Set nativeccd as default.

PiperOrigin-RevId: 731343200
Change-Id: I315779017b676f3d118e0d38ee53a515272f50b8

python/mujoco/bindings_test.py

@@ -938,7 +938,7 @@ 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, 7)
+    self.assertEqual(mujoco.mjtEnableBit.mjNENABLE, 6)
     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

@@ -43,7 +43,8 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjDSBL_MIDPHASE', 8192),
              ('mjDSBL_EULERDAMP', 16384),
              ('mjDSBL_AUTORESET', 32768),
-             ('mjNDISABLE', 16),
+             ('mjDSBL_NATIVECCD', 65536),
+             ('mjNDISABLE', 17),
          ]),
      )),
     ('mjtEnableBit',
@@ -57,8 +58,7 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjENBL_INVDISCRETE', 8),
              ('mjENBL_MULTICCD', 16),
              ('mjENBL_ISLAND', 32),
-             ('mjENBL_NATIVECCD', 64),
-             ('mjNENABLE', 7),
+             ('mjNENABLE', 6),
          ]),
      )),
     ('mjtJoint',

python/mujoco/introspect/enums_test.py

@@ -44,8 +44,7 @@ class EnumsTest(absltest.TestCase):
                                           ('mjENBL_INVDISCRETE', 1<<3),
                                           ('mjENBL_MULTICCD', 1<<4),
                                           ('mjENBL_ISLAND', 1<<5),
-                                          ('mjENBL_NATIVECCD', 1<<6),
-                                          ('mjNENABLE', 7)))
+                                          ('mjNENABLE', 6)))
 
   # values mostly increment by one with occasional overrides
   def test_mjtGeom(self):  # pylint: disable=invalid-name