mujoco

<mujoco>
  <compiler autolimits="true" />
  <default>
    <joint armature="0.1"/>
    <default class="limited_false">
      <joint limited="false"/>
    </default>
    <default class="limited_true">
      <joint limited="true"/>
      <default class="limited_auto">
        <joint limited="auto"/>
      </default>
    </default>
    <default class="range_defined">
      <joint range="-1.57 1.57"/>
    </default>
  </default>
  <!--
    `user` attributes of the joints below indicate the expected state of the associated
    jnt_limited property in the compiled model.
  -->
  <worldbody>
    <body>
      <joint user="0"/>
      <joint user="1" range="0 1"/>
      <joint user="0" range="0 1" limited="false"/>
      <joint user="1" range="0 1" limited="true"/>
      <joint user="0" range="0 1" class="limited_false"/>
      <joint user="1" range="0 1" class="limited_true"/>
      <geom size="1"/>
    </body>
    <!-- adding another body since bodies are allowed a maximum of 6 DoFs -->
    <body>
      <joint user="1" range="0 1" class="limited_false" limited="true"/>
      <joint user="0" range="0 1" class="limited_true" limited="false"/>
      <joint user="1" class="range_defined"/>
      <joint user="1" range="0 1" class="limited_auto"/>
      <joint user="1" range="0 1" limited="auto"/>
      <joint user="0" limited="auto"/>
      <geom size="1"/>
    </body>
    <body>
      <!-- free joints should remain unlimited even if a (meaningless) range is defined -->
      <joint user="0" type="free" class="range_defined"/>
      <geom size="1"/>
    </body>
  </worldbody>
</mujoco>