diff --git a/unity/Runtime/Components/Joints/MjJointSettings.cs b/unity/Runtime/Components/Joints/MjJointSettings.cs
index f2f3d72e7e..1bd684c672 100644
--- a/unity/Runtime/Components/Joints/MjJointSettings.cs
+++ b/unity/Runtime/Components/Joints/MjJointSettings.cs
@@ -164,7 +164,15 @@ public void FromMjcf(XmlElement mjcf) {
       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]["compiler"])
+              ?.GetBoolAttribute("autolimits", true) ??
+          true) {
+        defaultLimited = mjcf.HasAttribute("range");
+      }
+
+      Limited = mjcf.GetBoolAttribute("limited", defaultLimited);
       Margin = mjcf.GetFloatAttribute("margin", defaultValue: 0.0f);
     }
   }
diff --git a/unity/Runtime/Components/MjActuator.cs b/unity/Runtime/Components/MjActuator.cs
index 4bdffe87c4..bf937e459e 100644
--- a/unity/Runtime/Components/MjActuator.cs
+++ b/unity/Runtime/Components/MjActuator.cs
@@ -77,12 +77,18 @@ public void ToMjcf(XmlElement mjcf) {
     }
 
     public void FromMjcf(XmlElement mjcf) {
-      CtrlLimited = mjcf.GetBoolAttribute("ctrllimited", defaultValue: false);
-      ForceLimited = mjcf.GetBoolAttribute("forcelimited", defaultValue: false);
       CtrlRange = mjcf.GetVector2Attribute("ctrlrange", defaultValue: Vector2.zero);
       ForceRange = mjcf.GetVector2Attribute("forcerange", defaultValue: Vector2.zero);
       LengthRange = mjcf.GetVector2Attribute("lengthrange", defaultValue: Vector2.zero);
       Gear = mjcf.GetFloatArrayAttribute("gear", defaultValue: new float[] { 1.0f }).ToList();
+
+      bool autolimits = (mjcf.OwnerDocument.GetElementsByTagName("compiler")[0]["compiler"])
+                            ?.GetBoolAttribute("autolimits", true) ??
+                        true;
+      CtrlLimited = mjcf.GetBoolAttribute("ctrllimited",
+          defaultValue: autolimits ? CtrlRange != Vector2.zero : false);
+      ForceLimited = mjcf.GetBoolAttribute("forcelimited",
+          defaultValue: autolimits ? ForceRange != Vector2.zero : false);
     }
   }