Fix MuJoCo 3.11 boolean joint-limit compatibility

Author: Trinkle23897

envpool/mujoco/dmc/cheetah.h

@@ -98,7 +98,7 @@ class CheetahEnvBase : public Env<EnvSpecT>, public MujocoEnv {
 
   void TaskInitializeEpisode() override {
     for (int id_joint = 0; id_joint < model_->njnt; ++id_joint) {
-      bool is_limited = model_->jnt_limited[id_joint] == 1;
+      bool is_limited = model_->jnt_limited[id_joint];
       if (is_limited) {
         mjtNum range_min = model_->jnt_range[id_joint * 2 + 0];
         mjtNum range_max = model_->jnt_range[id_joint * 2 + 1];

envpool/mujoco/dmc/manipulator.h

@@ -192,7 +192,7 @@ class ManipulatorEnvBase : public Env<EnvSpecT>, public MujocoEnv {
     while (penetrating) {
       for (std::size_t i = 0; i < kArmJoints.size(); ++i) {
         int id_joint = id_arm_joints_[i];
-        bool is_limited = model_->jnt_limited[id_joint] == 1;
+        bool is_limited = model_->jnt_limited[id_joint];
         mjtNum lower = is_limited ? model_->jnt_range[id_joint * 2 + 0] : -M_PI;
         mjtNum upper = is_limited ? model_->jnt_range[id_joint * 2 + 1] : M_PI;
         data_->qpos[id_arm_qpos_[i]] = RandUniform(lower, upper)(gen_);

envpool/mujoco/dmc/stacker.h

@@ -175,7 +175,7 @@ class StackerEnvBase : public Env<EnvSpecT>, public MujocoEnv {
     while (penetrating) {
       for (std::size_t i = 0; i < kArmJoints.size(); ++i) {
         int id_joint = id_arm_joints_[i];
-        bool is_limited = model_->jnt_limited[id_joint] == 1;
+        bool is_limited = model_->jnt_limited[id_joint];
         mjtNum lower = is_limited ? model_->jnt_range[id_joint * 2 + 0] : -M_PI;
         mjtNum upper = is_limited ? model_->jnt_range[id_joint * 2 + 1] : M_PI;
         data_->qpos[id_arm_qpos_[i]] = RandUniform(lower, upper)(gen_);