From 56b30d9d15bcb5bba24230229c2edc057b35d613 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?B=C3=A1lint=20Hodossy?= <bkh16@ic.ac.uk>
Date: Thu, 11 Jan 2024 16:09:06 +0000
Subject: [PATCH] Check the autolimits attribute before assigning default
 values for joint limitedness

---
 unity/Runtime/Components/Joints/MjJointSettings.cs | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

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);
     }
   }