Speed up slow test.

PiperOrigin-RevId: 635014612
Change-Id: Ifb7fe174827f59647bb254a3ece25abbd57962ca

test/sample/testspeed_test.sh

@@ -28,8 +28,12 @@ test_model() {
   local iterations=10
   # for particularly slow models, only run 2 steps under ASAN, or skip.
   if [[ ${TESTSPEED_ASAN:-0} != 0 ]]; then
-    if [[ "$model" == */composite/particle.xml ]]; then
-      # this test can take several minutes under ASAN
+    if [[ "$model" == */composite/particle.xml ||
+          "$model" == */replicate/bunnies.xml ||
+          "$model" == */replicate/leaves.xml ||
+          "$model" == */replicate/particle.xml
+    ]]; then
+      # these tests can take several minutes under ASAN
       return 0
     fi
     if [[ "$model" == */benchmark/testdata/humanoid200.xml ||

test/user/testdata/shark_22_ascii_fTetWild.xml

@@ -19,7 +19,8 @@
     <geom name="floor" size="1 1 .05" type="plane" material="grid" condim="3"/>
     <light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1"/>
     <flexcomp name="shark" type="gmsh" dim="3" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 .3" mass="10" scale="1 1 1" file="shark_22_ascii_fTetWild.msh">
-    <edge equality="true"/>
+      <edge equality="true"/>
+      <contact selfcollide="none"/>
     </flexcomp>
   </worldbody>
 </mujoco>

test/user/testdata/shark_22_binary_fTetWild.xml

@@ -20,6 +20,7 @@
     <light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1"/>
     <flexcomp name="shark" type="gmsh" dim="3" rgba=".8 .2 .2 1" radius="0.001" pos="0 0 0.3" mass="10" scale="1 1 1" file="shark_22_binary_fTetWild.msh">
       <edge equality="true"/>
+      <contact selfcollide="none"/>
     </flexcomp>
   </worldbody>
 </mujoco>