Enable multiccd for golden data.

PiperOrigin-RevId: 896996806
Change-Id: I7f842d25b4497e135831879e4ac1b268d0307aa6

test/testdata/catenary.xml

@@ -1,4 +1,8 @@
 <mujoco>
+  <option>
+    <flag multiccd="enable"/>
+  </option>
+
   <visual>
     <global elevation="-20"/>
   </visual>

test/testdata/delay.xml

@@ -1,5 +1,7 @@
 <mujoco>
-  <option timestep="0.01"/>
+  <option timestep="0.01">
+    <flag multiccd="enable"/>
+  </option>
 
   <worldbody>
     <body name="body">

test/testdata/flex.xml

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

test/testdata/frustum.xml

@@ -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"/>

test/testdata/hammock.xml

@@ -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"/>
 

test/testdata/model.xml

@@ -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>

test/testdata/tendon_wrap.xml

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