Migrate mjtByte to mjtBool for boolean-valued fields.

PiperOrigin-RevId: 921408093
Change-Id: Icb00457836359779f0f72fc02d6a7c0dc9f6bd23

test/fixture.cc

@@ -203,6 +203,10 @@ auto Compare(unsigned char val1, unsigned char val2) {
   return val1 != val2;
 }
 
+auto Compare(bool val1, bool val2) {
+  return val1 != val2;
+}
+
 auto Compare(mjtSize val1, mjtSize val2) {
   return val1 > val2 ? val1 - val2 : val2 - val1;
 }

test/user/user_objects_test.cc

@@ -2002,7 +2002,7 @@ TEST_F(LimitedTest, JointLimited) {
 
   // see `user/testdata/auto_limits.xml` for expected values
   for (int i = 0; i < model->njnt; i++) {
-    EXPECT_EQ(model->jnt_limited[i], (mjtByte)model->jnt_user[i])
+    EXPECT_EQ(model->jnt_limited[i], (mjtBool)model->jnt_user[i])
         << i << " " << (int)model->jnt_limited[i] << " "
         << (int)model->jnt_user[i];
   }

test/xml/xml_native_reader_test.cc

@@ -2481,7 +2481,7 @@ TEST_F(ActuatorTest, ReadsByte) {
   std::array<char, 1024> error;
   mjModel* model = LoadModelFromString(xml, error.data(), error.size());
   ASSERT_THAT(model, NotNull());
-  EXPECT_EQ(*(model->actuator_actlimited), (mjtByte)(1 & 0xFF));
+  EXPECT_EQ(*(model->actuator_actlimited), true);
   mj_deleteModel(model);
 }