diff --git a/unity/Runtime/Components/Joints/MjJointSettings.cs b/unity/Runtime/Components/Joints/MjJointSettings.cs
index f2f3d72e..1b9e87e9 100644
--- a/unity/Runtime/Components/Joints/MjJointSettings.cs
+++ b/unity/Runtime/Components/Joints/MjJointSettings.cs
@@ -164,7 +164,14 @@ namespace Mujoco {
       RefFriction.FromMjcf(mjcf, "solreffriction");
       ImpFriction.FromMjcf(mjcf, "solimpfriction");
       FrictionLoss = mjcf.GetFloatAttribute("frictionloss", 0.0f);
-      Limited = mjcf.GetBoolAttribute("limited", false);
+
+      bool defaultLimited = false;
+      if (mjcf.OwnerDocument.GetElementsByTagName("compiler")[0] is not XmlElement
+              compilerElement || !compilerElement.GetBoolAttribute("autolimits").Equals("false")) {
+        defaultLimited = mjcf.HasAttribute("range");
+      }
+
+      Limited = mjcf.GetBoolAttribute("limited", defaultLimited);
       Margin = mjcf.GetFloatAttribute("margin", defaultValue: 0.0f);
     }
   }