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

test/engine/engine_core_smooth_test.cc

@@ -206,6 +206,7 @@ TEST_F(CoreSmoothTest, RefsiteBringsToPose) {
   constexpr char kRefsitePath[] = "engine/testdata/refsite.xml";
   const std::string xml_path = GetTestDataFilePath(kRefsitePath);
   mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
+  ASSERT_THAT(model, ::testing::NotNull());
   mjData* data = mj_makeData(model);
 
   // set pose target in ctrl (3 positions, 3 rotations)

test/engine/testdata/activation.xml

@@ -1,4 +1,5 @@
 <mujoco>
+  <compiler autolimits="true"/>
   <option density="1000"/>
 
   <worldbody>

test/engine/testdata/damper.xml

@@ -1,4 +1,5 @@
 <mujoco>
+  <compiler autolimits="true" />
   <worldbody>
     <geom type="plane" size="1 1 .01"/>
     <light pos="0 0 2"/>

test/engine/testdata/refsite.xml

@@ -1,4 +1,5 @@
 <mujoco>
+  <compiler autolimits="true"/>
   <!--
   Adding a high fluid viscosity and using implicit integration for extra stabillity.
   Extra stabillity is required because the abstract "arm" model is not very realistic.