Don't infer limited attributes automatically by default.

This is an amendment to 4bfc2c0311.

Add an autolimits compiler option. When true, *limited will be inferred from the presence of the *range attributes.
When false, models where limited is not specified, and range is will fail to compile.

PiperOrigin-RevId: 472438650
Change-Id: I489098e879ee695030f44e0d8cd969787e75fb90

src/xml/xml_native_writer.cc

@@ -696,6 +696,9 @@ void mjXWriter::Compiler(XMLElement* root) {
   if (model->exactmeshinertia) {
     WriteAttrTxt(section, "exactmeshinertia", "true");
   }
+  // always enable autolimits. limited attributes will be written appropriately
+  // TODO(b/245077553): Remove this when the default is true.
+  WriteAttrTxt(section, "autolimits", "true");
 }