From a2a27c113f69c32ae8b9c0c02403c7506f1748c5 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Mon, 21 Jul 2025 09:51:07 -0700
Subject: [PATCH] Do not raise an error in MJX if MultiCCD is enabled.

PiperOrigin-RevId: 785473405
Change-Id: I91165ac83fa000ff51467295820330703bfb20ed
---
 mjx/mujoco/mjx/_src/types.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/mjx/mujoco/mjx/_src/types.py b/mjx/mujoco/mjx/_src/types.py
index 69caeebc..a5843cfd 100644
--- a/mjx/mujoco/mjx/_src/types.py
+++ b/mjx/mujoco/mjx/_src/types.py
@@ -86,7 +86,9 @@ class EnableBit(enum.IntFlag):
   """
 
   INVDISCRETE = mujoco.mjtEnableBit.mjENBL_INVDISCRETE
-  # unsupported: OVERRIDE, ENERGY, FWDINV, MULTICCD, ISLAND
+  # unsupported: OVERRIDE, ENERGY, FWDINV, ISLAND
+  # required by the C implementation only, ignored otherwise: MULTICCD
+  MULTICCD = mujoco.mjtEnableBit.mjENBL_MULTICCD
 
 
 class JointType(enum.IntEnum):