01"/>
+  <option timestep="0.01">
+    <flag multiccd="enable"/>
+  </option>

  <worldbody>
    <body name="body">
@@ -1,6 +1,6 @@
 <mujoco model="flex">
  <option timestep="0.01" integrator="implicitfast">
-    <flag island="enable"/>
+    <flag island="enable" multiccd="enable"/>
  </option>

  <asset>
@@ -2,6 +2,10 @@
     The frustum should match exactly the fron face of the box. -->

 <mujoco>
+  <option>
+    <flag multiccd="enable"/>
+  </option>
+
  <visual>
    <map znear="0.01"/>
    <rgba frustum="1. 1. 0 0.2"/>
@@ -22,7 +22,9 @@
     Simple hammock, implemented as a 2D grid composite, pinned at the corners.
 -->

-  <option timestep="0.001" solver="CG" iterations="30" tolerance="1e-6"/>
+  <option timestep="0.001" solver="CG" iterations="30" tolerance="1e-6">
+    <flag multiccd="enable"/>
+  </option>

  <size memory="20M"/>

@@ -1,6 +1,6 @@
 <mujoco>
  <option jacobian="dense" density="1.225" viscosity="1.8e-5" wind="0 0 1">
-    <flag fwdinv="enable" energy="enable" island="enable"/>
+    <flag fwdinv="enable" energy="enable" island="enable" multiccd="enable"/>
  </option>

  <asset>
@@ -1,6 +1,6 @@
 <mujoco>
  <option>
-    <flag island="enable"/>
+    <flag island="enable" multiccd="enable"/>
  </option>

  <default>