Change the default of <compiler autolimits> from "false" to "true".

PiperOrigin-RevId: 573184793
Change-Id: I24075a8d953d0a3c3ddf65c67e1e18075cd029b6

src/xml/xml_native_writer.cc

@@ -861,9 +861,9 @@ void mjXWriter::Compiler(XMLElement* root) {
   if (model->boundinertia) {
     WriteAttr(section, "boundinertia", 1, &model->boundinertia);
   }
-  // always enable autolimits. limited attributes will be written appropriately
-  // TODO(b/245077553): Remove this when the default is true.
-  WriteAttrTxt(section, "autolimits", "true");
+  if (!model->autolimits) {
+    WriteAttrTxt(section, "autolimits", "false");
+  }
 }