Do not raise an error in MJX if MultiCCD is enabled.

quagla · copybara-github · commit a2a27c113f69 · 2025-07-21T09:52:09.000-07:00
PiperOrigin-RevId: 785473405
Change-Id: I91165ac83fa000ff51467295820330703bfb20ed
diff --git 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):
