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Fix joint type checks with newer MuJoCo #26

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Merged
kou merged 1 commit into from
Aug 26, 2026
Merged

Fix joint type checks with newer MuJoCo #26

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12 changes: 6 additions & 6 deletions src/openarm_control/qp/arm_joint_limit.py
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Original file line number Diff line number Diff line change
Expand Up @@ -44,9 +44,9 @@ def __init__(
or int(model.jnt_qposadr[joint_id]) not in selected_qpos
):
continue
if model.jnt_type[joint_id] not in (
mujoco.mjtJoint.mjJNT_HINGE,
mujoco.mjtJoint.mjJNT_SLIDE,
if int(model.jnt_type[joint_id]) not in (
int(mujoco.mjtJoint.mjJNT_HINGE),
int(mujoco.mjtJoint.mjJNT_SLIDE),
):
raise ValueError("ArmConfigurationLimit only supports scalar joints.")
active_dofs.append(int(model.jnt_dofadr[joint_id]))
Expand Down Expand Up @@ -106,9 +106,9 @@ def __init__(
"its velocity limit will be skipped."
)
continue
if model.jnt_type[joint_id] not in (
mujoco.mjtJoint.mjJNT_HINGE,
mujoco.mjtJoint.mjJNT_SLIDE,
if int(model.jnt_type[joint_id]) not in (
int(mujoco.mjtJoint.mjJNT_HINGE),
int(mujoco.mjtJoint.mjJNT_SLIDE),
):
raise ValueError("ArmJointLimit only supports scalar joints.")

Expand Down