Merge branch 'main' into newton-schemas

plugin/usd_decoder/usd_decoder.cc

@@ -775,7 +775,7 @@ void ParseUsdPhysicsScene(mjSpec* spec,
 
   bool multiccd_flag;
   mjc_physics_scene.GetMultiCCDFlagAttr().Get(&multiccd_flag);
-  spec->option.enableflags |= (multiccd_flag ? mjENBL_MULTICCD : 0);
+  spec->option.disableflags |= (!multiccd_flag ? mjDSBL_MULTICCD : 0);
 
   // Compiler attributes
   auto auto_limits_attr = mjc_physics_scene.GetAutoLimitsAttr();
@@ -2646,7 +2646,7 @@ int CanDecode(const mjResource* resource) {
 }  // namespace
 
 // clang-format off
-mjPLUGIN_LIB_INIT {
+mjPLUGIN_LIB_INIT(usd_decoder) {
   mjpDecoder decoder;
   mjp_defaultDecoder(&decoder);
   decoder.content_type = "model/usd";