The no-slip pass removes contact drift outside the constraint model, so it
papers over why a friction grasp creeps instead of simulating it; MuJoCo
disables it by default and so does this adapter now.

The car, ragdoll and scale examples simulate several seconds of physics per
test, which does not fit vitest's five second default on a loaded runner.

Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>