Enable multiccd by default.

PiperOrigin-RevId: 902752921
Change-Id: I8e2085ff17db0ac0db1641b8837415c458e5eca4

python/mujoco/bindings_test.py

@@ -966,7 +966,7 @@ Euler integrator, semi-implicit in velocity.
     self.assertEqual(mujoco.mjtEnableBit.mjENBL_OVERRIDE, 1 << 0)
     self.assertEqual(mujoco.mjtEnableBit.mjENBL_ENERGY, 1 << 1)
     self.assertEqual(mujoco.mjtEnableBit.mjENBL_FWDINV, 1 << 2)
-    self.assertEqual(mujoco.mjtEnableBit.mjNENABLE, 6)
+    self.assertEqual(mujoco.mjtEnableBit.mjNENABLE, 5)
     self.assertEqual(mujoco.mjtGeom.mjGEOM_PLANE, 0)
     self.assertEqual(mujoco.mjtGeom.mjGEOM_HFIELD, 1)
     self.assertEqual(mujoco.mjtGeom.mjGEOM_SPHERE, 2)

python/mujoco/introspect/enums.py

@@ -46,7 +46,8 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjDSBL_AUTORESET', 65536),
              ('mjDSBL_NATIVECCD', 131072),
              ('mjDSBL_ISLAND', 262144),
-             ('mjNDISABLE', 19),
+             ('mjDSBL_MULTICCD', 524288),
+             ('mjNDISABLE', 20),
          ]),
      )),
     ('mjtEnableBit',
@@ -58,9 +59,8 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjENBL_ENERGY', 2),
              ('mjENBL_FWDINV', 4),
              ('mjENBL_INVDISCRETE', 8),
-             ('mjENBL_MULTICCD', 16),
-             ('mjENBL_SLEEP', 32),
-             ('mjNENABLE', 6),
+             ('mjENBL_SLEEP', 16),
+             ('mjNENABLE', 5),
          ]),
      )),
     ('mjtJoint',

python/mujoco/introspect/enums_test.py

@@ -42,9 +42,8 @@ class EnumsTest(absltest.TestCase):
                                           ('mjENBL_ENERGY', 1<<1),
                                           ('mjENBL_FWDINV', 1<<2),
                                           ('mjENBL_INVDISCRETE', 1<<3),
-                                          ('mjENBL_MULTICCD', 1<<4),
-                                          ('mjENBL_SLEEP', 1<<5),
-                                          ('mjNENABLE', 6)))
+                                          ('mjENBL_SLEEP', 1<<4),
+                                          ('mjNENABLE', 5)))
 
   # values mostly increment by one with occasional overrides
   def test_mjtGeom(self):  # pylint: disable=invalid-name